CN104191964A - Transfer robot based on elastic drive wheel - Google Patents
Transfer robot based on elastic drive wheel Download PDFInfo
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- CN104191964A CN104191964A CN201410357050.5A CN201410357050A CN104191964A CN 104191964 A CN104191964 A CN 104191964A CN 201410357050 A CN201410357050 A CN 201410357050A CN 104191964 A CN104191964 A CN 104191964A
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Abstract
The invention relates to a transfer robot based on an elastic drive wheel. The transfer robot comprises an AGV body and four driving units arranged below the AGV body, and is characterized in that the elastic drive wheels are adopted in the driving units, each elastic drive wheel comprises a motor, an input end speed change mechanism, an output end speed change mechanism and a wheel, the motors and the input end speed change mechanisms are connected together to form power input ends, the out end speed change mechanisms and the wheels are connected to form power output ends, spring rotating connecting shaft mechanisms are arranged between the power input ends and the power output ends, one end of each spring rotating connecting shaft mechanism is connected with the corresponding motor through the corresponding input end speed change mechanism, and the other end of each spring rotating connecting shaft mechanism is connected with the corresponding wheel through the corresponding output end speed change mechanism. The elastic drive units are adopted, locked-rotor currents generated by overloading at the moment that the motors are started are effectively avoided, the safety of the transfer robot in the loading starting process is improved, and the energy consumption of the transfer robot in the loading starting process is reduced.
Description
Technical field
The invention belongs to transfer robot technical field, especially a kind of transfer robot based on elastic drive wheel.
Background technology
At present, transfer robot adopts wheeled platform as actuating device conventionally.Wheeled platform actuating device is generally made up of the motor as power input source, transmission device and the wheel as power object output, its connection mode generally adopts axle connection mode, that is: between motor and transmission device, transmission device and wheel, be all to connect by adapter shaft, this mode is also referred to as " gun iron link ".Gun iron link is for the very large occasion of motor load carrying ability, for example, when carrying Shang tonne goods, will produce one and " overturn electric current ", described overturns electric current also referred to as motor rotation blockage electric current, it can be by burn-down of electric motor, its reason is: when motor load starts moment, because static friction force between the wheel of bearing goods and ground is very large, in the time that static friction force exceedes motor load ability, will produce the state that motor shaft moment stops not turning, but, motor shaft moment stop not turning during this period of time in load be but invariable to the electric current of motor, As time goes on this electric current also decays unlike the starting current of motor, cause locked rotor current to continue, its consequence has just formed " overturning electric current " and motor damage for motor.Therefore, existing transfer robot exists load to start moment because safety issue and transfer robot load that static friction force brings motor start the large problem of moment institute's consumed energy.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, a kind of transfer robot based on elastic drive wheel is provided, has solved transfer robot load and started moment because safety issue and transfer robot load that static friction force brings motor start the large problem of moment institute's consumed energy.
The present invention solves its technical matters and takes following technical scheme to realize:
A kind of transfer robot based on elastic drive wheel, comprise AGV car body and be arranged on four driver elements under AGV car body, four driver elements are along car body longitudinal axis, lateral shaft is symmetrical and be arranged in the driver element mounting groove that AGV car body front and back end is shaped with, described driver element adopts elastic drive wheel, this elastic drive wheel comprises motor, input end speed-changing mechanism, mouth speed-changing mechanism and wheel, described motor and the input end speed-changing mechanism formation power intake that links together, described mouth speed-changing mechanism and wheel are connected to form clutch end, one spring rotation connecting shaft mechanism is installed between power intake and clutch end, one end of this spring rotation connecting shaft mechanism is connected with motor by input end speed-changing mechanism, the other end of this spring rotation connecting shaft mechanism is connected with wheel by mouth speed-changing mechanism.
And the spring rotation connecting shaft mechanism of described elastic drive wheel is made up of the coupler that limits the torsional spring of the anglec of rotation and be arranged on torsional spring both sides.
And, the spring rotation connecting shaft mechanism of described elastic drive wheel with input end speed-changing mechanism with the concrete annexation of mouth speed-changing mechanism is: input end speed-changing mechanism is connected with the coupler on spring rotation connecting shaft mechanism by the little axle of input end variable gear, mouth speed-changing mechanism is connected with another coupler on spring rotation connecting shaft mechanism by the little axle of mouth variable gear, and the little axle of input end variable gear, the little axle of mouth variable gear are arranged on respectively in input end speed-changing mechanism and mouth speed-changing mechanism.
And, on the coupler inwall of described elastic drive wheel, be shaped with installation groove, on the little axle of described input end variable gear and the little axle of mouth variable gear, be shaped with respectively installation projection, the installation projection on the installation projection on the little axle of input end variable gear and the little axle of mouth variable gear is inlaid in respectively in two installation grooves in coupler.
