Liftable wheel set and transfer AGV (Automatic Guided Vehicle)

Abstract

The utility model provides a liftable wheel set and a transfer AGV (Automatic Guided Vehicle), relates to the technical field of traveling and steering of vehicles, and aims to solve the problem that the adaptive capacity of the vehicles to the road surface is poor. The liftable wheel set comprises a slewing bearing mechanism, a lifting action cylinder and a driving mechanism, the slewing bearing mechanism is connected with the driving mechanism through the lifting action cylinder, the lifting action cylinder comprises a cylinder body and a piston rod, one of the cylinder body and the piston rod is fixedly connected with the slewing bearing mechanism, and the other of the cylinder body and the piston rod is fixedly connected with the driving mechanism. And the other one is connected with the driving mechanism, and the rotation axis of the slewing bearing mechanism coincides with the telescopic direction of the lifting action cylinder. The adaptive capacity of the vehicle to the road surface can be improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the walking, steering technical field of vehicle, concretely, relate to a liftable wheel set and transfer AGV. BACKGROUND

[0002] At present, the wheel set used by AGV (Automated Guided Vehicle) is generally passive suspension of spring form to adapt to the influence of uneven road on AGV motion control and navigation. However, it is difficult to ensure that the chassis maintains high stability by using passive suspension. Moreover, most wheel sets are provided with steering mechanisms separately, and the steering of the vehicle is realized by using the steering of the wheel set, so the structure is complex and the cost is high. Therefore, in the prior art, the wheel set control of AGV vehicle is not accurate enough, the wheel set is complex, the carrying capacity is small, and the road surface adaptability is not strong. SUMMARY

[0003] The first aspect of the utility model aims to provide a liftable wheel set to solve the technical problem of poor road surface adaptability of the existing vehicle.

[0004] The liftable wheel set provided by the first aspect of the utility model comprises a slewing bearing mechanism, a lifting action cylinder and a driving mechanism, the slewing bearing mechanism is connected with the driving mechanism through the lifting action cylinder, the lifting action cylinder comprises a cylinder body and a piston rod, one of the cylinder body and the piston rod is fixedly connected with the slewing bearing mechanism, and the other is connected with the driving mechanism, and the rotation axis of the slewing bearing mechanism coincides with the extension direction of the lifting action cylinder.

[0005] The liftable wheel set provided by the utility model has the following beneficial effects:

[0006] By arranging the lifting action cylinder, the distance between the driving mechanism and the slewing bearing mechanism can be changed by using the extension of the lifting action cylinder, so that the distance between the local part of the vehicle provided with the liftable wheel set and the ground below can be changed, and the local height of the chassis can be adjusted when uneven ground is encountered, so that the adaptability to the flatness of the road surface can be improved.

[0007] In an optional technical solution, the driving mechanism comprises a wheel frame, a wheel assembly is rotatably arranged on the wheel frame, the wheel frame is rotatably connected with the lower end of the lifting action cylinder, and the relative rotation axis of the wheel frame and the lifting action cylinder is perpendicular to the extension direction of the lifting action cylinder.

[0008] In an optional technical solution, the wheel frame comprises a vertical plate part, a limiting piece is arranged on the upper part of the vertical plate part, and the limiting piece is used for abutting against the outer wall of the cylinder body.

[0009] Optionally, the side surface of the limiting member towards the cylinder body is an arc edge side surface, and the arc edge side surface is matched with the outer wall of the cylinder body.

[0010] Optionally, the driving mechanism comprises two wheel driving assemblies, each of which is in transmission connection with one wheel assembly; the two wheel driving assemblies and the two wheel assemblies are arranged in axial symmetry, and the symmetry axes of the wheel driving assemblies and the wheel assemblies pass through the center of the wheel frame assembly.

[0011] Optionally, the liftable wheel set further comprises an encoder, which is configured to be mounted on the chassis of the vehicle, and a gear is in transmission connection with the encoder; the slewing bearing mechanism comprises a slewing member, and the slewing member is provided with a gear ring, which is in meshing connection with the gear.

[0012] Optionally, the liftable wheel set further comprises a pressure sensor, which is in communication with the lifting cylinder to detect whether the liftable wheel set is grounded.

[0013] Optionally, the liftable wheel set further comprises a scale sensor, which is used to detect the piston position of the lifting cylinder.

[0014] Optionally, the lifting cylinder is connected with a rotary joint, and the rotary joint is connected with an oil pipe.

