CN108423083A - Wheel driver, AGV and Intelligent logistics conveying equipment - Google Patents
Wheel driver, AGV and Intelligent logistics conveying equipment Download PDFInfo
- Publication number
- CN108423083A CN108423083A CN201810099872.6A CN201810099872A CN108423083A CN 108423083 A CN108423083 A CN 108423083A CN 201810099872 A CN201810099872 A CN 201810099872A CN 108423083 A CN108423083 A CN 108423083A
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- CN
- China
- Prior art keywords
- wheel
- driving
- driving wheel
- module
- synchronous pulley
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/02—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to vehicle speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
Abstract
The invention discloses a kind of wheel driver, AGV and Intelligent logistics conveying equipments.Wheel driver includes：Chassis；A pair of driving wheels module, a pair of driving wheels module are separately positioned on the both sides on chassis；Velocity feedback module, velocity feedback module are arranged on chassis；One end connection speed feedback module is arranged in mandrel, mandrel, and the other end is connected with a pair of driving wheels module.AGV and Intelligent logistics conveying equipment separately include the wheel driver of the present invention.Present invention significantly reduces the requirements of flatness and environment to ground；Meanwhile it significantly reducing the difficulty of control algolithm and realizing high precision position feedback.
Description
Technical field
The present invention relates to a kind of driving device of Intelligent logistics conveying, more particularly to a kind of wheel drivers.
Background technology
Traditional Intelligent logistics conveying equipment, as the driving device of AGV (Automated Guided Vehicle) is all
Using opened loop control, is realized and turned to by the speed difference of two driving motors, it is more demanding to ground and there is no position feedback,
To keeping the positioning accuracy of AGV relatively low, causes follow-up the service of connection devices to need to increase secondary detent mechanism, increase cost；Especially exist
Comparison becomes apparent above double drive AGV, due to not having a position feedback, leads between two kinds of drivings when turning that there are contradiction punchings
It is prominent, can only be by size of current comparison come rough calculation position, load balancing aspect is more demanding, and due to being to be pushed away by fruit because leading
It causes data to will produce delay, is all to use conventional DC currently on the market so will have slight drawback in theory
Brushless driving motor responds slower characteristic to make up the deficiency of algorithm as power, with such driving motor, if it is desired to realizing
It is accurately positioned, using servo drive motor, contradiction point is just very greatly enlarged.
Invention content
According to embodiments of the present invention, a kind of wheel driver is provided, including：Chassis；A pair of driving wheels module, it is a pair of
Driving wheel module is separately positioned on the both sides on chassis；Velocity feedback module, velocity feedback module are arranged on chassis；Mandrel, the heart
Axis one end connection speed feedback module, the other end are connected with a pair of driving wheels module.
Further, each wheel module of driving includes：Driving wheel and driving motor, driving motor provide driving force for driving wheel.
Further, each driving wheel module also includes：Sprocket wheel transmission component, sprocket wheel transmission component include minor sprocket with
And chain；Minor sprocket is connected with driving motor main shaft, and driving motor drives minor sprocket rotation；Chain is separately connected minor sprocket and drive
Driving wheel, minor sprocket are rotated by chain-driving driving wheel.
Further, each driving wheel module also includes：First damping spring and axis pin；The axle of axis pin and driving wheel it is remote
End is connected, and one end of the first damping spring is connected with the axle of driving wheel, and the first damping spring drives driving wheel when deforming upon
Axle around corresponding axis pin rotation.
Further, each driving wheel module also includes：Supporting plate, supporting plate are arranged below the axle of driving wheel, supporting plate limit
The angle that the axle of driving wheel is rotated down around axis pin.
Further, also include：One end of a pair of second damping spring, every second damping spring connects corresponding driving wheel
Module, the other end connects the ontology of Intelligent logistics conveying equipment, when a pair of second damping spring deforms upon, drives correspond to respectively
Driving wheel module float up and down.
Further, velocity feedback module includes：Synchronous pulley component, synchronous pulley component is by big synchronous pulley, small synchronization
The synchronous belt of belt wheel and connection big synchronous pulley and small synchronous pulley；Big synchronous pulley is connected with one end of mandrel；Encoder,
Encoder is connected with small synchronous pulley, and encoder acquires the rotation data of small synchronous pulley.
Further, one end of mandrel connects big synchronous pulley, and the other end is rigid with the end of the axle of a pair of driving wheels respectively
Property connection；When driving central axis when the rotation of the axle of a pair of driving wheels, mandrel drives big synchronous pulley.
