Narrow roadway omnidirectional AGV forklift chassis structure

Abstract

The utility model relates to a narrow roadway omnidirectional AGV forklift chassis structure. The narrow roadway omnidirectional AGV forklift chassis structure comprises a forklift body and a moving mechanism. The moving mechanism comprises a walking assembly and two turning assemblies. The walking assembly is hinged to the vehicle body and comprises two sets of driving steering wheels, and the two sets of driving steering wheels are arranged on the two sides of the rear end of the vehicle body and used for driving the vehicle body to advance or steer; notches are formed in the two sides of the front end of the forklift body, the two sets of turning assemblies are arranged in the two notches correspondingly, each turning assembly comprises a driver and is used for turning of the forklift body, and when the omni-directional AGV forklift conducts 90-degree turning, the two driving steering wheels drive the AGV forklift to conduct turning at the same time, and the two sets of driving steering wheels are arranged at the rear portion and the two sets of universal wheels are arranged at the front portion. Torque generated during steering is symmetrical and consistent in direction, all the torque rotates around the axis of the rear end, the torque is easier to cooperate, the steering stability is remarkably improved, and therefore the 90-degree steering process is more stable and efficient; the AGV forklift has the effects that the vehicle body is prevented from shaking when the AGV forklift rotates, and the stability of the AGV forklift is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of forklifts, in particular to a narrow aisle omnidirectional AGV forklift chassis structure. BACKGROUND

[0002] In recent years, with the development of AGV (Automated Guided Vehicle) technology, forklift AGV solutions are presented in more and more scenarios. The traditional forklift AGV is mainly based on the modification of the manual driving forklift. With the development of technology, some forklift products are designed to have both manual driving and automatic driving modes, and the AGV technology is used for automatic driving, that is, AGV forklift.

[0003] The existing omnidirectional AGV forklift chassis wheel system layout generally has two groups of driving steering wheels and two groups of universal wheels for driving on the chassis, and the two groups of driving steering wheels and the two groups of universal wheels are arranged in a diagonal symmetry, When the AGV forklift needs to turn, the two groups of driving steering wheels drive the AGV forklift to turn.

[0004] For the related technology in the above, when the AGV turns 90°, the two groups of driving steering wheels actively drive the AGV forklift to turn, at this time the two groups of universal wheels are easy to be passively rotated to adapt to the new movement direction, thereby causing the two groups of universal wheels to be easy to produce disturbance when the AGV forklift turns, thereby causing the AGV forklift to be easy to shake when turning, thereby affecting the navigation and positioning accuracy. CONTENT OF THE UTILITY MODEL

[0005] In order to avoid the shaking of the AGV forklift when turning, and improve the stability of the AGV forklift, the present application provides a narrow aisle omnidirectional AGV forklift chassis structure.

[0006] The narrow aisle omnidirectional AGV forklift chassis structure provided by the present application adopts the following technical scheme:

[0007] A narrow aisle omnidirectional AGV forklift chassis structure, comprising:

[0008] A vehicle body and a moving mechanism;

[0009] The moving mechanism comprises a walking assembly and two groups of turning assemblies;

[0010] The walking assembly is hinged to the vehicle body, and the walking assembly comprises two groups of driving steering wheels, and the two groups of driving steering wheels are arranged on both sides of the rear end of the vehicle body and used to drive the vehicle body to move forward or turn;

[0011] The vehicle body is provided with a slot on both sides of the front end, and the two groups of turning assemblies are arranged in the two slots respectively, and the turning assembly comprises a driver and is used for reversing the vehicle body.

[0012] By adopting the technical scheme, when the omnidirectional AGV forklift is steering by 90 degrees, the two driving rudders simultaneously drive the AGV forklift to steer, the layout of the two groups of driving rudders being rear-mounted and the two groups of universal wheels being front-mounted, the moment generated when steering is symmetrical and consistent in direction, and is rotated around the rear end axis, the moment is more easily coordinated, and the steering stability is significantly improved, so that the 90-degree steering process is more stable and efficient, and the problem that when the AGV is steering by 90 degrees, the two groups of driving rudders actively drive the AGV forklift to steer, at this time, the two groups of universal wheels are easy to be passively rotated to adapt to the new movement direction, and then the two groups of universal wheels are easy to generate disturbance when the AGV forklift is steering, and then the AGV forklift is easy to shake when steering, thereby affecting the navigation and positioning accuracy.

[0013] Optionally, the traveling assembly further comprises an axle, the axle is hingedly connected with the vehicle body, and the two groups of driving rudders are arranged on the two sides of the axle.