And the concrete structure of described driver element is upper, middle and lower three-decker:
Ground floor structure comprises driver element revolution support and driver element coder; The revolution of this driver element is supported and is supported mounting screw by the revolution of its inner side and upwards connect driver element adapter plate, connect driver element rocking carrier downwards; Described driver element coder is connected with driver element adapter plate with coder mounting screw by coder seat;
Second layer structure is driver element rocking carrier, this driver element rocking carrier is made up of a square upper end face and two square side end faces that are arranged on its two bottom sides, this square upper surface is supported mounting screw and driver element adapter plate and driver element revolution support by revolution and is installed together, and two square side end faces are connected with driver element static housing by little axle;
Three-decker comprises driver element static housing, two driver element motor case bodies, two motors, two motors input end speed-changing mechanism separately, mouth speed-changing mechanism, be arranged on input end separately, in the middle of mouth speed-changing mechanism and with their gear face vertical spring rotation coupling body each other, what spring rotation coupling body was connected with two ends variable transmission mechanism is connected little axle, two walking wheel axes, two running wheels, two driver element motor case bodies are distributed in driver element static housing both sides, the both sides of one group of opposite side of this driver element static housing are connected with driver element rocking carrier both sides by little axle respectively, the both sides of another group opposite side of this driver element static housing are connected with driver element motor case body by walking wheel axes, two motors, two motors, two cover speed-changing mechanisms separately, be arranged on separately in the middle of two cover speed-changing mechanisms and with their gear face vertical spring rotation coupling body each other, what spring rotation coupling mechanism was connected with two ends variable transmission mechanism is connected little axle, two walking wheel axes, two running wheels are positioned at the plane of driver element static housing and driver element motor case body formation, one end of two motors is connected with power intake speed-changing mechanism separately, be connected with clutch end speed-changing mechanism separately by spring rotation coupling body separately again, two cover clutch end speed-changing mechanisms link together with running wheel separately respectively, two running wheels and two motors at right angle setting each other, two running wheels are arranged on separately transmission device relatively near the inner side of two motor center point lines.
Advantage of the present invention and good effect are:
1, the present invention's employing elastic drive unit, between every group of motor driving and wheel, increase a spring rotation coupling body, make motor start moment at overburden, motor rotational force is passed to spring, spring is in the time accepting motor rotational force and rotate, be extruded and produce energy storage because being subject to rotational force, thereby realize the energy storage that the heat energy of motor overload generation is transformed into spring, drive again the vehicle wheel rotation of clutch end by the release of spring energy-storage, effectively avoid the locked rotor current that electric motor starting moment produces because of overburden, improve safety when transfer robot load starts.
2, the present invention adopts the 4 wheel driven moving eight based on four driver elements of elastic drive wheel to take turns close-coupled omnibearing ambulation mode, by every two wheels, two motors, two sleeve spring rotation coupling bodies (being arranged in the middle of motor and wheel), two sets of transmission mechanism (speed-changing mechanisms at spring rotation coupling body two ends) are one group, with dwindle two wheel tracks from method, two wheel differentials of distance are decomposed into the differential of some groups of two wheels that distance is little, Vehicular turn speed issue and vehicle two wheel distance R value minimization problems are fundamentally solved, make the R value of omnibearing ambulation driver element narrow down to original part, thereby raising overall vehicle is done arbitrary curve motion and (is comprised taking car body self center-point and rotatablely moving as the original place of round dot, vehicle body does not turn the cross motion of vehicle wheel rotation, oblique movement) time rotative speed and degree of stability.
3, the present invention is by passing to spring in electric motor starting overburden moment by motor rotational force, make spring produce flexural deformation, store certain elastic potential energy, after spring discharges, elastic potential energy is changed into the kinetic energy starting with motor car wheel, thus, avoid the heat energy loss of generation in the time that motor is connected with wheel rate, effectively saved energy consumption when transfer robot load starts.
Brief description of the drawings
Fig. 1 is birds-eye view of the present invention;
Fig. 2 is the structural representation of elastic drive wheel;
Fig. 3 is the schematic diagram that spring rotation connecting shaft mechanism is connected with two ends variable transmission mechanism axle;
Fig. 4 is the birds-eye view of elastic drive unit of the present invention;
Fig. 5 is the A-A cutaway view of Fig. 4;
Fig. 6 is the B-B cutaway view of Fig. 4;
In figure, 1:AGV car body; 2: driver element mounting groove; 1-0: driver element adapter plate; 1-1: revolution is supported; 1-2: coder; 1-3: coder seat; 1-4: coder mounting screw; 1-5: mounting screw is supported in revolution; 2-1: driver element rocking carrier; 2-2: connect little axle; 2-3: driver element static housing; 3-0,3-9: motor case body; 3-1,3-10: motor; 3-2,3-11: power intake speed-changing mechanism; 3-3,3-12: spring rotation connecting shaft mechanism; 3-4,3-13: clutch end speed-changing mechanism; 3-5,3-14: wheel; 3-6,3-15: the little axle of power intake speed-changing mechanism; 3-7,3-16: the little axle of clutch end speed-changing mechanism; 3-8,3-17: axletree; 3-18: spring rotation coupling body axle connecting groove; 3-19: variable transmission mechanism axle connects projection.