According to further embodiment of this invention, a kind of AGV is provided, also includes above-mentioned wheel driver.
According to yet another embodiment of the invention, a kind of Intelligent logistics conveying equipment is provided, also includes that above-mentioned wheel drives
Device.
Wheel driver, AGV and Intelligent logistics conveying equipment according to the ... of the embodiment of the present invention, significantly reduce over the ground
The flatness in face and the requirement of environment；Meanwhile it significantly reducing the difficulty of control algolithm and realizing high precision position feedback.
It is to be understood that foregoing general description and following detailed description are both illustrative, and it is intended to
In the further explanation for providing claimed technology.
Description of the drawings
Fig. 1 is the structure axonometric drawing of wheel driver of the embodiment of the present invention；
Fig. 2 is the structure top view of wheel driver of the embodiment of the present invention；
Fig. 3 is the structure front view of wheel driver of the embodiment of the present invention；
Fig. 4 is the A-A structure sectional views of Fig. 3；
Component label instructions：1- minor sprockets, 2- driving motors, 3- magnetic navigations, 4- driving wheels, 5- axles, 6- axis pins, 7- supports
Plate, 8- damping springs, 9- damping springs, 10- mounting plates, 11-float plates, 12- bearing blocks, 13- taper roll bearings, 14- are big
Synchronous pulley, 15- mandrels, 16- flange seats, 17- synchronous belts, 18- small synchronous pulleys, 19- encoders.
Specific implementation mode
Below with reference to attached drawing, detailed description of the present invention preferred embodiment is further elaborated the present invention.
First, wheel driver according to the ... of the embodiment of the present invention will be described in conjunction with Fig. 1~4, will be conveyed for Intelligent logistics
Equipment, the application scenarios such as AGV trolleies, wheeled robot etc., wheel driver are very wide.
As shown in figures 1-4, the wheel driver of the embodiment of the present invention, including：Chassis, a pair of driving wheels module, speed
Feedback module, mandrel 15.
Specifically, as shown in figures 1-4, a pair of driving wheels module is separately positioned on the both sides on chassis, each driving wheel module
Including driving wheel 4 and driving motor 2, wherein driving motor 2 is that driving wheel 4 provides driving force, and a pair of driving wheels module can lead to
Speed difference is crossed to realize the steering of entire wheel driver.
Further, in the present embodiment, each driving wheel module also includes the sprocket wheel transmission that minor sprocket 1 and chain form
Component, wherein minor sprocket 1 is connected with the main shaft of driving motor 2, and chain is separately connected minor sprocket 1 and driving wheel 4, driving motor 2
Minor sprocket 1 is driven to rotate, minor sprocket 1 is rotated by chain-driving driving wheel 4.
Further, in the present embodiment, each driving wheel module also sets up the first damping spring 8 and axis pin 6；Wherein,
One end of one damping spring 8 is connected with the axle 5 of driving wheel 4, and the other end is connected with the ontology of Intelligent logistics conveying equipment；Axle
5 distal end is connected with axis pin 6, drives axle 5 to be rotated around axis pin 6 when the first damping spring 8 deforms upon, guarantee will not be due to ground
Face is slight uneven and generates left and right sidesing driving wheel discontinuity equalization.Further, in the present embodiment, supporting plate 7 is also set up, supporting plate 7 is set
It sets below axle 5, supporting plate 7 realizes the lower limit that axle 5 is rotated down around axis pin 6.
Further, in the present embodiment, it is additionally provided with mounting plate 10 and float plate 11, mounting plate 10 pacifies wheel driver
It is attached on the ontology of Intelligent logistics conveying equipment, float plate 11 is mounted on mounting plate 10, can be on mounting plate 10 up and down
It floats.
Specifically, as shown in figures 1-4, the velocity feedback module being arranged on chassis includes：Synchronous pulley component and coding
Device 19, wherein synchronous pulley component by big synchronous pulley 14, small synchronous pulley 18 and the big synchronous pulley 14 of connection with it is small synchronous
The synchronous belt 17 of belt wheel 18；Big synchronous pulley 14 is connected with one end of mandrel 15；Encoder 19 is linked as one with small synchronous pulley 18
Body, encoder 19 acquire the rotation data of small synchronous pulley 18.One end of mandrel 15 connects big synchronous pulley 14, the other end point
It is not rigidly connected with the end of the axle of a pair of driving wheels 45；When the axle 5 of a pair of driving wheels 4 rotates to drive 15 turns of mandrel
When dynamic, mandrel 15 drives big synchronous pulley 14, then drives small synchronous pulley 18, encoder 19 thus being capable of Real-time Feedback driving
The angular position of wheel 4, realizes the high-precision closed-loop control of driving, to greatly improve precision.
