Mecanum wheel integrated AGV trolley

Abstract

The utility model discloses a Mecanum wheel integrated AGV trolley which comprises a frame, a first wheel set and a second wheel set are arranged at the bottom of the frame, the first wheel set comprises a first Mecanum wheel and a second Mecanum wheel which are coaxially arranged, and the second wheel set comprises a third Mecanum wheel and a fourth Mecanum wheel which are coaxially arranged. The third Mecanum wheel and the fourth Mecanum wheel are arranged at the two ends of the seesaw, and a shaft connection base is arranged in the middle of the seesaw and fixed to the frame. Four wheels can be kept on the ground all the time, and it is guaranteed that the advancing direction is accurate and stable.

Description

Technical Field

[0001] This utility model relates to the field of AGV (Automated Guided Vehicle) technology, specifically to a Mecanum wheel integrated AGV. Background Technology

[0002] AGVs are unmanned short-distance transportation vehicles with automatic navigation and positioning functions. They can carry different loads and realize the automatic transfer of materials between different workstations, warehouses, and production lines, which greatly reduces the workload of manual handling, improves work efficiency, and is widely used.

[0003] AGVs typically use Mecanum wheels as their wheels, each with an independent drive motor. By precisely controlling the speed and direction of each Mecanum wheel, torque can be generated in any direction, thus driving the AGV to move in any direction. This allows AGVs to operate freely in narrow and complex environments.

[0004] Each Mecanum wheel of the existing AGV has an independent suspension for shock absorption. Therefore, each suspension needs to be installed independently. During use, when one Mecanum wheel presses against a protrusion, although it can absorb shock, it will also lift the vehicle body on the same side, making the other Mecanum wheel on the same side too high. This causes the Mecanum wheel on that side to lose contact with the ground, resulting in a three-wheel contact situation. When all three wheels are on the ground, the Mecanum wheel drive characteristics cause the vehicle to spin and make it difficult to control its forward direction.

[0005] Existing solutions all employ complex software calculation methods, resulting in high development costs and unsatisfactory practical results. Summary of the Invention

[0006] The technical problem to be solved by this utility model is to provide a Mecanum wheel integrated AGV trolley that can always keep all four wheels on the ground to ensure accurate and stable forward direction.

[0007] To solve the above-mentioned technical problems, this utility model provides a Mecanum wheel integrated AGV trolley, including a frame. The bottom of the frame is provided with a first wheel set and a second wheel set. The first wheel set includes a first Mecanum wheel and a second Mecanum wheel arranged coaxially. The second wheel set includes a third Mecanum wheel and a fourth Mecanum wheel arranged coaxially. The third Mecanum wheel and the fourth Mecanum wheel are arranged at both ends of a rocker. A shaft connecting base is provided in the middle of the rocker, and the shaft connecting base is fixed on the frame.

[0008] Furthermore, a first suspension is provided between the first Mecanum wheel and the frame, and between the second Mecanum wheel and the frame.

[0009] Furthermore, a second suspension is provided between the third Mecanum wheel and the rocker, and between the fourth Mecanum wheel and the rocker.

[0010] Furthermore, the second suspension includes a motor mounting plate, which has mounting protrusions at both ends in the width direction of the rocker. A second shock absorber is provided between the mounting protrusions and the rocker. A speed reducer is provided in the middle of the motor mounting plate. One end of the speed reducer is connected to a drive motor, and the other end is connected to a corresponding third Mecanum wheel and the rocker or fourth Mecanum wheel.

[0011] Furthermore, the rocker surface is provided with reinforcing ribs, the rocker center is provided with a rotating sleeve, the rotating sleeve is provided along the width direction of the rocker, the shaft base is provided with a fixed rotating shaft, and the rotating sleeve is sleeved on the fixed rotating shaft.

[0012] Furthermore, anti-collision rubber strips are provided on both the front and rear ends of the vehicle frame.

[0013] Furthermore, a C-shaped mounting component is provided on the vehicle frame corresponding to the anti-collision strip. The opening of the mounting component faces the anti-collision strip, and a T-shaped insertion part is provided on the corresponding anti-collision strip. The anti-collision strip is inserted into the mounting component through the T-shaped insertion part.

[0014] Furthermore, anti-collision frames are provided on the front and rear bottom of the vehicle frame.

[0015] Furthermore, the surface of the frame is covered with several sealing plates, and at least one sealing plate is provided with a hidden lifting handle.

[0016] The beneficial effects of this utility model are:

[0017] 1. The third and fourth Mecanum wheels are integrated and mounted in one piece. Through the seesaw principle, the third and fourth Mecanum wheels can always maintain contact with the ground when the frame tilts.

