Precision omni-directional walking device for industrial vehicle and industrial vehicle

Abstract

The utility model relates to the field of automatic mechanical equipment, concretely relates to the structure optimization design of walking device of industrial vehicle bottom, the utility model is through the following technical scheme to be able to realize: the precision all -direction walking device suitable for industrial vehicle contains chassis frame and installs the drive wheel on chassis frame, still contains the steering drive and the steering wheel under the action of steering drive and carries out steering of installing on chassis frame, still contains steering transmission, steering transmission contains the chain with steering drive connection and the rotation tooth disc with chain connection, rotation tooth disc is connected with steering wheel, the utility model discloses the purpose is to provide precision all -direction walking device suitable for industrial vehicle and industrial vehicle, this kind of all -direction walking device can provide stable and accurate advancing track, makes the vehicle stable according to the established route after steering adjustment, and supports the spot adjustment, and the turning radius control is in minimum even no turning radius.

Description

Technical Field

[0001] This utility model relates to the field of automated mechanical equipment, specifically to the structural optimization design of the walking device at the bottom of industrial vehicles. Background Technology

[0002] Industrial vehicles are powered motor vehicles used for moving, pushing, towing, lifting, stacking, or placing various goods. Common industrial vehicles include forklifts, side forklifts, tractor-trailers, pallet trucks, stackers, etc.

[0003] For example, Chinese patent document CN202420740374.6 discloses a forklift, a common implementation of industrial vehicles. This forklift includes a body, forks, a traveling mechanism, and a steering wheel. In use, the operator enters the driver's position and uses the steering wheel, accelerator / electric switch, and brakes to control the vehicle's movement.

[0004] The traveling mechanism of this type of forklift is a traditional implementation, consisting of active drive wheels and driven wheels. The steering mechanism of this forklift is similar to that of a passenger car, requiring a clear turning / U-turn trajectory. This trajectory determines the turning radius of the vehicle based on the distribution of the wheels and the length of the vehicle body. In the forklift's operating environment, such as warehouse design, the parameters of the warehouse aisle and special areas need to be determined based on this turning radius.

[0005] However, with the development of the logistics industry, warehouse design is becoming more centralized, the number of shelves is increasing, and the aisles between shelves are narrowing; forklifts are also being designed to be more efficient, requiring faster response times and more efficient picking / unloading methods.

[0006] Thus, omnidirectional travel devices were developed. For example, Chinese patent document CN201120162217.4 discloses an electric forklift, whose chassis features an omnidirectional travel device. This type of omnidirectional travel device includes three wheels: one drive wheel and two swivel wheels. The drive wheel provides the vehicle with forward and backward power and can also steer. The swivel wheels themselves have no power and can move in all directions. This results in a very small turning radius for the vehicle, allowing it to travel directly in the designated direction.

[0007] However, this design still has the following technical drawbacks: Firstly, the omnidirectional wheels are too flexible, resulting in unstable vehicle trajectory when traveling in a designated direction. This manifests as noticeable speed inconsistencies and vehicle body vibration. Secondly, although the turning radius is reduced, it cannot achieve complete omnidirectional direction switching on the spot. The omnidirectional wheels need to travel a certain distance with the drive wheels to achieve balance between the vehicle and the direction of travel before it can continue to travel in a straight line. Utility Model Content

[0008] The purpose of this invention is to provide a precise omnidirectional walking device and an industrial vehicle suitable for industrial vehicles. This omnidirectional walking device can provide a stable and precise travel trajectory, allowing the vehicle to travel stably along a predetermined route after steering adjustments; and it supports on-the-spot adjustments, keeping the turning radius to a minimum or even zero turning radius.

[0009] This utility model is achieved through the following technical solution: a precision omnidirectional walking device suitable for industrial vehicles, comprising a chassis frame and a drive wheel mounted on the chassis frame, a steering drive mounted on the chassis frame and a steering wheel that steers under the action of the steering drive, and a steering transmission device, wherein the steering transmission device comprises a chain connected to the steering drive and a rotating toothed disc connected to the chain, and the rotating toothed disc is connected to the steering wheel.

[0010] As a preferred embodiment of the present invention, the steering drive includes a motor connected to the chassis frame and an output wheel connected to the motor, the output wheel being connected to the chain.

[0011] As a preferred embodiment of this invention, the motor is a right-angle motor, and its installation position in the vehicle's length direction is located between the drive wheel and the steering wheel.

