Fixed universal wheel switching mechanism and latent traction AGV

Abstract

The utility model discloses a fixed universal wheel switching mechanism and a latent traction AGV. The fixed universal wheel switching mechanism comprises a supporting assembly. The driving assembly and the wheel switching assembly are arranged on the supporting assembly; the wheel switching assembly comprises at least one wheel switching mechanism, and the wheel switching mechanism comprises a transmission structure which is rotationally arranged on the supporting assembly and is in transmission connection with the driving assembly; two ends of the connecting rod are respectively in transmission connection with the transmission structure and the swing wheel structure; the swing wheel structure comprises a swing arm; and the universal wheel and the directional wheel are rotationally arranged below the swing arm respectively. The driving assembly drives the swing arm to rotate relative to the supporting assembly through the transmission structure and the connecting rod in sequence, so that the universal wheels or the directional wheels make contact with the ground, switching operation between the universal wheels and the directional wheels is achieved, and the problem that universal and directional switching of wheels of an existing latent traction AGV cannot be achieved according to actual requirements is effectively solved.

Description

Technical Field

[0001] This utility model relates to the field of AGV technology, and in particular to a fixed universal wheel switching mechanism and a latent traction AGV. Background Technology

[0002] The AGV (Automated Guided Vehicle) is an automated transportation device that can be hidden under the bottom of a cargo trolley. It is mainly used to tow vehicles loaded with goods, operating flexibly in limited spaces to achieve efficient cargo handling. The AGV features intelligent navigation, flexible adaptability, and safety and stability, making it suitable for scenarios such as warehouses and manufacturing. In the future, it will become more intelligent, improving the level of logistics automation.

[0003] In existing technologies, AGVs with concealed traction typically employ two omnidirectional wheels at the front, a drive mechanism in the middle, and two directional wheels at the rear. The wheel system of the material carrier typically uses two omnidirectional wheels at the front and two directional wheels at the rear. When the directional wheels on the AGV are not aligned with the directional wheels of the material carrier, and the AGV is turning while pulling the material carrier, the directional wheels of the AGV will struggle against each other, causing sliding friction with the ground and accelerating wear on both the directional wheel surfaces and the ground. Furthermore, existing omnidirectional wheels support 360° rotation in any direction, while the directional wheels only support directional rotation; the two cannot be switched, thus failing to meet the practical needs of AGVs with concealed traction. Therefore, a wheel mechanism and a AGV with concealed traction are provided to solve the above problems. Summary of the Invention

[0004] One of the objectives of this invention is to provide a fixed universal wheel switching mechanism and a hidden traction AGV, so as to solve the problem that the wheels of existing hidden traction AGVs cannot switch between universal and directional according to actual needs.

[0005] This utility model relates to a fixed universal wheel switching mechanism and a latent traction AGV, which can be achieved through the following technical solutions:

[0006] This utility model discloses a fixed universal wheel switching mechanism, which includes a support assembly; a drive assembly fixedly mounted on the support assembly; and a switching wheel assembly movably mounted on the support assembly and connected to the drive assembly in a transmission manner.

[0007] The wheel switching assembly includes at least one wheel switching mechanism, which includes a transmission structure that is rotatably mounted on the support assembly and is connected to the drive assembly; a connecting rod that is connected to the transmission structure at one end and passes through the support assembly and is connected to the swing wheel structure at the other end.

[0008] Among them, the swinging wheel structure includes a swing arm, which is hinged to the support component and is in transmission connection with the connecting rod; a universal wheel and a directional wheel are respectively rotatably arranged below the swing arm, and the connecting rod drives the swing arm to rotate relative to the support component, so that the universal wheel or the directional wheel contacts the ground.

[0009] In one implementation, the switching wheel assembly includes two switching wheel mechanisms arranged oppositely, and the two switching wheel mechanisms are respectively movably penetrated through the support component, and the driving component is in transmission connection with one of the switching wheel mechanisms; a transmission shaft is arranged between the two switching wheel mechanisms in a transmission manner.

