AGV steering wheel with small rotation radius

Abstract

The AGV steering wheel with the small rotation radius comprises a connecting plate, a walking wheel mounting base, a driving wheel assembly, a power transmission assembly and a rotating assembly, the driving wheel assembly and the power transmission assembly are arranged on the walking wheel mounting base, and the rotating assembly is arranged on the connecting plate; the driving wheel assembly comprises driving wheels, the power transmission assembly is used for driving the driving wheels to rotate, and the driving wheels are used for driving the AGV to move; the rotating assembly comprises a rotating motor, the rotating motor is used for driving the walking wheel mounting base to rotate, and the rotating assembly is used for driving the driving wheel to steer. The utility model has the beneficial effects that the rotary motors and the rotary speed reducers in the two groups of rotary assemblies are arranged side by side in a staggered manner, the power output ends of the walking motors are arranged downwards, and the walking speed reducers are arranged on the walking wheel mounting seats below the walking motors, so that compared with the existing parts, the parts are linearly arranged; the overall length of the AGV steering wheel is shortened, and then the rotation radius of the AGV steering wheel is reduced.

Description

Technical Field

[0001] The utility model belongs to the field of mechanical structures, and in particular relates to an AGV steering wheel with a small rotation radius. Background Technique

[0002] Automated Guided Vehicle (AGV), as an important device in intelligent logistics and production lines, has been widely used in recent years. One of the core functions of AGV is to achieve autonomous movement and path planning, and the design of the steering wheel system is crucial for its motion performance and structural layout. At present, the structure of the AGV steering wheel on the market has certain limitations, which directly affect the overall design and performance of the AGV.

[0003] The existing AGV steering wheel design usually has a large rotation radius in order to meet certain load-bearing capacity and stability. Although this large rotation radius can provide better driving stability, it also limits the flexibility of the internal layout of the AGV. Especially in the AGV with a relatively compact space, the steering wheel occupies too much space, resulting in the inability to reasonably arrange other important functional components, restricting the overall design optimization and function expansion of the AGV. Content of the Utility Model

[0004] In view of this, the utility model aims to propose an AGV steering wheel with a small rotation radius to solve at least one problem in the background technique.

[0005] To achieve the above object, the technical solution of the utility model is realized as follows:

[0006] An AGV steering wheel with a small rotation radius includes a connecting plate, a walking wheel mounting seat, a driving wheel assembly, a power transmission assembly, and a rotating assembly. The driving wheel assembly and the power transmission assembly are arranged on the walking wheel mounting seat, and the rotating assembly is arranged on the connecting plate;

[0007] The driving wheel assembly includes a driving wheel, and the power transmission assembly is used to drive the driving wheel to rotate, and the AGV is driven by the driving wheel;

[0008] The rotating assembly includes a slewing motor, and the slewing motor is used to drive the walking wheel mounting seat to rotate, and the driving wheel is steered by the rotating assembly.

[0009] Further, the walking wheel mounting seat includes a first mounting plate and a first mounting frame, and the first mounting frame is mounted on the first mounting plate;

[0010] The rotating assembly includes a slewing bearing, the inner ring of the slewing bearing is connected to the connecting plate, the outer ring is connected to the first mounting plate, and the first mounting plate is movably connected to the connecting plate through the slewing bearing.

[0011] Further, the rotating assembly includes a slewing motor and a slewing speed reducer. The slewing motor is connected to a slewing gear through the slewing speed reducer. A gear structure corresponding to the slewing gear is provided on the outer ring of the slewing bearing. The slewing motor drives the walking wheel mounting bracket to rotate relative to the connecting plate through the outer ring of the slewing bearing.

[0012] Further, the rotating assembly includes an encoder provided on the connecting plate, and the encoding gear of the encoder meshes with the gear structure of the outer ring of the slewing bearing.

