Omnidirectional AGV forklift

Abstract

The utility model provides an omni-directional AGV forklift which is characterized in that two sets of trundle assemblies which are arranged in parallel and reversely are arranged at the bottom of a frame, each set of trundle assembly comprises a differential module and a universal trundle, and a rocker arm assembly is selectively arranged between the universal trundle and the differential module; meanwhile, when the rocker arm assembly is arranged between the universal caster and the differential module, the caster assembly is hinged to the frame through the rocker arm assembly, and when the rocker arm assembly is not arranged between the universal caster and the differential module, the differential module and the universal caster are both fixedly installed on the frame. The differential module enables the forklift to flexibly move in any direction, the warehouse space utilization rate and the working efficiency are improved, the adaptability of the forklift to the ground is enhanced through different configuration modes of the trundle assemblies, stable operation can be kept even on an uneven road surface, abrasion is reduced, and the service life is prolonged.

Description

Technical Field

[0001] The utility model relates to the technical field of forklifts, in particular to an omnidirectional AGV forklift. Background Art

[0002] At present, in the warehousing and logistics industry, forklifts are an important tool for efficient storage and picking of goods. However, traditional forklifts have certain limitations, which are mainly manifested in the following aspects:

[0003] Limited mobility requires wider aisles: Existing forklifts can only move in a straight line in one direction. When changing direction, the vehicle body needs to rotate as a whole to change the direction of travel. Since the diameter of the vehicle body rotation is definitely larger than the length or width of the vehicle, a wider aisle is required. In some small or complex warehouse environments, the application is relatively limited. In densely stored warehouses, the storage capacity rate will also be reduced.

[0004] Insufficient angle feedback of the drive mechanism: In the traditional drive mechanism design, there is a lack of effective angle feedback mechanism, which makes it difficult to accurately control the driving steering angle, especially when performing fine-tuning operations in narrow spaces. This not only affects the operating accuracy of the forklift, but also limits the adaptability and flexibility of the vehicle in complex environments.

[0005] Poor ground adaptability: The drive mechanism design of existing forklifts often assumes that the working environment is a flat ground. Once encountering uneven roads, the vehicle stability decreases and may even cause slipping and loss of control, posing a threat to the safety of goods and on-site personnel. In addition, uneven ground will increase vehicle wear and tear and shorten its service life.

[0006] Therefore, it is necessary to provide an omnidirectional AGV forklift to solve the above technical problems. Utility Model Content

[0007] In order to solve the above technical problems, the utility model provides an omnidirectional AGV forklift, which can move flexibly in any direction, improve warehouse space utilization and operating efficiency, integrate a precise angle feedback system, improve operation accuracy and safety, enhance ground adaptability, and maintain stable operation even on uneven roads, reduce wear and tear, and extend service life.

[0008] The utility model provides an omnidirectional AGV forklift, comprising a frame, wherein two sets of caster assemblies arranged in parallel and oppositely are arranged at the bottom of the frame, each set of caster assemblies comprises a differential module and a universal caster, and a rocker arm assembly is selectively configured between the universal caster and the differential module.

[0009] Preferably, the differential module comprises two groups of motor drive units fixedly connected by a connecting plate, each motor drive unit comprises a drive motor, a reducer and a drive wheel, wherein the drive motor is connected to the drive wheel via the reducer;

[0010] When the two driving wheels rotate in the same direction, the differential module realizes straight-line movement. When the two driving wheels rotate in opposite directions, the differential module rotates along the vertical center line to realize directional rotation.

[0011] Preferably, the differential module also includes a pin seat, a slewing support bearing, a mounting plate and an encoder, wherein the pin seat is rotatably connected to the two groups of motor drive units through a pin shaft to enable the two groups of motor drive units to swing with the pin shaft as the rotation center, the top of the pin seat is fixed on the outer ring of the slewing support bearing; the bottom of the mounting plate is fixed on the inner ring of the slewing support bearing, and the mounting plate is selectively fixed to the frame, and the encoder is meshed with the external teeth on the outer ring of the slewing support bearing through a pinion.

[0012] Preferably, the rocker arm assembly includes a rocker arm body, one end of the rocker arm body is fixedly connected to a first connecting plate for fixedly connecting to a mounting plate of the differential module, the other end of the rocker arm body is fixedly connected to a second connecting plate for fixedly connecting to the universal caster, the rocker arm body is hinged with a hinge seat near the differential module, and the hinge seat is fixedly connected to the bottom of the frame.

[0013] Preferably, a first limiting block is fixed to the top surface of the first connecting plate.