[0010] In one implementation, the support component includes a support plate, the driving component is fixedly arranged on the support plate, and the two switching wheel mechanisms are respectively movably penetrated through the support plate; a first induction switch and a second induction switch are respectively fixedly arranged on the support plate and on the sides of the two switching wheel mechanisms.

[0011] In one implementation, the switching wheel mechanism further includes an induction piece, which is fixedly arranged on the side corresponding to the transmission structure and can perform induction operations with the first induction switch or the second induction switch.

[0012] In one implementation, the driving component includes a fixed seat, which is fixedly arranged on the support component; a driving motor fixedly arranged on the fixed seat, which can rotate forward and backward; a speed reducer arranged on the output shaft of the driving motor in a transmission manner; a driving gear and a transmission gear sequentially in transmission connection with the speed reducer, and the transmission gear is in transmission connection with the switching wheel assembly.

[0013] In one implementation, the transmission structure includes a first rotating shaft, which is rotatably penetrated through a first mounting seat of the support component through a bearing and is in transmission connection with the transmission gear; a transmission block movably arranged in the first mounting seat and fixedly connected with the first rotating shaft; a second rotating shaft rotatably penetrated through the first mounting seat through a bearing and fixedly connected with the transmission block.

[0014] In one implementation, the transmission block is in the shape of a "冂" character, and a slope is arranged at the part where it contacts the connecting rod.

[0015] In one implementation, a first winding shaft and a second winding shaft are respectively penetrated through opposite ends of the connecting rod, the first winding shaft is in transmission connection with the transmission block; the second winding shaft is in transmission connection with the swing arm.

[0016] In one embodiment, the swing arm is provided with a second hinge seat, and the connecting rod is connected to the second hinge seat via the second pivot.

[0017] This utility model discloses a hidden traction AGV, which includes the fixed universal wheel switching mechanism described in any of the above-mentioned claims.

[0018] This utility model relates to a fixed universal wheel switching mechanism and a latent traction AGV, which can be achieved through the following technical solutions:

[0019] This utility model discloses a fixed universal wheel switching mechanism and a submersible traction AGV. Through a drive assembly, a transmission structure, and connecting rods, the mechanism drives the swing arm to rotate relative to the support assembly, causing either the universal wheel or the directional wheel to contact the ground. This enables switching between the universal wheel and the directional wheel, effectively solving the problem that existing submersible traction AGVs cannot switch between universal and directional wheels according to actual needs. Precise control is achieved through the sensing operation between the inductive switch and the inductive plate. Simultaneously, through the inclined contact operation of the connecting rod and the transmission block, the transmission block is fixed tightly against the support plate. Under the positive pressure of the submersible traction AGV body and the material cart, the inclined contact between the connecting rod and the transmission block is firm. Regardless of the direction of force applied to the directional wheel or the universal wheel, it cannot detach from the ground, effectively achieving the stability and safety of the fixed universal wheel switching mechanism. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the structure of a fixed universal wheel switching mechanism of this utility model in its first use state;

[0022] Figure 2 This is a schematic diagram of the structure of a fixed universal wheel switching mechanism in the second use state of this utility model;

[0023] Figure 3 yes Figure 1 The exploded structural diagram of a fixed universal wheel switching mechanism of the present invention in its first use state is shown, including a support assembly, a drive assembly and a switching wheel assembly;

[0024] Figure 4 yes Figure 3 The diagram shows the structural schematic of the supporting components.

[0025] Figure 5 yes Figure 3 The diagram shows the structure of the driving component.

[0026] Figure 6 yes Figure 3 The schematic diagram of the wheel switching assembly shown includes a first wheel switching mechanism.

