Differential steering wheel AGV

Abstract

The utility model discloses a differential rudder wheel AGV relates to automatic guided vehicle (AGV) technical field, including frame and rudder wheel subassembly, the rudder wheel subassembly is connected with frame through slewing bearing, the rudder wheel subassembly includes at least a pair of drive wheels, the drive wheel rotatably installs through floating hinged axle, and can adaptively rotate around a floating axle to adapt to the ground undulation. The utility model discloses a main purpose is to provide a differential rudder wheel AGV, need not universal wheel and spring mechanism to simplify structure, reduce the car body self weight to improve the adaptability to the undulating ground.

Description

Technical Field

[0001] This utility model relates to the field of automated guided vehicles (AGV) technology, specifically to a differential steering wheel AGV. Background Technology

[0002] Current AGVs mostly adopt a design with two sets of omnidirectional wheels, two sets of directional wheels, and one steering wheel. The steering wheel requires a spring mechanism to adapt to uneven ground, resulting in a complex structure, significant weight, and poor adaptability to road surface variations. This design not only increases manufacturing costs but also affects the flexibility and efficiency of the AGV. Therefore, there is an urgent need for an AGV with a novel steering wheel design to solve these problems. Utility Model Content

[0003] The main purpose of this invention is to provide a differential steering wheel AGV that eliminates the need for casters and spring mechanisms, thereby simplifying the structure, reducing the vehicle's weight, and improving its adaptability to undulating terrain.

[0004] To solve the above problems, the technical solution provided by this utility model is as follows:

[0005] A differential steering wheel AGV includes a frame and a steering wheel assembly. The steering wheel assembly is connected to the frame via a slewing bearing. The steering wheel assembly includes at least one pair of drive wheels, which are rotatably mounted via a floating hinge shaft and can adaptively rotate about a floating shaft to adapt to ground undulations.

[0006] By setting a slewing bearing to connect the steering wheel assembly to the chassis and using a floating hinge shaft to mount the drive wheel, the overall rotation of the steering wheel assembly and the independent floating of the drive wheel are achieved. This structure directly solves the complexity problem of traditional AGVs requiring spring mechanisms and omnidirectional wheels, simplifying the overall structure through innovative mechanical connection methods.

[0007] Optionally, the steering wheel assembly also includes a drive motor and a reducer, wherein the drive motor is connected to the drive wheel via the reducer and is used to drive the drive wheel to rotate.

[0008] The combination of a drive motor and a reducer provides power output to the drive wheels, solving the problem of low efficiency in traditional steering wheel drives. The reducer increases torque, enabling even low-power motors to meet the traction requirements of AGVs and helping to reduce overall weight.

[0009] Optionally, the steering wheel assembly further includes a hinged upper plate and a drive wheel mounting plate, with the floating hinge shaft connecting the drive wheel mounting plate and the hinged upper plate, allowing the drive wheel to float relative to the hinged upper plate.

[0010] The hinged upper plate and the drive wheel mounting plate constitute the load-bearing structure of the floating hinge, achieving a flexible connection between the drive wheel and the main body of the steering wheel assembly. This structure ensures the stability and reliability of the floating drive wheel and solves the structural loosening problem that may occur with simple hinges.

[0011] Optionally, a traction rod assembly is also included, which includes a traction rod and a push rod. The traction rod and the push rod are connected by a connector, and the push rod drives the traction rod to rise and fall.

[0012] The tow bar assembly enables the automatic connection and separation of the AGV and the load, solving the problem of traditional AGVs requiring manual intervention to secure the goods and improving the level of automation.

[0013] Optionally, the traction rod assembly also includes an upper limit photoelectric sensor and a lower limit photoelectric sensor for detecting the lifting and lowering position of the traction rod.

[0014] The upper limit photoelectric sensor and the lower limit photoelectric sensor constitute a safety detection system for the position of the traction rod, preventing the traction rod from exceeding the safe travel distance and causing equipment damage or safety accidents, thus improving the reliability of the system.

[0015] Optionally, a guide wheel is also included, which is mounted on the frame to assist the AGV in steering.

[0016] The guide wheel helps the AGV maintain directional stability, especially at high speeds or when turning, to prevent sideslip and solve the problem of inaccurate directional control that may exist with a single steering wheel.

[0017] Optionally, a charging component is also included, which includes a brush block for contacting a ground brush plate to achieve automatic charging.

[0018] The charging component enables automatic energy replenishment for AGVs, solving the problem of low efficiency caused by the need for manual plugging and unplugging of traditional AGVs for charging, and supporting unmanned continuous operation.

[0019] Optionally, the steering wheel assembly also includes a barcode reader camera and a gyroscope for AGV navigation and attitude detection.

[0020] The barcode reader and gyroscope together form the navigation and attitude detection system of the AGV, which solves the limitation of traditional AGVs relying on external guidance facilities and improves their autonomous navigation capabilities.

[0021] Alternatively, the drive wheels are arranged symmetrically and differential drive is achieved through a floating hinge shaft, enabling the AGV to steer flexibly.