[0014] Preferably, the rocker arm body is provided with a groove on the top surface close to the universal caster, and a second limiting block is installed in the groove.

[0015] Preferably, a rocker arm assembly is disposed between the differential modules of the two sets of caster assemblies and the universal caster; the caster assemblies are hinged to the frame via the rocker arm assembly.

[0016] Preferably, no rocker arm assembly is configured between the differential module and the universal caster of one group of caster assemblies, and a rocker arm assembly is configured between the differential module and the universal caster of the other group of caster assemblies; the differential module and the universal caster of one group of caster assemblies are fixedly mounted on the frame, and the other group of caster assemblies is hinged to the frame through the rocker arm assembly.

[0017] Preferably, no rocker arm assembly is arranged between the differential modules and the universal casters of the two sets of caster assemblies; the differential modules and the universal casters of the caster assemblies are fixedly mounted on the vehicle frame.

[0018] Compared with the related art, the omnidirectional AGV forklift provided by the utility model has the following beneficial effects:

[0019] The utility model arranges two groups of caster assemblies arranged in parallel and inversely arranged at the bottom of a frame, each group of caster assemblies includes a differential module and a universal caster, and a rocker arm assembly is selectively configured between the universal caster and the differential module. When the rocker arm assembly is configured between the universal caster and the differential module, the caster assembly is hinged to the frame through the rocker arm assembly. When the rocker arm assembly is not configured between the universal caster and the differential module, the differential module and the universal caster are both fixedly mounted on the frame. The differential module enables the forklift to move flexibly in any direction, thereby improving the space utilization and operation efficiency of the warehouse. In addition, the different configuration modes of the caster assemblies enhance the adaptability of the forklift to the ground, and the forklift can maintain stable operation even on uneven roads, thereby reducing wear and extending the service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the structure from a main perspective of a first embodiment of an omnidirectional AGV forklift provided by the utility model;

[0021] Figure 2 This is a schematic diagram of the structure of an omnidirectional AGV forklift provided by the utility model from a bottom-up perspective;

[0022] Figure 3 This is a first-view structural diagram of a differential module of an omnidirectional AGV forklift provided by the utility model;

[0023] Figure 4 A second-view structural diagram of a differential module of an omnidirectional AGV forklift provided by the utility model;

[0024] Figure 5 A schematic diagram of the structure of a caster assembly equipped with a rocker arm assembly of an omnidirectional AGV forklift provided by the utility model;

[0025] Figure 6 This is a structural schematic diagram of a second embodiment of an omnidirectional AGV forklift provided by the utility model;

[0026] Figure 7 This is a schematic structural diagram of a third embodiment of an omnidirectional AGV forklift provided by the utility model;

[0027] Numbers in the figure: 1. frame; 2. caster assembly; 3. differential module; 4. universal caster; 5. rocker arm assembly; 6. drive motor; 7. reducer; 8. drive wheel; 9. pin seat; 10. slewing support bearing; 11. mounting plate; 12. encoder; 13. pinion; 14. external gear; 15. rocker arm body; 16. first connecting plate; 17. second connecting plate; 18. hinge seat; 19. first limit block; 20. second limit block; 21. groove; 22. connecting plate. DETAILED DESCRIPTION

[0028] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying 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 limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0030] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" 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] Embodiment 1

[0032] The utility model provides an omnidirectional AGV forklift, referring to Figures 1 to 6 As shown, it includes a frame 1, and two groups of caster assemblies 2 arranged in parallel and oppositely are arranged at the bottom of the frame 1, each group of caster assemblies 2 is composed of a differential module 3, a rocker arm assembly 5 and a universal caster 4, and the caster assembly 2 is hinged to the bottom of the frame 1 through the rocker arm assembly 5.

[0033] The differential module 3 includes two groups of motor drive units fixedly connected by a connecting plate 22, each motor drive unit includes a drive motor 6, a reducer 7 and a drive wheel 8, wherein the drive motor 6 is connected to the drive wheel 8 via the reducer 7;

[0034] When the two driving wheels 8 rotate in the same direction, the differential module 3 realizes straight-line travel, and when the two driving wheels 8 rotate in opposite directions, the differential module 3 rotates along the vertical center line to realize directional rotation.

