CN103899729A - Differential driving device - Google Patents
Differential driving device Download PDFInfo
- Publication number
- CN103899729A CN103899729A CN201410112544.7A CN201410112544A CN103899729A CN 103899729 A CN103899729 A CN 103899729A CN 201410112544 A CN201410112544 A CN 201410112544A CN 103899729 A CN103899729 A CN 103899729A
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- CN
- China
- Prior art keywords
- assembly
- balancing pole
- bracket
- driving
- driving wheel
- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/16—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of differential gearing
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H48/00—Differential gearings
Abstract
The invention discloses a differential driving device which comprises a driving wheel lower component and an upper component. The upper component is mounted on a frame of an AGV (automated guide vehicle) and is positioned on the driving wheel lower component. The upper component comprises a drive fixing support and a drive carrier, the drive fixing support is connected with the frame of the AGV, and the drive carrier is connected with the driving wheel lower component. Both the drive fixing support and drive carrier are of integral structures produced by the integral forming technology. Through the drive fixing support, the drive carrier and a drive support which are integrally formed, product shape is guaranteed, and products are not easy to deform; through damping and slight left-right displacement effect of a buffer structure, wear is reduced; a second connecting rod is displaced in a through groove of the carrier, so that small angle compression is realized.
Description
Technical field
The present invention relates to AGV dolly technical field, be specifically related to differential drive device.
Background technique
Existing AGV dolly (AutomatedGuidedVehicle; be called for short AGV); conventionally also referred to as automatic guided vehicle; refer to be equipped with the homing guidance such as electromagnetism or optics device; can travel along the guide path of regulation; there is the transport vehicle of safety protection and various transfer functions, in commercial Application, do not need driver's carrier, take chargeable storage battery as its power resources.Generally can control its course and behavior by computer, or utilize electromagnetic path (electromagneticpath-followingsystem) to set up its course, electromagnetic path is pasted on what floor, and the message that automatic guided vehicle relies on electromagnetic path to bring moves and moves.
Existing AGV dolly adopts differential drive device to realize and turns.Differential drive device utilizes the differential of the rotating speed of two motors to turn than realizing, and this structure has following defect at present:
1, drive fixed support and driven bracket not one-body molded, formed by multiple weld parts, when welding, easily have deviation, yielding when welding cooling.
2, connecting rod and driven bracket interference fit, cannot realize adjustment minor shifts, serious wear.
3, in the time that driving wheel has brake function, driving wheel need be climbed away to ground, just can be convenient to carrying maintenance; Be all that staff directly lifts AGV dolly at present, need to apply larger power, workman bears heavier.
Summary of the invention
The object of the invention is to disclose differential drive device, solved yielding, serious wear, workman bears heavier problem.
For achieving the above object, the present invention adopts following technological scheme:
Differential drive device, comprises assembly under driving wheel and is installed on the upper assembly of AGV car frame, and upper assembly is positioned under driving wheel on assembly; The driven bracket of assembly under upper assembly comprises the driving fixed support that connects AGV car frame and is connected driving wheel; Fixed support is the overall structure that adopts integral forming process to make, the overall structure of driven bracket for adopting integral forming process to make.
Further, described driving fixed support is connected by buffer structure with described driven bracket, drives fixed support be positioned at driven bracket top and match with driven bracket; Buffer structure comprises at least one spring, and spring lower end connects driven bracket, and spring upper end connects driving fixed support.
Further, described spring is positioned at the medium position place of described driving fixed support and described driven bracket.
Further, described buffer structure also comprises two groups of balancing pole assemblies, head rod and the second connecting rod; The one group of balancing pole assembly that passes on left of the support bracket fastened left side of described driving and described driven bracket is connected, and drives the right side of support bracket fastened right side and driven bracket to be connected by another group balancing pole assembly; Every group of balancing pole assembly comprises the first balancing pole and second balancing pole of intercross arrangement; The first balancing pole front end connects described driven bracket by a head rod, and the first balancing pole rear end connects described driving fixed support by a head rod; The second balancing pole front end is connected and is driven fixed support by a head rod, and the second balancing pole rear end is flexibly connected driven bracket by the second connecting rod.