[0027] Figure 7 yes Figure 6 The exploded structural diagram of the first wheel switching mechanism is shown below;

[0028] Figure 8 This is a schematic diagram of the structure of a hidden traction AGV according to this utility model.

[0029] The diagram indicates the following: 10, swivel wheel switching mechanism; 11, support assembly; 111, support plate; 1111, first mounting base; 1112, second mounting base; 1113, first hinge base; 112, first inductive switch; 113, second inductive switch; 12, drive assembly; 121, fixed base; 122, drive motor; 123, reducer; 124, drive gear; 125, transmission gear; 13, wheel switching assembly; 131, first wheel switching mechanism; 1311, first transmission structure; 13111, first rotating shaft; 13112, transmission block; 131121, first connecting... 131122, second connecting hole; 13113, second rotating shaft; 1312, first connecting rod; 13121, first rotating shaft; 13122, second rotating shaft; 1313, first swing wheel structure; 13131, swing arm; 131311, second hinge seat; 131312, connecting shaft; 13132, omnidirectional wheel; 13133, directional wheel; 1314, first sensing plate; 132, second switching wheel mechanism; 1321, second transmission structure; 1322, second connecting rod; 1323, second swing wheel structure; 1324, second sensing plate; 133, transmission shaft. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can typically be arranged and designed in various different configurations.

[0031] 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 claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0032] Please see Figures 1-3 As shown, the present invention provides a fixed universal wheel switching mechanism 10, which includes a support component 11, a drive component 12, and a switching wheel component 13. The support component 11 is a support body and is fixedly installed on the body of the AGV. The drive component 12 is fixedly installed on the support component 11. The switching wheel component 13 is movably installed through the support component 11 and is connected to the drive component 12 for transmission. The drive component 12 drives the switching wheel component 13 to perform the operation of switching between fixed wheels and universal wheels.

[0033] Please see Figures 1-4 As shown, in this embodiment, the support assembly 11 includes a support plate 111, a first inductive switch 112, and a second inductive switch 113. The support plate 111 is fixedly mounted on the body of the lurking AGV, the drive assembly 12 is fixedly mounted on the support plate 111, and the wheel switching assembly 13 is movably mounted through the support plate 111. The first inductive switch 112 and the second inductive switch 113 are respectively fixedly mounted on the support plate 111 and respectively located on both sides of the wheel switching assembly 13, and both of them perform sensing operations on different switching states of the wheel switching assembly 13. Specifically, the support plate 111 is provided with a first mounting seat 1111, a second mounting seat 1112, and two first hinge seats 1113.

[0034] Please see Figure 1 , Figure 2 , Figure 3 and Figure 5 As shown, in this embodiment, the drive assembly 12 includes a fixed base 121, a drive motor 122, a reducer 123, a drive gear 124, and a transmission gear 125. The fixed base 121 is fixedly mounted on the support plate 111. The drive motor 122 is fixedly mounted on the fixed base 121 and can rotate in both directions. The reducer 123 is driven on the output shaft of the drive motor 122, which reduces the speed of the drive motor 122 while increasing its output torque. The drive gear 124 is driven by the reducer 123. The transmission gear 125 is meshed with the drive gear 124 and driven by the wheel switching assembly 13. The drive motor 122 drives the wheel switching assembly 13 to perform different switching state conversion operations in sequence through the reducer 123, the drive gear 124, and the transmission gear 125.

[0035] Please see Figure 1 , Figure 2 , Figure 3 and Figure 6 As shown, in this embodiment, the wheel switching assembly 13 includes a first wheel switching mechanism 131, a second wheel switching mechanism 132, and a drive shaft 133. The first wheel switching mechanism 131 and the second wheel switching mechanism 132 are arranged opposite to each other and movably mounted on the first mounting base 1111 and the second mounting base 1112, respectively. A transmission gear 125 is driven by the first wheel switching mechanism 131. The drive motor 122 drives the first wheel switching mechanism 131 to perform different switching state conversion operations in sequence through the reducer 123, the drive gear 124, and the transmission gear 125. The drive shaft 133 is fixedly disposed between the first wheel switching mechanism 131 and the second wheel switching mechanism 132, and the first wheel switching mechanism 131 drives the second wheel switching mechanism 132 to move synchronously through the drive shaft 133. In other embodiments, the wheel switching assembly 13 may also include only the first wheel switching mechanism 131, with the transmission gear 125 driven by the first wheel switching mechanism 131.