[0012] As a preferred embodiment of this invention, both the drive wheels and the steering wheels are in two sets, with the four sets of wheels positioned at the four corners of the chassis frame.

[0013] As a preferred embodiment of this invention, each set of steering wheels comprises two steering wheel bodies.

[0014] As a preferred embodiment of the present invention, the drive wheel includes a steering wheel, a wheel body connected to the steering wheel, a feedback wheel engaged with the steering wheel, and a steering sensor for sensing the rotational travel of the feedback wheel.

[0015] As a preferred embodiment of the present invention, it further includes a front-moving frame drive device mounted on the chassis frame, a front-moving frame transmission device connected to the front-moving frame drive device, and a front-moving frame that slides relative to the chassis frame under the drive of the front-moving frame drive device.

[0016] As a preferred embodiment of the present invention, the forward shift frame transmission device includes two end wheels mounted on the chassis frame and a main chain meshing with the end wheels. The forward shift frame includes a main board and a connecting plate mounted on the side of the main board. Both ends of the main chain are mounted on the connecting plate.

[0017] As a preferred embodiment of this utility model, the forward shifter transmission device further includes a drive wheel and two redirecting wheels, and the sliding drive device includes a forward shifter motor and a reducer. The drive wheel is connected to the output end of the reducer, and the drive wheel is located further outward in the vehicle width direction than the two redirecting wheels.

[0018] As a preferred embodiment of the present invention, the forward shifter drive device is arranged between the drive wheel and the steering drive in the vehicle length direction.

[0019] An industrial vehicle, comprising a main body and forks, and also including the aforementioned precision omnidirectional walking device.

[0020] As a preferred embodiment of this invention, it also includes a lifting device, which is connected to the forks.

[0021] In summary, this utility model has the following beneficial effects:

[0022] 1. The vehicle adopts a structure that combines drive wheels and rotating wheels, allowing it to adjust its route for the next stage while stationary, and travel along that route in between.

[0023] 2. The combination of motor and chain structure allows for more controllable rotation, with high controllability of the steering wheel's rotation process and stability after steering.

[0024] 3. Once the steering wheels are turned in the designated direction, they lock in that position. The vehicle's trajectory is stable, rather than wobbling or veering.

[0025] 4. The feedback wheel meshes with the steering wheel, and the steering sensor senses the rotation data of the feedback wheel to obtain the steering data of the drive wheel.

[0026] 5. The motor adopts a right-angle motor. This spatial arrangement does not occupy the valuable width space of the vehicle, optimizes the width dimension and turning collision volume of the vehicle, and does not occupy the height space of the vehicle, avoiding collision interference with the cargo.

[0027] 6. The forward transfer frame motor can drive the forward and backward movement of the forward transfer frame.

[0028] 7. The reversing wheel creates two right angles in the main chain, which makes power transmission smoother on the one hand, and gives the drive wheel more freedom in assembly on the other hand, resulting in more efficient transmission with the reducer. Attached Figure Description

[0029] Figure 1 This is a three-dimensional schematic diagram of Example 1;

[0030] Figure 2 yes Figure 1 A schematic diagram showing the hidden connecting parts;

[0031] Figure 3 This is an enlarged schematic diagram of the drive wheels;

[0032] Figure 4 This is a schematic diagram of the steering wheel;

[0033] Figure 5 This is a schematic diagram of the forward transfer mechanism and the forward transfer frame.

[0034] In the picture:

[0035] 1. Drive wheel; 11. Wheel body; 12. Steering wheel; 13. Feedback wheel; 14. Steering sensor; 2. Steering wheel; 3. Steering drive; 31. Motor; 32. Output wheel; 4. Steering transmission device; 41. Rotating gear plate; 42. Chain; 5. Shift frame drive device; 51. Shift frame motor; 52. Reducer; 6. Shift frame transmission device; 61. Connecting wheel; 62. Idling wheel; 63. End wheel; 64. Main chain; 7. Shift frame; 71. Main board; 72. Connecting chain plate; 9. Chassis frame. Detailed Implementation

[0036] The present invention will be further described in detail below with reference to the accompanying drawings.

[0037] This specific embodiment is merely an explanation of the present utility model and is not intended to limit the present utility model. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but as long as they are within the scope of the claims of the present utility model, they are protected by patent law.

