Carrying vehicle and omni-directional driving steering device thereof

Abstract

The utility model discloses a carrier and an omni-directional driving steering device thereof. The omni-directional driving steering device comprises a driving wheel carrier; the connecting base is hinged to the upper portion of the driving wheel frame, and a gap exists between the connecting base and the driving wheel frame; the bearing comprises an inner ring and an outer ring which can rotate relatively, the inner ring is fixedly connected with the connecting seat, and the outer ring is fixedly connected with the frame; the two differential wheel sets are mounted on the left side and the right side of the driving wheel frame respectively; and the at least one brake is fixedly mounted on the connecting seat, and the brake is tightly held to fix the relative position between the inner ring and the outer ring. According to the scheme, omni-directional rotation of the carrier is achieved through the bearings and the differential wheel sets, longitudinal, transverse and oblique movement of the carrier is achieved through holding braking of the brakes, the connecting base and the driving wheel carrier are hinged so that the connecting base and the driving wheel carrier can swing relatively, the flexibility of the carrier is improved to a great extent, and the carrier is simple in structure and convenient to use. The size is small.

Description

Technical Field

[0001] This utility model relates to the field of transport vehicle technology, and in particular to a transport vehicle and its omnidirectional drive steering device. Background Technology

[0002] In existing technologies, the drive and steering mechanisms of automated guided vehicles (AGVs) are generally divided into two types: hinged-axis steering and differential steering. Hinged-axis steering uses two different electric motors for steering and drive, resulting in lower positioning accuracy. Differential steering achieves vehicle steering by controlling the speed ratio of the two central drive wheels, but it cannot move diagonally, limiting its flexibility. Therefore, there is a need to design a drive and steering mechanism with high positioning accuracy, simple structure, and omnidirectional movement capability. Utility Model Content

[0003] In order to solve the above-mentioned technical problems, the purpose of this utility model is to provide a small-sized and simple-structured transport vehicle and its omnidirectional drive steering device, which can realize all-round movement of the vehicle in the longitudinal, lateral, diagonal and rotation directions.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] An omnidirectional drive steering device, comprising:

[0006] Drive wheel carrier;

[0007] The connecting seat is hinged above the drive wheel frame, and there is a gap between the connecting seat and the drive wheel frame;

[0008] The bearing includes an inner ring and an outer ring that can rotate relative to each other, the inner ring being fixedly connected to a connecting seat, and the outer ring being fixedly connected to a vehicle frame;

[0009] Two differential gear sets are installed on the left and right sides of the drive wheel frame, respectively;

[0010] At least one brake is fixedly mounted on the connecting seat, and the brake is clamped to fix the relative position between the inner ring and the outer ring.

[0011] Preferably, the lower surface of the connecting seat has two downward protruding connecting pieces, which are located on the front and rear sides of the connecting seat respectively. The connecting seat is hinged to the drive wheel frame through the two connecting pieces.

[0012] Preferably, it also includes two hinge shafts; a first hinge hole is opened on the front and rear side walls of the drive wheel frame, and a second hinge hole is opened on the two connecting pieces. The first hinge hole and the second hinge hole correspond one to one. One hinge shaft is sequentially inserted into the first hinge hole on the front side wall of the drive wheel frame and the second hinge hole on the front connecting piece of the connecting seat, and the other hinge shaft is sequentially inserted into the first hinge hole on the rear side wall of the drive wheel frame and the second hinge hole on the rear connecting piece of the connecting seat.

[0013] Preferably, the front and rear side walls of the drive wheel frame are each equipped with a stop, which is U-shaped. Both ends of the stop are connected to the drive wheel frame, and a limiting space exists between the middle of the stop and the drive wheel frame. The stop has a third hinge hole. When the connecting seat is installed on the drive wheel frame, the connecting piece is located within the limiting space. One hinge shaft passes sequentially through the first hinge hole on the front side wall of the drive wheel frame, the second hinge hole on the front connecting piece of the connecting seat, and the third hinge hole of the stop. The other hinge shaft passes sequentially through the first hinge hole on the rear side wall of the drive wheel frame, the second hinge hole on the front connecting piece of the connecting seat, and the third hinge hole of the stop. In this way, by limiting the connecting piece within the limiting space, axial movement of the connecting seat is prevented.