[0036] Please see Figure 6 and Figure 7 As shown, in this embodiment, the first switching wheel mechanism 131 includes a first transmission structure 1311, a first connecting rod 1312, a first swing wheel structure 1313, and a first sensing plate 1314. The first transmission structure 1311 is rotatably mounted on the first mounting base 1111 and is connected to the transmission gear 125. One end of the first connecting rod 1312 is connected to the first transmission structure 1311, and the other end passes through the support plate 111 and is connected to the first swing wheel structure 1313. The drive assembly 12 passes through the first transmission structure 1311 in sequence. 1. The first connecting rod 1312 drives the first swing wheel structure 1313 to change the angle relative to the support assembly 11, thereby realizing the switching operation between omnidirectional and directional operation of the first swing wheel structure 1313; the first sensing plate 1314 is fixedly installed on the side of the first transmission structure 1311, and it rotates with the rotation of the first transmission structure 1311. The first sensing plate 1314 can perform sensing operation with the first sensing switch 112. When the first sensing plate 1314 moves into the first sensing switch 112, the drive motor 122 stops rotating.

[0037] Please see Figure 7As shown, in this embodiment, the first transmission structure 1311 includes a first rotating shaft 13111, a transmission block 13112, and a second rotating shaft 13113. The first rotating shaft 13111 is rotatably disposed through the first mounting seat 1111 by a bearing and is传动连接 with the transmission gear 125. The transmission gear 125 drives the first rotating shaft 13111 to rotate on the first mounting seat 1111. The transmission block 13112 is movably disposed in the first mounting seat 1111 and is fixedly connected to the first rotating shaft 13111. The first rotating shaft 13111 drives the transmission block 13112 to rotate relative to the first mounting seat 1111. The second rotating shaft 13113 is rotatably disposed through the first mounting seat 1111 by a bearing and is fixedly connected to the transmission block 13112. The first sensing piece 1314 is fixedly disposed on one side of the second rotating shaft 13113. The rotation of the transmission block 13112 is limited and guided through the cooperation of the first rotating shaft 13111 and the second rotating shaft 13113. Specifically, the shape of the transmission block 13112 is a "冂" shape, and a slope is provided at the portion where it contacts the first connecting rod 1312. The transmission block 13112 is respectively provided with a first connecting hole 131121 and a second connecting hole 131122. One ends of the first rotating shaft 13111 and the second rotating shaft 13113 are respectively fixedly disposed in the corresponding first connecting hole 131121. The first connecting rod 1312 is传动连接 with the transmission block 13112 through the second connecting hole 131122.

[0038] Please refer to Figure 7 As shown, specifically, a first rotating shaft 13121 and a second rotating shaft 13122 are respectively disposed through opposite ends of the first connecting rod 1312. The first rotating shaft 13121 is传动连接 with the transmission block 13112 through the second connecting hole 131122. The first connecting rod 1312 is传动连接 with the first swinging wheel structure 1313 through the second rotating shaft 13122, thereby driving the first swinging wheel structure 1313 to switch between universal and directional operations.

