Driving wheel mechanism and automatic navigation device

Abstract

The utility model discloses a driving wheel mechanism and an automatic navigation device. The driving wheel mechanism comprises a supporting assembly. The steering assembly is arranged on the supporting assembly; the sliding assembly is arranged on the supporting assembly in a sliding mode; the two ends of the damping assembly are connected with the supporting assembly and the sliding assembly through connecting shaft assemblies correspondingly; the driving wheel assembly is fixedly connected with the sliding assembly; the sliding assembly comprises a guide rail which is vertically and fixedly arranged on the supporting frame assembly. The sliding seat is slidably arranged on the guide rail; the mounting seat is fixedly arranged on the sliding seat and is connected with the damping assembly, and the driving wheel assembly is fixedly connected with the mounting seat. According to the driving wheel mechanism, through mutual cooperation of the supporting assembly, the steering assembly, the sliding assembly, the damping assembly and the driving wheel assembly, the problem that an existing driving wheel mechanism is complex in structure and assembly is effectively solved.

Description

Technical Field

[0001] The utility model relates to the technical field of driving wheels, in particular to a driving wheel mechanism and an automatic navigation device. Background Art

[0002] An Automated Guided Vehicle (AGV) is a device that uses one or more steering wheels to provide power for transport operations. The steering wheel is a power module capable of driving forward and backward and actively steering. The drive motor on the steering wheel is only responsible for driving, and the steering motor is only responsible for steering, allowing for appropriate power selection.

[0003] Publication number CN110789331A provides a robotic servo steering wheel, which includes a drive wheel module and a steering module. The drive wheel module includes a wheel body, a drive motor, and a shock-absorbing bracket, with the drive motor connected to the drive wheel via the shock-absorbing bracket. The steering module includes a steering motor, a reduction mechanism, and a rotating shaft. The output shaft of the steering motor is connected to the input end of the reduction mechanism, the output end of the reduction mechanism is connected to the rotating shaft, and the other end of the rotating shaft is connected to the shock-absorbing bracket. The drive motor drives the wheel body to rotate; the output power of the steering motor is reduced by the reduction mechanism and then transmitted to the rotating shaft to drive the shock-absorbing bracket to steer. Although this technical solution can effectively achieve driving and steering operations, its structure is relatively complex and assembly is relatively cumbersome. Therefore, a drive wheel mechanism and automatic navigation device are provided to address the above problems. Summary of the Invention

[0004] One of the purposes of the present utility model is to provide a driving wheel mechanism and an automatic navigation device so as to solve the problem that the existing driving wheel mechanism has a relatively complicated structure and assembly.

[0005] The driving wheel mechanism and automatic navigation device of the utility model can be realized by the following technical solutions:

[0006] The utility model discloses a driving wheel mechanism comprising a support assembly; a steering assembly, which is arranged on the support assembly, the steering assembly is fixedly connected to the chassis, and can drive the support assembly to perform a steering operation relative to the chassis; a sliding assembly, which is slidably arranged on the support assembly; a shock absorbing assembly, the two ends of which are respectively connected to the support assembly and the sliding assembly through a connecting shaft assembly; a driving wheel assembly, which is fixedly connected to the sliding assembly, and the driving wheel assembly realizes a shock absorbing operation through the cooperation of the sliding assembly and the shock absorbing assembly;

[0007] Among them, the sliding assembly includes a guide rail, which is vertically fixed on the support frame assembly; a sliding seat slidably arranged on the guide rail; a mounting seat fixedly arranged on the sliding seat, which is connected to the shock absorbing assembly, and the driving wheel assembly is fixedly connected to the mounting seat.

[0008] In one embodiment, the support assembly includes a support frame body having a 7-shaped shape, and a wire groove is provided on the support frame body; and a cover plate is fixedly provided on the wire groove.

[0009] In one embodiment, a first connecting hole is provided through the support frame body; a second connecting hole is provided through the mounting seat, and both ends of the shock absorbing assembly are respectively connected to the first connecting hole and the second connecting hole through a connecting shaft assembly.

