An omnidirectional wheel set for a multi-functional AGV
By employing a balance beam and swing shaft structure in the omnidirectional wheel assembly of the AGV, the omnidirectional wheels can still contact the ground even on uneven surfaces, thus solving the problem of the AGV's motion accuracy being affected by the flatness of the site and achieving lower site flatness requirements and stability.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- DALIAN KUNDA AUTOMATION CO LTD
- Filing Date
- 2025-08-20
- Publication Date
- 2026-07-31
AI Technical Summary
The omnidirectional wheels of AGVs cannot fully touch the ground on uneven surfaces, affecting movement accuracy and resulting in high requirements for the flatness of the site.
Design a multi-functional AGV omnidirectional wheel assembly, in which two adjacent omnidirectional wheels are directly mounted on the chassis, and the remaining two adjacent omnidirectional wheels are mounted on a balance beam and connected to the chassis by a swing shaft. The balance beam swings around the swing shaft to ensure that all omnidirectional wheels can touch the ground.
It enables all omnidirectional wheel sets to maintain contact with the ground even on uneven surfaces, reducing the requirements for site flatness, adapting to small pits or bumps, and improving the motion stability and accuracy of AGVs.
Smart Images
Figure CN224576719U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of AGV technology, and in particular to an omnidirectional wheel set for a multifunctional AGV. Background Technology
[0002] Automated Guided Vehicles (AGVs) are industrial vehicles that automatically travel or tow a cargo trolley to a designated location after being loaded with goods, and then load and unload the goods automatically or manually. AGVs typically use omnidirectional wheels to achieve omnidirectional movement. Four omnidirectional wheels (usually at least three, with four wheels being the most common) are mounted on the AGV chassis in a specific combination. By independently and precisely controlling the speed and direction of each omnidirectional wheel with a motor, the oblique friction forces generated by each wheel can be vectorized and combined to ultimately determine the overall direction and posture of the AGV.
[0003] However, AGVs have high requirements for the flatness of the ground. If the ground is uneven, the AGV's omnidirectional wheels cannot fully contact the ground, thus affecting the AGV's motion accuracy. Therefore, it is necessary to design an omnidirectional wheel set that can ensure all wheels are in contact with the ground to reduce the requirements for the flatness level of the ground. Utility Model Content
[0004] This invention provides an omnidirectional wheel set for a multifunctional AGV to solve the above-mentioned technical problems.
[0005] To achieve the above objectives, the technical solution of this utility model is as follows: A multi-functional AGV omnidirectional wheel assembly includes four omnidirectional wheels, wherein two adjacent omnidirectional wheels are rotatably mounted on a chassis, and the remaining two adjacent omnidirectional wheels are rotatably mounted on a balance beam. The balance beam is rotatably connected to the chassis via a horizontally set swing shaft and swings around the axis of the swing shaft. The two omnidirectional wheels are located on both sides of the swing shaft.
[0006] Preferably, all omnidirectional wheels are rotatably mounted on the mounting base, and the two ends of the balance beam are respectively fixedly connected to the mounting bases on which two adjacent omnidirectional wheels are mounted.
[0007] Preferably, the swing shaft is rotatably connected to the balance beam, and the swing shaft is provided with a support block that is fixedly connected to the chassis.
[0008] Preferably, support blocks are provided at both ends of the pendulum shaft after passing through the balance beam.
[0009] Preferably, the support block has a mounting hole that mates with the end of the swing shaft, and also has a first locking groove; the end face of the swing shaft has a second locking groove that runs radially through it, and the center plane of the second locking groove is coplanar with the center plane of the first locking groove; a limiting block is engaged in the first locking groove and the second locking groove, and the limiting block is fixedly connected to the first locking groove and / or the second locking groove.
[0010] Preferably, the balance beam includes: a base plate fixedly connected to the mounting base, two vertical plates fixedly mounted on the base plate, and a reinforcing plate fixed between the two vertical plates, with the swing shaft rotatably connected to the vertical plates.