[0014] Optionally, the vehicle body is fixedly provided with a hinge shaft, and a hinge hole is formed in the middle of the axle, the hinge shaft is rotatably connected with the hinge hole when the axle is connected with the vehicle body.

[0015] Optionally, the moving mechanism further comprises a joint bearing, the joint bearing is arranged in the hinge hole, the outer ring of the joint bearing is fixedly connected with the axle, and the inner ring of the joint bearing is fixedly connected with the hinge shaft, so that the hinge shaft is limited in the hinge hole.

[0016] Optionally, the steering assembly further comprises a universal wheel, a driving gear and a driven gear, the driver is a servo motor, the universal wheel is arranged at the bottom of the vehicle body, the driver is fixedly arranged on the universal wheel, the driving gear is rotatably arranged on the universal wheel, the driven gear is coaxially fixed on the universal wheel, the driving gear and the driven gear are engaged, and the driver is used to drive the driving gear to rotate.

[0017] Optionally, the universal wheel comprises a wheel seat, a wheel frame and two wheel bodies, the wheel seat is fixedly arranged at the bottom of the vehicle body, the wheel frame is rotatably connected with the wheel seat and coaxially fixed with the driving gear, and each wheel body is rotatably arranged on the wheel frame.

[0018] Optionally, the steering assembly further comprises a speed reducer, the speed reducer is fixedly arranged on the universal wheel, the input end of the speed reducer is coaxially fixed with the output shaft of the driver, and the output end of the speed reducer is coaxially fixed with the driving gear.

[0019] Optionally, the vehicle body comprises a main vehicle body and two side vehicle bodies, the two side vehicle bodies are fixedly arranged on the two sides of the main vehicle body, and the vehicle body has a U-shaped semi-enclosed structure.

[0020] To sum up, the present application includes at least one of the following beneficial technical effects:

[0021] 1. When the omnidirectional AGV forklift makes a 90° turn, the two drive rudders simultaneously drive the AGV forklift to turn, and the layout of the two groups of drive rudders being rear-mounted and the two groups of universal wheels being front-mounted, the moment generated when turning is symmetrical and consistent in direction, and rotates around the rear end axis, the moment is more cooperative, and the turning stability is significantly improved, so that the 90° turning process is more stable and efficient, thereby solving the problem that when the AGV makes a 90° turn, the two groups of drive rudders actively drive the AGV forklift to turn, at this time, the two groups of universal wheels are easy to be passively rotated to adapt to the new movement direction, thereby causing the two groups of universal wheels to easily produce disturbance when the AGV forklift turns, and further causing the AGV forklift to easily shake when turning, thereby affecting the navigation and positioning accuracy. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained according to the structures shown in these drawings without creative labor.

[0023] Figure 1 is a whole structure schematic diagram of the embodiment of the present application Figure 1 ;

[0024] Figure 2 is a whole structure schematic diagram of the embodiment of the present application Figure 2 ;

[0025] Figure 3 is a whole explosion of the embodiment of the present application Figure 1 ;

[0026] Figure 4 is a whole explosion of the embodiment of the present application Figure 2 ;

[0027] Figure 5 is a drive rudder structure schematic diagram of the embodiment of the present application

[0028] Figure 6 is a vehicle axle sectional view of the embodiment of the present application

[0029] Figure 7 is a turning assembly structure schematic diagram of the embodiment of the present application

[0030] Explanation of reference signs: 1, vehicle body; 11, main vehicle body; 111, hinged shaft; 12, side vehicle body; 121, guide groove; 2, portal mechanism; 21, portal body; 211, guide wheel; 22, fork frame; 23, translation driving module; 24, lifting driving module; 3, moving mechanism; 31, axle; 311, hinged hole; 32, joint bearing; 33, driving rudder; 34, direction-changing assembly; 341, universal wheel; 3411, wheel seat; 3412, wheel frame; 3413, wheel body; 342, speed reducer; 343, driver; 344, driving gear; 345, driven gear. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the embodiments of the present application.

[0032] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative positional relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications also change accordingly.

[0033] The following will be described in detail with reference to the drawings in the embodiments of the present application. Figures 1-7 The present application will be further described in detail.