Further, in the present embodiment, in order to realize smooth pivotal, be additionally provided with taper roll bearing 13, flange seat 16 with
And bearing block 12, wherein taper roll bearing 13 is installed between flange seat 16 and bearing block 12, and bearing block 12 is rigid with mandrel 15
Property is linked together, and is integrally connected with float plate 11 there are gap, flange seat 16 between mandrel 15 and flange seat 16, bearing block 12 with
Under drive part, i.e. driving wheel module connected together with flange seat 16 securely by taper roll bearing 13, is realized flat
It trackslips dynamic.
Further, in the present embodiment, also respectively increase a magnetic navigation 3 in the front and rear of wheel driver, carry
High homing capability and precision.
Specifically, as shown in figures 1-4, the present invention also includes：One end of second damping spring 9, the second damping spring 9 connects
Driving wheel module is connect, the other end connects float plate 11 and mounting plate 10, when encountering poor ground, in the second damping spring 9
Under deformation effect, entire wheel driver can be made to float up and down on mounting plate 10 by float plate 11, ensure entire vehicle
The earth-grasping force of wheel drive unit.Therefore, because two driving wheels 4 use independent dampings, and entire wheel driver can be with
It floats up and down, greatly reduces the flatness requirement to ground.
As described above, in wheel driver according to the ... of the embodiment of the present invention, significantly reduce to the flatness on ground with
And the requirement of environment；Meanwhile it significantly reducing the difficulty of control algolithm and realizing high precision position feedback.
Wheel driver according to the ... of the embodiment of the present invention is described above in association with attached drawing 1~4.
Further, present invention can also apply to Intelligent logistics conveying equipments, specifically such as：AGV and wheel type machine
People etc., Intelligent logistics conveying equipment, AGV, the wheel driver in wheeled robot and the present invention of the embodiment of the present invention are real
The principle for applying the wheel driver of example is identical, and details are not described herein again.And by wheel driver to the timely of wheel steering
The independent damping of feedback and two wheels, significantly reduces the requirement of the flatness and environment to ground；Meanwhile significantly
It reduces the difficulty of control algolithm and realizes high precision position feedback.
More than, describe referring to Fig.1~4 wheel driver according to the ... of the embodiment of the present invention, Intelligent logistics conveying equipment,
AGV, wheeled robot significantly reduce the requirement of the flatness and environment to ground；Meanwhile significantly reducing control algolithm
Difficulty and realize high precision position feedback.
It should be noted that in the present specification, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also include other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence " including one ... ", it is not excluded that
There is also other identical elements in the process, method, article or apparatus that includes the element.
Although present disclosure is discussed in detail by above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read the above, for the present invention's
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (10)
1. a kind of wheel driver is used for Intelligent logistics conveying equipment, which is characterized in that include：
Chassis；
A pair of driving wheels module, the pair of driving wheel module are separately positioned on the both sides on the chassis；
Velocity feedback module, the velocity feedback module are arranged on the chassis；
Mandrel, mandrel one end connection speed feedback module, the other end are connected with a pair of driving wheels module.
2. wheel driver as described in claim 1, which is characterized in that each driving wheel module includes：Driving wheel
And driving motor, the driving motor provide driving force for driving wheel.
3. wheel driver as claimed in claim 2, which is characterized in that each driving wheel module also includes：Sprocket wheel
Transmission component, the sprocket wheel transmission component include minor sprocket and chain；The minor sprocket is connected with driving motor main shaft, described
Driving motor drives minor sprocket rotation；The chain is separately connected minor sprocket and driving wheel, and minor sprocket is driven by chain-driving
Wheel rotation.
4. wheel driver as claimed in claim 2 or claim 3, which is characterized in that each driving wheel module also includes：The
One damping spring and axis pin；The axis pin is connected with the distal end of the axle of driving wheel, one end of first damping spring and drive
The axle of driving wheel is connected, and drives the axle of driving wheel around corresponding axis pin rotation when first damping spring deforms upon.
