CN103895495A - Motor driving wheel assembly for automated guided vehicle - Google Patents

Motor driving wheel assembly for automated guided vehicle Download PDF

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Publication number
CN103895495A
CN103895495A CN201410164230.1A CN201410164230A CN103895495A CN 103895495 A CN103895495 A CN 103895495A CN 201410164230 A CN201410164230 A CN 201410164230A CN 103895495 A CN103895495 A CN 103895495A
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CN
China
Prior art keywords
wheel assembly
panel
driving wheel
motor driving
motor
Prior art date
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.)
Pending
Application number
CN201410164230.1A
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Chinese (zh)
Inventor
邢科新
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SHANGHAI TONGPU ELECTRONICS CO Ltd
Original Assignee
SHANGHAI TONGPU ELECTRONICS CO Ltd
Priority date (The priority date 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 date listed.)
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Publication date
Application filed by SHANGHAI TONGPU ELECTRONICS CO Ltd filed Critical SHANGHAI TONGPU ELECTRONICS CO Ltd
Priority to CN201410164230.1A priority Critical patent/CN103895495A/en
Publication of CN103895495A publication Critical patent/CN103895495A/en
Pending legal-status Critical Current

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Abstract

The invention discloses a motor driving wheel assembly for an automated guided vehicle. The motor driving wheel assembly for the automated guided vehicle solves the problems that due to the fact that in the prior art, an automated guided vehicle mainly runs in the operation modes that a driving motor carries out advancing driving, a speed reducer carries out speed control, and a steering motor carries out steering driving, the movement mode is simple, movement control is not accurate enough, and movement efficiency is low. The integrated motor driving wheel assembly comprises a driving motor, a steering motor, a speed reduction system, an electrical control system, a power bus and an overall mechanical device. Therefore, the integration technical effect is achieved, and parameters can be conveniently set and adjusted.