[0010] In one embodiment, the mounting seat is provided with a pin hole having an internal thread, and one end of the driving wheel assembly is fixedly threadedly connected to the pin hole; and first cutting edges are provided on opposite sides of the pin hole.

[0011] In one embodiment, the driving wheel assembly is fixedly connected to the mounting base via a threaded structure or a flange structure.

[0012] In one embodiment, the steering assembly includes a fixed seat, which is fixedly arranged on the support frame body; a steering motor fixedly connected to the fixed seat, and the steering motor is a joint motor with a through hole penetrating the center position of the motor.

[0013] In one embodiment, the shock absorbing assembly includes a fixed rod and a movable rod, the fixed rod is a hollow rod body, one end of which is connected to the mounting seat through the connecting shaft assembly; one end of the movable rod is movably arranged in the fixed rod, and the other end of the movable rod is connected to the support assembly through the connecting shaft assembly; a first baffle threadedly connected to the fixed rod; a second baffle penetrating the movable rod; and a shock absorbing spring arranged between the first baffle and the second baffle.

[0014] In one embodiment, the driving wheel assembly includes a driving wheel body; a connecting shaft fixedly arranged on one side of the driving wheel body, one end of which is fixedly arranged on the mounting seat, and the connecting shaft is a hollow rod body.

[0015] In one embodiment, the connecting shaft assembly includes a connecting shaft body, which is arranged through the supporting assembly or the sliding assembly; and two fixing members respectively engaged with the two ends of the connecting shaft body.

[0016] The utility model provides an automatic navigation device comprising any one of the driving wheel mechanisms described above.

[0017] Compared with the prior art, the driving wheel mechanism and automatic navigation device of the present invention have the following beneficial effects:

[0018] The utility model provides a driving wheel mechanism and an automatic navigation device that realizes steering operation through a steering assembly; and then realizes driving and damping operation through the cooperation of a sliding assembly, a shock-absorbing assembly and a driving wheel assembly, thereby adapting to ground conditions with different road conditions, ensuring that the driving wheel assembly fits the ground and does not slip; at the same time, the shock-absorbing assembly can effectively reduce the impact of the ground, and can also increase the positive pressure of the driving wheel assembly to ensure the positive pressure required by the driving wheel mechanism, making the structure and assembly of the driving wheel mechanism relatively simple, and effectively solving the problem that the existing driving wheel mechanism structure and assembly are relatively complicated. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 This is a structural diagram of a driving wheel mechanism of the utility model;

[0021] Figure 2 yes Figure 1 The schematic structural diagram of a driving wheel mechanism of the present invention from another perspective is shown, which includes a support assembly, a sliding assembly, a shock absorbing assembly, a driving wheel assembly and a connecting shaft assembly;

[0022] Figure 3 yes Figure 2 Schematic diagram of the exploded structure of the support assembly shown;

[0023] Figure 4 yes Figure 2 Schematic diagram of the exploded structure of the sliding assembly shown;

[0024] Figure 5 yes Figure 2 A schematic structural diagram of the shock absorbing assembly shown;

[0025] Figure 6 yes Figure 2 A schematic structural diagram of the driving wheel assembly shown;

[0026] Figure 7 yes Figure 2 Schematic diagram of the exploded structure of the connecting shaft assembly shown.

[0027] Indicated in the figure: 10, driving wheel mechanism; 11, supporting assembly; 111, supporting frame body; 1111, wire groove; 1112, first connecting hole; 1113, first fixing hole; 112, cover plate; 12, steering assembly; 121, fixing seat; 122, steering motor; 1221, through hole; 13, sliding assembly; 131, guide rail; 132, sliding seat; 1321, second fixing hole; 133, mounting seat; 1331, third fixing hole; 1332, second connecting hole; 1333, pin hole; 13331, first cutting edge; 14, shock absorbing assembly; 141, fixing rod; 1411, first connector; 1412, threaded rod; 142, movable rod; 1421, second connecting head; 1422, movable rod body; 143, first baffle; 144, second baffle; 145, shock-absorbing spring; 15, driving wheel assembly; 151, driving wheel body; 152, connecting shaft; 1521, threaded portion; 1522, second cutting edge; 16, connecting shaft assembly; 161, connecting shaft body; 1611, slot; 162, fixing piece; 1621, retaining spring; 1622, fastening screw. DETAILED DESCRIPTION

[0028] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and illustrated in the drawings herein can be arranged and designed in various different configurations.