[0011] Preferably, the balance beam further includes two connecting plates, which are fixedly connected to the two upright plates respectively. The two connecting plates are located on both sides of the swing shaft, and each connecting plate is provided with a buffer pad.
[0012] Preferably, a transition bracket is provided on the mounting base of the two adjacent omnidirectional wheels that are not connected to the balance beam, and the transition bracket is fixedly connected to the chassis.
[0013] Preferably, the four omnidirectional wheels are evenly distributed at 90° intervals, and the angle between the balance beam and the rotation axis of the connected omnidirectional wheels is 45°.
[0014] Preferably, the projection of the axis of the pendulum shaft in the vertical direction passes through the intersection of the rotation axes of the four omnidirectional wheels.
[0015] Beneficial effects: The omnidirectional wheel assembly of a multi-functional AGV disclosed in this application is achieved by directly mounting two adjacent omnidirectional wheels on the chassis, while the remaining two adjacent omnidirectional wheels are mounted on a balance beam, and then rotatably connected to the chassis via a swing shaft. The balance beam, formed by the two omnidirectional wheels supporting the balance beam, works in conjunction with the two omnidirectional wheels directly mounted on the chassis to support the chassis. The balance beam swings around the axis of the swing shaft to ensure that both connected omnidirectional wheels can touch the ground, thereby enabling the omnidirectional wheel assembly to compensate for unevenness in the terrain. Attached Figure Description
[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0017] Figure 1 This is a schematic diagram of the omnidirectional wheel assembly of a multifunctional AGV disclosed in this utility model; Figure 2 This is a top view of an omnidirectional wheel assembly of a multifunctional AGV disclosed in this utility model; Figure 3 This is a schematic diagram of the structure of an omnidirectional wheel assembly balance beam and two omnidirectional wheels of a multifunctional AGV disclosed in this utility model. Figure 4 This is a schematic diagram of the structure of an omnidirectional wheel support block for a multifunctional AGV disclosed in this utility model; Figure 5This is a schematic diagram of the omnidirectional wheel assembly swing shaft of a multifunctional AGV disclosed in this utility model.
[0018] 1. Omnidirectional wheel; 2. Balance beam; 21. Base plate; 22. Vertical plate; 23. Reinforcing plate; 24. Connecting plate; 25. Buffer pad; 3. Swing shaft; 31. Second locking groove; 4. Mounting base; 5. Support block; 51. Mounting hole; 52. First locking groove; 6. Limiting block; 7. Transition bracket; 8. Servo motor; 9. Reducer. Detailed Implementation
[0019] 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. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.
[0020] A multi-functional AGV omnidirectional wheel set, combined with Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, the system includes four omnidirectional wheels 1. Two adjacent omnidirectional wheels 1 are rotatably mounted on the chassis, and the remaining two adjacent omnidirectional wheels 1 are rotatably mounted on a balance beam 2. The balance beam 2 is rotatably connected to the chassis via a horizontally arranged swing shaft 3 and swings around the axis of the swing shaft 3. The two omnidirectional wheels 1 are located on either side of the swing shaft 3. This application achieves two fulcrums for the chassis by directly mounting two adjacent omnidirectional wheels 1 on the chassis; and by mounting the remaining two adjacent omnidirectional wheels 1 on the balance beam 2, which is rotatably connected to the chassis via the swing shaft 3. This allows the two omnidirectional wheels 1 to support the balance beam 2, and the balance beam 2 to swing around the swing shaft 3 to form a fulcrum for the chassis. The three fulcrums define a plane, thus supporting the chassis through the three fulcrums. The two omnidirectional wheels 1 directly mounted on the chassis will inevitably touch the ground when the site is uneven to a certain extent; the two omnidirectional wheels 1 mounted on the balance beam 2 can still keep in contact with the ground when encountering uneven ground by driving the balance beam 2 to swing around the swing axis 3 at a certain angle and by driving the swing axis 3 to change height; thus, the omnidirectional wheel set can compensate for the unevenness of the site to a certain extent, which can reduce the requirements for the flatness level of the site; and it can also adapt to the unavoidable small pits or bumps of the site.
