Multi-wheel-train AGV chassis

Abstract

The utility model provides a multi-wheel-train AGV chassis, relates to the technical field of AGV chassis, solves the problem that supporting wheels or driving wheels are suspended along with increase of the number of wheels, and comprises an AGV chassis, a supporting wheel assembly and a differential driving wheel assembly which form a wobble wheel assembly through a mounting plate rotating shaft, and the wobble wheel assembly can swing in multiple directions. The supporting wheels and the speed reduction wheels are always attached to the ground to run. Each wheel of the AGV can be in contact with the ground, effective bearing of the wheels is achieved, the bearing weight is improved, and the AGV can adapt to different paved grounds.

Description

Technical Field

[0001] The utility model relates to the technical field of AGV chassis, in particular to a multi-wheel AGV chassis. Background Art

[0002] With the development of AGV (Automated Guided Vehicle) technology, users have increasingly stringent requirements on AGV dimensions. AGV height is an important dimension parameter that most users are concerned about. How to reduce the height while meeting the AGV's carrying capacity is an important development direction for AGVs.

[0003] Existing AGVs often use support wheels and drive wheels to form an AGV chassis system. The four support wheels are fixedly connected to the AGV frame, and the drive wheels are connected to the AGV frame through a spring shock-absorbing structure. The support wheels are used to bear the load, and the drive wheels are used to provide driving force. With the development of technology, a chassis structure supported by drive wheels has emerged. Two drive wheels are arranged diagonally and matched with two other universal support wheels to form a four-wheel chassis structure. Since the driving force shock-absorbing structure has been eliminated, the height of the AGV is effectively reduced. Due to the limitation that the wheel diameter of the support wheels and drive wheels is positively correlated with the load-bearing capacity, support wheels and drive wheels with small wheel diameters will inevitably be unable to carry large loads. In order to ensure the load-bearing capacity while reducing the height of the AGV, it is necessary to increase the number of wheels to increase the AGV's load-bearing capacity. According to the principle of three points determining a plane, as the number of wheels increases, some support wheels or drive wheels will be suspended in the air. Utility Model Content

[0004] To this end, the utility model provides a multi-wheel AGV chassis for solving the problem of support wheels or drive wheels being suspended in the air as the number of wheels increases.

[0005] In order to achieve the above-mentioned purpose, the present invention provides the following technical solutions: a multi-wheel AGV chassis, comprising an AGV frame body, the AGV frame body being provided with a plurality of mounting holes, and the mounting holes being distributed around the AGV frame body; the AGV frame body being further provided with a support wheel assembly, a differential drive wheel assembly and a swing wheel assembly, the support wheel assembly, the differential drive wheel assembly and the swing wheel assembly being all provided at the mounting holes and being connected to the mounting hole rotating shafts, the support wheel assembly being provided on the side of the differential drive wheel assembly, and the swing wheel assembly being provided relative to the support wheel assembly and the differential drive wheel assembly.

[0006] Preferably, the support wheel assembly includes a support wheel mounting frame, support wheels, and a rotating shaft, the rotating shaft is arranged at the bottom of the support wheel mounting frame, the support wheels are arranged in two groups, and the support wheels are symmetrically arranged on both sides of the rotating shaft.

[0007] Preferably, the supporting wheel is configured as a universal wheel.

[0008] Preferably, a first rotating shaft hole seat is provided at the bottom of the support wheel mounting frame, a sleeve is embedded in the first rotating shaft hole seat, and two first rotating shaft hole seats are provided, which are symmetrically arranged at both ends of the central axis of the support wheel mounting frame.

[0009] Preferably, the differential drive wheel assembly includes a reduction wheel group mounting plate, a drive motor, a reducer, a reduction wheel, an adjustment shaft and a slewing support assembly, the slewing support assembly is arranged at the center position of the reduction wheel group mounting plate and is connected to the reduction wheel group mounting plate through a shaft; the drive motor and the reducer housing are connected by bolts, and are internally connected by a transmission shaft; the reduction wheel and the reducer housing are connected by bolts, and are internally connected by a transmission shaft; the drive motor, reducer and reduction wheel are arranged at the bottom of the reduction wheel group mounting plate.

[0010] Preferably, the driving motor, the reducer and the reduction wheel are connected to form a reduction wheel group, and the reduction wheel group is provided in two groups, and the reduction wheel groups are symmetrically arranged at both ends of the adjustment shaft.

[0011] Preferably, the adjusting shaft is fixedly connected to the reduction wheel assembly mounting plate via bolts.