Further, described driven bracket is provided with bracket groove in the position being connected with described the second connecting rod, and this bracket groove extends along substantially horizontal; The second connecting rod connects described the second balancing pole rear end through bracket groove, the second connecting rod and bracket groove Spielpassung and can be along the displacement of bracket groove, thus realize the second balancing pole rear end and described driven bracket is flexibly connected.
Further, the middle part of described the first balancing pole is connected by link with the middle part of described the second balancing pole.
Further, also comprise the lifting tackle structure for promoting assembly under described driving wheel, this lifting tackle structure comprises wire rope, lifting tackle pack support and pulley; Lifting tackle pack support connects described driving fixed support, thereby realizes and described AGV car frame is fixed; Pulley is located on lifting tackle pack support; Wire rope one end connects described driven bracket and the other end passes pulley; Under the drawing high of wire rope, driven bracket drives fixed support upwards to rise relatively, thereby band is dynamically connected, under the described driving wheel of driven bracket, assembly rises simultaneously, makes the described driving wheel of assembly under driving wheel depart from ground.
Further, under described driving wheel assembly and described upper assembly by bearing be connected with the coupling shaft of this bearing fit, positive and negative 180 ° that in realization, assembly assembly under driving wheel does in substantially horizontal are rotated.
Further, under described driving wheel, assembly comprises driving arm and is located at the wheeled moving assembly of the cover of two on driving arm; The wheeled moving assembly of every cover includes and is provided with the reducing motor of deceleration sprocket wheel, the driving wheel that is provided with driving sprocket wheel and chain, and deceleration sprocket wheel is connected by chain with driving sprocket wheel; Driving arm is provided with the bar hole for reducing motor is installed, and the length L of bar hole is 20mm.
Further, described driving arm adopts the overall structure that integral forming process is made; Driving arm 5 is of a size of 290*173mm.
Compared with prior art, beneficial effect of the present invention:
The present invention adopts and drives fixed support, driven bracket, the integrated structure of driving arm, has guaranteed shape of product, not yielding.
The present embodiment adopts buffer structure, plays the effect of damping and left and right micrometric displacement, reduces wear.The displacement in bracket groove of the second connecting rod, realizes angle compression in a small amount.
Adopt the lifting tackle structure that promotes assembly under driving wheel, under the drawing high of wire rope, driven bracket upwards drives fixed support rising 10mm relatively, thereby assembly rising 10mm under drive driving wheel, make driving wheel depart from ground, the power that need to impose on wire rope is less, reduces workman's burden.
Become 20mm for the bar hole length L that reducing motor is installed from existing 10mm, be convenient to loosen deceleration sprocket wheel and driving sprocket wheel, be beneficial to replacing sprocket wheel.
The size of driving arm, by existing 270*173mm, is designed to 290*173mm, is beneficial to reducing motor and installs after change is large, is applicable to light weight utmost point motor and weight utmost point motor are installed, and has versatility.