[0039] Please refer to Figure 7 It should be noted that there are some unclear "传动连接" expressions in the original text which might need further clarification in the context to ensure a more accurate translation. Here they are tentatively translated as "driven connection" for the purpose of presenting the overall translation.As shown, in this embodiment, the first swing wheel structure 1313 includes a swing arm 13131, a swivel wheel 13132, and a directional wheel 13133. The two ends of the swing arm 13131 are rotatably connected to the corresponding first hinge seat 1113 and are connected to the first connecting rod 1312. The swivel wheel 13132 and the directional wheel 13133 are rotatably disposed below the swing arm 13131. The first connecting rod 1312 drives the swing arm 13131 to rotate relative to the support assembly 11, so that the swivel wheel 13132 or the directional wheel 13133 contacts the ground, thereby realizing the switching operation between swivel and directional of the fixed swivel wheel switching mechanism 10. Specifically, a second hinge seat 131311 is provided on the swing arm 13131, and the first connecting rod 1312 is connected to the second hinge seat 131311 via a second pivot 13122; a connecting shaft 131312 is provided through the swing arm 13131, and the two ends of the connecting shaft 131312 are respectively provided on the corresponding first hinge seat 1113.

[0040] Please see Figure 1 , Figure 2 , Figure 3 and Figure 6 As shown, in this embodiment, the second switching wheel mechanism 132 includes a second transmission structure 1321, a second connecting rod 1322, a second swing wheel structure 1323, and a second sensing plate 1324; the second transmission structure 1321 is rotatably mounted on the second mounting base 1112 and fixedly connected to the transmission shaft 133; one end of the second connecting rod 1322 is connected to the second transmission structure 1321, and the other end passes through the support plate 111 and is connected to the second swing wheel structure 1323; the drive assembly 12 passes through the first transmission structure 1311, the transmission shaft 133, and the second connecting rod 1322 in sequence. The second transmission structure 1321 and the second connecting rod 1322 drive the second swing wheel structure 1323 to change its angle relative to the support assembly 11, thereby realizing the switching operation between omnidirectional and directional operation of the second swing wheel structure 1323. The second sensing plate 1324 is fixedly installed on the side of the second transmission structure 1321 and rotates with the rotation of the second transmission structure 1321. The second sensing plate 1324 can perform sensing operation with the second sensing switch 113. When the second sensing plate 1324 moves into the second sensing switch 113, the drive motor 122 stops rotating. Specifically, the second transmission structure 1321 and the second swing wheel structure 1323 are similar in structure to the first transmission structure 1311 and the first swing wheel structure 1313, respectively, so their specific structures will not be described in detail here.

[0041] Please see Figure 8 As shown, the utility model of a hidden traction AGV includes a fixed universal wheel switching mechanism 10 as described above, and the fixed universal wheel switching mechanism 10 is fixedly installed below the rear end of the vehicle body of the hidden traction AGV.

[0042] It should be noted that the specific working process of the universal wheel switching mechanism and the lurking traction AGV of this utility model is as follows: When it is necessary to switch from universal wheel to directional wheel, the drive motor 122 rotates clockwise, and drives the first transmission structure 1311 and the second transmission structure 1321 to rotate 180 degrees in sequence through the reducer 123, the drive gear 124, and the transmission gear 125. The first transmission structure 1311 and the second transmission structure 1321 drive the directional wheels 13133 on the first swing wheel structure 1313 and the second swing wheel structure 1323 to contact the ground through the first connecting rod 1312 and the second connecting rod 1322, respectively. When the second sensing plate 1324 moves to the second sensing switch 113 along with the second transmission structure 1321, the drive motor 122 stops rotating, thereby realizing the operation of switching from universal wheel to directional wheel.

[0043] When switching from a directional wheel to a swivel wheel is required, the drive motor 122 rotates counterclockwise, sequentially driving the first transmission structure 1311 and the second transmission structure 1321 to rotate 180 degrees through the reducer 123, the drive gear 124, and the transmission gear 125. The first transmission structure 1311 and the second transmission structure 1321 drive the swivel wheels 13132 on the first swing wheel structure 1313 and the second swing wheel structure 1323 to contact the ground through the first connecting rod 1312 and the second connecting rod 1322, respectively. When the first sensing plate 1314 moves into the first sensing switch 112 along with the first transmission structure 1311, the drive motor 122 stops rotating, thereby realizing the operation of switching from a directional wheel to a swivel wheel.