[0015] The second aspect of the utility model aims to provide a transfer AGV to solve the technical problem of poor road surface adaptability of vehicles.

[0016] The transfer AGV provided by the second aspect of the utility model comprises a chassis and the liftable wheel set, and the slewing bearing mechanism is connected to the chassis.

[0017] By arranging the liftable wheel set in the transfer AGV, the transfer AGV has all the advantages of the liftable wheel set, which will not be described here. DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the utility model or the background art, the drawings needed to be used in the embodiment or the background art description will be briefly introduced as follows, and obviously, the drawings in the following description are only embodiments of the utility model, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative labor.

[0019] Figure 1 The structure diagram of the liftable wheel set provided by the first embodiment of the utility model.

[0020] Figure 2 The structure schematic view of the liftable wheel set provided by the embodiment one of the utility model is observed from another direction.

[0021] Figure 3 The structure schematic view of the driving mechanism in the liftable wheel set provided by the embodiment one of the utility model.

[0022] Figure 4 The structure schematic view of the transfer AGV provided by the embodiment two of the utility model.

[0023] Mark explanation:

[0024] 100-rotary support mechanism;110-rotary part;111-gear ring;120-fixed part;

[0025] 200-lifting action cylinder;210-piston rod;220-cylinder body;231-rotary joint;

[0026] 300-driving mechanism;310-wheel frame;311-pivot shaft;312-side wall;313-stand plate part;314-limiting part;320-wheel drive assembly;321-wheel drive motor;322-reducer;330-wheel assembly;331-wheel shaft;332-tire;

[0027] 411-encoder;412-gear;

[0028] 500-chassis. Specific implementation

[0029] In order to make the above-mentioned purpose, features and advantages of the utility model more obvious and easy to understand, the specific embodiments of the utility model are described in detail below in conjunction with the drawings.

[0030] Embodiment one:

[0031] Figure 1 The structure schematic view of the liftable wheel set provided by the embodiment one of the utility model is observed from another direction. Figure 2 The structure schematic view of the liftable wheel set provided by the embodiment one of the utility model is observed from another direction. Figures 1-2As shown, the liftable wheel set provided by the embodiment one of the utility model, including slewing bearing mechanism 100, lift action cylinder 200 and drive mechanism 300, slewing bearing mechanism 100 is connected with drive mechanism 300 through lift action cylinder 200, lift action cylinder 200 includes cylinder body 220 and piston rod 210, one of cylinder body 220 and piston rod 210 is fixedly connected with slewing bearing mechanism 100, and the other is connected with drive mechanism 300, the rotation axis of slewing bearing mechanism 100 coincides with the telescopic direction of lift action cylinder 200.

[0032] By setting lift action cylinder 200, drive mechanism 300 and slewing bearing mechanism 100 can be driven to change distance by the telescopic of lift action cylinder 200, so that the distance between the part of vehicle provided with the liftable wheel set and the ground below it can be changed, and in the case of encountering uneven ground, the local height of chassis 500 can be adjusted, so that the adaptability to the flatness of road surface can be expanded.

[0033] Wherein, slewing bearing mechanism 100 includes fixing piece 120 and the slewing piece 110 described below, fixing piece 120 is used for fixing installation in the chassis of vehicle, and slewing piece 110 is fixedly connected with lift action cylinder 200, and fixing piece 120 and slewing piece 110 are rotationally connected. Further, slewing piece 110 is fixedly connected with the piston rod 210 of lift action cylinder 200.

[0034] In the embodiment, the oil cylinder can be selected as lift action cylinder 200, the piston rod 210 of lift action cylinder 200 is fixedly connected with slewing bearing mechanism 100, and the cylinder body 220 of lift action cylinder 200 is connected with drive mechanism 300. The piston rod 210 is fixedly connected with slewing bearing mechanism 100 in the circumferential direction. The telescopic direction of lift action cylinder 200 is substantially vertical. The lifting stroke of the oil cylinder is higher, and the obstacle crossing ability is stronger, so that the uneven road surface can be actively adjusted and adapted.

[0035] Figure 3 The structure diagram of drive mechanism in the liftable wheel set provided by the embodiment one of the utility model is shown. Figures 1-3 As shown, optionally, drive mechanism 300 includes wheel frame 310, wheel assembly 330 is rotationally installed on wheel frame 310, wheel frame 310 is rotationally connected with the lower end of lift action cylinder 200, and the relative rotation axis of wheel frame 310 and lift action cylinder 200 is perpendicular to the telescopic direction of lift action cylinder 200.