Accompanying drawing explanation
In order to be illustrated more clearly in the technological scheme in the embodiment of the present invention, below the accompanying drawing of required use during embodiment is described is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is differential drive device embodiment's of the present invention top perspective schematic diagram;
Fig. 2 is the elevated bottom perspective schematic diagram of Fig. 1
Fig. 3 is the internal structure schematic diagram of Fig. 1, now omits driving fixed support;
Fig. 4 is the schematic top plan view of Fig. 3;
Fig. 5 is the elevational schematic view of Fig. 4;
Fig. 6 is the cross-sectional schematic of Fig. 4 along A-A direction;
In figure, 1-drives fixed support; 2-driven bracket; 21-bracket groove; 3-buffer structure; 31-spring; 32-the first balancing pole; 321-the first balancing pole front end; 322-the first balancing pole rear end; 33-the second balancing pole; 331-the second balancing pole front end; 332-the second balancing pole rear end; 34-head rod; 35-the second connecting rod; 4-lifting tackle structure; 41-lifting tackle pack support; 42-pulley; 5-driving arm; 51-bar hole; 6-wheel type mobile assembly; 61-deceleration sprocket wheel; 62-reducing motor; 63-driving sprocket wheel; 64-driving wheel; 65-chain; 7-navigation sensor assembly; 8-bearing; 9-coupling shaft.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technological scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, rather than whole embodiments.
Embodiment's differential drive device as shown in Figures 1 to 6, comprises assembly under driving wheel and is installed on the upper assembly of AGV car frame, and upper assembly is positioned under driving wheel on assembly; The driven bracket 2 of assembly under upper assembly comprises the driving fixed support 1 that connects AGV car frame and is connected driving wheel; The overall structure of fixed support 1 for adopting integral forming process to make, driven bracket 2 is the overall structure for adopting integral forming process to make, and drives fixed support 1 to be connected by buffer structure 3 with driven bracket 2.
Drive fixed support 1 and driven bracket 2 structure that is square, drive fixed support 1 be positioned at driven bracket 2 tops and and driven bracket 2 match.Buffer structure 3 comprises two springs 31, and spring 31 is positioned at the medium position place that drives fixed support 1 and driven bracket 2.Spring lower end connects driven bracket 2, and spring upper end connects driving fixed support 1.
The middle part of the first balancing pole 32 is connected by link with the middle part of the second balancing pole 33.The first balancing pole front end 321 connects driven bracket 2, the first balancing pole rear ends 322 by a head rod 34 and is connected and driven fixed support 1 by a head rod 34.The second balancing pole front end 331 is connected and is driven fixed support 1, the second balancing pole rear end 332 to be flexibly connected driven bracket 2 by the second connecting rod 34 by a head rod 34.In the present embodiment, driven bracket 2 is provided with a bracket groove 21 in the position being connected with the second connecting rod 34, and bracket groove 21 extends along substantially horizontal; The second connecting rod 34 connects the second balancing pole rear end 332 through bracket groove 21, the second connecting rod 34 and bracket groove 21 Spielpassung and can do micro-displacement along bracket groove 21, thereby realizing the second balancing pole rear end 332 and driven bracket 2 is flexibly connected, realize angle compression in a small amount, reduce wearing and tearing.
The present embodiment also comprises the lifting tackle structure 4 for promoting assembly under driving wheel, and this lifting tackle structure 4 comprises wire rope (not shown), lifting tackle pack support 41 and pulley 42.Lifting tackle pack support 41 connects driving fixed support 1, thereby realization and AGV car frame are fixed; Pulley 42 is located on lifting tackle pack support 41.Wire rope one end connects driven bracket 2 and the other end passes pulley 42.Under the drawing high of wire rope, driven bracket 2 drives fixed support 1 upwards to rise about 10mm relatively, thereby band is dynamically connected, under the driving wheel of driven bracket 2, assembly rises about 10mm simultaneously, makes the driving wheel of assembly under driving wheel depart from ground.
In the present embodiment, under driving wheel, assembly is connected with the coupling shaft 9 coordinating with this bearing 8 by bearing 8 with upper assembly, upper assembly can be under driving wheel assembly do in substantially horizontal positive and negative 180 ° rotating.