[0014] Preferably, the lower edge of the connecting piece is arc-shaped.

[0015] Preferably, the outer ring of the bearing is provided with gear teeth; the output end of the brake is provided with a gear, which meshes with the gear teeth on the outer ring. When the brake is engaged, the gear on the output end of the brake stops rotating, and the gear, outer ring, and inner ring are relatively fixed.

[0016] Preferably, the brake is mounted on the lower surface of the connecting seat, and the output end of the brake passes through the connecting seat and a gear is installed thereon.

[0017] Preferably, there are two brakes, which are symmetrically mounted on the connecting seat. This prevents brake failure.

[0018] Preferably, there is a height difference between the inner and outer rings of the bearing, with the lower surface of the inner ring located below the lower surface of the outer ring. This avoids friction between the outer ring of the bearing and the mounting housing, preventing any obstruction of relative rotation between the inner and outer rings.

[0019] A transport vehicle, including an omnidirectional drive steering device as described above.

[0020] The present invention has the following beneficial effects due to the adoption of the above technical solutions: In this solution, the omnidirectional rotation of the transport vehicle is realized by using bearings and differential wheel sets, the longitudinal, lateral and diagonal movement of the transport vehicle is realized by using the clamping braking of the brake, and the relative swing between the connecting seat and the drive wheel frame is achieved by hinged connection, which greatly improves the flexibility of the transport vehicle itself. The structure is simple and the size is small. Attached Figure Description

[0021] Figure 1 This is one of the structural schematic diagrams of this utility model;

[0022] Figure 2 This is the second structural schematic diagram of this utility model;

[0023] Figure 3 This is an exploded view of this utility model.

[0024] Figure label:

[0025] 100, gap; 200, limiting space;

[0026] 1. Drive wheel frame; 11. First hinge hole; 12. Stop; 121. Third hinge hole;

[0027] 2. Connecting seat; 21. Connecting piece; 211. Second hinge hole;

[0028] 3. Bearing; 31. Inner ring; 32. Outer ring; 321. Gear tooth;

[0029] 4. Differential gear set;

[0030] 5. Brake; 51. Gear;

[0031] 6. Hinge. Detailed Implementation

[0032] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0033] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0034] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more, unless otherwise expressly defined.

[0035] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0036] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0037] like Figures 1 to 3 An omnidirectional drive steering device is shown, comprising:

[0038] Drive wheel frame 1;

[0039] Connecting seat 2 is hinged above drive wheel frame 1, and there is a gap of 100 between connecting seat 2 and drive wheel frame 1.

[0040] The bearing 3 includes an inner ring 31 and an outer ring 32 that can rotate relative to each other. The inner ring 31 is fixedly connected to the connecting seat 2, and the outer ring 32 is fixedly connected to the frame.

[0041] Two differential wheel sets 4 are respectively installed on the left and right sides of the drive wheel frame 1;

[0042] At least one brake 5 is fixedly mounted on the connecting seat 2, and the brake 5 is clamped to fix the relative position between the inner ring 31 and the outer ring 32.

[0043] In this scheme, the omnidirectional rotation of the transport vehicle is achieved by setting bearing 3 and differential wheel set 4, and the longitudinal, lateral and diagonal movement of the transport vehicle is achieved by using brake 5 to clamp and brake. By hinged connecting seat 2 to drive wheel frame 1, the two can swing relative to each other, which greatly improves the flexibility of the transport vehicle itself. The structure is simple and the size is small.

[0044] In this design, bearing 3 is a slewing bearing.

[0045] In order to ensure smooth relative rotation between the inner ring 31 and the outer ring 32 of the bearing 3, there is a height difference between the inner ring 31 and the outer ring 32 of the bearing 3, and the lower surface of the inner ring 31 is located below the lower surface of the outer ring 32, thereby avoiding friction between the outer ring 32 of the bearing 3 and the connecting seat 2.

[0046] like Figure 2 and 3 As shown, the lower surface of the connecting seat 2 has two connecting pieces 21 protruding downwards. The two connecting pieces 21 are located on the front and rear sides of the connecting seat 2 respectively. The connecting seat 2 is hinged to the drive wheel frame 1 through the two connecting pieces 21.