[0038] The following description provides examples and does not limit the scope, applicability, or examples set forth in the claims. Changes may be made to the function and arrangement of the described elements without departing from the scope of this specification. Various processes or components may be appropriately omitted, substituted, or added to the examples. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Furthermore, features described with respect to some examples may be combined into other examples.

[0039] Example 1, applicable to a precision omnidirectional walking device for industrial vehicles, such as Figure 1 As shown, the system includes a chassis frame 9 on which wheel sets are mounted. The wheel sets include drive wheel sets and steering wheel sets. The number and mounting positions of the drive wheel sets and steering wheel sets can be determined according to the specific vehicle model. In this embodiment, two drive wheel sets and two steering wheel sets are used, mounted at the four corners of the chassis frame 9. In some extended models, more steering wheel sets can be provided.

[0040] Two sets of drive wheels are located at the rear of the vehicle, one set on each side. They have the same structure, such as... Figure 2 and Figure 3 As shown, each set of drive wheels includes a steering wheel 12 with a rack on its outer rim, which rotates under the drive of a motor. The steering wheel is mounted on the chassis frame 9, and the wheel body 11 is mounted on the steering wheel 12. The drive wheel set can use dual motors, i.e., a steering motor and a drive motor are independently set, controlling the steering of the steering wheel 12 and the rotation of the wheel body 11 respectively, thereby realizing the steering and forward / reverse movement of the drive wheel 1. A feedback wheel 13 and a steering sensor 14 are mounted on the chassis frame 9. The feedback wheel 13 meshes with the steering wheel 12 and rotates as the steering wheel 12 rotates. The steering sensor 14 is used to sense the rotation data of the feedback wheel 13, such as an encoder in the prior art, to obtain the steering data of the drive wheel 1.

[0041] Two sets of steering wheels are located at the front of the vehicle, one set on each side. They have identical structures, such as... Figure 2 , Figure 4 and Figure 5 As shown. Each set of steering wheels 2 may contain two wheels, each connected to a steering drive 3 and a steering transmission device 4. The motor 31 may be a right-angle motor, with its lateral portion parallel to the length of the vehicle and pointing towards the rear. Figure 4 It extends to the left side of the vehicle. Furthermore, its installation position is closer to the rear of the vehicle than that of steering wheel 2. This spatial arrangement avoids occupying valuable width space, optimizing the vehicle's width dimensions and turning collision volume, and also avoids occupying height space, preventing collisions and interference with cargo.

[0042] Motor 31 drives output wheel 32 to rotate, and chain 42 is fitted on output wheel 32, which in turn drives rotating gear 41 to rotate, thereby driving steering wheel 2 to rotate. This configuration, on the one hand, adopts a dual-drive, dual-rotation structure, which allows the two sets of drive wheels to turn independently in place, and the two sets of steering wheels to turn independently in place, thus enabling the vehicle to adjust its travel route for the next stage while in place, and travel along that route.

[0043] On the other hand, because it is a combination structure of motor and chain, rather than oil cylinder, air cylinder, transmission belt, etc., the rotation action can be more controllable. This means that the rotation process of steering wheel 2 is highly controllable and remains stable after turning. This makes the vehicle's travel path more precise and the error smaller, avoiding the situation where three wheels are at one angle while the deflection angle of another wheel has a large error.

[0044] Thirdly, the mechanism of the motor and chain prevents "mechanical return." Once the steering wheel 2 has turned to the designated direction, it locks in that position. It is unlikely to wobble or return to its original position due to other drive and transmission methods. This ensures a stable vehicle trajectory, rather than wobbling or veer.

[0045] The chassis frame 9 is also equipped with a forward transfer frame drive unit 5 and a forward transfer frame 7, the former driving the latter to slide relative to the chassis frame 9 in the length direction of the vehicle. For example... Figure 5 As shown, the forward transfer frame motor 51 is installed in the middle of the side of the vehicle, between the drive wheel 1 and the steering drive 3. The forward transfer frame motor 51 is connected to the reducer 52, and the output end of the reducer 52 is equipped with a drive wheel 61, whose teeth mesh with the main chain 64, thereby realizing the movement of the main chain 64. The main board 71 is the main body of the forward transfer frame 7, and a connecting plate 72 is provided on the side. The two ends of the main chain 64 are connected to the front and rear ends of the connecting plate 72. Thus, the forward transfer frame 7 can move back and forth under the drive of the forward transfer frame motor 51.

