Wheel driving structure and AGV trolley

Abstract

The utility model discloses a wheel driving structure and an AGV. The wheel driving structure comprises a hub assembly and a force arm assembly used for fixing the hub assembly. The first driving assembly is connected to the force arm assembly and controls the force arm assembly to rotate so as to achieve height control over the hub assembly. When the road surface fluctuates, the stability of a vehicle body can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of wheel structures, in particular to a wheel driving structure and an AGV trolley. Background Art

[0002] Automated Guided Vehicle (AGV), also known as automatic guided transporter or automatic guided vehicle, is an industrial vehicle that loads goods automatically or manually, drives automatically along a set route or tows a cargo trolley to a designated location, and then loads and unloads goods automatically or manually.

[0003] At present, the suspension structure of AGV carts on the market basically adopts springs and other elastic elements to achieve passive shock filtering effect. The cart will rise and fall with the terrain, and springs and other elastic elements only reduce the degree of ups and downs. For AGV carts carrying goods, the goods on the body will still have the problem of shaking, bumping and instability. Utility Model Content

[0004] The utility model aims to overcome the shortcoming that the existing AGV trolley adopts elastic elements such as springs to realize passive shock filtering, and provides a wheel drive structure and an AGV trolley, which can improve the stability of the vehicle body when the road surface is undulating.

[0005] The purpose of the utility model is achieved through the following technical solutions:

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

[0007] Wheel hub assembly,

[0008] A lever arm assembly for fixing the wheel hub assembly;

[0009] A first driving assembly is connected to the lever arm assembly and controls the rotation of the lever arm assembly to achieve height control of the wheel hub assembly.

[0010] The second aspect of the utility model provides an AGV trolley, comprising a body and a wheel assembly arranged on the body, wherein the wheel assembly is a wheel driving structure described in the first aspect.

[0011] The utility model has the following advantages:

[0012] The wheel drive structure of this solution controls the height of the wheel hub assembly by driving the force arm through the driving assembly. On undulating roads, the height of the wheel hub assembly in front and behind the vehicle body can be controlled to improve the stability of the vehicle body and reduce the undulation of the vehicle body. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0014] Figure 1 This is a schematic diagram of the structure of the wheel drive structure of the utility model;

[0015] Figure 2 It is a schematic diagram of the first structure of the lever arm assembly;

[0016] Figure 3 is a second structural schematic diagram of the lever arm assembly;

[0017] Figure 4 It is a third structural schematic diagram of the lever arm assembly;

[0018] Figure 5 It is a structural schematic diagram of the lever arm assembly and the first drive assembly;

[0019] Figure 6 This is a three-dimensional picture of the AGV car;

[0020] Figure 7 A schematic diagram of a combination of a front wheel assembly and a rear wheel assembly of an AGV vehicle;

[0021] Figure 8 This is a state diagram of the AGV trolley of the utility model in a walking state;

[0022] Fig. 9 This is a state diagram of the AGV trolley of the utility model in the storage state;

[0023] Fig.10 This is a state diagram of the AGV trolley of the utility model in a lifting state;

[0024] Fig.11 This is a state diagram of the AGV trolley of the utility model in a bumpy state. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. The components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0026] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present invention.

[0027] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features thereof may be combined with each other.

[0028] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0029] In the description of the present utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the utility model product is usually placed when in use, or the positions or positional relationships commonly understood by those skilled in the art, which are only for the convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0030] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0031] The first aspect of the utility model discloses a wheel driving structure, which can be applied not only to AGV vehicles, but also to other devices with wheel structures, such as mobile smart homes, transportation vehicles, etc.

[0032] Specifically, Figure 1As shown, the wheel drive structure includes a wheel hub assembly 1, a lever arm assembly 2 and a first drive assembly 3. The wheel hub assembly 1 is fixed to the lever arm assembly 2; the lever arm assembly 2 is fixed to the first drive assembly 3, and the first drive assembly 3 controls the rotation of the lever arm assembly 2 to achieve height control of the wheel hub assembly 1.

[0033] By adopting the above scheme, the wheel hub assembly is fixed on the lever arm assembly, and the rotation of the lever arm assembly is controlled by the first drive assembly to achieve height control of the wheel hub assembly 1. Under road conditions with a certain range of terrain undulation, the height control of the wheel hub assembly can be achieved to maintain the height of the vehicle body unchanged, keep the vehicle body stable, and improve the stability of the cargo on the vehicle body.

[0034] There are many ways to implement the lever arm assembly.

[0035] Example 1: Reference Figure 2 The lever arm assembly only includes one lever arm, which only has the function of controlling the height of the hub assembly. One end of the lever arm is fixedly connected to the output shaft of the first drive assembly 3, and the other end is connected to the hub assembly.