[0029] 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 invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are intended to fall within the scope of protection of the present invention.

[0030] See also Figure 1 and Figure 2As shown, the utility model provides a driving wheel mechanism 10 mainly including a support assembly 11, a steering assembly 12, a sliding assembly 13, a shock absorbing assembly 14 and a driving wheel assembly 15; the support assembly 11 is the supporting body; the steering assembly 12 is arranged on the support assembly 11, which is fixedly connected to the chassis, and the steering assembly 12 can drive the support assembly 11 to perform steering operations relative to the chassis; the sliding assembly 13 is slidably arranged on the support assembly 11; one end of the shock absorbing assembly 14 is connected to the support assembly 11, and the other end thereof is connected to the sliding assembly 13; the driving wheel assembly 15 is fixedly connected to the sliding assembly 13, and the driving wheel assembly 15 realizes shock absorbing operation through the cooperation of the sliding assembly 13 and the shock absorbing assembly 14, so as to adapt to the ground of different road conditions, ensure that the driving wheel assembly 15 fits with the ground and does not slip, and at the same time the shock absorbing assembly 14 can effectively reduce the impact of the ground, and can also increase the positive pressure of the driving wheel assembly 15 to ensure the positive pressure required by the driving wheel mechanism 10.

[0031] See also Figure 1-Figure 3 As shown, in this embodiment, the support assembly 11 includes a support frame body 111 and a cover plate 112. The support frame body 111 is shaped like a figure 7 and is provided with a wire groove 1111. The connecting wires electrically connected to the drive wheel assembly 15 are accommodated and arranged in the wire groove 1111. The cover plate 112 is fixedly arranged on the wire groove 1111 to protect the connecting wires arranged in the wire groove 1111. Specifically, a first connecting hole 1112 and a plurality of fixing holes 1113 are respectively provided through the support frame body 111. The shock absorber assembly 14 is movably connected to the first connecting hole 1111 via the connecting shaft assembly 16. The steering assembly 12 and the sliding assembly 13 are respectively fixedly arranged on the support frame body 111 through the fixing holes 1113.

[0032] See also Figure 1 and Figure 2 As shown, in this embodiment, the steering assembly 12 includes a fixing base 121 and a steering motor 122. The fixing base 121 is fixed to the support frame body 111 through corresponding fixing holes 1113. The steering motor 122 is fixedly connected to the fixing base 121, and drives the support assembly 11 to perform steering operations through the fixing base 121. Specifically, the steering motor 122 is a joint motor with a through hole 1221 extending through the center thereof to facilitate electrical connection of the connecting wire to the automatic navigation device through the through hole 1221.

[0033] See also Figure 1 、 Figure 2 and Figure 4As shown, in this embodiment, the sliding assembly 13 includes a guide rail 131, a sliding seat 132 and a mounting seat 133; the guide rail 131 is vertically fixed on the support frame body 111 through the corresponding fixing hole 1113; the sliding seat 132 is slidably set on the guide rail 131, and the guide rail 131 performs a limiting and guiding operation on the movement of the sliding seat 132; one end of the mounting seat 133 is fixed on the sliding seat 132, and its other opposite end is connected to the shock absorbing assembly 14, and the driving wheel assembly 15 is fixedly connected to the mounting seat 133. Specifically, the sliding seat 132 is provided with a plurality of second fixing holes 1321, and the second fixing holes 1321 are provided with internal threads; the mounting seat 133 is provided with a plurality of third fixing holes 1331, and the positions of the plurality of third fixing holes 1331 correspond to the positions of the plurality of second fixing holes 1321, respectively. The screws extend through the third fixing holes 1331 into the second fixing holes 1321 for threaded connection, thereby fixing the mounting seat 133 on the sliding seat 132, so that the mounting seat 133 moves with the movement of the sliding seat 132 The mounting base 133 is provided with a second connecting hole 1332, through which the shock absorber assembly 14 is connected to the mounting base 133 via the coupling between the connecting shaft assembly 16 and the second connecting hole 1332. The mounting base 133 is also provided with a pin hole 1333, through which the drive wheel assembly 15 is fixedly connected to the mounting base 133. Specifically, the pin hole 1333 is provided with an internal thread, and one end of the drive wheel assembly 15 is fixedly threaded into the pin hole 1333. The pin hole 1333 is provided with first cutting edges 13331 on opposite sides. In other embodiments, the drive wheel assembly 15 can also be fixedly connected to the mounting base 133 via a flange structure.

