Single differential steering wheel structure of omnidirectional AGV (Automatic Guided Vehicle)

Abstract

The utility model discloses a single differential steering wheel structure of an omnidirectional AGV (Automatic Guided Vehicle). The single differential steering wheel structure comprises a bottom plate, a double differential driving module, a first gear, a steering locking mechanism and a chassis, the double-differential-speed driving module is provided with a wheel frame fixed to the lower plate face of the bottom plate, two sets of idler wheels symmetrically and rotatably installed on the wheel frame and two sets of differential-speed motors in one-to-one driving connection with the two sets of idler wheels. The first gear is rotatably mounted on the upper plate surface of the bottom plate through a bearing; the steering locking mechanism is mounted on the bottom plate, the steering locking mechanism is provided with a power source and a second gear in driving connection with the power source, and the second gear is in meshed connection with the first gear; the chassis is fixed to the first gear and can synchronously rotate along with the first gear. The AGV steering wheel can effectively solve the problems of cost and space proportion of double steering wheels, the steering locking mechanism is arranged on the AGV steering wheel so that the rudder angle can be accurately controlled, and the omni-directional movement posture of the AGV can be achieved.

Description

Technical Field

[0001] This utility model relates to AGV (Automated Guided Vehicle) trolleys, specifically to a single differential steering wheel structure for an omnidirectional AGV trolley. Background Technology

[0002] Existing omnidirectional AGVs requiring lateral movement mostly employ a dual-steering-wheel structure (including dual differential steering wheels / two single-wheel steering wheels). When lateral movement is required, both steering wheels rotate simultaneously by 90 degrees, making the traveling wheels perpendicular to the vehicle body, and issuing a travel command to move the vehicle laterally. The traditional dual-steering-wheel structure of AGVs occupies a large space and has a high cost.

[0003] In view of this, it is necessary to improve the existing dual-steering wheel structure of AGV vehicles. Utility Model Content

[0004] To address the shortcomings of existing technologies, the present invention aims to provide a single differential steering wheel structure for an omnidirectional AGV. The purpose of designing this single differential steering wheel structure is twofold: first, to reduce the space occupied; and second, to enable the steering locking mechanism to be dynamically controlled, resulting in accurate steering angle control.

[0005] To solve the above-mentioned technical problems, this utility model provides the following solution: A single differential steering wheel structure for an omnidirectional AGV, comprising:

[0006] Base plate;

[0007] The dual differential drive module has a wheel frame fixed to the lower surface of the base plate, two sets of rollers symmetrically and rotatably mounted on the wheel frame, and two sets of differential motors that are driven one-to-one with the two sets of rollers.

[0008] The first gear is rotatably mounted on the upper surface of the base plate via a bearing;

[0009] A steering locking mechanism is installed on the base plate. The steering locking mechanism is provided with a power source and a second gear that is driven and connected to the power source. The second gear and the first gear are meshed together.

[0010] The chassis is fixed to the first gear and can rotate synchronously with the first gear.

[0011] Furthermore, the first gear is a ring gear.

[0012] Furthermore, the power source includes a servo motor and a reducer driven by the servo motor, with the drive shaft of the reducer horizontally connected to the second gear.

[0013] Furthermore, the single differential steering wheel structure also includes two sets of omnidirectional wheels, which are mounted on the base plate.

[0014] Furthermore, the single differential steering wheel structure also includes a follower wheel floating assembly, which includes a floating bracket and a single wheel installed at the bottom of the floating bracket. The floating bracket is also fixed to the chassis.

[0015] Compared with the prior art, the beneficial effects of this utility model are:

[0016] 1. The single differential steering wheel structure of this utility model can effectively solve the problems of cost and space ratio of dual steering wheels.

[0017] 2. The single differential steering wheel structure of this utility model is equipped with a steering locking mechanism, which can precisely control the steering angle.

[0018] 3. The single differential steering wheel structure of this utility model can realize the omnidirectional motion posture of the AGV trolley. Attached Figure Description

[0019] Figure 1 This is a structural diagram of the single differential steering wheel structure of this utility model after removing the follower wheel floating component.

[0020] Figure 2 This is a structural diagram of the single differential steering wheel structure of this utility model after adding the follower wheel floating component.

[0021] The attached diagram shows the following components: 1. Steering locking mechanism; 2. First gear; 3. Dual differential drive module; 4. Universal wheel; 5. Chassis; 6. Base plate; 7. Follower wheel floating assembly; 11. Servo motor; 12. Reducer; and 13. Second gear. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments, so that the advantages and features of the present utility model can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the protection scope of the present utility model. Obviously, the embodiments described in this utility model are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0023] Furthermore, the technical features involved in the different embodiments of this utility model described below can be combined with each other as long as they do not conflict with each other.