[0022] The symmetrically arranged drive wheels, combined with the floating hinge shaft, achieve differential drive, which solves the problems of large turning radius and poor flexibility of AGVs, making them particularly suitable for operation in narrow spaces.

[0023] Compared with the prior art, the technical solution provided by this utility model has the following advantages:

[0024] With its simple structure, the elimination of casters and spring mechanisms reduces its weight; the floating hinge design improves its adaptability to undulating terrain and ensures that the drive wheels are always grounded; the overall layout is reasonable and easy to maintain and manufacture. Attached Figure Description

[0025] Figure 1 A schematic diagram of the overall structure of a differential steering wheel AGV proposed for an embodiment of this utility model;

[0026] Figure 2 A schematic diagram of the bottom structure of a differential steering wheel AGV proposed for an embodiment of this utility model;

[0027] Figure 3 A schematic diagram of the steering wheel assembly of a differential steering wheel AGV proposed for an embodiment of this utility model;

[0028] Figure 4 A schematic diagram of the bottom structure of the steering wheel assembly of a differential steering wheel AGV proposed for an embodiment of this utility model;

[0029] Figure 5 An exploded view of the steering wheel assembly of a differential steering wheel AGV, as proposed in an embodiment of this utility model;

[0030] Figure 6 A schematic diagram of the structure of a traction rod assembly for a differential steering wheel AGV, as proposed in an embodiment of this utility model;

[0031] Figure 7 A schematic diagram of the lifting of a traction rod assembly of a differential steering wheel AGV, as proposed in an embodiment of this utility model;

[0032] Figure 8 A schematic diagram illustrating the floating and rotating of a differential steering wheel AGV around axis a, as proposed in an embodiment of this utility model.

[0033] 101. Chassis; 102. Traction rod assembly; 1021. Traction rod; 1022. Mounting base; 1023. Push rod; 1024. Upper limit photoelectric sensor; 1025. Lower limit photoelectric sensor; 1026. Photoelectric sensor sheet metal; 1027. Connector; 103. Steering wheel assembly; 1031. Drive wheel; 1032. Slewing bearing; 1033. Drive motor; 1034. Reducer; 1035. Floating hinge shaft; 1036. Drive wheel mounting plate; 1037. Hinge upper plate; 1038. Code reader camera; 1039. Gyroscope; 104. Guide wheel; 105. Charging assembly. Detailed Implementation

[0034] To further understand the content of this utility model, a detailed description of this utility model will be provided in conjunction with the accompanying drawings and embodiments.

[0035] Example 1

[0036] Combined with appendix Figure 1-2 A differential steering wheel AGV includes a frame 101 and a steering wheel assembly 103. The steering wheel assembly 103 is connected to the frame 101 via a slewing bearing. The steering wheel assembly 103 includes at least one pair of drive wheels 1031, which are rotatably mounted via a floating hinge shaft 1035 and can adaptively rotate about a floating shaft to adapt to ground undulations. The slewing bearing allows the steering wheel assembly 103 to rotate 360°, enabling the AGV to steer; the floating hinge shaft 1035 allows the drive wheels 1031 to automatically adjust their angle about axis a. (See attached diagram.) Figure 8 When the AGV travels on undulating roads, combined with the attached Figure 5 The drive wheel 1031 maintains full contact with the ground through the adaptive rotation of the floating hinge shaft 1035. Its principle is similar to that of an articulated suspension system, where mechanical floating replaces the elastic deformation of the spring.

[0037] Combined with appendix Figure 3 , 4 The steering wheel assembly 103 also includes a drive motor 1033 and a reducer 1034. The drive motor 1033 is connected to the drive wheel 1031 via the reducer 1034 and is used to drive the drive wheel 1031 to rotate. The drive motor 1033 converts speed and amplifies torque through the reducer 1034, directly driving the drive wheel 1031 to rotate. This rigid transmission method avoids the energy loss of traditional chain or belt drives. Its operation follows the basic principle of gear transmission, and the power output characteristics are optimized through the reduction ratio.

[0038] The steering wheel assembly 103 also includes a hinged upper plate 1037 and a drive wheel 1031 mounting plate. A floating hinge shaft 1035 connects the drive wheel 1031 mounting plate and the hinged upper plate 1037, allowing the drive wheel 1031 to float relative to the hinged upper plate 1037. The floating hinge shaft 1035 acts as a rotation pivot, allowing the drive wheel 1031 mounting plate to rotate about axis a relative to the hinged upper plate 1037. When one drive wheel 1031 encounters an obstacle or dent, the floating hinge shaft 1035 allows that drive wheel 1031 to adjust its height independently without affecting the normal grounding of the other drive wheel 1031.

[0039] The AGV also includes a tow bar assembly 102, which includes a tow bar 1021 and a push rod 1023. The tow bar 1021 and the push rod 1023 are connected by a connector 1027. The push rod 1023 drives the tow bar 1021 to rise and fall. The push rod 1023 drives the tow bar 1021 to move vertically up and down through the connector 1027. When the AGV needs to connect to a shelf, the push rod 1023 pushes the tow bar 1021 down and inserts it into the shelf interface; after the transportation is completed, the push rod 1023 pulls the tow bar 1021 up to detach it from the shelf, achieving automatic unhooking.