[0034] The embodiments of the present application disclose a narrow-lane omnidirectional AGV forklift chassis structure, referring to Figure 1 and Figure 2 , comprising a vehicle body 1, a portal mechanism 2 and a moving mechanism 3, the portal mechanism 2 and the moving mechanism 3 are both arranged on the vehicle body 1;

[0035] Referring to Figure 3 and Figure 4 , the vehicle body 1 comprises a main vehicle body 11 and two side vehicle bodies 12, the two side vehicle bodies 12 are respectively fixedly arranged on both sides of the main vehicle body 11, and the two side vehicle bodies 12 and the main vehicle body 11 are connected with each other, so that the vehicle body 1 is in a U-shaped semi-enclosed structure;

[0036] Referring to Figure 3 and Figure 4The portal mechanism 2 comprises a portal body 21, a fork frame 22, a translation driving module 23 and a lifting driving module 24. The portal body 21 is slidingly fitted to the vehicle body 1 in the horizontal direction. The vehicle body 12 is provided with a guide groove 121 extending in the horizontal direction. The portal body 21 is rotatably connected with a guide wheel 211 on both sides. The two guide wheels 211 are respectively arranged in the two guide grooves 121. The fork frame 22 is slidingly fitted to the portal body 21 in the vertical direction. The translation driving module 23 is fixedly arranged on the vehicle body 1 and used for driving the portal body 21 to slide in the horizontal direction. The lifting driving module 24 is fixedly arranged on the portal body 21 and used for driving the fork frame 22 to slide in the vertical direction.

[0037] With reference to Figure 4 , Figure 5 and Figure 6 , the moving mechanism 3 comprises a running assembly. The running assembly comprises an axle 31 arranged at the bottom of the rear end of the vehicle body 1. The vehicle body 1 is fixedly provided with a hinge shaft 111. The axle 31 is provided with a hinge hole 311 penetratingly arranged in the middle. When the axle 31 is connected to the vehicle body 1, the hinge shaft 111 penetrates and is rotatably connected to the hinge hole 311, so that the axle 31 is rotatably connected to the vehicle body 1.

[0038] With reference to Figure 4 , Figure 5 and Figure 6 , the running assembly further comprises two joint bearings 32. The two joint bearings 32 are arranged in the hinge hole 311. The outer rings of the two joint bearings 32 are fixedly connected to the axle 31. The inner rings of the two joint bearings 32 are fixedly connected to the hinge shaft 111, so that the rotation connection between the axle 31 and the vehicle body 1 is smoother.

[0039] With reference to Figure 4 , Figure 5 and Figure 6 , the running assembly further comprises two groups of driving rudders 33. The two driving rudders 33 are fixedly arranged on the bottom of the axle 31 on both sides, so that the two driving rudders 33 are connected to the vehicle body 1 through the axle 31. The two driving rudders 33 do not need to additionally increase the suspension system, so that the overall height of the vehicle body 1 is reduced, the space height of the lowest layer of the fork frame 22 is relatively low, and the goods can use a lower base, thereby increasing the space storage capacity of the warehouse.

[0040] With reference to Figure 7The moving mechanism 3 further comprises two groups of steering assemblies 34, each of the two sides of the front end of the vehicle body 1 is provided with a slot, and each of the two groups of steering assemblies 34 is arranged in the slot. The steering assembly 34 comprises a universal wheel 341, the universal wheel 341 comprises a wheel seat 3411, a wheel frame 3412 and two wheel bodies 3413, the wheel seat 3411 is fixedly connected with the vehicle body 1, the wheel frame 3412 is rotationally connected with the wheel seat 3411 and coaxially fixed with a driving gear 344, and each of the wheel bodies 3413 is rotationally arranged in the wheel frame 3412.

[0041] With reference to Figure 7 The steering assembly 34 further comprises a speed reducer 342, a driver 343, the driving gear 344 and a driven gear 345. The speed reducer 342 is fixedly arranged in the wheel seat 3411, the driver 343 is fixedly arranged in the wheel seat 3411, an output shaft of the driver 343 is fixedly connected with an input end of the speed reducer 342, the driving gear 344 is coaxially fixedly arranged at an output end of the speed reducer 342, and the driven gear 345 is coaxially fixed with the wheel frame 3412. The driving gear 344 and the driven gear 345 are engaged. When the universal wheel 341 needs to be steered, the driver 343 is driven, the speed reducer 342 drives the driving gear 344 to rotate, the driving gear 344 drives the driven gear 345 to rotate, the driven gear 345 drives the wheel frame 3412 to rotate, and thus the driving of the active steering of the two wheel bodies 3413 is completed.