[0021] Preferably, the omnidirectional wheels 1 are rotatably mounted on the mounting base 4, and the two ends of the balance beam 2 are respectively fixedly connected to the mounting base 4 on which two adjacent omnidirectional wheels 1 are mounted. The mounting base 4 enables the installation of the omnidirectional wheels 1 and facilitates the support of the balance beam 2 by the two omnidirectional wheels 1.
[0022] Specifically, each omnidirectional wheel 1 is equipped with a drive structure, which includes a servo motor 8, a reducer 9, and a bearing housing. The servo motor 8 is mounted on the reducer 9, and the reducer 9 and the bearing housing are mounted on the mounting base 4. The output end of the reducer 9 drives the omnidirectional wheel 1 through the bearing housing.
[0023] Preferably, the swing shaft 3 is rotatably connected to the balance beam 2, and the swing shaft 3 is provided with a support block 5 that is fixedly connected to the chassis. By providing the support block 5, the chassis can be easily connected, and the balance beam 2 can be placed below the chassis.
[0024] Preferably, support blocks 5 are provided at both ends of the swing shaft 3 after passing through the balance beam 2, so that the chassis is supported by the two ends of the swing shaft 3, making the support more stable and reliable.
[0025] Preferably, the support block 5 has a mounting hole 51 that mates with the end of the swing shaft 3, and also has a first locking groove 52; the end face of the swing shaft 3 has a radially penetrating second locking groove 31, and the center plane of the second locking groove 31 is coplanar with the center plane of the first locking groove 52; a limiting block 6 is engaged in the first locking groove 52 and the second locking groove 31, and the limiting block 6 is fixedly connected to the first locking groove 52 and / or the second locking groove 31. In this embodiment, the groove widths of the first locking groove 52 and the second locking groove 31 are the same, and both the first locking groove 52 and the second locking groove 31 are fixed to the limiting block 6 by screws. This prevents the swing shaft 3 from rotating relative to the support block 5, prevents the swing shaft 3 and the support block 5 from developing gaps after wear, and thus prevents the swing shaft 3 from wobbling relative to the support block 5.
[0026] Preferably, the balance beam 2 includes: a base plate 21 fixedly connected to the mounting base 4, two upright plates 22 fixedly mounted on the base plate 21, and a reinforcing plate 23 fixed between the two upright plates 22, with the swing shaft 3 rotatably connected to the upright plates 22. This structure of the balance beam 2 facilitates processing and installation, and also reduces the weight of the balance beam 2.
[0027] Specifically, there are two reinforcing plates 23, located on opposite sides of the swing shaft 3. The upright plate 22 and the reinforcing plates 23 are fixed together by welding. The swing shaft 3 passes through the two upright plates 22 and is rotatably connected by bearing bushes.
[0028] Preferably, the balance beam 2 further includes two connecting plates 24, which are fixedly connected to the two upright plates 22 respectively. The two connecting plates 24 are located on both sides of the swing shaft 3, and each of the two connecting plates 24 is provided with a buffer pad 25 to prevent the balance beam 2 from hitting the chassis when it swings.
[0029] Specifically, the top surfaces of the two upright plates 22 are inclined towards the connecting plates 24 at both ends by the swing shaft 3, so that there is a sufficient distance between the top surfaces of the upright plates 22 and the chassis, thereby ensuring the swing angle of the balance beam 2. This is because the size of the swing angle of the balance beam 2 determines the degree to which it can adapt to uneven terrain.