Under driving wheel, assembly comprises driving arm 5 and is located at the wheeled moving assembly 6 of the cover of two on driving arm 5.The structure of the wheeled moving assembly 6 of every cover is roughly the same, includes and is provided with the reducing motor 62 of deceleration sprocket wheel 61, the driving wheel 64 that is provided with driving sprocket wheel 63 and chain 65, and deceleration sprocket wheel 8 is connected by chain 65 with driving sprocket wheel 9.The wheeled moving assembly 6 of two covers orders about driving wheel 64 with a reducing motor 62 respectively and rotates, and due in the time that the driving wheel 64 of the wheeled moving assembly 6 of two covers has different rotating speeds, can realize differential driving AVG dolly is turned round.
In the present embodiment, driving arm 5 adopts the overall structure that integral forming process is made; And the size of driving arm 5, by existing 270*173mm, is designed to 290*173mm, after change is large, be beneficial to reducing motor 62 and install, be applicable to light weight utmost point motor and weight utmost point motor are installed, there is versatility.
The present embodiment also comprises for the navigation sensor assembly 7 of inductive electromagnetic track, connects encoder and the PLC of reducing motor 62, and reducing motor 62, navigation sensor assembly 7 and encoder are connected respectively and meet this PLC.Navigation sensor assembly 7 senses the position of the magnetic stripe of being located at ground, and signal is passed to PLC; Encoder is used for responding to the angle (responding to corner magnetic stripe radian while turning round) of magnetic stripe, and signal is passed to PLC.PLC controls 62 points of other rotating speeds of two reducing motors, and each reducing motor 62 drives driving wheel 64 with different rotational speed, turns round thereby realize differential realization.
Other structure of the present embodiment differential drive device is referring to prior art.
The present invention is not limited to above-mentioned mode of execution, if various changes of the present invention or modification are not departed to the spirit and scope of the present invention, if within these changes and modification belong to claim of the present invention and equivalent technologies scope, the present invention is also intended to comprise these changes and modification.
Claims (10)
1. differential drive device, is characterized in that: comprise assembly under driving wheel and be installed on the upper assembly of AGV car frame, upper assembly is positioned under driving wheel on assembly; The driven bracket of assembly under upper assembly comprises the driving fixed support that connects AGV car frame and is connected driving wheel; Fixed support is the overall structure that adopts integral forming process to make, the overall structure of driven bracket for adopting integral forming process to make.
2. differential drive device according to claim 1, is characterized in that: described driving fixed support is connected by buffer structure with described driven bracket, drive fixed support be positioned at driven bracket top and and driven bracket match; Buffer structure comprises at least one spring, and spring lower end connects driven bracket, and spring upper end connects driving fixed support.
3. differential drive device according to claim 1, is characterized in that: described spring is positioned at the medium position place of described driving fixed support and described driven bracket.
4. according to differential drive device described in claim 2 or 3, it is characterized in that: described buffer structure also comprises two groups of balancing pole assemblies, head rod and the second connecting rod; The one group of balancing pole assembly that passes on left of the support bracket fastened left side of described driving and described driven bracket is connected, and drives the right side of support bracket fastened right side and driven bracket to be connected by another group balancing pole assembly; Every group of balancing pole assembly comprises the first balancing pole and second balancing pole of intercross arrangement; The first balancing pole front end connects described driven bracket by a head rod, and the first balancing pole rear end connects described driving fixed support by a head rod; The second balancing pole front end is connected and is driven fixed support by a head rod, and the second balancing pole rear end is flexibly connected driven bracket by the second connecting rod.
5. differential drive device according to claim 4, is characterized in that: described driven bracket is provided with bracket groove in the position being connected with described the second connecting rod, and this bracket groove extends along substantially horizontal; The second connecting rod connects described the second balancing pole rear end through bracket groove, the second connecting rod and bracket groove Spielpassung and can be along the displacement of bracket groove, thus realize the second balancing pole rear end and described driven bracket is flexibly connected.
6. differential drive device according to claim 4, is characterized in that: the middle part of described the first balancing pole is connected by link with the middle part of described the second balancing pole.