[0012] Preferably, the slewing bearing assembly includes a slewing bearing and a shaft seat, and the slewing bearing and the shaft seat are connected by bolts; the slewing bearing assembly is connected to the reduction wheel assembly mounting plate through the adjusting shaft.

[0013] Preferably, the swing wheel assembly is composed of the support wheel assembly, the differential drive wheel assembly, the swing wheel mounting plate, the mounting plate shaft and the mounting plate shaft hole seat, the AGV frame body is fixedly provided with a mounting plate shaft hole seat, both ends of the mounting plate shaft are arranged in the mounting plate shaft hole seat, the swing wheel mounting plate connects the support wheel assembly, the differential drive wheel assembly and the mounting plate shaft as a whole, and the support wheel assembly and the differential drive wheel assembly are arranged on both sides of the mounting plate shaft;

[0014] The swing wheel assembly can rotate around the mounting plate shaft to drive the differential drive wheel assembly and the support wheel assembly to swing relative to the AGV frame body; and to ensure that all wheels in the swing wheel assembly are in contact with the ground.

[0015] Preferably, the mounting plate shaft hole seat is arranged on the top of the AGV frame body and is fixedly connected to the AGV frame body by bolts.

[0016] This application adopts the above technical solution, which has at least the following beneficial effects:

[0017] Solve the problem of wheels hanging in the air due to the increase in the number of wheels, ensure that each wheel of the AGV can contact the ground, and realize effective load-bearing of the wheels.

[0018] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 any creative work.

[0020] Figure 1 It is a structural diagram provided by an embodiment of the present utility model;

[0021] Figure 2 This is a schematic structural diagram of a support wheel assembly provided by an embodiment of the present utility model;

[0022] Figure 3 This is a schematic structural diagram of a differential drive wheel assembly provided by an embodiment of the present utility model;

[0023] Figure 4 This is a schematic structural diagram of a slewing support assembly provided by an embodiment of the present utility model;

[0024] Figure 5 This is a schematic structural diagram of a swing wheel assembly provided by an embodiment of the present utility model;

[0025] In the figure: 1. AGV frame body; 2. Mounting hole; 3. Mounting frame; 4. Support wheel; 5. Rotating shaft; 6. First rotating shaft hole seat; 7. Reduction wheel assembly mounting plate; 8. Drive motor; 9. Reducer; 10. Reduction wheel; 11. Adjusting rotating shaft; 12. Swing wheel mounting plate; 13. Mounting plate rotating shaft; 14. Slewing support assembly; 15. Mounting plate rotating shaft hole seat; 141. Slewing support; 142. Second rotating shaft hole seat. DETAILED DESCRIPTION

[0026] To make the purpose, technical solution, and advantages of the present invention more clear, the technical solution of the present invention will be described in detail below. Obviously, the embodiments described are only some of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0027] The specific embodiment of the present utility model provides a multi-wheel AGV chassis. Figure 1 As shown, it mainly includes an AGV frame body 1, and the AGV frame body 1 is provided with a plurality of mounting holes 2, and the mounting holes 2 are distributed around the AGV frame body 1; the AGV frame body 1 is also provided with a supporting wheel assembly, a differential drive wheel assembly and a swing wheel assembly, and the supporting wheel assembly, the differential drive wheel assembly and the swing wheel assembly are all arranged at the mounting hole 2, the supporting wheel assembly and the swing wheel assembly are connected to the rotating shaft of the AGV frame body 1, the differential drive wheel assembly and the AGV frame body 1 are fixedly connected, the supporting wheel assembly is arranged on the side of the differential drive wheel assembly, and the swing wheel assembly is arranged relative to the supporting wheel assembly and the differential drive wheel assembly.

[0028] Specifically, if Figure 2 As shown, the support wheel assembly includes a mounting frame 3, a support wheel 4 and an adjusting shaft 5. The size of the mounting frame 3 is smaller than the size of the mounting hole 2, which is convenient for the installation of the support wheel assembly in the mounting hole 2. A support wheel 4 and a shaft 5 are provided at the bottom of the mounting frame 3. A first shaft hole seat 6 is provided on opposite sides of the central axis of the mounting frame 3. The first shaft hole seat 6 is embedded with a sleeve, and both ends of the shaft 5 are provided at the position of the first shaft hole seat 6. The mounting frame 3 can use the shaft 5 as a base point to rotate along the shaft 5 to adjust the angle; the support wheels 4 are provided in two groups, which are relatively arranged on both sides of the bottom of the mounting frame 3 with the shaft 5 as a reference line, and the support wheels 4 are provided as universal wheels; when encountering uneven and irregular ground, the support wheels 4 apply a reaction force to the mounting frame 3 due to the tilt of the ground, and the mounting frame 3 adjusts the angle through the tilt of the shaft 5 to ensure that the support wheels 4 are always in contact with the ground.

