Mecanum wheel driving unit with swing arm type suspension mechanism

Abstract

The utility model provides a Mecanum wheel drive unit with a swing arm type suspension mechanism, which relates to the field of AGV (Automatic Guided Vehicle), and comprises a hinge seat, a swing arm assembly is arranged below the hinge seat, the swing arm assembly comprises a swing arm, an oil-free bushing, a transmission fixing screw and a transmission assembly, the transmission assembly is fixed on the swing arm through the transmission fixing screw, and the oil-free bushing is arranged on the swing arm. A hinge shaft, a hinge shaft rotation stopping plate and a rotation stopping plate fixing screw are arranged between the swing arm and the hinge seat and used for fixing the swing arm assembly. When the AGV is in a full load state, the combination of the no-load spring and the full-load disc spring is adopted for bearing, the full-load disc spring has the advantages of being high in bearing capacity, large in rigidity and the like, and therefore the purpose that the AGV floats slightly in height under the working conditions of the full load and the no-load state is achieved, and the swing arm assembly is combined with the no-load spring and the full-load disc spring. The Mecanum wheels can adapt to the uneven ground in the moving process, it is ensured that each wheel of the AGV can touch the ground, and meanwhile the buffering effect can be achieved.

Description

Technical Field

[0001] This utility model belongs to the field of AGV (Automated Guided Vehicle) vehicles, specifically a Mecanum wheel drive unit with a swing arm suspension mechanism. Background Technology

[0002] AGV, also known as AGV vehicle, refers to a transport vehicle equipped with electromagnetic or optical automatic navigation devices, capable of traveling along a prescribed navigation path, and possessing safety protection and various transfer functions.

[0003] When AGVs are in operation, they often encounter problems such as uneven ground, narrow passages, and insufficient positioning accuracy. Current technology for heavy-duty AGVs usually uses steering wheel drive. Although steering wheel AGVs can achieve omnidirectional movement, the steering wheel will cause the vehicle body to twist when changing direction, affecting the final positioning accuracy. For heavy-duty AGVs, due to the large difference in load between empty and fully loaded conditions, ordinary coil spring suspension cannot meet the requirements. Usually, heavy-duty AGVs do not have suspension. Due to uneven ground, some wheels of the AGV will be suspended, resulting in poor positioning accuracy.

[0004] In summary, this utility model provides a Mecanum wheel drive unit with a swing arm suspension mechanism to solve the above problems. Utility Model Content

[0005] To solve the above-mentioned technical problems, this utility model provides the following technical solution:

[0006] A Mecanum wheel drive unit with a swing arm suspension mechanism includes an articulated base, a swing arm assembly disposed below the articulated base, the swing arm assembly including a swing arm, an oil-free bushing, a transmission fixing screw and a transmission assembly, the transmission assembly being fixed to the swing arm by the transmission fixing screw, and a hinge shaft, a hinge shaft anti-rotation plate and an anti-rotation plate fixing screw being disposed between the swing arm and the articulated base for fixing the swing arm assembly;

[0007] The transmission assembly includes a servo motor, a planetary reducer, and reducer fixing screws. The servo motor is mounted on the planetary reducer, and the planetary reducer is fixed to the swing arm by the reducer fixing screws. The oil-free bushing is fixed to the swing arm, and the output shaft of the planetary reducer passes through the swing arm and is sleeved with a Mecanum wheel.

[0008] Furthermore, in this invention, one end of the output shaft of the planetary reducer is connected to a shaft end retaining ring and a Mecanum wheel fixing screw, which are used to fix the Mecanum wheel.

[0009] Furthermore, in this utility model, an unloaded spring is provided in the groove on the right side of the top of the swing arm, a spring holder is provided on the top of the unloaded spring, and a spring holder fixing screw is threadedly connected between the top of the spring holder and the hinge seat.

[0010] Furthermore, in this utility model, the inner cavity of the unloaded spring is provided with a fully loaded disc spring, and the two ends of the fully loaded disc spring are respectively connected to the spring holder and the swing arm.

[0011] Furthermore, in this utility model, a spring limit adjusting nut is provided at the bottom of the swing arm, and a spring limit screw is threadedly connected to the inner cavity of the spring limit adjusting nut. The top end of the spring limit screw passes through the swing arm, the unloaded spring, the fully loaded disc spring and the spring holder and is threadedly connected to the hinge seat.

[0012] Beneficial effects: This utility model has the following beneficial effects:

[0013] This invention uses a combination of unloaded springs and fully loaded disc springs for load bearing. Since the fully loaded disc springs have the characteristics of strong load bearing capacity and high rigidity, the AGV can achieve the purpose of slight height floating under both fully loaded and unloaded working conditions.

[0014] The drive unit adopts Mecanum wheel drive, which drives the Mecanum wheel to rotate through servo motor and planetary reducer. By controlling the speed and direction of the Mecanum wheel of the drive unit, the AGV can achieve omnidirectional movement and millimeter-level precise positioning, which can greatly improve the AGV transfer efficiency and positioning accuracy and broaden the application scenarios of AGV.