[0040] Combined with appendix Figure 6 The traction rod assembly 102 also includes an upper limit photoelectric sensor 1024 and a lower limit photoelectric sensor 1025, used to detect the lifting position of the traction rod 1021. The photoelectric sensor determines whether the traction rod 1021 has reached its limit position by detecting the position of the photoelectric sensing sheet metal 1026. When the traction rod 1021 moves to the preset position, the photoelectric signal triggers the control system to stop the movement of the push rod 1023, based on photoelectric interruption detection technology.

[0041] The AGV also includes guide wheels 104, which are mounted on the frame 101 and used to assist the AGV in steering. The guide wheels 104 physically restrict the lateral movement of the AGV. When the AGV turns, the guide wheels 104 generate lateral friction with the ground, helping to maintain vehicle stability. Its operation is based on the combined principle of rolling and sliding friction.

[0042] The AGV also includes a charging component 105, which includes brush blocks for contacting a ground brush plate to achieve automatic charging. When the brush blocks contact the ground brush plate, an electrical connection is formed, and electrical energy is transferred through sliding contact. When the AGV's battery is low, it automatically travels to the charging position, where the brush blocks contact the brush plate to complete the charging process, similar in principle to the pantograph system of a tram.

[0043] The steering wheel assembly 103 also includes a barcode reader camera 1038 and a gyroscope 1039 for AGV navigation and attitude detection. The barcode reader camera 1038 identifies ground QR code labels for precise positioning, while the gyroscope 1039 detects the AGV's angular acceleration and attitude changes. The data from both is fused and processed by an algorithm to achieve precise path tracking and stable attitude control of the AGV.

[0044] The drive wheels 1031 are symmetrically arranged and differential drive is achieved through a floating hinge shaft 1035, enabling the AGV to steer flexibly. When the AGV turns, the inner drive wheel 1031 decelerates while the outer drive wheel 1031 accelerates, creating a speed difference for smooth steering. The floating hinge shaft 1035 ensures that both drive wheels 1031 remain grounded during steering, preventing slippage; its principle is based on the fundamental concept of a vehicle differential.

[0045] The AGV eliminates the need for casters and spring mechanisms, adapting to uneven terrain solely through the floating hinge structure of the steering wheel assembly 103. The entire system replaces the elastic deformation function of springs with the mechanical self-adaptation of the floating hinge shaft 1035. When the ground is uneven, the drive wheel set 1031 automatically adjusts its angle distribution via the hinge shaft to maintain optimal traction, operating based on the self-balancing principle of multi-point support.

[0046] The present invention and its embodiments have been described above illustratively. This description is not restrictive, and the figures shown are only one embodiment of the present invention; the actual structure is not limited thereto. Therefore, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the inventive spirit of the present invention, such designs should fall within the protection scope of the present invention.

Claims

1. A differential steering wheel AGV, characterized in that, It includes a frame and a steering wheel assembly, the steering wheel assembly being connected to the frame via a slewing bearing, the steering wheel assembly including at least a pair of drive wheels, the drive wheels being rotatably mounted via a floating hinge axis and capable of adaptively rotating about a floating axis to adapt to ground undulations.

2. The differential steering wheel AGV according to claim 1, characterized in that, The steering wheel assembly also includes a drive motor and a reducer. The drive motor is connected to the drive wheel through the reducer and is used to drive the drive wheel to rotate.

3. The differential steering wheel AGV according to claim 1, characterized in that, The steering wheel assembly also includes a hinged upper plate and a drive wheel mounting plate. The floating hinge shaft connects the drive wheel mounting plate and the hinged upper plate, allowing the drive wheel to float relative to the hinged upper plate.

4. The differential steering wheel AGV according to claim 1, characterized in that, It also includes a traction rod assembly, which includes a traction rod and a push rod. The traction rod and the push rod are connected by a connector, and the push rod drives the traction rod to rise and fall.

5. A differential steering wheel AGV according to claim 4, characterized in that, The traction rod assembly also includes an upper limit photoelectric sensor and a lower limit photoelectric sensor, used to detect the lifting and lowering position of the traction rod.

6. A differential steering wheel AGV according to claim 1, characterized in that, It also includes guide wheels, which are mounted on the frame to assist the AGV in steering.

7. A differential steering wheel AGV according to claim 1, characterized in that, It also includes a charging component, which includes a brush block for contacting the ground brush plate to achieve automatic charging.

8. A differential steering wheel AGV according to claim 1, characterized in that, The steering wheel assembly also includes a barcode reader camera and a gyroscope for AGV navigation and attitude detection.

9. A differential steering wheel AGV according to claim 1, characterized in that, The drive wheels are symmetrically arranged and differential drive is achieved through a floating hinge shaft, enabling the AGV to steer flexibly.

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