[0013] Further, the walking wheel mounting seat includes walking wheel mounting side plates and a walking wheel connecting plate. The two walking wheel side plates are arranged in parallel, and the walking wheel connecting plate is arranged between the two walking wheel side plates;

[0014] Mounting shaft holes for mounting drive wheels are provided below the walking wheel mounting side plates, and the walking wheels are arranged between the two mounting shaft holes;

[0015] The drive wheel assembly includes a large sprocket mounted on the outside of the walking wheel mounting side plate, and the large sprocket is connected to the walking wheel through a connecting shaft;

[0016] The power transmission assembly drives the walking wheels to move by means of the large sprocket.

[0017] Further, the power transmission assembly includes a walking motor and a walking speed reducer, and the walking motor and the walking speed reducer are mounted on the connecting plate;

[0018] The power output end of the walking motor is arranged downward, the walking speed reducer is arranged below the walking motor, and the walking speed reducer is arranged above the drive wheel, preferably directly above;

[0019] A small sprocket is connected to the power output end of the speed reducer, and the small sprocket drives the large sprocket to rotate by means of a transmission chain.

[0020] Further, a chain tensioning idler is arranged on the side of the transmission chain. The chain tensioning idler is mounted on the walking wheel mounting seat, and a horizontal adjustment groove for adjusting the mounting position of the chain tensioning idler is provided on the walking wheel mounting seat.

[0021] Further, two sets of the drive wheel assembly, the power transmission assembly, and the rotating assembly are provided, and the slewing motors and the slewing speed reducers in the two sets of rotating assemblies are arranged side by side with a dislocation.

[0022] Compared with the prior art, the AGV steering wheel with a small rotation radius of the present utility model has the following beneficial effects:

[0023] The AGV steering wheel with a small rotation radius described in the present utility model shortens the overall length of the AGV steering wheel and thus reduces the rotation radius of the AGV steering wheel by arranging the rotary motors and rotary speed reducers in the two sets of rotation components side by side with dislocation, setting the power output end of the traveling motor downward, and arranging the traveling speed reducer on the traveling wheel mounting seat below the traveling motor, which is in a straight-line arrangement relative to the existing above components. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings forming a part of the present utility model are used to provide a further understanding of the present utility model. The schematic embodiments and descriptions thereof of the present utility model are used to explain the present utility model and do not constitute an improper limitation to the present utility model. In the drawings:

[0025] Figure 1 is a schematic view of the overall structure of the embodiment of the present utility model from the first angle;

[0026] Figure 2 is a side view of the overall structure of the embodiment of the present utility model;

[0027] Figure 3 is a schematic view of the overall structure of the embodiment of the present utility model from the second angle;

[0028] Figure 4 is a schematic view of the overall structure of the embodiment of the present utility model from the third angle;

[0029] Figure 5 is a schematic view of the structure of the traveling wheel mounting seat of the embodiment of the present utility model.

[0030] DESCRIPTION OF THE REFERENCE NUMERALS:

[0031] 1 - connecting plate; 2 - traveling wheel mounting seat; 21 - first mounting plate; 22 - first mounting frame; 23 - traveling wheel mounting side plate; 231 - mounting shaft hole; 24 - traveling wheel connecting plate; 25 - horizontal adjustment groove; 3 - drive wheel assembly; 31 - drive wheel; 32 - large sprocket; 4 - power transmission assembly; 41 - traveling motor; 42 - traveling speed reducer; 43 - small sprocket; 44 - chain tensioning idler; 45 - transmission chain; 5 - rotation assembly; 51 - rotary motor; 52 - slewing bearing; 53 - rotary speed reducer; 54 - rotary gear; 55 - outer ring of slewing bearing; 6 - encoder; 61 - coding gear. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0032] It should be noted that, without conflict, the embodiments in the present utility model and the features in the embodiments can be combined with each other.

[0033] The present utility model will be described in detail below with reference to the drawings and in combination with the embodiments.

[0034] This solution discloses an AGV steering wheel with a small rotation radius. For the existing driving components arranged in a straight line, this solution adjusts the layout of the structures of each component to shorten the length of the AGV steering wheel as much as possible, thereby facilitating the reduction of the rotation radius of the AGV steering wheel.