[0030] Preferably, a transition bracket 7 is provided on the mounting base 4 of the two adjacent omnidirectional wheels 1 that are not connected to the balance beam 2, and the transition bracket 7 is fixedly connected to the chassis.
[0031] Preferably, the four omnidirectional wheels 1 are evenly distributed at 90° intervals, and the rotation axis of the balance beam 2 and the connected omnidirectional wheels 1 is at an angle of 45°, which helps to ensure the stability of the chassis and to perform directional control.
[0032] Preferably, the projection of the axis of the swing shaft 3 in the vertical direction passes through the intersection of the rotation axes of the four omnidirectional wheels 1, so that the axis of the swing shaft 3 is as close as possible to the center of gravity of the AGV, ensuring the stability of the AGV's movement.
[0033] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.
Claims
1. A multi-functional AGV omni-wheel set, characterized in that, It includes four omnidirectional wheels (1), wherein two adjacent omnidirectional wheels (1) are rotatably mounted on the chassis and the remaining two adjacent omnidirectional wheels (1) are rotatably mounted on the balance beam (2). The balance beam (2) is rotatably connected to the chassis via a horizontally arranged swing shaft (3) and swings around the axis of the swing shaft (3). The two omnidirectional wheels (1) are located on both sides of the swing shaft (3).
2. The omni-wheel set of a multi-functional AGV according to claim 1, wherein, The omnidirectional wheels (1) are rotatably mounted on the mounting base (4), and the two ends of the balance beam (2) are respectively fixedly connected to the mounting base (4) on which the two adjacent omnidirectional wheels (1) are mounted.
3. The omni-wheel set of a multi-functional AGV according to claim 2, wherein, The swing shaft (3) is rotatably connected to the balance beam (2), and the swing shaft (3) is provided with a support block (5) that is fixedly connected to the chassis.
4. The omni-wheel set of a multi-functional AGV according to claim 3, wherein, Both ends of the swing shaft (3) are provided with support blocks (5) after passing through the balance beam (2).
5. The omni-wheel set of a multi-functional AGV according to claim 4, wherein, The support block (5) has a mounting hole (51) that mates with the end of the swing shaft (3), and also has a first locking groove (52); the end face of the swing shaft (3) has a second locking groove (31) that runs radially through, and the center plane of the second locking groove (31) is coplanar with the center plane of the first locking groove (52); a limiting block (6) is locked in the first locking groove (52) and the second locking groove (31), and the limiting block (6) is fixedly connected to the first locking groove (52) and / or the second locking groove (31).
6. The omni-directional wheel set of a multi-functional AGV according to any one of claims 2-5, characterized in that, The balance beam (2) includes: a base plate (21) fixedly connected to the mounting base (4), two upright plates (22) fixedly mounted on the base plate (21), and a reinforcing plate (23) fixed between the two upright plates (22). The swing shaft (3) is rotatably connected to the upright plates (22).
7. The omni-wheel set of a multi-functional AGV according to claim 6, wherein, The balance beam (2) also includes two connecting plates (24), which are fixedly connected to two upright plates (22) respectively. The two connecting plates (24) are located on both sides of the swing shaft (3), and buffer pads (25) are provided on both connecting plates (24).
8. The omni-wheel set of a multi-functional AGV according to claim 2, wherein, A transition bracket (7) is provided on the mounting base (4) of the two adjacent omnidirectional wheels (1) that are not connected to the balance beam (2), and the transition bracket (7) is fixedly connected to the chassis.
9. The omni-wheel set of a multi-functional AGV according to claim 1, wherein, The four omnidirectional wheels (1) are evenly distributed at 90° intervals, and the angle between the balance beam (2) and the rotation axis of the connected omnidirectional wheel (1) is 45°.
10. The omni-wheel set of a multi-functional AGV according to claim 9, wherein, The projection of the axis of the pendulum shaft (3) in the vertical direction passes through the intersection of the rotation axes of the four omnidirectional wheels (1).