[0024] Example 1: The specific structure of this utility model is as follows:

[0025] Please refer to the appendix. Figure 1-2This utility model discloses a single differential steering wheel structure for an omnidirectional AGV, comprising a base plate 6, a dual differential drive module 3, a first gear 2, a steering locking mechanism 1, and a chassis 5. The base plate 6 is provided with a circular hole.

[0026] The dual differential drive module 3 has a wheel frame fixed to the lower surface of the base plate 6, two sets of rollers symmetrically and rotatably mounted on the wheel frame, and two sets of differential motors that are driven one-to-one with the two sets of rollers. By controlling the different speeds of the two sets of differential motors, the different speeds of the two sets of rollers can be achieved, thereby realizing the steering of the wheel frame.

[0027] The first gear 2 is rotatably mounted on the upper surface of the base plate via a bearing; the first gear 2 is a ring gear, the bearing is fixed to the base plate and the inner circle of the bearing surrounds the circular hole.

[0028] A steering locking mechanism 1 is mounted on the base plate 6. This mechanism includes a power source and a second gear 13 connected to the power source. The second gear 13 meshes with the first gear 2. The power source includes a servo motor 11 and a reducer 12 connected to the servo motor 11. The drive shaft of the reducer 12 is horizontally connected to the second gear 13. The diameter of the first gear 2 is much larger than that of the second gear 13, which has a locking function. This invention enables the AGV to move and steer via a dual differential drive module 3, and allows it to turn in place and lock in time via the steering locking mechanism 1, thus improving the steering efficiency of the AGV.

[0029] The chassis 5 is fixed to the first gear 2 and can rotate synchronously with the first gear 2. The chassis 5 is used to connect to and support the frame of the AGV trolley.

[0030] The single differential steering wheel structure also includes two sets of omnidirectional wheels 4, which are installed on the base plate 6. The omnidirectional wheels 4 enable the AGV to move freely in a straight line and to turn freely.

[0031] The single differential steering wheel structure also includes a follower wheel floating assembly 7, which includes a floating bracket and a single wheel mounted at the bottom of the floating bracket. The floating bracket is also fixed to the chassis 5. The follower wheel floating assembly 7 supports the chassis 5 and prevents the AGV from slipping during movement.

[0032] In addition, one or more combinations of lifting mechanisms, roller structures, and forklift structures can be installed on chassis 5. The lifting mechanism, roller structure, and forklift structure are all conveying modules. The dual differential motors and the servo motor 11 of the steering locking mechanism 1 cooperate with each other. The servo motor 11 follows the steering angle when the dual differential motors are working, so that the chassis 5 locks when it turns to the required angle to prevent the chassis 5 from deviating from its angle.

[0033] In summary, the single differential steering wheel structure of this invention effectively solves the cost and space consumption problems associated with dual steering wheels. This single differential steering wheel structure is equipped with a steering locking mechanism, which can precisely control the steering angle. This single differential steering wheel structure enables the AGV to achieve omnidirectional movement.

[0034] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural or procedural transformations made based on the contents of the present utility model specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present utility model.

Claims

1. A single differential steering wheel structure for an omnidirectional AGV (Automated Guided Vehicle), characterized in that, include: Base plate (6); The dual differential drive module (3) has a wheel frame fixed to the lower surface of the base plate (6), two sets of rollers symmetrically and rotatably mounted on the wheel frame, and two sets of differential motors that are driven one-to-one with the two sets of rollers. The first gear (2) is rotatably mounted on the upper surface of the base plate via a bearing; Steering locking mechanism (1) is installed on the base plate (6). The steering locking mechanism (1) is provided with a power source and a second gear (13) driven and connected to the power source. The second gear (13) and the first gear (2) are meshed and connected. The chassis (5) is fixed to the first gear (2) and the chassis (5) can rotate synchronously with the first gear (2).

2. The single differential steering wheel structure of an omnidirectional AGV trolley according to claim 1, characterized in that, The first gear (2) is a ring gear.

3. The single differential steering wheel structure of an omnidirectional AGV trolley according to claim 1, characterized in that, The power source includes a servo motor (11) and a reducer (12) driven and connected to the servo motor (11). The drive shaft of the reducer (12) is horizontally connected to the second gear (13).

4. The single differential steering wheel structure of an omnidirectional AGV trolley according to claim 1, characterized in that, The single differential steering wheel structure also includes two sets of universal wheels (4), which are mounted on the base plate (6).

5. The single differential steering wheel structure of an omnidirectional AGV trolley according to claim 1, characterized in that, The single differential steering wheel structure also includes a follower wheel floating assembly (7), which includes a floating bracket and a single wheel installed at the bottom of the floating bracket. The floating bracket is also fixed to the chassis (5).

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