KR102160513B1 - Ultra-thin type agv differential driving device - Google Patents

Abstract

According to the present invention, disclosed is an ultra-thin AGV differential driving device comprising: a seating unit installed with a driving means for moving a seating unit; a swing type base unit rotatably connected to the seating unit and installed with a receiving groove; a spring seat having one end installed in the receiving groove, coupled to the swing type base unit to be slid, and installed with a rotation hole; a tension spring having one end connected to the spring seat and the other end connected to the swing type base unit, and installed on the spring seat; and a rotating disk shaft having one end installed in the rotation hole and rotatably connected to the spring seat. The ultra-thin AGV differential driving device of the present invention can be applied to different grounds, has a buffering effect, and can realize flattening and miniaturization of a differential driving device in a vertical direction.

Description

Ultra-thin AGV differential drive device {ULTRA-THIN TYPE AGV DIFFERENTIAL DRIVING DEVICE}

The present invention relates to the technical field of AGV unmanned transport vehicle, and more particularly, to an ultra-thin AGV differential drive device.

The AGV unmanned transport vehicle is equipped with an optical, electromagnetic, inertial sensor assembly, etc., and by performing closed loop control on data such as position, speed, torque, etc., the corresponding task can be performed while driving along a predetermined path. A conventional AGV driving apparatus that performs driving using a differential gear has the following problems. 1) In the conventional differential gear drive system equipped with a spring-type suspension assembly, the spring is disposed above the drive motor and the overall height is limited to the stroke of the spring, making it difficult to apply to a flat AGV platform. 2) A conventional differential gear drive equipped with a spring-type suspension assembly is limited to its overall height, and the size of the drive motor cannot be increased to improve the overall output. 3) A differential gear drive without a spring-type suspension assembly should be applied to the ground by replacing only the swing means. However, when multiple differential gear drives are used on one AGV platform, it is impossible for all drives to be applied simultaneously to ground changes. In addition, a differential gear drive for application to a road surface using only a swing means is not suitable for omnidirectional travel and heavy load requirements. 4) In the conventional differential gear drive system, the motor drive unit is mounted on the AGV platform, and it is disadvantageous in miniaturization design because a large amount of power cables and sensor cables must be drawn out and guided into the drive system.

The Chinese patent (published on July 15, 2015; the name of the invention “AGV drive system with differential steering function”), whose publication number is CN204472569U, discloses an AGV drive system with differential steering function. The technical solution of this utility model relates to an AGV driving device with a differential steering function, and the AGV driving device is composed of a fixed plate, a support plate, a wheel guard and a spring sleeve, and a spring is installed inside the spring sleeve. A spring support is installed at the center of the support plate, a support holder is installed at the lower part of the support plate, and driving means are installed symmetrically on both sides of the support holder, and the drive means consists of a transfer shaft, a motor and a running wheel, and the fixed plate The control shaft sleeve, rotary encoder and control shaft are installed. The rotary encoder and motor are all connected to AGV's electronic control board via wires. A speed reducer is installed between the motor and the transfer shaft. However, the drive device still has the above-described problems.

In order to overcome the above problems of the prior art, the present invention provides an ultra-thin AGV differential driving device that can be applied to different grounds, has a buffering effect, and can realize flattening and miniaturization of the differential driving device in the vertical direction. .

In order to achieve the above object, the present invention uses the following technical solutions.

A seating portion provided with a driving means for moving the seating portion;

A swing-type base portion rotatably connected to the seating portion and installed with a receiving groove;

A spring seat having one end installed in the receiving groove, slide-coupled to the swing-type base, and installed with a rotation hole; A tension spring installed in the spring seat, one end connected to the spring seat and the other end connected to the swing-type base; And

It is an ultra-thin AGV differential drive device with one end installed in the rotation hole and including a rotating disk shaft rotatably connected to a spring seat.

In the above technical solution, the driving wheel of the driving device contacts the ground and moves the seating part, the upper end of the rotating disk shaft is directly fixed to the chassis of the AGV, and the rotating surface of the swing-type base part is perpendicular to the horizontal plane, and the spring seat The sliding direction of is parallel to the rotating surface of the swing type base. Accordingly, in the case of uneven and uneven ground, the swing-type base portion can be rotated relatively in the vertical plane, the spring seat can be slid up and down with respect to the swing-type base portion, and the rotating disk shaft is in a horizontal plane. You can meet. Therefore, the differential drive device can be applied to different grounds and have a buffering effect by rotating in two directions and sliding in one direction. In addition, since the receiving groove and the rotating hole are provided, the size in the vertical direction can be greatly reduced, and the flattening and miniaturization of the differential driving device in the vertical direction can be realized.