Description

For the motor driving wheel assembly of automatical pilot transportation vehicle
Technical field
The present invention relates to a kind of motor driving wheel assembly, relate in particular to a kind of motor driving wheel assembly for automatical pilot transportation vehicle.
Background technology
Automatic guide vehicle (Automated Guided Vehicle, be called for short AGV) be a kind of unmanned automatic transportation equipment, it can carry the operation automatically between departure place and destination of certain weight, be the key equipment of automatic material flow transport systems, flexible production organization system, can turn to form, charging modes, transfer mode to be divided into dissimilar according to guidance mode, driving.The application of domestic AGV is also subject to increasing attention, but there is no stock production, and the overwhelming majority adopts laser guidance technology and electromagnetism guidance technology.
At present, conventional drive steering swivel system is divided into following several:
1) three-wheel domain, double drive wheel and the wheel flutter of doing of front-wheel, equipment drive motor, turning facilities and retarding device.
2) tricycle chassis, front-wheel is wheel flutter, has steer motor control, rear two-wheeled is drive wheel, carries out differential driving by diff.
3) four-wheel or six is taken turns chassis, and middle two-wheeled does differential and drives the wheel flutter of holding concurrently.
Drive wheel system is the basis of the automatic running under power of AGV, existing AGV mainly adopt drive motor to move ahead operation scheme that driving, reductor carry out speed control, steer motor and turn to driving, exists that mode of motion is simple, motion control is not accurate enough, the low inferior problem of sport efficiency.
Summary of the invention
The invention discloses a kind of motor driving wheel assembly for automatical pilot transportation vehicle, have in order to solve automatical pilot transportation vehicle in prior art the problem that motion control is not accurate enough, sport efficiency is low.
Above-mentioned purpose of the present invention is achieved through the following technical solutions:
For a motor driving wheel assembly for automatical pilot transportation vehicle, wherein, comprising:
One horizontally disposed panel, a traction electric machine is vertically arranged on described panel top, and described panel below is provided with a traction gearbox, and described traction electric machine provides power for described traction gearbox;
One side of described traction gearbox has an output wheel, and a drive wheel is installed on described output wheel;
Described panel below is also provided with a steering box, described steering box below is provided with a steer motor, the steering power output shaft of described steering box is arranged on the top of described steering box through described panel, on described steering power output shaft, a steering gear is installed;
On described panel, be also provided with a bearing, in described bearing, along being fixed on described panel, described bearing outer has a crown gear, and described crown gear engages with described steering gear;
Described coder is arranged on described motor top, and an encoder gear is arranged on described panel, and described encoder gear engages with described crown gear.
Motor driving wheel assembly for automatical pilot transportation vehicle as above, wherein, also comprises a magnet stopper, and described magnet stopper is arranged on described traction electric machine.
Motor driving wheel assembly for automatical pilot transportation vehicle as above, wherein, described external encoder is connected with described steer motor and described traction electric machine.
Motor driving wheel assembly for automatical pilot transportation vehicle as above, wherein, described bearing specifically comprises: single-revolution bearing, a crown gear, the interior edge of described swing bearing is arranged on described panel, multiple fixed strips are vertically installed on described crown gear, described swiveling gear outer ring coupling offers multiple fixed orifices, and described multiple fixed strips and described multiple fixed orifice are chimeric.
Motor driving wheel assembly for automatical pilot transportation vehicle as above, wherein, the traction electric machine axle drive shaft of described traction electric machine inserts described traction gearbox.
Motor driving wheel assembly for automatical pilot transportation vehicle as above, wherein, described drive wheel adopts solid rubber tyre.
Motor driving wheel assembly for automatical pilot transportation vehicle as above, wherein, described drive wheel adopts: polyurethane elastomer or polyurethane are made.
In sum, owing to having adopted technique scheme, the invention solves in prior art the driving that moves ahead of the main employing drive motor of automatical pilot transportation vehicle, reductor carries out speed control, steer motor turns to the operation scheme of driving, exist mode of motion simple, motion control is not accurate enough, the low inferior problem of sport efficiency, the present invention adopts integrated motor driving wheel assembly to comprise drive motor, steer motor, deceleration system, electric control system, power bus and overall mechanical device, thereby realize integrated technique effect, and be convenient to carry out parameter setting and adjustment.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention for the motor driving wheel assembly of automatical pilot transportation vehicle;
Fig. 2 is the structure disassembly diagram of the present invention for the motor driving wheel assembly of automatical pilot transportation vehicle.
The specific embodiment
Below in conjunction with drawings and Examples, the present invention is described further:
Fig. 1 is the structural representation of the present invention for the motor driving wheel assembly of automatical pilot transportation vehicle, Fig. 2 is the structure disassembly diagram of the present invention for the motor driving wheel assembly of automatical pilot transportation vehicle, refer to Fig. 1, Fig. 2, a kind of motor driving wheel assembly for automatical pilot transportation vehicle, wherein, comprising:
One horizontally disposed panel 1, one traction electric machine 21 is vertically arranged on panel 1 top, and panel 1 below is provided with a traction gearbox 22, and traction electric machine 21 provides power for traction gearbox 22; Traction electric machine 21 axle drive shafts of traction electric machine 21 of the present invention insert traction gearboxs 22, and the rotation by traction electric machine 21 provides power for traction gearbox 22.
One side of traction gearbox 22 of the present invention has an output wheel, and a drive wheel 4 is installed on output wheel, and output wheel rotates, and drives drive wheel 4 to rotate, and makes the present invention can realize the straight-line travelling that dolly drives;
Panel of the present invention 1 below is also provided with a steering box 32, steering box 32 belows are provided with a steer motor 31, the steering power output shaft of steering box 32 is arranged on the top of steering box 32 through panel 1, one steering gear 33 is installed on steering power output shaft, steer motor 31 provides power for steering box 32, and steering box 32 drives steering gear 33 to rotate;
On panel 1 of the present invention, be also provided with a bearing, in bearing, along being fixed on panel 1, bearing outer has a crown gear 61, and crown gear 61 engages with steering gear 33;
Coder 51 of the present invention is arranged on motor top, and an encoder gear 52 is arranged on panel 1, and encoder gear 52 engages with crown gear 61.
Crown gear 61 of the present invention engages with encoder gear 52 and steering gear 33 respectively, drives crown gear 61 to rotate and realizes the operation turning to, and control turning to by encoder gear 52 by steering gear 33.
The present invention also comprises a magnet stopper 7, and magnet stopper 7 is arranged on traction electric machine 21, in order to realize braking of the present invention.
External encoder 51 of the present invention is connected with steer motor 31 and traction electric machine 21, by external encoder 51, steer motor 31 and traction electric machine 21 is controlled.
Bearing of the present invention specifically comprises: single-revolution bearing 62, a crown gear 61, the interior edge of swing bearing 62 is arranged on panel 1, multiple fixed strips are vertically installed on crown gear 61, and swiveling gear outer ring coupling offers multiple fixed orifices, and multiple fixed strips and multiple fixed orifice are chimeric.
Drive wheel 4 of the present invention adopts solid rubber tyre.
Drive wheel 4 of the present invention adopts: polyurethane elastomer or polyurethane are made.
In sum, owing to having adopted technique scheme, the invention solves in prior art the driving that moves ahead of the main employing drive motor of automatical pilot transportation vehicle, reductor carries out speed control, steer motor turns to the operation scheme of driving, exist mode of motion simple, motion control is not accurate enough, the low inferior problem of sport efficiency, the present invention adopts integrated motor driving wheel assembly to comprise drive motor, steer motor, deceleration system, electric control system, power bus and overall mechanical device, thereby realize integrated technique effect, and be convenient to carry out parameter setting and adjustment.