[0029] Specifically, if Figure 3 As shown, the differential drive wheel assembly includes a reduction wheel assembly mounting plate 7, a drive motor 8, a reducer 9, a reduction wheel 10, an adjustment shaft 11 and a slewing support assembly 14. The drive motor 8, the reducer 9 and the reduction wheel 10 are arranged at the bottom of the reduction wheel assembly mounting plate 7. The slewing support assembly 14 is fixedly connected to the AGV frame body 1. The slewing support assembly 14 is arranged in the middle position of the reduction wheel assembly mounting plate 7 and is connected to the reduction wheel assembly mounting plate 7 through a rotating shaft. The reduction wheel assembly mounting plate 7 can swing around the adjusting shaft 11 to adjust the height of the left and right reduction wheel assemblies; the drive motor 8, the reducer 9 and the reduction wheel 10 are arranged as a reduction wheel assembly, wherein the drive motor 8 and the reducer 9 outer shells are fixed by bolts and are connected internally by a transmission shaft, the reducer 9 and the reduction wheel 10 outer shells are fixed by bolts and are connected internally by a transmission shaft, and when the drive motor 8 is energized, it drives the reducer 9 to rotate while controlling the speed so that the reduction wheel 10 can rotate forward or backward; in this embodiment, two reduction wheel assemblies are arranged.

[0030] Specifically, if Figure 4As shown, a slewing support assembly 14 is provided in the middle position of the differential drive wheel assembly, including a slewing support 141 and a second rotating shaft hole seat 142, wherein the slewing support 141 and the second rotating shaft hole seat 142 are connected by bolts; the slewing support assembly 14 is connected to the reduction wheel assembly mounting plate 7 through the adjusting shaft 11; when the reduction wheel 10 tilts sideways from the ground, the reduction wheel 10 applies a reaction force toward the reduction wheel assembly mounting plate 7, and the adjusting shaft 11 can rotate in the second rotating shaft hole seat 142, so when the reduction wheel 10 applies a reaction force toward the reduction wheel assembly mounting plate 7, the reduction wheel 10 can cooperate with the adjusting shaft 11 to drive the reduction wheel assembly mounting plate 7 to tilt sideways, so that the reduction wheel 10 can run in close contact with the ground.

[0031] Specifically, if Figure 5 As shown, the swing wheel assembly includes a swing wheel mounting plate 12, a mounting plate rotating shaft 13, a mounting plate rotating shaft hole seat 15, a support wheel assembly and a differential drive wheel assembly, wherein the slewing support of the differential drive wheel assembly at the swing wheel assembly is connected to the swing wheel mounting plate 12 by bolts, and the differential drive wheel assembly can rotate around the rotating shaft to realize the swing of the differential drive wheel assembly relative to the swing wheel mounting plate 12; the support wheel of the support wheel assembly at the swing wheel assembly is connected to the mounting frame by bolts and is connected to the swing wheel mounting plate 12 by adjusting the rotating shaft; the support wheel mounting frame can rotate by adjusting the rotating shaft with the rotating shaft hole seat as the base point to realize the swing of the support wheel relative to the swing wheel mounting frame 12; the mounting plate rotating shaft 13 is arranged in the mounting plate rotating shaft hole seat 15, and the swing wheel assembly is connected to the AGV frame through the mounting plate rotating shaft 13, and the swing wheel assembly can rotate around the mounting plate rotating shaft 13 to realize the swing of the differential drive wheel assembly and the support wheel assembly relative to the AGV frame; thereby ensuring that all wheels in the swing wheel assembly are in contact with the ground.

[0032] The support wheel 4 and the reduction wheel 10 arranged at the bottom of the AGV frame body 1 are in the same plane, and the AGV frame body is arranged horizontally. When encountering rugged ground, the support wheel 4 and the reduction wheel 10 drive the mounting frame 3, the reduction wheel group mounting plate 7 and the swing wheel mounting plate 12 to swing and tilt through the rotating shaft 5, the adjustment rotating shaft 11 and the mounting plate rotating shaft 13, so that the support wheel 4 and the reduction wheel 10 are always in contact with the ground. Through the integration of the support wheel assembly and the differential drive wheel assembly, the carrying force capacity is greatly enhanced, and it is adaptable to various types of paved ground. Therefore, it will not be affected by the number of wheels. By adopting the swing wheel assembly, multi-wheel combined transportation of the AGV chassis can be realized, and there is no need to worry about the problem that the wheel body cannot contact the ground.