Preferably, a spring receiving hole is installed in the spring seat, the tension spring corresponds to the spring receiving hole one-to-one, and one end of the tension spring is installed in the corresponding spring receiving hole. The spring receiving hole can further reduce the size of the differential driving device in the vertical direction and at the same time serve to guide the tension spring, thereby preventing the tension spring from being twisted and affecting the elasticity.

Preferably, the rotating surface of the rotating disk shaft is perpendicular to the rotating surface of the swing-type base part. The structure can ensure that the rotating disk shaft moves relatively freely in all directions, thereby ensuring a buffering effect.

Preferably, a rotary encoder is installed on the rotary disk shaft, one end of the rotary encoder is connected to the rotary disk shaft, and the other end of the rotary disk shaft is connected to a spring seat. When one end of the rotary encoder rotates with respect to the spring seat with the rotary disk shaft, the other end of the rotary encoder is stopped against the spring seat, and the rotary encoder acquires the relative rotation angle in the horizontal direction of the rotary disk shaft and the spring seat. . By forming the feedback means together with the driving means for controlling both sides by transmitting the obtained angle information to the controller, it is possible to ensure the accuracy of straight and turning.

Preferably, the number of the driving means is two, and the two driving devices are installed on both sides of the mounting portion facing each other.

Preferably, the driving means includes a driving motor, a reducer, a main gear, an intermediate gear, a driven gear and a driving wheel, and the main gear, the intermediate gear and the driven gear are sequentially engaged and rotatably connected to the side wall of the seating portion, respectively, The output end of the drive motor is connected to the input end of the reducer, the input end of the reducer is connected to the motor main gear, and the driven gear is connected to the drive wheel. The above structure can realize the overall driving of the differential drive device.

Preferably, the mounting portion includes a housing mounting portion, a mounting plate, an intermediate plate and a rib plate, the housing mounting portion, the mounting plate and the intermediate plate constitute a “目” (eye neck) Chinese character structure, and the intermediate plate and the rib plate are “井” (Well Jeong) Constructs a Chinese character structure. The structure can reduce the total weight of the seating portion while securing the strength of the seating portion, and the rib plate can limit the rotation range of the swing-type base portion.

Preferably, further comprising a wire receiving portion, the wire receiving portion is installed in the circumferential direction of the rotating disk shaft, the wire receiving portion is installed between the upper end and the seating portion of the rotating disk shaft. The lower surface of the wire receiving part is located on the upper part of the “井” (well well) Chinese character structure composed of the intermediate plate and rib plate, and is connected to the upper surface of the intermediate plate through a screw. The wire accommodating unit may store a power cable and a sensor cable, and by accommodating the cable, not only is it convenient to downsize the device, but also the risk of damage to the cable may be reduced.

Preferably, a sliding block is installed on the outer wall of the spring sheet, one end of the sliding block is fixed to the spring sheet, and the other end of the sliding block is in contact with the swing-type base. The sliding block is a copper alloy graphite material, and can have a good sliding self-lubricating effect, and can reduce sliding friction.

Preferably, a sliding limiting block disposed above the sliding block is installed in the swing-type base portion. The sliding limiting block may limit the position of the sliding block, thereby preventing the spring seat from being separated from the swing-type base portion.

Preferably, a clamping screw is installed in the sliding limiting block, the clamping screw is screwed into the sliding limiting block, and one end of the clamping screw contacts the sliding block. In the above structure, as the clamping screw is adjusted, the length of the sliding limit block is extended to control the limit position of the sliding block, so that the length of the tension spring is adjusted to adjust the height after mounting.

The present invention has the following advantageous effects. (1) The differential drive device can be applied to different grounds and has a buffering effect. (2) Flattening and miniaturization of the differential drive device in the vertical direction can be realized. (3) The wire storage unit can accommodate cables, making it convenient not only to reduce the size of the device, but also to reduce the risk of damage to the cables. (4) As the clamping screw is adjusted, the length of the sliding limit block is extended and the limit position of the sliding block is controlled, so that the length of the tension spring can be adjusted to adjust the height after mounting.

1 is a schematic structural diagram of the present invention.
2 is a first cross-sectional view of the present invention.
3 is a perspective view of the present invention.
4 is a second cross-sectional view of the present invention.
5 is a plan view of the present invention.

Hereinafter, the present invention will be described in detail with reference to the drawings and specific examples.