[0044] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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.

[0045] The embodiments described above are merely illustrative of several implementations of this utility model, and 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 those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A fixed universal wheel switching mechanism, characterized in that, Comprising: A support component; A drive component fixedly arranged on the support component; A switching wheel component movably penetrating through the support component and in transmission connection with the drive component; Wherein, the switching wheel component includes at least one switching wheel mechanism, and the switching wheel mechanism includes a transmission structure rotatably arranged on the support component and in transmission connection with the drive component; a connecting rod with one end in transmission connection with the transmission structure, and the other end thereof penetrating through the support component and in transmission connection with a swinging wheel structure; Wherein, the swinging wheel structure includes a swing arm hinged on the support component and in transmission connection with the connecting rod; a universal wheel and a directional wheel respectively rotatably arranged below the swing arm, and the connecting rod drives the swing arm to rotate relative to the support component, so that the universal wheel or the directional wheel contacts the ground.

2. The fixed universal wheel switching mechanism according to claim 1, characterized in that, The switching wheel component includes two switching wheel mechanisms arranged oppositely, and the two switching wheel mechanisms respectively movably penetrate through the support component, and the drive component is in transmission connection with one of the switching wheel mechanisms; a transmission shaft transmission - arranged between the two switching wheel mechanisms.

3. The fixed universal wheel switching mechanism according to claim 2, characterized in that, The support component includes a support plate, the drive component is fixedly arranged on the support plate, and the two switching wheel mechanisms respectively movably penetrate through the support plate; a first induction switch and a second induction switch respectively fixedly arranged on the support plate and respectively arranged on the sides of the two switching wheel mechanisms.

4. The fixed universal wheel switching mechanism according to claim 3, characterized in that, The switching wheel mechanism further includes an induction piece fixedly arranged on the side corresponding to the transmission structure, and it can perform an induction operation with the first induction switch or the second induction switch.

5. A fixed universal wheel switching mechanism according to claim 1, characterized in that, The drive component includes a fixed seat fixedly arranged on the support component; a drive motor fixedly arranged on the fixed seat, which can rotate forward and backward; a speed reducer transmission - arranged on the output shaft of the drive motor; a driving gear and a transmission gear successively in transmission connection with the speed reducer, and the transmission gear is in transmission connection with the switching wheel component.

6. A fixed universal wheel switching mechanism according to claim 5, characterized in that, The transmission structure includes a first rotating shaft rotatably penetrating through a first mounting seat of the support component through a bearing and in transmission connection with the transmission gear; a transmission block movably arranged in the first mounting seat and fixedly connected with the first rotating shaft; a second rotating shaft rotatably penetrating through the first mounting seat through a bearing and fixedly connected with the transmission block.

7. A fixed universal wheel switching mechanism according to claim 6, characterized in that, The shape of the transmission block is "冂" - shaped, and a bevel is arranged at the part thereof contacting the connecting rod.

8. A fixed universal wheel switching mechanism according to claim 6, characterized in that, Specially - shaped parts are represented by their Chinese characters here, and in English, they can be described in words or left in Chinese characters with explanations at the end if necessary. For simplicity, they are left as Chinese characters here.

9. A fixed universal wheel switching mechanism according to claim 8, characterized in that, First and second rotating shafts are respectively penetratingly arranged at opposite ends of the connecting rod, the first rotating shaft is in transmission connection with the transmission block; the second rotating shaft is in transmission connection with the swing arm.

10. A stealthy traction AGV, characterized in that, A second hinge seat is arranged on the swing arm, and the connecting rod is in transmission connection with the second hinge seat through the second rotating shaft. Including the fixed - directional - wheel switching mechanism according to any one of claims 1 - 9.

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