[0035] At the same time, the differential module 3 also includes a pin seat 9, a slewing support bearing 10, a mounting plate 11 and an encoder 12, wherein the pin seat 9 is connected to the two groups of motor drive units through a pin shaft rotation to realize the swing of the two groups of motor drive units with the pin shaft as the rotation center, the top of the pin seat 9 is fixed on the outer ring of the slewing support bearing 10; the bottom of the mounting plate 11 is fixed on the inner ring of the slewing support bearing 10, and the mounting plate 11 is selectively fixed on the frame 1, and the encoder 12 is meshed with the outer teeth 14 on the outer ring of the slewing support bearing 10 through the pinion 13.

[0036] During specific implementation, by controlling the rotation direction of the two driving wheels 8, the differential module 3 can realize multiple movement modes, specifically: when the two driving wheels 8 rotate in the same direction, the differential module 3 moves in a straight line; when the two driving wheels 8 rotate in opposite directions, the differential module 3 rotates around the axis of the slewing support bearing 10 to achieve flexible direction adjustment. This omnidirectional movement capability greatly enhances the maneuverability of the module in narrow spaces and complex environments.

[0037] Both sets of motor drive units are connected to the pin shaft seat 9 in an articulated manner, giving the drive wheel 8 the ability to adaptively adjust its height. Specifically, when the differential module 3 passes through uneven ground, each drive wheel 8 can automatically adjust its height according to the undulations of the ground to achieve dynamic balance, ensuring that even in the face of rugged road conditions, the differential module 3 can maintain a stable operating state, avoiding bumps or loss of control caused by uneven ground, and significantly improving the operating efficiency and safety of the module.

[0038] The pinion 13 is mounted on the output shaft of the encoder 12, and meshes with the outer teeth 14 of the outer ring of the slewing support bearing 10. When the differential module 3 rotates around the axis of the slewing support bearing 10, the outer teeth 14 drive the pinion 13 to rotate synchronously, thereby driving the output shaft of the encoder 12 to rotate. The photoelectric sensor or magnetic sensing element inside the encoder 12 can detect the rotation of the shaft, and indirectly obtain the overall rotation angle information of the differential module 3 by calculating the rotation angle of the shaft. This angle sensing mechanism provides high-precision position feedback for the differential module 3, ensuring that when performing complex maneuvers, such as rotating in place or precise steering, the module can achieve the expected rotation amplitude and direction control, greatly improving the accuracy and stability of the operation.

[0039] Specifically, the rocker arm assembly 5 includes a rocker arm body 15, one end of the rocker arm body 15 is fixedly connected to a first connecting plate 16 for fixedly connecting to the mounting plate 11 of the differential module 3, the other end of the rocker arm body 15 is fixedly connected to a second connecting plate 17 for fixedly connecting to the universal caster 4, the rocker arm body 15 is hinged with a hinge seat near the differential module 3, and the hinge seat is fixedly connected to the bottom of the frame 1.

[0040] In the traditional design of automated mobile platforms, the differential module 3 and the universal caster 4 are directly fixed on the frame 1. This layout often causes a series of problems when encountering uneven ground, such as ramps, gullies or obstacles. The most notable is that when the ground is uneven, at least one differential module 3 may be lifted off the ground and lose effective contact with the ground, resulting in interruption of power transmission or severe slippage, which seriously affects the stability and operating efficiency of the equipment.

[0041] Therefore, in the present application, the caster assemblies on both sides are hinged to the frame through the rocker assembly, and the adaptability of the hinged structure is used to enable the caster assemblies to be dynamically adjusted according to the actual conditions of the ground. Specifically, when encountering a height difference of the ground, such as crossing a slope, a ditch or a bump, the caster assembly can automatically adjust its posture with the help of the hinged characteristics of the rocker assembly to ensure that at least one differential module 3 is always in contact with the ground, thereby maintaining the continuity of power transmission and the stability of the vehicle.

[0042] In the integrated design of the differential module 3 and the universal caster 4, a limit block is designed. The limit block plays a key role in ensuring the stable operation of the caster assembly 2 and preventing collision. Specifically, a first limit block 19 is fixed to the top surface of the first connecting plate 16, and a groove 21 is designed on the top surface of the rocker arm body 15 near the universal caster 4, and a second limit block 20 is embedded in the groove 21. The setting of these two sets of limit blocks is intended to achieve double protection, effectively limiting the swing range of the caster assembly 2 when it rotates around the hinge seat as the axis, and preventing collision with the frame 1 due to excessive rotation.

[0043] Embodiment 2

[0044] refer to Figure 6 As shown, the difference from the first embodiment is that the rocker arm assembly 5 is not configured between the differential module 3 and the universal caster 4 of one caster assembly 2, and the rocker arm assembly 5 is configured between the differential module 3 and the universal caster 4 of the other caster assembly 2.