[0033] 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 aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-wheel AGV chassis, comprising an AGV frame body (1), characterized in that: The AGV frame body (1) is provided with a plurality of mounting holes (2), and the mounting holes (2) are distributed around the AGV frame body (1); the AGV frame body (1) is also provided with a supporting wheel assembly, a differential drive wheel assembly and a swing wheel assembly, and the supporting wheel assembly, the differential drive wheel assembly and the swing wheel assembly are all arranged at the mounting holes (2), the supporting wheel assembly and the swing wheel assembly are connected to the rotating shaft of the AGV frame body (1), the differential drive wheel assembly and the AGV frame body (1) are fixedly connected, the supporting wheel assembly is arranged on the side of the differential drive wheel assembly, and the swing wheel assembly is arranged relative to the supporting wheel assembly and the differential drive wheel assembly.

2. The multi-wheel AGV chassis according to claim 1, characterized in that: The support wheel assembly comprises a support wheel mounting frame (3), a support wheel (4), and a rotating shaft (5); the rotating shaft (5) is arranged at the bottom of the support wheel mounting frame (3); the support wheels (4) are arranged in two groups; and the support wheels (4) are symmetrically arranged on both sides of the rotating shaft (5).

3. The multi-wheel AGV chassis according to claim 2, characterized in that: The supporting wheel (4) is configured as a universal wheel.

4. The multi-wheel AGV chassis according to claim 3, characterized in that: A first rotating shaft hole seat (6) is provided at the bottom of the support wheel mounting frame (3), a sleeve is embedded in the first rotating shaft hole seat (6), and two first rotating shaft hole seats (6) are provided, which are symmetrically arranged at both ends of the central axis of the support wheel mounting frame (3).

5. The multi-wheel AGV chassis according to claim 1, characterized in that: The differential drive wheel assembly comprises a reduction wheel assembly mounting plate (7), a drive motor (8), a reducer (9), a reduction wheel (10), an adjustment shaft (11) and a slewing bearing assembly (14), wherein the slewing bearing assembly (14) is arranged at the center of the reduction wheel assembly mounting plate (7) and is connected to the reduction wheel assembly mounting plate (7) via a shaft; the drive motor (8) and the reducer (9) are connected to each other via bolts, and are internally connected via a transmission shaft; the reduction wheel (10) and the reducer (9) are connected to each other via bolts, and are internally connected via a transmission shaft; the drive motor (8), the reducer (9) and the reduction wheel (10) are arranged at the bottom of the reduction wheel assembly mounting plate (7).

6. The multi-wheel AGV chassis according to claim 5, characterized in that: The driving motor (8), the reducer (9) and the reduction wheel (10) are connected to form a reduction wheel set, and the reduction wheel set is provided in two sets, and the reduction wheel sets are symmetrically arranged at both ends of the adjustment shaft (11).

7. The multi-wheel AGV chassis according to claim 6, characterized in that: The adjusting shaft (11) is fixedly connected to the reduction wheel assembly mounting plate (7) via bolts.

8. The multi-wheel AGV chassis according to claim 7, characterized in that: The slewing bearing assembly (14) comprises a slewing bearing (141) and a second rotating shaft hole seat (142), wherein the slewing bearing (141) and the second rotating shaft hole seat (142) are connected via bolts; the slewing bearing assembly (14) is connected via the rotating shaft (11) and the reduction wheel assembly mounting plate (7).

9. The multi-wheel AGV chassis according to claim 1, characterized in that: The swing wheel assembly is composed of the support wheel assembly, the differential drive wheel assembly, the swing wheel mounting plate (12), the mounting plate shaft (13) and the mounting plate shaft hole seat (15); the AGV frame body (1) is fixedly provided with the mounting plate shaft hole seat (15); both ends of the mounting plate shaft (13) are arranged in the mounting plate shaft hole seat (15); the swing wheel mounting plate (12) connects the support wheel assembly, the differential drive wheel assembly and the mounting plate shaft (13) into a whole; the support wheel assembly and the differential drive wheel assembly are arranged on both sides of the mounting plate shaft (13); The swing wheel assembly can rotate around the mounting plate shaft (13) to drive the differential drive wheel assembly and the support wheel assembly to swing relative to the AGV frame body (1); and is used to ensure that all wheels in the swing wheel assembly are in contact with the ground.

10. The multi-wheel AGV chassis according to claim 9, characterized in that: The mounting plate shaft hole seat (15) is arranged on the top of the AGV frame body (1) and is fixedly connected to the AGV frame body (1) via bolts.

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