[0042] The implementation principle of the narrow-passage omnidirectional AGV forklift chassis structure is as follows: when the omnidirectional AGV forklift is 90° steered, the two driving rudders 33 simultaneously drive the AGV forklift to steer. The layout of the two groups of driving rudders 33 is rear-mounted and the two groups of universal wheels 341 are front-mounted. The moment generated when steering is symmetrical and consistent in direction, and rotates around the rear end axis. The moment is more easily coordinated, and the steering stability is significantly improved, so that the 90° steering process is more stable and efficient. In addition, the two driving rudders 33 and the two groups of steering assemblies 34 simultaneously perform 90° steering. Because the two groups of steering assemblies 34 are actively steered, the steering assemblies 34 are less likely to need to be passively rotated to adapt to the new movement direction, so that the two steering assemblies 34 are less likely to interfere with the steering of the AGV forklift, thereby further improving the stability of the AGV forklift when it is 90° steered. When the AGV is 90° steered, the two groups of driving rudders 33 actively drive the AGV forklift to steer. At this time, the two groups of universal wheels 341 are easily passively rotated to adapt to the new movement direction, which in turn causes the two groups of universal wheels 341 to easily generate disturbance when the AGV forklift is steered, which in turn causes the AGV forklift to easily shake when it is steered, thereby affecting the navigation and positioning accuracy.

[0043] The above are all preferred embodiments of the present application, and do not limit the protection scope of the present application, so that: all equivalent changes made according to the structure, shape, principle of the present application should be covered in the protection scope of the present application.

Claims

1. A narrow aisle omnidirectional AGV fork truck chassis structure, characterized in that, The utility model relates to a kind of mobile mechanism (3) and vehicle body (1) for mobile robot, including: Vehicle body (1) and mobile mechanism (3); The mobile mechanism (3) includes walking assembly and two groups of direction-changing assemblies (34); The walking assembly is hinged with the vehicle body (1), and the walking assembly includes two groups of drive rudders (33), and the two groups of drive rudders (33) are arranged on the two sides of the rear end of the vehicle body (1) and used to drive the vehicle body (1) to advance or turn. The vehicle body (1) is provided with a notch on the two sides of the front end, and the two groups of direction-changing assemblies (34) are arranged in the two notches respectively, and the direction-changing assembly (34) includes a drive (343) for reversing the vehicle body (1).

2. The narrow aisle omni-directional AGV fork truck chassis structure of claim 1, wherein: The walking assembly further includes an axle (31), and the axle (31) is hinged with the vehicle body (1), and the two groups of drive rudders (33) are arranged on the two sides of the axle (31) respectively.

3. The AGV forklift chassis structure of claim 2, wherein: The vehicle body (1) is fixedly provided with a hinge shaft (111), and the axle (31) is provided with a hinge hole (311) penetrating through the middle part, and the hinge shaft (111) is penetratingly and rotatably connected with the hinge hole (311).

4. The AGV forklift chassis structure of claim 3, wherein: The mobile mechanism (3) further includes a joint bearing (32), and the joint bearing (32) is arranged inside the hinge hole (311), the outer ring of the joint bearing (32) is fixedly connected with the axle (31), and the inner ring of the joint bearing (32) is fixedly connected with the hinge shaft (111), so that the hinge shaft (111) is limited in the hinge hole (311).

5. The narrow aisle omni-directional AGV fork truck chassis structure of claim 1, wherein: The direction-changing assembly (34) further includes a universal wheel (341), a driving gear (344) and a driven gear (345), the drive (343) is a servo motor, the universal wheel (341) is arranged at the bottom of the vehicle body (1), the drive (343) is fixedly arranged on the universal wheel (341), the driving gear (344) is rotatably arranged on the universal wheel (341), the driven gear (345) is coaxially fixed on the universal wheel (341), the driving gear (344) and the driven gear (345) are engaged, and the drive (343) is used to drive the driving gear (344) to rotate.

6. The narrow aisle omni-directional AGV fork truck chassis structure of claim 5, wherein: The universal wheel (341) includes a wheel seat (3411), a wheel frame (3412) and two wheel bodies (3413), the wheel seat (3411) is fixedly arranged at the bottom of the vehicle body (1), the wheel frame (3412) is rotatably connected with the wheel seat (3411) and coaxially fixed with the driving gear (344), and each wheel body (3413) is rotatably arranged on the wheel frame (3412).

7. The narrow aisle omni-directional AGV fork truck chassis structure of claim 5, wherein: The direction-changing assembly (34) further includes a speed reducer (342), and the speed reducer (342) is fixedly arranged on the universal wheel (341), the input end of the speed reducer (342) is coaxially fixed with the output shaft of the drive (343), and the output end of the speed reducer (342) is coaxially fixed with the driving gear (344).

8. The narrow aisle omni-directional AGV fork truck chassis structure of claim 1, wherein: The vehicle body (1) includes a main vehicle body (11) and two side vehicle bodies (12), the two side vehicle bodies (12) are fixedly arranged on the two sides of the main vehicle body (11), and the vehicle body (1) is in a U-shaped semi-enclosed structure.

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