[0045] Therefore, the differential module 3 and the universal caster 4 of the caster assembly 2 without the rocker assembly 5 are fixedly installed at the bottom of the frame 1, and the caster assembly 2 with the rocker assembly 5 is hinged to the frame 1 through the hinge seat 18 of the rocker assembly 5.

[0046] Embodiment 3

[0047] refer to Figure 7 As shown, what is different from the first and second embodiments is that no rocker arm assembly 5 is configured between the differential module 3 and the universal caster 4 of the two sets of caster assemblies 2.

[0048] Therefore, the differential module 3 and the universal caster 4 of the caster assembly 2 of the rocker assembly 5 are both fixedly mounted on the bottom of the frame 1 .

[0049] The above description is only an embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An omnidirectional AGV forklift, characterized in that: The vehicle comprises a frame (1), wherein two groups of caster assemblies (2) arranged in parallel and in opposite directions are arranged at the bottom of the frame (1), each group of caster assemblies (2) comprises a differential module (3) and a universal caster (4), and a rocker arm assembly (5) is selectively arranged between the universal caster (4) and the differential module (3).

2. The omnidirectional AGV forklift according to claim 1, characterized in that: The differential module (3) comprises two groups of motor drive units fixedly connected via a connecting plate (22), each motor drive unit comprising a drive motor (6), a reducer (7) and a drive wheel (8), wherein the drive motor (6) is connected to the drive wheel (8) via the reducer (7); When the two driving wheels (8) rotate in the same direction, the differential module (3) realizes straight-line travel, and when the two driving wheels (8) rotate in opposite directions, the differential module (3) rotates along a vertical center line to realize directional rotation.

3. The omnidirectional AGV forklift according to claim 2, characterized in that: The differential module (3) further comprises a pin shaft seat (9), a slewing support bearing (10), a mounting plate (11) and an encoder (12), wherein the pin shaft seat (9) is rotatably connected to the two motor drive units via a pin shaft so as to enable the two motor drive units to swing with the pin shaft as the rotation center; the top of the pin shaft seat (9) is fixed to the outer ring of the slewing support bearing (10); the bottom of the mounting plate (11) is fixed to the inner ring of the slewing support bearing (10), and the mounting plate (11) is selectively fixed to the vehicle frame (1); and the encoder (12) is meshed with the outer teeth (14) on the outer ring of the slewing support bearing (10) via a pinion (13).

4. The omnidirectional AGV forklift according to claim 3, characterized in that: The rocker arm assembly (5) comprises a rocker arm body (15), one end of the rocker arm body (15) is fixedly connected to a first connecting plate (16) for fixedly connecting to a mounting plate (11) of the differential module (3), the other end of the rocker arm body (15) is fixedly connected to a second connecting plate (17) for fixedly connecting to the universal caster (4), the rocker arm body (15) is hingedly connected to a hinge seat near the differential module (3), and the hinge seat is fixedly connected to the bottom of the frame (1).

5. The omnidirectional AGV forklift according to claim 4, characterized in that: A first limiting block (19) is fixed to the top surface of the first connecting plate (16).

6. The omnidirectional AGV forklift according to claim 4, characterized in that: The rocker arm body (15) is provided with a groove (21) on the top surface close to the universal caster (4), and a second limit block (20) is installed in the groove (21).

7. The omnidirectional AGV forklift according to claim 1, characterized in that: A rocker arm assembly (5) is disposed between the differential module (3) and the universal caster (4) of the two sets of caster assemblies (2); the caster assemblies (2) are hinged to the vehicle frame (1) via the rocker arm assembly (5).

8. The omnidirectional AGV forklift according to claim 1, characterized in that: No rocker arm assembly (5) is arranged between the differential module (3) and the universal caster (4) of one set of caster assemblies (2), and a rocker arm assembly (5) is arranged between the differential module (3) and the universal caster (4) of the other set of caster assemblies (2); The differential module (3) and the universal caster (4) of one set of caster assemblies (2) are fixedly mounted on the vehicle frame (1), and the other set of caster assemblies (2) are hingedly connected to the vehicle frame (1) via a rocker arm assembly (5).

9. The omnidirectional AGV forklift according to claim 1, characterized in that: No rocker arm assembly (5) is arranged between the differential modules (3) and the universal casters (4) of the two sets of caster assemblies (2); the differential modules (3) and the universal casters (4) of the caster assemblies (2) are both fixedly mounted on the vehicle frame (1).

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