[0018] 2. The first and second Mecanum wheels are independently installed structures, which, together with the integrated one-piece installation structure, form a three-point positioning. While the third and fourth Mecanum wheels can ensure that they are always in contact with the ground, the first and second Mecanum wheels can also maintain a constant contact with the ground. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the bottom structure of the vehicle of this utility model;

[0020] Figure 2 This is a schematic diagram of the surface structure of the vehicle according to this utility model;

[0021] Figure 3 This is a first-view structural diagram of the rocker arm of this utility model;

[0022] Figure 4 This is a second-view structural diagram of the rocker arm of this utility model;

[0023] Figure 5 This is a schematic diagram of the anti-collision rubber strip connection structure of this utility model. Detailed Implementation

[0024] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments are not intended to limit the present invention.

[0025] Reference Figures 1 to 4 As shown, an embodiment of the Mecanum wheel integrated AGV of this utility model includes a frame 1, a first wheel set 2 and a second wheel set 3 at the bottom of the frame, the first wheel set including a first Mecanum wheel 4 and a second Mecanum wheel 5 coaxially arranged, the second wheel set including a third Mecanum wheel 6 and a fourth Mecanum wheel 7 coaxially arranged, the third Mecanum wheel and the fourth Mecanum wheel are arranged at both ends of a rocker 8, and an axle-connecting base 9 is arranged in the middle of the rocker, the axle-connecting base being fixed on the frame.

[0026] When in use, the weight of one end of the frame is transferred to the ground through the first and second Mecanum wheels, which means it has two points of force. The weight of the other end of the frame is transferred to the rocker through the shaft base, and then transferred to the ground by the third and fourth Mecanum wheels on both ends of the rocker, which means it has a single point of force.

[0027] When the first Mecanum wheel contacts a bump or depression, the frame tilts at that position, either towards the first or second Mecanum wheel, resulting in a side tilt. This tilt will inevitably pull one of the third or fourth Mecanum wheels in the second wheelset upwards, significantly reducing the friction between the third or fourth wheel and the ground, potentially leading to slippage or drive failure. However, with the rocker arm and axle mount in place, the frame tilt causes the axle mount to rotate along the rocker arm's axle position, while the rocker arm itself remains stationary. All forces are transmitted to the rocker arm through the axle mount, ensuring good contact between the third or fourth Mecanum wheel and the ground. The same principle applies when the second Mecanum wheel contacts a bump or depression.

[0028] When the third or fourth Mecanum wheel comes into contact with a protrusion or depression, the force on one side will cause the rocker to rotate at the connection point of the axle base, which is the rotation method of the seesaw. This method will only cause the rocker to rotate, and the axle base will not be positioned, that is, it will not cause the frame to tilt. This allows the third or fourth Mecanum wheel to adjust adaptively without affecting the first and second Mecanum wheels.

[0029] In summary, this ensures that the four Mecanum wheels maintain good contact with the ground throughout the vehicle's movement, preventing issues such as the vehicle lifting off the ground.

[0030] In the above structure, a first suspension 10 is provided between the first Mecanum wheel and the frame, and between the second Mecanum wheel and the frame; a second suspension 11 is provided between the third Mecanum wheel and the rocker arm, and between the fourth Mecanum wheel and the rocker arm. The first and second suspensions can provide good shock absorption and ensure the stability of the vehicle.

[0031] The aforementioned first suspension structure includes a shock absorber frame, on which a first shock absorber is mounted.

[0032] The aforementioned second suspension includes a motor mounting plate 12. Mounting protrusions 13 are provided at both ends of the motor mounting plate in the width direction of the rocker. A second shock absorber 14 is positioned between the mounting protrusions and the rocker. A reducer 15 is located in the middle of the motor mounting plate. One end of the reducer is connected to a drive motor 16, and the other end is connected to a corresponding third or fourth Mecanum wheel and the rocker. The second shock absorber may include a shock absorber rod and a shock absorber spring. One end of the shock absorber rod is fixedly connected to the rocker, and the other end passes through the mounting protrusion and is fitted with a limit nut. The shock absorber spring is positioned on the shock absorber rod between the mounting protrusion and the rocker. The mounting protrusion is sleeved on the shock absorber rod, thus providing good guidance. There are two second shock absorbers, meaning two shock absorber rods are fixed at one end, forming a guide rod structure. The two mounting protrusions on the motor mounting plate are slidably sleeved on the corresponding shock absorber rods, resulting in a simple structure. Alternatively, the bottoms of the two shock absorber rods can be fixed together by a connecting plate to further improve the connection strength.