[0036] By connecting the wheel frame 310 with the lower end of the lifting cylinder 200 in a rotatable manner and making the relative rotation axis perpendicular to the extension direction of the lifting cylinder 200, when the road surface is uneven, the wheel frame 310 can swing relative to the lifting cylinder 200, so as to passively change the height of the bottom of the wheel relative to the bottom of the lifting cylinder 200, and the swing of the wheel frame 310 can compensate the influence of the uneven road surface even if the lifting cylinder 200 cannot act in time.

[0037] Specifically, in the embodiment, the middle part of the wheel frame 310 can be provided with a pivot shaft 311, and the pivot shaft 311 is axially fixed with the wheel frame 310 through an elastic shaft washer. Specifically, the central area of the bottom of the wheel frame 310 is hollow, and the two sides of the hollow part are provided with side walls 312. A snap spring groove is arranged on the pivot shaft 311 to install the elastic shaft washer (not shown in the figure), and the elastic shaft washer is used to limit the axial position of the side wall 312 relative to the pivot shaft 311. A fish eye joint (not shown in the figure) is arranged at the bottom of the cylinder body 220, and the fish eye joint is connected with the pivot shaft 311, so that when the wheel frame 310 needs to swing, the wheel frame 310 and the cylinder body 220 have a certain space for movement. Of course, since the wheel assembly 330 in the embodiment is located in the middle of the wheel frame 310 in the width direction of the wheel frame 310, the width direction of the wheel frame 310 is consistent with the axis of the pivot shaft 311, and the connection position of the fish eye joint and the pivot shaft 311 is also located in the middle of the pivot shaft 311. Therefore, in the length direction of the pivot shaft 311, the positions of the fish eye joint and the wheel assembly 330 overlap, and in the actual driving process, it is difficult to appear the situation of needing to rotate around another horizontal axis perpendicular to the pivot shaft 311.

[0038] As shown in Figures 1-3 Optionally, the wheel frame 310 comprises a vertical plate part 313, and a limiting part 314 is arranged at the upper part of the vertical plate part 313, and the limiting part 314 is used to abut against the outer wall of the cylinder body 220.

[0039] By arranging the limiting part 314 on the vertical plate part 313 to abut against the outer wall of the cylinder body 220, the direct collision between the vertical plate part 313 or the wheel assembly 330 and the cylinder body 220 can be prevented, so as to avoid damage.

[0040] The limiting part 314 is arranged at the upper part of the vertical plate part 313, and the limiting part 314 can comprise a limiting plate, and the limiting plate extends from the vertical plate part 313 to the cylinder body 220 in the horizontal direction. When the wheel frame 310 swings relative to the cylinder body 220, the limiting part 314 can contact the cylinder body 220. The limiting part 314 can be detachably connected with the vertical plate part 313 in a threaded connection manner, and if the limiting part 314 is damaged, a new limiting part 314 can be replaced.

[0041] As shown in Figures 1-3As shown, optionally, the side of the limiting member 314 facing the cylinder body 220 is an arc-shaped edge side, which is adapted to the outer wall of the cylinder body 220.

[0042] By setting the limiting member 314 in this way, the contact area between the limiting member 314 and the cylinder 220 can be increased, preventing the pressure from being too concentrated when the limiting member 314 contacts the cylinder 220, which could damage the cylinder 220.

[0043] The side of the limiting member 314 facing the cylinder body 220 has an arc-shaped edge, and correspondingly, the cylinder body 220 has a cylindrical outer surface. Furthermore, the arc-shaped edge is wider at the top and narrower at the bottom. Because the limiting member 314 is not horizontal when it contacts the cylinder body 220, the arc-shaped edge increases the contact area between the limiting member 314 and the cylinder body 220, thereby further reducing the pressure.

[0044] like Figures 1-3 As shown, optionally, the drive mechanism 300 includes two wheel drive assemblies 320, each wheel drive assembly 320 being drive-connected to a wheel assembly 330; the two wheel drive assemblies 320 and the two wheel assemblies 330 are arranged symmetrically, and the axis of symmetry of the wheel drive assemblies 320 and the wheel assemblies 330 passes through the center of the wheel carrier 310 assembly.