5. wheel driver as claimed in claim 4, which is characterized in that each driving wheel module also includes：Supporting plate,
The supporting plate is arranged below the axle of driving wheel, and the supporting plate limits the angle that the axle of driving wheel is rotated down around axis pin.
6. wheel driver as claimed in claim 2 or claim 3, which is characterized in that also include：A pair of second damping spring, institute
The one end for stating every second damping spring connects corresponding driving wheel module, and the other end connects the sheet of Intelligent logistics conveying equipment
Body when the pair of second damping spring deforms upon, drives the corresponding driving wheel module to float up and down respectively.
7. wheel driver as claimed in claim 2 or claim 3, which is characterized in that the velocity feedback module includes：
Synchronous pulley component, the synchronous pulley component is by big synchronous pulley, small synchronous pulley and the connection big synchronous belt
The synchronous belt of wheel and small synchronous pulley；The big synchronous pulley is connected with one end of mandrel；
Encoder, the encoder are connected with small synchronous pulley, the rotation data of the encoder acquisition small synchronous pulley.
8. wheel driver as claimed in claim 7, which is characterized in that one end of the mandrel connects big synchronous pulley,
The other end is rigidly connected with the end of the axle of the pair of driving wheel respectively；The band when the rotation of the axle of the pair of driving wheel
When dynamic central axis, the mandrel drives big synchronous pulley.
9. a kind of AGV, which is characterized in that also include the wheel driver described in claim 1-8 any bars.
10. a kind of Intelligent logistics conveying equipment, which is characterized in that also include the wheel driving described in claim 1-8 any bars
Device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810099872.6A CN108423083A (en) | 2018-02-01 | 2018-02-01 | Wheel driver, AGV and Intelligent logistics conveying equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810099872.6A CN108423083A (en) | 2018-02-01 | 2018-02-01 | Wheel driver, AGV and Intelligent logistics conveying equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108423083A true CN108423083A (en) | 2018-08-21 |
Family
ID=63156354
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810099872.6A Pending CN108423083A (en) | 2018-02-01 | 2018-02-01 | Wheel driver, AGV and Intelligent logistics conveying equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108423083A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20010008985A1 (en) * | 2000-01-17 | 2001-07-19 | Masayoshi Wada | Omnidirectional vehicle and method of controlling the same |
| CN101885350A (en) * | 2010-07-15 | 2010-11-17 | 南京航空航天大学 | Adaptive tracking control method of paths of comprehensive automatic guided vehicle |
| CN103407517A (en) * | 2013-08-16 | 2013-11-27 | 成都四威高科技产业园有限公司 | Automatic guided vehicle (AGV) chassis travelling mechanism |
| CN104118292A (en) * | 2014-08-13 | 2014-10-29 | 成都四威高科技产业园有限公司 | Integrated AGV driving and lifting mechanism |
| CN104986036A (en) * | 2015-06-15 | 2015-10-21 | 东莞市瑞鹏机器人自动化有限公司 | AGV steering wheel drive system module |
| CN205239050U (en) * | 2015-11-10 | 2016-05-18 | 深圳优旺特科技有限公司 | Two -way automatic guide car drive arrangement and automatic guide car |
-
2018
- 2018-02-01 CN CN201810099872.6A patent/CN108423083A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20010008985A1 (en) * | 2000-01-17 | 2001-07-19 | Masayoshi Wada | Omnidirectional vehicle and method of controlling the same |
| CN101885350A (en) * | 2010-07-15 | 2010-11-17 | 南京航空航天大学 | Adaptive tracking control method of paths of comprehensive automatic guided vehicle |
| CN103407517A (en) * | 2013-08-16 | 2013-11-27 | 成都四威高科技产业园有限公司 | Automatic guided vehicle (AGV) chassis travelling mechanism |
| CN104118292A (en) * | 2014-08-13 | 2014-10-29 | 成都四威高科技产业园有限公司 | Integrated AGV driving and lifting mechanism |
| CN104986036A (en) * | 2015-06-15 | 2015-10-21 | 东莞市瑞鹏机器人自动化有限公司 | AGV steering wheel drive system module |
| CN205239050U (en) * | 2015-11-10 | 2016-05-18 | 深圳优旺特科技有限公司 | Two -way automatic guide car drive arrangement and automatic guide car |
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| SE01 | Entry into force of request for substantive examination | ||
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180821 |
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| WD01 | Invention patent application deemed withdrawn after publication |