[0033] Since the load-bearing capacity is transmitted through the rocker, a reinforcing rib 17 is provided on the surface of the rocker to improve its strength. A rotating sleeve 18 is provided in the middle of the rocker, and the rotating sleeve is arranged along the width direction of the rocker. A fixed rotating shaft 19 is provided on the shaft-connecting base. The rotating sleeve is fitted on the fixed rotating shaft, which achieves a good shaft connection effect. Furthermore, the rotating sleeve can be connected to the reinforcing rib as a whole, which effectively improves the strength at this position.

[0034] During operation, the vehicle may experience collisions. Therefore, anti-collision strips 20 are installed on both the front and rear ends of the frame to provide good cushioning and effectively protect the vehicle in the event of a collision. C-shaped mounting brackets 21 are installed on the frame corresponding to the anti-collision strips, with the opening of the mounting bracket facing the anti-collision strip. The corresponding anti-collision strip has a T-shaped insertion part 22. The anti-collision strip is inserted into the mounting bracket via the T-shaped insertion part. The deformation capability of the anti-collision strip effectively secures it and prevents it from loosening. Installation is simple and disassembly is easy. (Refer to...) Figure 5 As shown, anti-collision frames 23 are installed on the front and rear bottom of the frame to reduce the impact damage to the bottom of the vehicle caused by ground protrusions.

[0035] Several sealing plates 23 are also laid on the surface of the frame to make the frame surface flat and facilitate the transport of materials. At least one sealing plate is provided with a hidden lifting handle 24, which makes it easy to move the trolley.

[0036] The above embodiments are merely preferred embodiments provided to fully illustrate the present utility model, and the protection scope of the present utility model is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present utility model are all within the protection scope of the present utility model.

Claims

1. A Mecanum wheel integrated AGV trolley, characterized in that, The application relates to a vehicle frame, which comprises a vehicle frame, a first wheel set and a second wheel set arranged at the bottom of the vehicle frame, the first wheel set comprising coaxially arranged first and second Mecanum wheels, the second wheel set comprising coaxially arranged third and fourth Mecanum wheels, the third and fourth Mecanum wheels being arranged at the two ends of a rocker plate, and an axle connecting base being arranged at the middle of the rocker plate and fixed to the vehicle frame.

2. The Mecanum wheel integrated AGV dolly according to claim 1, wherein, First suspensions are arranged between the first and second Mecanum wheels and the vehicle frame.

3. The Mecanum wheel integrated AGV dolly according to claim 1, wherein, Second suspensions are arranged between the third and fourth Mecanum wheels and the rocker plate.

4. The Mecanum wheel integrated AGV dolly according to claim 3, wherein, The second suspensions comprise motor mounting plates, mounting protrusions being arranged on the two ends of the motor mounting plates in the width direction of the rocker plate, second shock absorbers being arranged between the mounting protrusions and the rocker plate, a speed reducer being arranged in the middle of the motor mounting plate, one end of the speed reducer being connected with a driving motor, and the other end being connected with the corresponding third Mecanum wheel and the rocker plate or the fourth Mecanum wheel.

5. The Mecanum wheel integrated AGV dolly according to claim 3, wherein, The rocker plate is provided with reinforcing ribs on the surface, and a rotating sleeve is arranged in the middle of the rocker plate, the rotating sleeve being arranged in the width direction of the rocker plate, a fixed rotating shaft being arranged on the axle connecting base, and the rotating sleeve being sleeved on the fixed rotating shaft.

6. The Mecanum wheel integrated AGV dolly of claim 1, wherein, Anti-collision rubber strips are arranged on the front end and the rear end of the vehicle frame.

7. The Mecanum wheel integrated AGV dolly according to claim 6, wherein, Corresponding mounting pieces with C-shaped cross sections are arranged on the vehicle frame, the openings of the mounting pieces facing the anti-collision rubber strips, T-shaped plug-in parts being arranged on the corresponding anti-collision rubber strips, and the anti-collision rubber strips being arranged on the mounting pieces through the T-shaped plug-in parts.

8. The Mecanum wheel integrated AGV dolly of claim 1, wherein, Anti-collision frames are arranged on the bottom of the front end and the rear end of the vehicle frame.

9. The Mecanum wheel integrated AGV dolly of claim 1, wherein, A plurality of sealing plates are arranged on the surface of the vehicle frame, and at least one of the sealing plates is provided with a hidden pull handle.

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