7. differential drive device according to claim 1, is characterized in that: also comprise the lifting tackle structure for promoting assembly under described driving wheel, this lifting tackle structure comprises wire rope, lifting tackle pack support and pulley; Lifting tackle pack support connects described driving fixed support, thereby realizes and described AGV car frame is fixed; Pulley is located on lifting tackle pack support; Wire rope one end connects described driven bracket and the other end passes pulley; Under the drawing high of wire rope, driven bracket drives fixed support upwards to rise relatively, thereby band is dynamically connected, under the described driving wheel of driven bracket, assembly rises simultaneously, makes the described driving wheel of assembly under driving wheel depart from ground.
8. according to differential drive device described in claim 1,2,3 or 7, it is characterized in that: under described driving wheel assembly and described upper assembly by bearing be connected with the coupling shaft of this bearing fit, positive and negative 180 ° that in realization, assembly assembly under driving wheel does in substantially horizontal are rotated.
9. according to differential drive device described in claim 1,2,3 or 7, it is characterized in that: under described driving wheel, assembly comprises driving arm and is located at the wheeled moving assembly of the cover of two on driving arm; The wheeled moving assembly of every cover includes and is provided with the reducing motor of deceleration sprocket wheel, the driving wheel that is provided with driving sprocket wheel and chain, and deceleration sprocket wheel is connected by chain with driving sprocket wheel; Driving arm is provided with the bar hole for reducing motor is installed, and the length L of bar hole is 20mm.
10. differential drive device according to claim 9, is characterized in that: the overall structure that described driving arm adopts integral forming process to make; Driving arm 5 is of a size of 290*173mm.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410112544.7A CN103899729B (en) | 2014-03-24 | 2014-03-24 | Differential driving device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410112544.7A CN103899729B (en) | 2014-03-24 | 2014-03-24 | Differential driving device |
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| CN103899729A true CN103899729A (en) | 2014-07-02 |
| CN103899729B CN103899729B (en) | 2017-01-25 |
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| CN201410112544.7A Active CN103899729B (en) | 2014-03-24 | 2014-03-24 | Differential driving device |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104149852A (en) * | 2014-08-08 | 2014-11-19 | 湖北机电院装备制造有限责任公司 | Automatic navigation vehicle and driving structure thereof |
| CN104444177A (en) * | 2014-12-09 | 2015-03-25 | 潍坊路加精工有限公司 | Carrier vehicle and drive unit thereof |
| CN104494386A (en) * | 2014-12-09 | 2015-04-08 | 潍坊路加精工有限公司 | Self-adapting mechanism in drive unit of transport vehicle |
| CN104527837A (en) * | 2014-12-13 | 2015-04-22 | 河南勃达微波设备有限责任公司 | Traveling driver system of AGV (Automatic Guided Vehicle) intelligent distributing device |
| CN104536441A (en) * | 2014-12-13 | 2015-04-22 | 河南勃达微波设备有限责任公司 | Diamond drying, screening and automatic producing system |
| CN104571105A (en) * | 2014-12-13 | 2015-04-29 | 河南勃达微波设备有限责任公司 | AGV (automated guided vehicle) intelligent material distribution vehicle |