Example 1:

1, 2, and 3, the ultra-thin AGV differential driving device includes a seating part 1, a swing-type base part 2, a spring seat 3, a rotating disk shaft 4, and a number of wires. Includes payment (7). As shown in Fig. 2, the mounting portion 1 includes a housing mounting portion 1.1, a mounting plate 1.2, an intermediate plate 1.3 and a rib plate 1.4, and a housing mounting portion 1.1, a mounting plate ( 1.2) and intermediate plate (1.3) constitute “目” (eye neck) Chinese character structure, and intermediate plate (1.3) and rib plate (1.4) constitute “井” (well jeong) Chinese character structure. The seating portion 1 is provided with two driving means 5 for moving the seating portion 1, and the two driving devices are installed on both sides of the seating portion 1 facing each other. 3 and 5, the drive means 5 includes a drive motor 5.1, a reducer 5.2, a main gear 5.3, an intermediate gear 5.4, a driven gear 5.5, and a drive wheel 5.6. ), and the main gear (5.3), the intermediate gear (5.4), and the driven gear (5.5) are sequentially engaged and rotatably connected to the sidewall of the seating part (1), and the output end of the driving motor (5.1) is It is connected to the input end of the reducer (5.2), the input end of the reducer (5.2) is connected to the motor main gear (5.3), and the driven gear (5.5) is connected to the drive wheel (5.6).

2 and 4, the swing-type base portion 2 and the seating portion 1 are rotatably connected through a bearing 13, and the rotating surface of the swing-type base portion 2 is on a horizontal plane. It is vertical, and the rib plate 1.4 may limit the rotation range of the swing-type base portion 2. The receiving groove (2.1) is installed in the swing type base (2). One end of the spring seat (3) is installed in the receiving groove (2.1), the spring seat (3) is slidably coupled to the swing-type base portion (2), the sliding direction of the spring seat (3) is the swing-type base portion (2) ) Is parallel to the rotating surface. Four sliding blocks (8) are installed on the outer wall of the spring seat (3), four sliding blocks (8) are installed on the four side walls of the spring seat (3), respectively, and one end of the sliding block (8) is It is fixed to the spring seat (3), and the other end of the sliding block (8) is in contact with the swing type base (2). In the swing-type base (2), a sliding limiting block (9) disposed on the sliding block (8) is installed, a clamping screw (10) is installed in the sliding limiting block (9), and the clamping screw (10) is sliding. It is screwed to the limiting block 9 and one end of the clamping screw 10 contacts the sliding block 8. The spring seat (3) is provided with a spring receiving hole (3.1) and a tension spring (3.2), the tension spring (3.2) corresponds to the spring receiving hole (3.1) one-to-one, and one end of the tension spring (3.2) is a corresponding spring. It is installed in the receiving hole (3.1), one end of the tension spring (3.2) is connected to the spring seat (3), and the other end of the tension spring (3.2) is connected to the swing type base (2).

2 and 4, the spring seat 3 is provided with a rotation hole. One end of the rotating disk shaft 4 is installed in the rotation hole, and the rotating disk shaft 4 and the spring seat 3 are rotatably connected through a bearing. The rotating surface of the rotating disk shaft 4 is perpendicular to the rotating surface of the swing-type base portion 2. After the rotation stopper block 12 is installed on the spring seat 3, the rotation limiting block 11 is installed on the rotary disk shaft 4, and the rotary disk shaft 4 rotates with respect to the spring seat 3 The rotation limiting block 11 and the rotation stopper block 12 come into contact, which is their rotation limit position.

2 and 4, a rotary encoder 6 is installed on the rotary disk shaft 4, and one end of the rotary encoder 6 is connected to the rotary disk shaft 4, and the rotary disk shaft 4 The other end of) is connected to the spring seat (3). The wire receiving portion 7 is installed in the circumferential direction of the rotating disk shaft 4, and the wire receiving portion 7 is installed between the upper end of the rotating disk shaft 4 and the seating portion 1.