[0015] Uneven surfaces on the road surface where AGVs travel can affect their operational accuracy. The combination of the swing arm assembly and the unloaded and fully loaded disc springs enables the Mecanum wheels to adapt to uneven ground during movement, ensuring that each wheel of the AGV can touch the ground, while also providing a cushioning effect. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of this utility model;

[0017] Figure 2 This is a schematic diagram of the right-side structure of this utility model;

[0018] Figure 3 This is a side view structural diagram of the present invention;

[0019] Figure 4 This is a schematic diagram of the main structure of the swing arm assembly of this utility model;

[0020] Figure 5 This is a top view of the swing arm assembly of this utility model.

[0021] In the picture:

[0022] 1. Hinge seat; 2. Swing arm assembly; 21. Swing arm; 22. Oil-free bushing; 23. Transmission fixing screw; 24. Transmission assembly; 25. Servo motor; 26. Planetary reducer; 27. Reducer fixing screw; 3. Hinge shaft; 4. Hinge shaft anti-rotation plate; 5. Anti-rotation plate fixing screw; 6. Mecanum wheel; 7. Shaft end retaining ring; 8. Mecanum wheel fixing screw; 9. Unloaded spring; 10. Fully loaded disc spring; 11. Spring retainer; 12. Spring limit screw; 13. Spring limit adjusting nut; 14. Spring seat fixing screw. Detailed Implementation

[0023] To better understand the technical content of this utility model, specific embodiments are described below in conjunction with the accompanying drawings. Various aspects of this utility model are described in this disclosure with reference to the accompanying drawings, which illustrate numerous illustrative embodiments. The embodiments of this disclosure are not necessarily defined to include all aspects of this utility model. It should be understood that the various concepts and embodiments described above, as well as those described in more detail below, can be implemented in any of many ways, because the concepts and embodiments disclosed in this utility model are not limited to any particular implementation. Furthermore, some aspects of this utility model can be used alone or in any suitable combination with other aspects disclosed in this utility model.

[0024] Example 1

[0025] like Figure 1-5 As shown, this is the first embodiment of the present invention. This embodiment provides a Mecanum wheel drive unit with a swing arm suspension mechanism, including a hinge seat 1. A swing arm assembly 2 is disposed below the hinge seat 1. The swing arm assembly 2 includes a swing arm 21, an oil-free bushing 22, a transmission fixing screw 23, and a transmission assembly 24. The transmission assembly 24 is fixed to the swing arm 21 by the transmission fixing screw 23. A hinge shaft 3, a hinge shaft anti-rotation plate 4, and an anti-rotation plate fixing screw 5 are disposed between the swing arm 21 and the hinge seat 1 for fixing the swing arm assembly 2.

[0026] The transmission assembly 24 includes a servo motor 25, a planetary reducer 26 and a reducer fixing screw 27. The servo motor 25 is mounted on the planetary reducer 26. The planetary reducer 26 is fixed to the swing arm 21 by the reducer fixing screw 27. The oilless bushing 22 is fixed to the swing arm 21. The output shaft of the planetary reducer 26 passes through the swing arm 21 and is fitted with a Mecanum wheel 6.

[0027] One end of the output shaft of the planetary reducer 26 is connected to a shaft end retaining ring 7 and a Mecanum wheel fixing screw 8, which are used to fix the Mecanum wheel 6.

[0028] like Figure 1-5As shown, the drive unit is driven by Mecanum wheel 6, which is driven by servo motor 25 and planetary reducer 26. By controlling the speed and direction of the four sets of drive unit Mecanum wheels 6, the AGV can achieve omnidirectional movement and millimeter-level precise positioning, which can greatly improve the AGV transfer efficiency and positioning accuracy and broaden the application scenarios of AGV.

[0029] Uneven surfaces on the road surface where AGVs travel can affect their operational accuracy. The combination of the swing arm assembly 2, the unloaded spring 9, and the fully loaded disc spring 10 enables the Mecanum wheel 6 to adapt to uneven ground during movement, ensuring that each wheel of the AGV can touch the ground, while also providing a cushioning effect.

[0030] Example 2

[0031] Reference Figure 2-3 This is the second embodiment of the present invention, which is based on the previous embodiment.

[0032] In this embodiment, an unloaded spring 9 is provided in the groove on the right side of the top of the swing arm 21, and a spring holder 11 is provided on the top of the unloaded spring 9. A spring holder fixing screw 14 is threadedly connected between the top of the spring holder 11 and the hinge seat 1.

[0033] The inner cavity of the unloaded spring 9 is provided with a fully loaded disc spring 10, and the two ends of the fully loaded disc spring 10 are connected to the spring holder 11 and the swing arm 21 respectively.