Claims (7)

1. for a motor driving wheel assembly for automatical pilot transportation vehicle, it is characterized in that, comprising:
One horizontally disposed panel, a traction electric machine is vertically arranged on described panel top, and described panel below is provided with a traction gearbox, and described traction electric machine provides power for described traction gearbox;
One side of described traction gearbox has an output wheel, and a drive wheel is installed on described output wheel;
Described panel below is also provided with a steering box, described steering box below is provided with a steer motor, the steering power output shaft of described steering box is arranged on the top of described steering box through described panel, on described steering power output shaft, a steering gear is installed;
On described panel, be also provided with a bearing, in described bearing, along being fixed on described panel, described bearing outer has a crown gear, and described crown gear engages with described steering gear;
Described coder is arranged on described motor top, and an encoder gear is arranged on described panel, and described encoder gear engages with described crown gear.
2. the motor driving wheel assembly for automatical pilot transportation vehicle according to claim 1, is characterized in that, also comprise a magnet stopper, described magnet stopper is arranged on described traction electric machine.
3. the motor driving wheel assembly for automatical pilot transportation vehicle according to claim 1, is characterized in that, described external encoder is connected with described steer motor and described traction electric machine.
4. the motor driving wheel assembly for automatical pilot transportation vehicle according to claim 1, it is characterized in that, described bearing specifically comprises: single-revolution bearing, a crown gear, the interior edge of described swing bearing is arranged on described panel, multiple fixed strips are vertically installed on described crown gear, described swiveling gear outer ring coupling offers multiple fixed orifices, and described multiple fixed strips and described multiple fixed orifice are chimeric.
5. the motor driving wheel assembly for automatical pilot transportation vehicle according to claim 1, is characterized in that, the traction electric machine axle drive shaft of described traction electric machine inserts described traction gearbox.
6. the motor driving wheel assembly for automatical pilot transportation vehicle according to claim 1, is characterized in that, described drive wheel adopts solid rubber tyre.
7. the motor driving wheel assembly for automatical pilot transportation vehicle according to claim 6, is characterized in that, described drive wheel adopts: polyurethane elastomer or polyurethane are made.
CN201410164230.1A 2014-04-23 2014-04-23 Motor driving wheel assembly for automated guided vehicle Pending CN103895495A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201410164230.1A CN103895495A (en) 2014-04-23 2014-04-23 Motor driving wheel assembly for automated guided vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201410164230.1A CN103895495A (en) 2014-04-23 2014-04-23 Motor driving wheel assembly for automated guided vehicle

Publications (1)

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CN103895495A true CN103895495A (en) 2014-07-02

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN105082979A (en) * 2015-08-13 2015-11-25 洛阳理工学院 Automatic guide part conveying device
CN105346592A (en) * 2015-11-10 2016-02-24 苏州先锋物流装备科技有限公司 Universal drive module
CN105417440A (en) * 2015-11-20 2016-03-23 安徽依诺玛智能科技有限公司 Vertical type driving mechanism for laser-guiding automatic guided vehicle (AGV) forklift
CN105691131A (en) * 2016-01-15 2016-06-22 安徽大学 Independent steering driving wheel for mobile robot
CN106828074A (en) * 2017-01-05 2017-06-13 苏州凤凰动力工业有限公司 Dual-gripper driving wheel
CN106873594A (en) * 2017-03-08 2017-06-20 苏州易摩物联科技有限公司 AGV magnetic navigations progress control method and system
CN107776654A (en) * 2016-08-31 2018-03-09 苏州凤凰动力工业有限公司 A kind of low-height electric steerable drive wheel
CN110065553A (en) * 2018-01-24 2019-07-30 北京京东尚科信息技术有限公司 A kind of chassis and automated guided vehicle

