万向避障轮系统及AGV车
The design of the omnidirectional obstacle avoidance wheel system solves the problem of structural instability of AGV vehicles in complex terrain, achieving high passability and flexible steering, and improving the operating efficiency and reliability of AGV vehicles.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- NINGBO XINGJIAN SPACE MACHINERY
- Filing Date
- 2025-07-25
- Publication Date
- 2026-07-17
AI Technical Summary
Existing AGV vehicles have poor flexibility, stability and shock absorption during lifting and lowering when facing complex terrain and environment, making it difficult to effectively pass through obstacles.
A universal obstacle avoidance wheel system was designed, including a wheel frame, universal wheels, and a horizontal lifting mechanism. The vertical displacement and 360-degree rotation of the universal wheels are achieved through a balance bar and a telescopic cylinder. Combined with a linear displacement sensor, the lifting height of the wheels is precisely controlled to ensure the balance and stability of the system.
This technology enables AGVs to achieve high passability and flexible steering in complex environments, improves the system's automation level and operating efficiency, and enhances the stability and reliability of the structure.
Smart Images
Figure CN224510755U_ABST
Abstract
Claims
1. A universal obstacle avoidance wheel system, characterized by: Includes wheel frame, casters, and horizontal lifting mechanism; The wheel frame includes transverse walls on both sides and vertical walls; The horizontal lifting mechanism includes a horizontal arm, two telescopic cylinders, two downward-curving arc arms, and a balance bar. One end of the balance bar is rotatably connected between two vertical walls, and the other end is rotatably connected to the horizontal arm; the caster includes a bracket and a wheel body, and the bracket is rotatably connected to the middle of the horizontal arm; One end of the arc-shaped arm is rotatably connected to the side of the horizontal arm, and the other end is rotatably connected to the lower end of the vertical wall; one end of the telescopic cylinder is rotatably connected to the transverse wall, and the other end is rotatably connected to the middle of the arc-shaped arm.
2. The omni-directional obstacle avoidance wheel system of claim 1, wherein: The wheel frame includes a mounting plate connected to the AGV vehicle body and L-shaped side plates located on both sides of the mounting plate; the L-shaped side plates include the transverse wall and the vertical wall.
3. The omni-directional obstacle avoidance wheel system of claim 1, wherein: The horizontal arm includes a base plate and a connecting seat above the base plate, and a first bearing seat is provided above the connecting seat; the wheel frame is provided with a second bearing seat; the two ends of the balance bar are respectively rotatably connected to the first bearing seat and the second bearing seat.
4. The omni-directional obstacle avoidance wheel system of claim 3, wherein: The balance bar includes two parallel side bars: a first side bar and a second side bar; one end of each side bar is connected to both sides of the first bearing seat via a first pivot, and the other end is connected to both sides of the second bearing seat via a second pivot.
5. The omni-directional obstacle avoidance wheel system of claim 3, wherein: The connecting seat includes an upper wall and two supporting walls. The lower surface of the upper wall and the upper surface of the substrate have an open space. The first side rod is integral with the first rotating shaft, and the first rotating shaft passes through the first bearing seat and is detachably connected to the second side rod. The second side rod is integral with the second rotating shaft, and the second rotating shaft passes through the second bearing seat and is detachably connected to the first side rod.
6. The omni-directional obstacle avoidance wheel system of claim 1, wherein: It also includes a linear displacement sensor, the two ends of which are rotatably connected to the transverse wall and the arc-shaped arm, respectively, and the rotation axis of the sensor is parallel to the horizontal arm.
7. A universal obstacle avoidance wheel system characterized by Includes wheel frame, casters, and horizontal lifting mechanism; The wheel frame includes transverse walls on both sides and vertical walls; The horizontal lifting mechanism includes a horizontal arm, two telescopic cylinders, two downward-curving arc arms, and a balance bar. One end of the balance bar is rotatably connected between the two vertical walls, and the other end is rotatably connected to the horizontal arm, with the rotation axis of both being parallel to the horizontal arm; The caster wheel includes a bracket and a wheel body. The bracket is rotatably connected to the middle of the horizontal arm and the axis of rotation is perpendicular to the horizontal arm. One end of the arc-shaped arm is rotatably connected to the side of the horizontal arm, and the other end is rotatably connected to the lower end of the vertical wall, with the rotation axis being parallel to the horizontal arm. One end of the telescopic cylinder is rotatably connected to the transverse wall, and the other end is rotatably connected to the middle of the arc-shaped arm; and the rotation axis is parallel to the horizontal arm.
8. The omni-directional obstacle avoidance wheel system of claim 7, wherein: It also includes a linear displacement sensor, the two ends of which are rotatably connected to the transverse wall and the arc-shaped arm, respectively, and the rotation axis of the sensor is parallel to the horizontal arm.
9. The omni-directional obstacle avoidance wheel system of claim 7, wherein: The horizontal arm includes a base plate and a connecting seat above the base plate, and a first bearing seat is provided above the connecting seat; the wheel frame is provided with a second bearing seat; the two ends of the balance bar are respectively rotatably connected to the first bearing seat and the second bearing seat; the connecting seat includes an upper wall and two supporting walls, and the lower surface of the upper wall and the upper surface of the base plate have an open space.
10. An AGV vehicle, characterized by The vehicle includes a vehicle body, the bottom of which is provided with a main steering wheel and a plurality of omnidirectional obstacle avoidance wheel systems as described in any one of claims 1-9.