一种平衡万向轮机构及AGV

Abstract

本实用新型公开了一种平衡万向轮机构及AGV，平衡万向轮机构包括至少一个轴承座；活动贯穿设置在至少一个轴承座上的转轴组件；错位偏心设置在转轴组件相对两侧的两个偏心板；分别连接在对应偏心板下方的两个球形万向轮组件。本实用新型通过转轴组件、两个偏心板和两个球形万向轮组件的配合，使得作用在球形万向轮组件的力分别对转轴组件的轴心形成一个偏心力矩，从而使得两个球形万向轮组件形成的偏心力矩互相抵消；同时不管在任何运动状况下，其中至少一个球形万向轮组件必与地面接触连接，有效地解决了现有AGV运动过程中存在万向轮不着地且旋转阻力较大的问题。

Claims

1. A balanced gimbaling wheel mechanism applied to an AGV, characterized in that, include: At least one bearing housing; A rotating shaft assembly, which is movably disposed on at least one of the bearing housings; Two eccentric plates are offset and eccentrically arranged on opposite sides of the rotating shaft assembly; Two spherical caster wheel assemblies are respectively connected to the underside of the corresponding eccentric plate.

2. A gimbaling wheel mechanism according to claim 1, wherein The spherical caster assembly includes a spherical base, which is fixedly disposed below the eccentric plate; a spherical body rotatably disposed in the spherical base; and a limiting plate, which is a hollow annular plate, fixedly disposed on the spherical base and passing through the spherical body.

3. A gimbaling wheel mechanism according to claim 2, wherein The universal ball seat includes a mounting plate and a ball seat body; the mounting plate is fixedly disposed below the eccentric plate; the ball seat body is hemispherical and is fixedly disposed below the mounting plate, and the universal ball is rotatably disposed in the ball seat body.

4. The gimbaling wheel mechanism according to claim 1, wherein The bearing housing has a through hole, through which the rotating shaft assembly moves through the bearing housing.

5. A gimbaling wheel mechanism according to claim 4, wherein The rotating shaft assembly includes two bearings, which are respectively disposed in corresponding through holes; the rotating shaft body passes through the two bearings respectively, and can rotate relative to the bearing seat through the two bearings.

6. A gimbaling wheel mechanism according to claim 5, wherein The two ends of the rotating shaft body are respectively provided with flat mounting positions, and two eccentric plates are fixedly and offset on the flat mounting positions.

7. A gimbaling wheel mechanism according to claim 6, wherein The eccentric plate is provided with a plurality of eccentric fixing holes, which are on the same straight line. The eccentric plate is eccentrically fixed to the flat mounting position through the plurality of eccentric fixing holes.

8. A gimbaling wheel mechanism according to claim 7, wherein The deviation distance between the multiple eccentric fixing holes and the center line of the eccentric plate is 8-12mm.

9. The gimbaling wheel mechanism according to claim 5, wherein The bearing used is a polymer plastic bearing or a ball bearing.

10. An AGV, characterized in that, Includes the balancing caster mechanism as described in any one of claims 1-9.

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