[0034] The bottom of the swing arm 21 is provided with a spring limit adjusting nut 13. The inner cavity of the spring limit adjusting nut 13 is threaded with a spring limit screw 12. The top of the spring limit screw 12 passes through the swing arm 21, the unloaded spring 9, the fully loaded disc spring 10 and the spring holder 11 and is threadedly connected to the hinge seat 1.

[0035] like Figure 2-3 As shown, when fully loaded, the AGV uses a combination of unloaded spring 9 and fully loaded disc spring 10 for support. Since the fully loaded disc spring 10 has the characteristics of strong load-bearing capacity and high rigidity, it can achieve the purpose of small height fluctuation of the AGV under fully loaded and unloaded working conditions. The compression of the unloaded spring 9 can be adjusted by adjusting the spring limit adjusting nut 13.

[0036] In operation, when unloaded, the drive unit only bears the weight of the vehicle body itself, and only the unloaded spring 9 is compressed. The Mecanum wheel 6 swings with the unevenness of the ground, causing the drive unit to oscillate and the wheel to float up and down. When fully loaded, under the combined action of the load and the weight of the vehicle body, the unloaded spring 9 and the fully loaded disc spring 10 of the drive unit are simultaneously stressed. Because the fully loaded disc spring 10 has the characteristics of high load-bearing capacity and small deformation, by selecting a suitable disc spring model, the height of the AGV body when fully loaded can be close to that when unloaded. This not only solves the load-bearing problem, but also meets the requirements for wheel floating. As required by the ground, the AGV is driven by 4 sets or multiples of 4 wheels. The servo motor 25 drives the planetary reducer 26 to rotate, which in turn drives the Mecanum wheel 6 to rotate via the transmission component 24. By controlling the steering and speed of the 4 sets of Mecanum wheels 6, the vehicle can move straight, sideways, diagonally, and rotate in place, which can greatly reduce the requirements for the width of the passage. At the same time, this driving method of Mecanum wheel 6 is achieved through the decomposition and synthesis of the motion of multiple wheels, without the need for wheel reversal, avoiding the twisting during vehicle reversal or precise adjustment, thus achieving millimeter-level precise positioning.

[0037] All standard parts used in this application can be purchased from the market, and can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts and equipment adopt conventional models in the prior art. The control method is automatic control through a controller. The control circuit of the controller can be implemented by simple programming by those skilled in the art and is common knowledge in the field. Since this application is mainly used to protect mechanical devices, the control method and circuit connection will not be explained in detail in this application.

[0038] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Those skilled in the art to which this invention pertains can make various modifications and refinements without departing from the spirit and scope of the present invention. Therefore, the scope of protection of this invention shall be determined by the claims.

Claims

1. A Mecanum wheel drive unit with a swing arm suspension mechanism, comprising an articulated base (1), characterized in that: A swing arm assembly (2) is provided below the hinge seat (1). The swing arm assembly (2) includes a swing arm (21), an oil-free bushing (22), a transmission fixing screw (23), and a transmission assembly (24). The transmission assembly (24) is fixed to the swing arm (21) by the transmission fixing screw (23). A hinge shaft (3), a hinge shaft anti-rotation plate (4), and an anti-rotation plate fixing screw (5) are provided between the swing arm (21) and the hinge seat (1) for fixing the swing arm assembly (2). The transmission assembly (24) includes a servo motor (25), a planetary reducer (26), and a reducer fixing screw (27). The servo motor (25) is mounted on the planetary reducer (26). The planetary reducer (26) is fixed to the swing arm (21) by the reducer fixing screw (27). The oil-free bushing (22) is fixed to the swing arm (21). The output shaft of the planetary reducer (26) passes through the swing arm (21) and is fitted with a Mecanum wheel (6).

2. The Mecanum wheel drive unit with a swing arm suspension mechanism as described in claim 1, characterized in that: One end of the output shaft of the planetary reducer (26) is connected to a shaft end retaining ring (7) and a Mecanum wheel fixing screw (8), which are used to fix the Mecanum wheel (6).

3. The Mecanum wheel drive unit with a swing arm suspension mechanism as described in claim 1, characterized in that: An unloaded spring (9) is provided in the groove on the right side of the top of the swing arm (21). A spring holder (11) is provided on the top of the unloaded spring (9). A spring holder fixing screw (14) is threaded between the top of the spring holder (11) and the hinge seat (1).

4. The Mecanum wheel drive unit with a swing arm suspension mechanism as described in claim 3, characterized in that: The inner cavity of the unloaded spring (9) is provided with a fully loaded disc spring (10), and the two ends of the fully loaded disc spring (10) are respectively connected to the spring holder (11) and the swing arm (21).

5. The Mecanum wheel drive unit with a swing arm suspension mechanism as described in claim 3, characterized in that: The bottom of the swing arm (21) is provided with a spring limit adjusting nut (13), and the inner cavity of the spring limit adjusting nut (13) is threaded with a spring limit screw (12). The top end of the spring limit screw (12) passes through the swing arm (21), the unloaded spring (9), the fully loaded disc spring (10) and the spring holder (11) and is threadedly connected to the hinge seat (1).

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