[0047] In this design, the connecting piece 21 of the connecting seat 2 is hinged to the drive wheel frame 1 via a hinge pin 6. Specifically, a first hinge hole 11 is opened on the front and rear side walls of the drive wheel frame 1, and a second hinge hole 211 is opened on the two connecting pieces 21. The first hinge hole 11 and the second hinge hole 211 correspond one-to-one. One hinge pin 6 is sequentially inserted into the first hinge hole 11 on the front side wall of the drive wheel frame 1 and the second hinge hole 211 on the front connecting piece 21 of the connecting seat 2. The other hinge pin 6 is sequentially inserted into the first hinge hole 11 on the rear side wall of the drive wheel frame 1 and the second hinge hole 211 on the rear connecting piece 21 of the connecting seat 2.

[0048] To prevent the connecting seat 2 from axially shifting on the hinge shaft 6 during the movement of the transport vehicle, a stop 12 is provided on the front and rear side walls of the drive wheel frame 1. The stop 12 is U-shaped and its two ends are connected to the drive wheel frame 1. There is a limiting space 200 between the middle of the stop 12 and the drive wheel frame 1. The stop 12 is provided with a third hinge hole 121. When the connecting seat 2 is installed on the drive wheel frame 1, the connecting piece 21 is located within the limiting space 200. One hinge shaft 6 is sequentially inserted into the first hinge hole 11 on the front side wall of the drive wheel frame 1, the second hinge hole 211 on the front connecting piece 21 of the connecting seat 2, and the third hinge hole 121 of the stop 12. The other hinge shaft 6 is sequentially inserted into the first hinge hole 11 on the rear side wall of the drive wheel frame 1, the second hinge hole 211 on the front connecting piece 21 of the connecting seat 2, and the third hinge hole 121 of the stop 12. The width of the limiting space 200 should be equal to or slightly greater than the thickness of the connecting piece 21.

[0049] To prevent the bottom end of the connecting piece 21 from getting stuck on the stop 12 when the connecting piece 21 swings on the hinge shaft 6, the lower edge of the connecting piece 21 is set in an arc shape.

[0050] like Figure 3As shown, the outer ring 32 of the bearing 3 is provided with gear teeth 321; the output end of the brake 5 is provided with a gear 51, which meshes with the gear teeth 321 on the outer ring 32. When the brake 5 is engaged, the gear 51 on the output end of the brake 5 stops rotating, and the gear 51, the outer ring 32, and the inner ring 31 are relatively fixed. When the brake 5 is released, the differential wheel set 4 drives the drive wheel frame 1 and the connecting seat 2 to rotate freely relative to the frame, thereby freely adjusting the angle of the drive wheel frame 1 and the connecting seat 2 relative to the frame.

[0051] In this design, the brake 5 is mounted on the lower surface of the connecting seat 2. The output end of the brake 5 passes through the connecting seat 2 and is fitted with the gear 51, resulting in a compact overall structure. To ensure the braking effect of the brake 5, two brakes 5 are used in this design, symmetrically mounted on the connecting seat 2. Of course, the number of brakes 5 can be adjusted according to actual needs.

[0052] The operating method of this omnidirectional drive steering system is as follows:

[0053] When the brake 5 is released, the differential wheel assembly 4 drives the drive wheel frame 1 and the connecting seat 2 to rotate freely relative to the frame, thereby freely adjusting the angle between the drive wheel frame 1 and the connecting seat 2 and the frame.

[0054] When the gear 51 on the output end of the brake 5 stops rotating, the gear 51, the outer ring 32, and the inner ring 31 are relatively fixed, thereby fixing the angle of the drive wheel frame 1 relative to the frame. The transport vehicle can move along this fixed angle direction, thereby realizing the longitudinal, lateral, diagonal, and rotational omnidirectional movement of the entire vehicle.

[0055] This utility model also discloses a transport vehicle, including an omnidirectional drive steering device as described above.

[0056] All features described in the specification, appended claims and drawings, whether individually or in any combination thereof, are essential features of this utility model.

[0057] In the description of this specification, the terms "one embodiment," "some embodiments," "one implementation," "specific implementation," "other implementation," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment, implementation, or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described above can also be combined in any suitable manner in one or more embodiments, implementations, or examples. The technical solutions described in this utility model also include technical solutions formed by any one or more specific features, structures, materials, or characteristics described above, either individually or in combination.