[0034] See also Figure 1 、 Figure 2 and Figure 5 As shown, in this embodiment, the shock absorbing assembly 14 includes a fixed rod 141, a movable rod 142, a first baffle 143, a second baffle 144 and a shock absorbing spring 145; the fixed rod 141 is a hollow rod body, one end of which is connected to the second connecting hole 1332 on the sliding assembly 13 through the connecting shaft assembly 16; one end of the movable rod 142 is movably set in the fixed rod 141, and the other end of the movable rod 142 is connected to the first connecting hole 1112 on the support frame body 111 through the connecting shaft assembly 16; the first baffle 143 is threadedly connected to the fixed rod 141, and its position on the fixed rod 141 can be adjusted; the second baffle 144 is set through the movable rod 142; the shock absorbing spring 145 is set between the first baffle 143 and the second baffle 144.

[0035] See also Figure 5As shown, specifically, the fixed rod 141 includes a first connecting head 1411 and a threaded rod 1412. The first connecting head 1411 is connected to the second connecting hole 1332 on the sliding assembly 13 through the connecting shaft assembly 16. The threaded rod 1412 is a hollow rod body, which is fixedly arranged on one side of the first connecting head 1411. One end of the movable rod 142 is movably arranged in the threaded rod 1412, and the first blocking piece 143 is threadedly connected to the threaded rod 1412. Specifically, the movable rod 142 includes a second connecting head 1421 and a movable rod body 1422. The second connecting head 1421 is connected to the first connecting hole 1112 on the support frame body 111 through the connecting shaft assembly 16. The movable rod body 1422 is fixedly arranged on one side of the second connecting head 1421 and movably arranged in the threaded rod 1412. The second blocking piece 144 is provided through the movable rod body 1422.

[0036] See also Figure 1 、 Figure 2 and Figure 6 As shown, in this embodiment, the driving wheel assembly 15 includes a driving wheel body 151 and a connecting shaft 152; the driving wheel body 151 adopts a hub motor drive method, which adopts the existing technology, so the specific working process and structure are not described here, as long as it meets the requirements of this application; one end of the connecting shaft 152 is fixedly set on one side of the driving wheel body 151, and the other end is fixedly set in the pin hole 1333. The connecting shaft 152 is a hollow rod body, which facilitates the connection line electrically connected to the driving wheel body 151 to pass through the connecting shaft 152; specifically, a threaded portion 1521 is provided on the outer side of the connecting shaft 152, and the threaded portion 1521 is threadedly connected to the pin hole 1333; second cutting edges 1522 are provided on the opposite sides of the connecting shaft 152, which correspond to the first cutting edges 13331 in the pin hole 1333.

[0037] See also Figure 1 、 Figure 2 and Figure 7 As shown, in this embodiment, the connecting shaft assembly 16 includes a connecting shaft body 161 and two fixing members 162; the connecting shaft body 161 is disposed through the support assembly 11 or the sliding assembly 13; the two fixing members 162 are respectively engaged with the two ends of the connecting shaft body 161, and the two fixing members 162 cooperate to set the connecting shaft body 161 on the support assembly 11 or the sliding assembly 13. Specifically, the connecting shaft body 161 has a clamping groove 1611 at the opposite ends, and the fixing members 162 cooperate with the clamping groove 1611 to set the connecting shaft body 161 on the support assembly 11 or the sliding assembly 13; the fixing member 162 includes a retaining spring 1621 and two fastening screws 1622; the retaining spring 1621 is engaged with the clamping groove 1611; the two fastening screws 1622 are respectively disposed through the retaining spring 1621, and they fix the retaining spring 1621 to the support assembly 11 or the sliding assembly 13.