[0045] By symmetrically arranging both the wheel assembly 330 and the wheel drive assembly 320 along the central axis of the wheel frame 310 assembly, the torques generated by the gravity of the two wheel assemblies 330 and the two wheel drive assemblies 320 can be canceled out. Under flat road conditions, this prevents torque from being generated relative to the rotation axes of the wheel frame 310 and the lifting cylinder 200, thus keeping the wheel frame 310 horizontal. Furthermore, the side-by-side arrangement of the two wheel assemblies 330 increases the load-bearing capacity of the lifting wheel set. The differential speed between the two wheel assemblies 330 enables the lifting wheel set to steer relative to the chassis 500, which, combined with the steering of the four lifting wheel sets on the chassis 500, achieves vehicle steering.

[0046] The wheel drive assembly 320 includes a wheel drive motor 321 and a reducer 322. The wheel drive motor 321 is connected to the wheel assembly 330 via the reducer 322. The reducer 322 is mounted on the upright plate 313 of the wheel frame 310. The wheel assembly 330 includes a wheel axle 331 and a tire 332. The wheel axle 331 is connected to the power output end of the wheel drive assembly 320, and more specifically, the wheel axle 331 is connected to the power output end of the reducer 322.

[0047] like Figure 1As shown, the optional liftable wheel set further comprises an encoder 411 configured to be mounted to the chassis 500 of the vehicle, the encoder 411 being drivingly connected with a gear 412, the slewing bearing mechanism 100 comprising a slewing member 110 provided with a gear ring 111 engaged with the gear 412.

[0048] By providing the encoder 411, the slewing angle of the slewing member 110 relative to the chassis 500 can be measured to form a closed loop control when the vehicle provided with the liftable wheel set is steering.

[0049] In particular, the axis of the encoder 411 is in a substantially vertical state, the axis of the encoder 411 is eccentrically arranged relative to the rotation center of the slewing member 110, and the inner circumferential surface of the slewing member 110 is provided with the gear ring 111. When the slewing member 110 rotates relative to the chassis 500, the gear 412 is driven to rotate by the rotation of the gear ring 111. According to the gear ratio of the gear 412 and the gear ring 111 and the rotation angle of the gear 412, the rotation angle of the slewing member 110 can be calculated, and further the rotation angle of the driving mechanism 300 can be obtained.

[0050] Optionally, the liftable wheel set further comprises a pressure sensor (not shown in the figure) in communication with the lifting cylinder 200 to detect whether the liftable wheel set is grounded.

[0051] By providing the pressure sensor, the fluid pressure in the lifting cylinder 200 can be detected. When the fluid pressure is relatively large, it means that the lifting cylinder 200 is bearing pressure, i.e. the wheel assembly 330 of the liftable wheel set is in contact with the ground. If the fluid pressure is relatively small, it means that the wheel assembly 330 of the liftable wheel set is in the air, and the weight of the vehicle provided with the liftable wheel set is not borne by the liftable wheel set, so the lifting cylinder 200 should be extended to make the wheel assembly 330 contact the ground.

[0052] In the embodiment, the pressure sensor is in communication with the rodless cavity of the lifting cylinder 200.

[0053] Optionally, the liftable wheel set further comprises a scale sensor (not shown in the figure) for detecting the piston position of the lifting cylinder 200.

[0054] By providing the scale sensor to detect the piston position of the lifting cylinder 200, the extension length of the lifting cylinder 200 can be obtained to avoid the extension length of the lifting cylinder 200 being too large to cause the height of the end of the vehicle provided with the liftable wheel set to be too high, thereby affecting the level of the vehicle itself.

[0055] The scale sensor is an oil cylinder magnetostrictive displacement sensor, which detects the absolute position of the movable magnetic ring on the piston through internal non-contact measurement and control technology to measure the actual displacement value of the detected product.

[0056] As shown in Figure 1 Optionally, the lifting cylinder 200 is connected with a rotary joint 231, and the rotary joint 231 is connected with an oil pipe (not shown in the figure).

[0057] By connecting the lifting cylinder 200 with the rotary joint 231 to connect the oil pipe, the oil pipe can still maintain effective oil supply during the rotation of the lifting cylinder 200 and the follow-up driving mechanism 300.