[0058] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions, alterations, deletions of some features, additions of features, or recombinations of features to the above embodiments within the scope of the present invention without departing from the principles and spirit of the present invention. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the innovative principles of the present invention shall still fall within the scope of the technical solutions of the present invention.

Claims

1. An omnidirectional drive steering device, characterized in that, include: Drive wheel frame (1); The connecting seat (2) is hinged above the drive wheel frame (1), and there is a gap (100) between the connecting seat (2) and the drive wheel frame (1). The bearing (3) includes an inner ring (31) and an outer ring (32) that can rotate relative to each other. The inner ring (31) is fixedly connected to the connecting seat (2), and the outer ring (32) is fixedly connected to the frame. Two differential wheel sets (4) are respectively installed on the left and right sides of the drive wheel frame (1); At least one brake (5) is fixedly mounted on the connecting seat (2), and the brake (5) is clamped to fix the relative position between the inner ring (31) and the outer ring (32).

2. The omnidirectional drive steering device according to claim 1, characterized in that, The lower surface of the connecting seat (2) is provided with two connecting pieces (21) protruding downwards. The two connecting pieces (21) are located on the front and rear sides of the connecting seat (2) respectively. The connecting seat (2) is hinged to the drive wheel frame (1) through the two connecting pieces (21).

3. The omnidirectional drive steering device according to claim 2, characterized in that, It also includes two hinge shafts (6); a first hinge hole (11) is opened on the front and rear side walls of the drive wheel frame (1), and a second hinge hole (211) is opened on the two connecting pieces (21). The first hinge hole (11) and the second hinge hole (211) correspond one to one. One hinge shaft (6) is sequentially inserted into the first hinge hole (11) on the front side wall of the drive wheel frame (1) and the second hinge hole (211) on the front connecting piece (21) of the connecting seat (2). The other hinge shaft (6) is sequentially inserted into the first hinge hole (11) on the rear side wall of the drive wheel frame (1) and the second hinge hole (211) on the rear connecting piece (21) of the connecting seat (2).

4. An omnidirectional drive steering device according to claim 3, characterized in that, The front and rear side walls of the drive wheel frame (1) are respectively provided with stoppers (12). The stoppers (12) are U-shaped and their two ends are connected to the drive wheel frame (1). There is a limiting space (200) between the middle part of the stopper (12) and the drive wheel frame (1). The stopper (12) is provided with a third hinge hole (121). When the connecting seat (2) is installed on the drive wheel frame (1), the connecting piece (21) is located in the limiting space (200). A hinge shaft ( 6) The first hinge hole (11) of the front side wall of the drive wheel frame (1), the second hinge hole (211) of the front connecting piece (21) of the connecting seat (2) and the third hinge hole (121) of the stop (12) are sequentially inserted into the first hinge hole (11) of the rear side wall of the drive wheel frame (1), the second hinge hole (211) of the front connecting piece (21) of the connecting seat (2) and the third hinge hole (121) of the stop (12).

5. An omnidirectional drive steering device according to claim 4, characterized in that, The lower edge of the connecting piece (21) is arc-shaped.

6. An omnidirectional drive steering device according to claim 1, characterized in that, The outer ring (32) of the bearing (3) is provided with gear teeth (321); the output end of the brake (5) is provided with gear (51), which meshes with the gear teeth (321) on the outer ring (32). When the brake (5) is engaged, the gear (51) on the output end of the brake (5) stops rotating, and the gear (51), outer ring (32), and inner ring (31) are relatively fixed.

7. An omnidirectional drive steering device according to claim 6, characterized in that, The brake (5) is installed on the lower surface of the connecting seat (2), and the output end of the brake (5) passes through the connecting seat (2) and then the gear (51) is installed.

8. An omnidirectional drive steering device according to claim 1, characterized in that, There are two brakes (5), and the two brakes (5) are symmetrically installed on the connecting seat (2).

9. An omnidirectional drive steering device according to claim 1, characterized in that, There is a height difference between the inner ring (31) and the outer ring (32) of the bearing (3), and the lower surface of the inner ring (31) is located below the lower surface of the outer ring (32).

10. A transport vehicle, characterized in that, Includes an omnidirectional drive steering device as described in any one of claims 1-9.

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