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007033739A2 (en) * 2005-09-22 2007-03-29 Zf Friedrichshafen Ag Drive system for the individual drive of both driven wheels of a driven wheel pair
CN101434261A (en) * 2007-11-13 2009-05-20 吴雳鸣 4-wheel driven double steering rubber magnet wheel working truck
CN101638052A (en) * 2009-08-21 2010-02-03 山东大学 Wheel assembly with integration of independent driving, steering, suspending and braking
EP2289766A2 (en) * 2009-09-01 2011-03-02 Jungheinrich Aktiengesellschaft Drive and steering device for an industrial truck
CN102275500A (en) * 2011-05-19 2011-12-14 安徽德摩叉车有限公司 Driving wheel assembly for electric steering four-direction electric forklift
CN102673676A (en) * 2012-04-13 2012-09-19 机科发展科技股份有限公司 AGV (Automatic Guided Vehicle) for multiple-wheel train heavy load mobile robot
JP2013124086A (en) * 2011-12-13 2013-06-24 Haruo Otani Travel steering device for vehicle
CN203920396U (en) * 2014-04-23 2014-11-05 上海同普电力技术有限公司 For the motor driving wheel assembly of automatical pilot transportation vehicle

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007033739A2 (en) * 2005-09-22 2007-03-29 Zf Friedrichshafen Ag Drive system for the individual drive of both driven wheels of a driven wheel pair
CN101434261A (en) * 2007-11-13 2009-05-20 吴雳鸣 4-wheel driven double steering rubber magnet wheel working truck
CN101638052A (en) * 2009-08-21 2010-02-03 山东大学 Wheel assembly with integration of independent driving, steering, suspending and braking
EP2289766A2 (en) * 2009-09-01 2011-03-02 Jungheinrich Aktiengesellschaft Drive and steering device for an industrial truck
CN102275500A (en) * 2011-05-19 2011-12-14 安徽德摩叉车有限公司 Driving wheel assembly for electric steering four-direction electric forklift
JP2013124086A (en) * 2011-12-13 2013-06-24 Haruo Otani Travel steering device for vehicle
CN102673676A (en) * 2012-04-13 2012-09-19 机科发展科技股份有限公司 AGV (Automatic Guided Vehicle) for multiple-wheel train heavy load mobile robot
CN203920396U (en) * 2014-04-23 2014-11-05 上海同普电力技术有限公司 For the motor driving wheel assembly of automatical pilot transportation vehicle

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN104986036B (en) * 2015-06-15 2017-05-03 东莞市瑞鹏机器人自动化有限公司 AGV steering wheel drive system module
CN105082979A (en) * 2015-08-13 2015-11-25 洛阳理工学院 Automatic guide part conveying device
CN105346592A (en) * 2015-11-10 2016-02-24 苏州先锋物流装备科技有限公司 Universal drive module
CN105417440A (en) * 2015-11-20 2016-03-23 安徽依诺玛智能科技有限公司 Vertical type driving mechanism for laser-guiding automatic guided vehicle (AGV) forklift
CN105691131A (en) * 2016-01-15 2016-06-22 安徽大学 Independent steering driving wheel for mobile robot
CN105691131B (en) * 2016-01-15 2017-02-22 安徽大学 Independent steering driving wheel for mobile robot
CN107776654A (en) * 2016-08-31 2018-03-09 苏州凤凰动力工业有限公司 A kind of low-height electric steerable drive wheel
CN106828074A (en) * 2017-01-05 2017-06-13 苏州凤凰动力工业有限公司 Dual-gripper driving wheel
CN106873594A (en) * 2017-03-08 2017-06-20 苏州易摩物联科技有限公司 AGV magnetic navigations progress control method and system
CN110065553A (en) * 2018-01-24 2019-07-30 北京京东尚科信息技术有限公司 A kind of chassis and automated guided vehicle

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Application publication date: 20140702

RJ01 Rejection of invention patent application after publication