[0046] like Figure 5 As shown, two end wheels 63 are provided on the chassis frame 9, serving as the front and rear endpoints of the main chain 64 circuit. Two redirecting wheels 62 are provided near the drive wheel 61, resulting in two right angles in the main chain 64. This makes power transmission smoother and allows the drive wheel 61 more freedom in its assembly, leading to more efficient transmission with the reducer 52.

[0047] An industrial vehicle, in addition to the aforementioned omnidirectional walking device, is further equipped with a lifting device and forks. The lifting device can be mounted on the forward transfer frame 7, and the forks are connected to the lifting device, thereby enabling the forks to be raised, lowered, and moved forward and backward.

[0048] In summary, in this case, the dual drive motors and four steering motors can simulate differential control similar to that of a car during longitudinal and lateral movement, resulting in more natural and smooth steering and movement. Secondly, it can control all four wheels to turn in the same direction, performing a translational motion, allowing the vehicle to move in any direction without any rotation. Thirdly, four-wheel steering control allows the vehicle to turn on the spot, saving space.

Claims

1. A precision omnidirectional walking device suitable for industrial vehicles, comprising a chassis frame (9) and drive wheels (1) mounted on the chassis frame (9), characterized in that: It also includes a steering drive (3) mounted on the chassis frame (9) and a steering wheel (2) that steers under the action of the steering drive (3), and a steering transmission device (4) that includes a chain (42) connected to the steering drive (3) and a rotating toothed disc (41) connected to the chain (42), the rotating toothed disc (41) being connected to the steering wheel (2).

2. The precision omnidirectional walking device for industrial vehicles according to claim 1, characterized in that: The steering drive (3) includes a motor (31) connected to the chassis frame (9) and an output wheel (32) connected to the motor (31), the output wheel (32) being connected to the chain (42).

3. The precision omnidirectional walking device for industrial vehicles according to claim 2, characterized in that: The motor (31) is a right-angle motor, and its installation position in the vehicle length direction is located between the drive wheel (1) and the steering wheel (2).

4. The precision omnidirectional walking device for industrial vehicles according to claim 1, characterized in that: Both the drive wheel (1) and the steering wheel (2) are in two sets, and the four sets of wheels are located at the four corners of the chassis frame (9).

5. The precision omnidirectional walking device for industrial vehicles according to claim 4, characterized in that: Each set of steering wheels (2) contains two steering wheel bodies.

6. The precision omnidirectional walking device for industrial vehicles according to any one of claims 1-5, characterized in that: The drive wheel (1) includes a steering wheel (12), a wheel body (11) connected to the steering wheel (12), a feedback wheel (13) meshing with the steering wheel (12), and a steering sensor (14) for sensing the rotational travel of the feedback wheel (13).

7. The precision omnidirectional walking device for industrial vehicles according to any one of claims 1-5, characterized in that: It also includes a front-mounted frame drive unit (5) mounted on the chassis frame (9), a front-mounted frame transmission unit (6) connected to the front-mounted frame drive unit (5), and a front-mounted frame (7) that slides relative to the chassis frame (9) under the drive of the front-mounted frame drive unit (5).

8. The precision omnidirectional walking device for industrial vehicles according to claim 7, characterized in that: The forward shifter transmission device (6) includes two end wheels (63) mounted on the chassis frame (9) and a main chain (64) meshing with the end wheels (63). The forward shifter (7) includes a main board (71) and a connecting plate (72) mounted on the side of the main board (71). Both ends of the main chain (64) are mounted on the connecting plate (72).

9. The precision omnidirectional walking device for industrial vehicles according to claim 8, characterized in that: The forward shifter transmission device (6) also includes a drive wheel (61) and two steering wheels (62). The forward shifter drive device (5) includes a forward shifter motor (51) and a reducer (52). The drive wheel (61) is connected to the output end of the reducer (52). The drive wheel (61) is located further outward in the vehicle width direction than the two steering wheels (62).

10. The precision omnidirectional walking device for industrial vehicles according to claim 9, characterized in that: The forward shifter drive unit (5) is arranged in the vehicle length direction between the drive wheel (1) and the steering drive (3).

11. An industrial vehicle, comprising a main body and forks, characterized in that: It includes the precision omnidirectional walking device as described in any one of claims 1-10.

12. The industrial vehicle according to claim 11, characterized in that: It also includes a lifting device that is connected to the forks.

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