[0058] Embodiment Two:

[0059] Figure 4 The utility model provides a structure schematic diagram of transfer AGV for embodiment two. As shown in Figure 1 And Figure 4 Embodiment two further provides a transfer AGV, which comprises a chassis 500 and the liftable wheel set, and the slewing bearing mechanism 100 is connected to the chassis 500.

[0060] By setting the liftable wheel set in the transfer AGV, the transfer AGV has all the advantages of the liftable wheel set, which will not be repeated here.

[0061] Specifically, the four corner parts of the chassis 500 are respectively provided with the liftable wheel set, and the slewing of the slewing bearing mechanism 100 is caused by the following reasons: the linear speed of each wheel assembly 330 is different, which drives the transfer AGV to turn, thereby driving each liftable wheel set to turn.

[0062] Although the utility model discloses as above, the utility model is not limited to this. Any person skilled in the art, without departing from the spirit and scope of the utility model, can make various changes and modifications, therefore the protection scope of the utility model should be limited to the range defined by the claims.

[0063] Finally, it should be noted that, in this document, relational terms such as first and second, and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," "includes," "including" or any other variation thereof, are intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0064] In the above embodiments, the orientation descriptions such as "upper", "lower" and the like are based on the figures shown.

[0065] The above description of disclosed embodiments provides enabling disclosure sufficient for one of ordinary skill in the art to practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and generic principles defined herein can be applied to other embodiments without departing from the spirit or scope of the application.

[0066] Accordingly, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A height-adjustable wheel set, characterized in that, The device includes a slewing bearing mechanism (100), a lifting cylinder (200), and a drive mechanism (300). The slewing bearing mechanism (100) and the drive mechanism (300) are connected through the lifting cylinder (200). The lifting cylinder (200) includes a cylinder body (220) and a piston rod (210). One of the cylinder body (220) and the piston rod (210) is fixedly connected to the slewing bearing mechanism (100), and the other is connected to the drive mechanism (300). The rotation axis of the slewing bearing mechanism (100) coincides with the extension and retraction direction of the lifting cylinder (200).

2. The adjustable wheel assembly according to claim 1, characterized in that, The drive mechanism (300) includes a wheel frame (310), on which a wheel assembly (330) is rotatably mounted. The wheel frame (310) is rotatably connected to the lower end of the lifting cylinder (200), and the relative rotation axis of the wheel frame (310) and the lifting cylinder (200) is perpendicular to the extension and retraction direction of the lifting cylinder (200).

3. The adjustable wheel assembly according to claim 2, characterized in that, The wheel frame (310) includes a vertical plate (313), and a limiting member (314) is provided on the upper part of the vertical plate (313). The limiting member (314) is used to abut against the outer wall of the cylinder (220).

4. The adjustable wheel assembly according to claim 3, characterized in that, The side of the limiting member (314) facing the cylinder (220) is an arc-shaped edge side, which is adapted to the outer wall of the cylinder (220).

5. The adjustable wheel assembly according to claim 2, characterized in that, The drive mechanism (300) includes two wheel drive assemblies (320), each of which is connected to one of the wheel assemblies (330) in a transmission manner; the two wheel drive assemblies (320) and the two wheel assemblies (330) are arranged symmetrically, and the axis of symmetry of the wheel drive assemblies (320) and the wheel assemblies (330) passes through the center of the wheel frame (310) assembly.

6. The liftable wheel assembly according to any one of claims 1-5, characterized in that, The liftable wheel assembly also includes an encoder (411), which is configured to be mounted on the chassis (500) of the vehicle. The encoder (411) is driven by a gear (412). The slewing bearing mechanism (100) includes a slewing element (110), which is provided with a gear ring (111) that meshes with the gear (412).

7. The liftable wheel assembly according to any one of claims 1-5, characterized in that, The liftable wheel assembly also includes a pressure sensor, which is connected to the lifting cylinder (200) to detect whether the liftable wheel assembly is grounded.

8. The liftable wheel assembly according to any one of claims 1-5, characterized in that, The liftable wheel assembly also includes a scale sensor, which is used to detect the piston position of the lifting cylinder (200).

9. The liftable wheel assembly according to any one of claims 1-5, characterized in that, The lifting cylinder (200) is connected to a rotary joint (231), and the rotary joint (231) is connected to an oil pipe.

10. A transfer AGV, characterized in that, The transfer AGV includes a chassis (500) and a liftable wheel assembly according to any one of claims 1-9, wherein the slewing bearing mechanism (100) is connected to the chassis (500).

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