| CN105240453A (en) * | 2015-10-19 | 2016-01-13 | 广州市远能物流自动化设备科技有限公司 | Differential driving assembly |
| CN105235756A (en) * | 2015-10-19 | 2016-01-13 | 广西大学 | Compact AGV with zero turning radius and shock absorption function |
| CN105292969A (en) * | 2015-11-11 | 2016-02-03 | 江苏汇博机器人技术有限公司 | Intelligent AGV trolley and system thereof |
| CN105292971A (en) * | 2015-11-19 | 2016-02-03 | 成都立航科技有限公司 | All-direction AGV wheel train |
| CN105437943A (en) * | 2015-12-22 | 2016-03-30 | 天津市晟孚科技发展有限公司 | AGV ultra-low driving unit |
| CN106042876A (en) * | 2016-06-02 | 2016-10-26 | 芜湖智久机器人有限公司 | Driving device of AGV |
| CN109484513A (en) * | 2018-12-29 | 2019-03-19 | 歌尔股份有限公司 | AGV driving device and AGV |
| CN109501857A (en) * | 2018-11-14 | 2019-03-22 | 沈阳慧远自动化设备有限公司 | A kind of AGV self-level(l)ing differential steering gear |
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| CN111924752B (en) * | 2020-08-12 | 2022-04-01 | 深圳市佳顺智能机器人股份有限公司 | Fork truck formula automated guided transporting vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104149852A (en) * | 2014-08-08 | 2014-11-19 | 湖北机电院装备制造有限责任公司 | Automatic navigation vehicle and driving structure thereof |
| CN104444177B (en) * | 2014-12-09 | 2016-08-24 | 潍坊路加精工有限公司 | The driver element of transport vehicle and transport vehicle |
| CN104444177A (en) * | 2014-12-09 | 2015-03-25 | 潍坊路加精工有限公司 | Carrier vehicle and drive unit thereof |
| CN104494386A (en) * | 2014-12-09 | 2015-04-08 | 潍坊路加精工有限公司 | Self-adapting mechanism in drive unit of transport vehicle |
| CN104494386B (en) * | 2014-12-09 | 2016-10-05 | 潍坊路加精工有限公司 | Adaptive mechanism in transport vehicle driver element |
| CN104536441B (en) * | 2014-12-13 | 2018-04-24 | 河南勃达微波设备有限责任公司 | Diamond drying screening Automatic Production System |
| CN104527837A (en) * | 2014-12-13 | 2015-04-22 | 河南勃达微波设备有限责任公司 | Traveling driver system of AGV (Automatic Guided Vehicle) intelligent distributing device |
| CN104571105B (en) * | 2014-12-13 | 2018-08-03 | 河南勃达微波设备有限责任公司 | AGV intelligence charge cars |
| CN104527837B (en) * | 2014-12-13 | 2018-01-02 | 河南勃达微波设备有限责任公司 | AGV intelligence charge car travel driving systems |
| CN104536441A (en) * | 2014-12-13 | 2015-04-22 | 河南勃达微波设备有限责任公司 | Diamond drying, screening and automatic producing system |
| CN104571105A (en) * | 2014-12-13 | 2015-04-29 | 河南勃达微波设备有限责任公司 | AGV (automated guided vehicle) intelligent material distribution vehicle |
| CN105240453A (en) * | 2015-10-19 | 2016-01-13 | 广州市远能物流自动化设备科技有限公司 | Differential driving assembly |
| CN105235756A (en) * | 2015-10-19 | 2016-01-13 | 广西大学 | Compact AGV with zero turning radius and shock absorption function |
| CN105292969A (en) * | 2015-11-11 | 2016-02-03 | 江苏汇博机器人技术有限公司 | Intelligent AGV trolley and system thereof |
| CN105292971A (en) * | 2015-11-19 | 2016-02-03 | 成都立航科技有限公司 | All-direction AGV wheel train |
| CN105437943A (en) * | 2015-12-22 | 2016-03-30 | 天津市晟孚科技发展有限公司 | AGV ultra-low driving unit |
| CN105437943B (en) * | 2015-12-22 | 2018-05-25 | 天津市晟孚科技发展有限公司 | The ultralow driving unit of AGV trolleies |
| CN106042876A (en) * | 2016-06-02 | 2016-10-26 | 芜湖智久机器人有限公司 | Driving device of AGV |
| CN109501857A (en) * | 2018-11-14 | 2019-03-22 | 沈阳慧远自动化设备有限公司 | A kind of AGV self-level(l)ing differential steering gear |
| CN109484513A (en) * | 2018-12-29 | 2019-03-19 | 歌尔股份有限公司 | AGV driving device and AGV |
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| CN103899729B (en) | 2017-01-25 |
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