[0036] Example 2: Reference Figure 3 The lever assembly 2 includes a first lever 211, a steering block 212 and a second drive assembly 213, which can realize the steering control of the wheel hub assembly relative to the structure of Example 1. Specifically, the second drive assembly 213 is fixed on the first lever 211, the wheel hub assembly is fixed on the steering block 212, and the steering block 212 is fixed on the output shaft of the second drive assembly 213 so that the second drive assembly 213 drives the steering block 212 to rotate to realize the steering control of the wheel hub assembly.

[0037] The second driving assembly 213 can be implemented by a motor.

[0038] In order to improve the structural stability of the wheel hub assembly and limit the steering angle of the steering block and reduce the structural complexity of the wheel drive structure, a first mounting groove 214 for limiting the rotation angle of the steering block 212 is provided on the first lever arm 211 .

[0039] The first mounting groove 214 can be formed as follows. Figure 2 The structure shown is set as a hole structure or a groove structure. Of course, in order to improve the structural stability of the hub assembly, it is preferably as follows Figure 3 The pore structure shown.

[0040] The width of the first mounting groove 214 is greater than the width of the steering block 212, so that the steering block 212 can rotate in the first mounting groove 214, but the gap between the two cannot be too large, so that the steering block 212 cannot rotate 180 degrees in the first mounting groove 214, thereby limiting the rotation angle.

[0041] Example 3: Based on Example 2, in order to further realize the control of the rotation of the wheel hub assembly, a driving motor can be fixed on the steering block 212 to drive the wheel hub assembly to rotate.

[0042] Example 4: Reference Figure 4 The lever assembly 2 includes a second lever 221, a buffer block 222 for fixing the hub assembly 1, and a buffer elastic member 223. Compared with the structure of Example 1, it can realize the shock absorption and buffering of the hub assembly. Specifically, the second lever 221 is provided with a second mounting groove 224 and a buffer hole 225 connected to the second mounting groove 224. One end of the buffer block 222 is rotatably connected to the second lever 221, and the other end is placed in the second mounting groove 224 through the buffer hole 225. The buffer elastic member 223 is placed in the second mounting groove 224 and the bottom end acts on the buffer block 222.

[0043] The buffer elastic member 223 can be implemented by a self-restoring elastic member such as a spring or a rubber pad.

[0044] It should be noted that, in this solution, the bottom end of the buffer elastic member 223 refers to the state during normal use.

[0045] In order to enhance the structural stability, for example, the second arm 221 is arc-shaped, and one end of the buffer block 222 is rotatably connected to one end of the second arm 221 through a pin or other structure; a groove is opened on the other end of the second arm 221 to form a second installation groove 224 and a buffer hole 225, and the length of the buffer hole 225 is greater than the width of the portion of the buffer block 222 located in the buffer hole 225, so that the buffer block 222 can rotate up and down along the buffer hole 225. In order to enhance the stability of the action between the buffer elastic member 223 and the buffer block 222, a protrusion is provided on the buffer block 222, and one end of the buffer elastic member 223 can be placed on the protrusion.

[0046] On the basis of this structure, in order to enhance the structural stability, a cover plate is detachably connected to the notch of the second mounting slot 224. The cover plate is used to limit the buffer elastic member 223 and maintain the stable operation of the structure.

[0047] Preferably, the second mounting groove 224 is arc-shaped to match the rotation of the buffer block 222 .

[0048] With the above structure, when the hub assembly is controlled to rise and fall, the buffer elastic member 223 can achieve shock absorption, ensure the close connection between the hub assembly and the ground, and filter tiny vibrations, thereby improving the stability of the vehicle body.

[0049] Example 5: Based on Example 4, in order to further realize the control of the rotation of the hub assembly, a third drive assembly 226 is fixed on the buffer block 222, and the hub assembly 1 is fixed on the third drive assembly 226. The third drive assembly 226 can be realized by a motor.

[0050] There are many ways to implement the first driving component 3 .

[0051] Example 6: The first driving assembly 3 can be implemented by a driving motor, and the lever arm of the lever arm assembly can be directly fixed on the output shaft of the motor.

[0052] Example 7: Reference Figure 5 The first driving assembly 3 includes a first driving motor 33, a driving gear 31 connected to the output shaft of the first driving motor 33, and a driven gear 32 meshing with the driving gear 31. That is, the motor driving gear transmission is used to realize the rotation control of the lever arm.

[0053] Example 8: Based on Example 7, in order to prevent the force arm from rotating too much and causing damage to the vehicle body, a rotation limit groove 34 is provided on the driving gear 31 and / or the driven gear 32, and a limit pin 35 is clamped in the rotation limit groove 34.

[0054] like Figure 5 As shown, a rotation limit groove 34 is provided on the driven gear 32, and a limit pin 35 is clamped in the rotation limit groove 34. The limit pin and one side of the rotation limit groove 34 can realize the limitation of the maximum / minimum rotation angle.

[0055] Specifically, the driving gear 31 , the driven gear 32 , and the limiting pin 35 can be fixed in a housing to achieve fixation.