[0035] In this solution, it mainly includes a connecting plate 1, a walking wheel mounting seat 2, a driving wheel 31 assembly 3, a power transmission assembly 4, and a rotating assembly 5. The driving wheel 31 assembly 3 and the power transmission assembly 4 are arranged on the walking wheel mounting seat 2, and the rotating assembly 5 is arranged on the connecting plate 1.

[0036] Among them, the walking wheel mounting seat 2 includes a first mounting plate 21 and a first mounting bracket 22, and the first mounting bracket 22 is mounted on the first mounting plate 21.

[0037] The rotating assembly 5 includes a slewing bearing 52. The inner ring of the slewing bearing 52 is connected to the connecting plate 1, and the outer ring is connected to the first mounting plate 21. The first mounting plate 21 is movably connected to the connecting plate 1 through the slewing support.

[0038] The rotating assembly 5 includes a slewing motor 51 and a slewing reducer 53. The slewing motor 51 is connected to a slewing gear 54 through the slewing reducer 53. A gear structure corresponding to the slewing gear 54 is provided on the outer ring of the slewing bearing 52, and the slewing motor 51 drives the walking wheel mounting bracket to rotate relative to the connecting plate 1 through the outer ring of the slewing support.

[0039] The rotating assembly 5 includes an encoder 6 arranged on the connecting plate 1, and the encoding gear 61 of the encoder 6 meshes with the gear structure on the outer ring of the slewing bearing 52.

[0040] The walking wheel mounting seat 2 includes walking wheel mounting side plates 23 and a walking wheel connecting plate 241. The two walking wheel side plates are arranged in parallel, and the walking wheel connecting plate 241 is arranged between the two walking wheel side plates.

[0041] Below the walking wheel mounting side plate 23, there are mounting shaft holes 231 for mounting the driving wheel 31, and the walking wheels are arranged between the two mounting shaft holes 231.

[0042] The driving wheel 31 assembly 3 includes a large sprocket 32 mounted on the outside of the walking wheel mounting side plate 23, and the large sprocket 32 is connected to the walking wheel through a connecting shaft.

[0043] The power transmission assembly 4 drives the walking wheel to move by means of the large sprocket 32.

[0044] The power transmission assembly 4 includes a walking motor 41 and a walking reducer 42, and the walking motor 41 and the walking reducer 42 are mounted on the connecting plate 1.

[0045] The power output end of the traveling motor 41 is arranged downward, and the traveling speed reducer 42 is arranged below the traveling motor 41;

[0046] A small sprocket 43 is connected to the power output end of the speed reducer, and the small sprocket 43 drives the large sprocket 32 to rotate by means of a transmission chain 45.

[0047] A chain tensioning idler 44 is arranged on the side of the transmission chain 45. The chain tensioning idler 44 is installed on the traveling wheel mounting seat 2, and a horizontal adjustment groove 25 for adjusting the installation position of the chain tensioning idler 44 is arranged on the traveling wheel mounting seat 2.

[0048] There are two sets of driving wheel 31 assemblies 3, power transmission assemblies 4, and rotation assemblies 5 respectively. As Figure 3 shown, the slewing motors 51 and slewing speed reducers 53 in the two sets of rotation assemblies 5 are arranged side by side with a dislocation, so as to improve the overlapping area between the two sets of slewing motors 51 and slewing speed reducers 53 as much as possible, thereby shortening the overall length of the AGV steering wheel, improving the integration degree, and assisting in shortening the turning radius.

[0049] Those of ordinary skill in the art can realize that the units and method steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0050] In several embodiments provided in the present application, it should be understood that the disclosed methods and systems can be implemented in other ways. For example, the above-mentioned division of units is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. The above-mentioned units may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment of the present invention.

[0051] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the various embodiments of the present invention, and they should all be covered by the scope of the claims and the description of the present invention.