In the above technical solution, the driving wheel 5.6 of the driving device contacts the ground and moves the seating part 1, and the upper end of the rotating disk shaft 4 is directly fixed to the chassis of the AGV, so that it is not flat and uneven. When placed on the ground, the swing-type base portion 2 can rotate relatively in a vertical plane, and the spring seat 3 can slide up and down with respect to the swing-type base portion 2, and the rotating disk shaft ( 4) can rotate within a horizontal plane. Accordingly, by rotating in two directions and sliding in one direction, the differential driving device can be applied to different grounds and have a buffering effect. In addition, by providing the receiving groove 2.1 and the rotating hole, the size in the vertical direction can be greatly reduced, and the differential driving device in the vertical direction can be flattened and downsized. When one end of the rotary encoder 6 is rotated with respect to the spring seat 3 together with the rotary disk shaft 4, the other end of the rotary encoder 6 is stopped with respect to the spring seat 3, and the rotary encoder 6 Obtains the relative rotation angle of the rotating disk shaft 4 and the spring seat 3 in the horizontal direction. By forming the feedback means together with the driving means 5 for controlling both sides by transmitting the obtained angle information to the controller, it is possible to ensure the accuracy of straight and turning. The sliding limiting block 9 may limit the position of the sliding block 8, thereby preventing the spring seat 3 from being separated from the swing-type base portion 2. As the clamping screw 10 is adjusted, the length of the sliding limit block 9 is elongated and the limit position of the control sliding block 8 is controlled, so that the length of the tension spring 3.2 is adjusted so that the height after mounting can be adjusted. .

The present invention has the following advantageous effects. The differential drive device can be applied to different grounds, has a buffering effect, and at the same time realizes flattening and miniaturization of the differential drive device in the vertical direction. Since the wire storage unit can accommodate cables, it is convenient not only to downsize the device, but also to reduce the risk of damage to the cables. As the clamping screw is adjusted, the length of the sliding limit block is extended and the limit position of the sliding block is controlled, so that the length of the tension spring can be adjusted to adjust the height after mounting.

1: seat
1.1: Housing mount
1.2: mounting plate
1.3: middle plate
1.4: rib plate
2: Swing type base
2.1: receiving groove
3: spring seat
3.1: spring receiving hole
3.2: tension spring
4: Rotating hole, rotating disk shaft
5: drive means
5.1: drive motor
5.2: reducer
5.3: main gear
5.4: intermediate gear
5.5: driven gear
5.6: drive wheel
6: rotary encoder
7: wire compartment
8: sliding block
9: sliding limit block
10: clamping screw
11: rotation limit block
12: rotation stopper block
13: bearing

Claims (10)

A seating portion provided with a driving means for moving the seating portion;
A swing-type base portion rotatably connected to the seating portion and installed with a receiving groove;
A spring seat having one end installed in the receiving groove, slide-coupled to the swing-type base, and installed with a rotation hole;
A tension spring installed on the spring seat, one end connected to the spring seat and the other end connected to the swing-type base; And
One end is installed in the rotation hole, and includes a rotating disk shaft rotatably connected to the spring seat;
A sliding block is installed on the outer wall of the spring seat, one end of the sliding block is fixed to the spring seat, and the other end of the sliding block is in contact with a swing-type base. The method according to claim 1,
A spring receiving hole is installed in the spring seat, the tension spring corresponds to the spring receiving hole one-to-one, and one end of the tension spring is installed in the corresponding spring receiving hole. The method according to claim 1,
The ultra-thin AGV differential driving device, characterized in that the rotating surface of the rotating disk shaft is perpendicular to the rotating surface of the swing-type base unit. The method according to claim 1,
An ultra-thin AGV differential drive device, characterized in that a rotary encoder is installed on the rotary disk shaft, one end of the rotary encoder is connected to the rotary disk shaft, and the other end of the rotary disk shaft is connected to a spring seat. The method according to any one of claims 1 to 4,
The number of the driving means is two, and the two driving devices are installed on both sides of the seating unit facing each other. The method of claim 5,
The driving means includes a drive motor, a reducer, a main gear, an intermediate gear, a driven gear, and a driving wheel, and the main gear, the intermediate gear and the driven gear are sequentially engaged and rotatably connected to the side wall of the seating portion, respectively, and the driving motor The output end of the reduction gear is connected to the input end, the input end of the reducer is connected to the motor main gear, and the driven gear is connected to the driving wheel. The method according to any one of claims 1 to 4,
The mounting portion includes a housing mounting portion, a mounting plate, an intermediate plate and a rib plate, the housing mounting portion, the mounting plate and the intermediate plate constitute a “目” (eye neck) Chinese character structure, and the intermediate plate and the rib plate are “井” (Well-jeong) Ultra-thin AGV differential drive device, characterized in that constituting a Chinese character structure. delete The method according to claim 1,
An ultra-thin AGV differential driving device, characterized in that a sliding limiting block disposed above the sliding block is installed at the swing-type base portion. The method of claim 9,
A clamping screw is installed in the sliding limiting block, the clamping screw is screwed into the sliding limiting block, and one end of the clamping screw is in contact with the sliding block.

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