[0038] The automatic navigation device of the present invention includes any one of the driving wheel mechanisms 10 described above.

[0039] It should be noted that the specific working process of the driving wheel mechanism and automatic navigation device of the utility model is: steering operation is realized through the steering component 12; driving shock absorption operation is realized through the cooperation of the sliding component 13, the shock absorbing component 14 and the driving wheel component 15, so as to adapt to the ground of different road conditions and ensure that the driving wheel component 15 fits the ground and does not slip. At the same time, the shock absorbing component 14 can effectively reduce the impact of the ground, and can also increase the positive pressure of the driving wheel component 15 to ensure the positive pressure required by the driving wheel mechanism 10.

[0040] The technical features of the above-described embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0041] The above-described embodiments merely represent several implementations of the present invention. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements fall within the scope of protection of the present invention. Therefore, the scope of protection of the present utility model patent shall be determined by the appended claims.

Claims

1. A driving wheel mechanism, characterized in that: include: Support components; A steering assembly, which is arranged on the support assembly and is fixedly connected to the chassis, and can drive the support assembly to perform a steering operation relative to the chassis; a sliding assembly, which is slidably arranged on the supporting assembly; A shock absorbing assembly, both ends of which are connected to the supporting assembly and the sliding assembly via connecting shaft assemblies; A driving wheel assembly, which is fixedly connected to the sliding assembly, and the driving wheel assembly realizes a shock absorbing operation through the cooperation between the sliding assembly and the shock absorbing assembly; Among them, the sliding assembly includes a guide rail, which is vertically fixed on the support assembly; a sliding seat slidably arranged on the guide rail; a mounting seat fixedly arranged on the sliding seat, which is connected to the shock absorbing assembly, and the driving wheel assembly is fixedly connected to the mounting seat.

2. A driving wheel mechanism according to claim 1, characterized in that: The support assembly includes a support frame body, which is in the shape of a 7. A wire groove is provided on the support frame body; and a cover plate fixedly arranged on the wire groove.

3. A driving wheel mechanism according to claim 2, characterized in that: A first connecting hole is provided through the support frame body; a second connecting hole is provided through the mounting seat, and both ends of the shock absorbing assembly are respectively connected to the first connecting hole and the second connecting hole through a connecting shaft assembly.

4. A driving wheel mechanism according to claim 3, characterized in that: The mounting seat is provided with a pin hole through which an internal thread is provided. One end of the driving wheel assembly is fixedly threadedly connected to the pin hole. First cutting edges are provided on opposite sides of the pin hole.

5. The driving wheel mechanism according to claim 4, characterized in that: The driving wheel assembly is fixedly connected to the mounting seat via a threaded structure or a flange structure.

6. The driving wheel mechanism according to claim 2, characterized in that: The steering assembly includes a fixing seat fixedly arranged on the support frame body; a steering motor fixedly connected to the fixing seat, wherein the steering motor is a joint motor with a through hole penetrating the center position of the motor.

7. The driving wheel mechanism according to claim 1, characterized in that: The shock absorbing assembly includes a fixed rod and a movable rod, wherein the fixed rod is a hollow rod body, one end of which is connected to the mounting seat via the connecting shaft assembly; one end of the movable rod is movably arranged in the fixed rod, and the other end of the movable rod is connected to the supporting assembly via the connecting shaft assembly; a first blocking piece threadedly connected to the fixing rod; A second blocking piece is provided on the movable rod and a shock-absorbing spring is provided between the first blocking piece and the second blocking piece.

8. The driving wheel mechanism according to claim 1, characterized in that: The driving wheel assembly includes a driving wheel body; a connecting shaft fixedly arranged on one side of the driving wheel body, one end of which is fixedly arranged on the mounting seat, and the connecting shaft is a hollow rod body.

9. The driving wheel mechanism according to claim 1, characterized in that: The connecting shaft assembly includes a connecting shaft body, which is arranged through the supporting assembly or the sliding assembly; and two fixing members respectively engaged with the two ends of the connecting shaft body.

10. An automatic navigation device, characterized in that: Comprising the driving wheel mechanism according to any one of claims 1 to 9.

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