[0056] Based on the wheel drive structure disclosed in the first aspect, the second aspect of the utility model discloses an AGV vehicle, such as Figure 6 As shown, it includes a body 4 and a wheel assembly arranged on the body, and the wheel assembly is a wheel drive structure as described in any one of the first aspects.

[0057] The wheel assembly includes two front wheel assemblies and two rear wheel assemblies, and has a variety of different combinations according to the different functions of the lever arm assembly.

[0058] Among them, the front wheel assembly can be any one of the structures in Examples 1 to 5, and the rear wheel assembly can be any one of the structures in Examples 1 to 5.

[0059] like Figure 7 As shown, it is an example in which the front wheel assembly adopts the structure of Example 2 and the rear wheel assembly adopts the structure of Example 5.

[0060] The above structure has various forms. Figure 7 The structure shown is used as an example for explanation.

[0061] The forms include walking form, storage form, lifting form, and bumping form, which refer to Figure 8 , 9 , 10, and 11 show the status.

[0062] Walking mode: The four first drive assemblies 3 are enabled at the same time, so that the force arms of the front wheel assembly and the rear wheel assembly are horizontal, thereby lifting the vehicle body 4 off the ground, such as Figure 8 As shown, walking can be achieved under the drive of the third drive assembly 226, and turning can be achieved under the drive of the second drive assembly 213.

[0063] Storage form: The four first drive components 3 are enabled at the same time, so that the free end of the force arm of the front wheel component and the rear wheel component, that is, one end of the fixed wheel roller component, rotates downward, and the vehicle body 4 falls freely to the ground, such as Fig. 9 As shown, it is convenient for use during shutdown, charging, unloading, etc.

[0064] Lifting mode: The four first drive assemblies 3 are enabled at the same time, so that the free ends of the force arms of the front wheel assembly and the rear wheel assembly rotate downward, thereby lifting the vehicle body 4, such as Fig.10 As shown, the goods are lifted away from the work surface, thereby achieving the purpose of automatic picking up.

[0065] Bumping form: For small potholes, shock absorption can be achieved through the buffer elastic member 223. For larger potholes, for example, the front wheel assembly enters the pothole first. When entering the pothole, the first drive assembly 3 corresponding to the front wheel assembly is enabled to rotate the free end of the lever arm downward. When the vehicle body 4 is basically or completely stable, the wheel hub assembly corresponding to the front wheel assembly enters the pothole first. Fig.11 When exiting a pothole, the first drive assembly 3 corresponding to the front wheel assembly is enabled, so that the free end of the lever arm rotates upward, and the wheel hub assembly corresponding to the front wheel assembly drives away from the pothole while the vehicle body 4 remains basically or completely stable.

[0066] Specifically, the switching between its various states can be achieved through manual remote control, or by installing corresponding sensors on the vehicle body to detect various points and road conditions, thereby automatically achieving state switching.

[0067] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein. 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 drive structure, characterized in that: include: Hub assembly (1), A lever arm assembly (2) for fixing the wheel hub assembly (1); A first driving assembly (3) connected to the lever assembly (2) controls the rotation of the lever assembly (2) to achieve height control of the wheel hub assembly (1).

2. A wheel driving structure according to claim 1, characterized in that: The lever arm assembly (2) comprises a first lever arm (211), a steering block (212) for fixing the wheel hub assembly (1), and a second driving assembly (213) fixed on the first lever arm (211) for driving the steering block (212) to rotate.

3. A wheel driving structure according to claim 2, characterized in that: The first force arm (211) is provided with a first installation groove (214) for limiting the rotation angle of the steering block (212).

4. A wheel driving structure according to claim 1, characterized in that: The lever assembly (2) comprises a second lever (221), a buffer block (222) for fixing the wheel hub assembly (1), and a buffer elastic member (223); The second force arm (221) is provided with a second mounting groove (224) and a buffer hole (225) communicating with the second mounting groove (224); One end of the buffer block (222) is rotatably connected to the second force arm (221), and the other end is placed in the second mounting groove (224) through a buffer hole (225); The buffer elastic member (223) is placed in the second installation groove (224) and its bottom end acts on the buffer block (222).

5. A wheel driving structure according to claim 4, characterized in that: A third drive assembly (226) is fixed on the buffer block (222), and the wheel hub assembly (1) is fixed on the third drive assembly (226).

6. A wheel driving structure according to claim 4, characterized in that: A cover plate is detachably connected to the notch of the second installation slot (224).

7. A wheel driving structure according to claim 1, characterized in that: The first driving assembly (3) comprises a first driving motor (33), a driving gear (31) connected to an output shaft of the first driving motor (33), and a driven gear (32) meshing with the driving gear (31).

8. A wheel driving structure according to claim 7, characterized in that: The driving gear (31) and / or the driven gear (32) are provided with a rotation limiting groove (34), and a limiting pin (35) is clamped in the rotation limiting groove (34).

9. An AGV vehicle, comprising a body and a wheel assembly arranged on the body, characterized in that: The wheel assembly is a wheel drive structure as described in any one of claims 1 to 8.

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