[0052] The foregoing is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An AGV steering wheel with a small rotation radius, characterized in that: It comprises a connecting plate (1), a walking wheel mounting seat (2), a driving wheel assembly (3), a power transmission assembly (4), and a rotating assembly (5); the driving wheel assembly (3) and the power transmission assembly (4) are arranged on the walking wheel mounting seat (2), and the rotating assembly (5) is arranged on the connecting plate (1); The driving wheel assembly (3) comprises a driving wheel (31), and the power transmission assembly (4) is used to drive the driving wheel (31) to rotate, and the driving wheel (31) is used to drive the AGV to move; The rotating assembly (5) comprises a rotary motor (51), and the rotary motor (51) is used to drive the walking wheel mounting seat (2) to rotate, and the rotating assembly (5) is used to drive the driving wheel (31) to turn.

2. The AGV steering wheel with a small rotation radius according to claim 1, characterized in that: The walking wheel mounting seat (2) comprises a first mounting plate (21) and a first mounting frame (22), wherein the first mounting frame (22) is mounted on the first mounting plate (21); The rotating assembly (5) comprises a slewing bearing (52), the inner ring of the slewing bearing (52) is connected to the connecting plate (1), the outer ring is connected to the first mounting plate (21), and the first mounting plate (21) is movably connected to the connecting plate (1) via the slewing support.

3. The AGV steering wheel with a small rotation radius according to claim 2, characterized in that: The rotating assembly (5) comprises a rotary motor (51) and a rotary reducer (53); the rotary motor (51) is connected to a rotary gear (54) via the rotary reducer (53); the outer ring of the rotary support (52) is provided with a gear structure corresponding to the rotary gear (54); the rotary motor (51) is used to drive the walking wheel mounting frame to rotate relative to the connecting plate (1) via the outer ring of the rotary support.

4. The AGV steering wheel with a small rotation radius according to claim 3, characterized in that: The rotating assembly (5) comprises an encoder (6) arranged on the connecting plate (1), and an encoding gear (61) of the encoder (6) is meshed with a gear structure of an outer ring of a slewing bearing (52).

5. The AGV steering wheel with a small rotation radius according to claim 1, characterized in that: The walking wheel mounting seat (2) comprises a walking wheel mounting side plate (23) and a walking wheel connecting plate (24), the two walking wheel side plates are arranged in parallel, and the walking wheel connecting plate (24) is arranged between the two walking wheel side plates; A mounting shaft hole (231) for mounting a driving wheel (31) is provided below the running wheel mounting side plate (23), and the running wheel is arranged between two mounting shaft holes (231); The driving wheel assembly (3) comprises a large sprocket (32) mounted on the outside of the running wheel mounting side plate (23), and the large sprocket (32) is connected to the running wheel via a connecting shaft; The power transmission assembly (4) utilizes the large sprocket (32) to drive the travel wheel to move.

6. The AGV steering wheel with a small rotation radius according to claim 5, characterized in that: The power transmission assembly (4) comprises a travel motor (41) and a travel reducer (42), and the travel motor (41) and the travel reducer (42) are mounted on the connecting plate (1); The power output end of the travel motor (41) is arranged downward, the travel reducer (42) is arranged below the travel motor (41), and the travel reducer (42) is arranged above the driving wheel; The power output end of the speed reducer is connected with a small sprocket (43), and the small sprocket (43) drives the large sprocket (32) to rotate by using a transmission chain (45).

7. The AGV steering wheel with a small rotation radius according to claim 6, characterized in that: A chain tensioner idler wheel (44) is arranged on the side of the transmission chain (45), and the chain tensioner idler wheel (44) is mounted on the running wheel mounting seat (2). The running wheel mounting seat (2) is provided with a horizontal adjustment groove (25) for adjusting the installation position of the chain tensioner idler wheel (44).

8. The AGV steering wheel with a small rotation radius according to claim 3, characterized in that: The driving wheel assembly (3), the power transmission assembly (4), and the rotating assembly (5) are each provided in two groups, and the rotary motors (51) and the rotary reducers (53) in the two groups of rotating assemblies (5) are staggered and arranged side by side.

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