Detailed description of the invention
Below in conjunction with accompanying drawing, the embodiment of the present invention is further described:
A kind of transfer robot based on elastic drive wheel, as shown in Figure 1, comprise AGV car body 1 and be arranged on four elastic drive units under AGV car body, four elastic drive units are symmetrical and be arranged in the driver element mounting groove 2 that AGV car body front and back end is shaped with along car body longitudinal axis, lateral shaft.
Elastic drive unit is the two-wheel drive unit that adopts elastic drive wheel.As shown in Figure 2, described elastic drive wheel comprises motor 3-1, input end speed-changing mechanism 3-2, mouth speed-changing mechanism 3-4 and wheel 3-5, described motor 3-1 and the input end speed-changing mechanism 3-2 formation power intake that links together, described mouth speed-changing mechanism 3-4 and wheel 3-5 are connected to form clutch end, one spring rotation connecting shaft mechanism 3-3 is installed between power intake and clutch end, one end of this spring rotation connecting shaft mechanism is connected with motor 3-1 by input end speed-changing mechanism 3-2, the other end of this spring rotation connecting shaft mechanism is connected with wheel 3-5 by mouth speed-changing mechanism 3-4, the spring rotation connecting shaft mechanism 3-3 of described elastic drive wheel is made up of the coupler that limits the torsional spring of the anglec of rotation and be arranged on torsional spring both sides.
The spring rotation connecting shaft mechanism 3-3 of described elastic drive wheel with input end speed-changing mechanism 3-2 with the concrete annexation of mouth speed-changing mechanism 3-4 is: input end speed-changing mechanism 3-2 is connected with the coupler on spring rotation connecting shaft mechanism 3-3 by the little axle 3-6 of input end variable gear, mouth speed-changing mechanism 3-4 is connected with another coupler on spring rotation connecting shaft mechanism 3-3 by the little axle 3-7 of mouth variable gear, the little axle 3-6 of input end variable gear, the little axle 3-7 of mouth variable gear is arranged on respectively in input end speed-changing mechanism 3-2 and the interior 3-4 of mouth speed-changing mechanism.The spring rotation coupler of coupling body and the concrete mounting structure of the little axle of variable gear inside, as shown in Figure 3, on the coupler inwall of elastic drive wheel, be shaped with groove 3-18 is installed, on the little axle of described input end variable gear and the little axle of mouth variable gear, be shaped with respectively projection 3-19 is installed, the installation projection on the installation projection on the little axle of input end variable gear and the little axle of mouth variable gear is inlaid in respectively in two installation grooves in coupler.
Adopting the two-wheel drive unit of elastic drive wheel is upper and lower three-decker, as shown in Fig. 4, Fig. 5, Fig. 6, comprises upper, middle and lower three-decker, below explanation respectively:
Ground floor structure comprises driver element revolution support 1-1 and driver element coder 1-2; The revolution of this driver element is supported 1-1 and is supported mounting screw 1-5 by the revolution of its inner side and upwards connect driver element adapter plate 1-0, connect driver element rocking carrier 2-1 downwards; Described driver element coder 1-2 is connected with driver element adapter plate 1-0 with coder mounting screw 1-4 by coder seat 1-3.
Second layer structure is driver element rocking carrier 2-1, this driver element rocking carrier 2-1 is made up of a square upper end face and two square side end faces that are arranged on its two bottom sides, this square upper surface is supported mounting screw 1-5 and driver element adapter plate 1-0 and driver element revolution support 1-1 by revolution and is installed together, and two square side end faces are connected with driver element static housing 2-3 by connecting little axle 2-2,2-4.
Three-decker comprises driver element static housing 2-3, two driver element motor case body 3-0, 3-9, two motor 3-1, 3-10, two motors input end speed-changing mechanism 3-2 separately, 3-11, mouth speed-changing mechanism 3-4, 3-13, be arranged on input end separately, in the middle of mouth speed-changing mechanism and with their gear face vertical spring rotation coupling body 3-3 each other, 3-12, the input end that spring rotation coupling mechanism is connected with two ends variable transmission mechanism is connected little axle 3-6, 3-15 is connected little axle 3-7 with mouth, 3-16, two walking wheel axes 3-8,3-17, two running wheel 3-5,3-14, two driver element motor case body 3-0,3-9 are distributed in driver element static housing 2-3 both sides, the both sides of mono-group of opposite side of this driver element static housing 2-3 are connected with driver element rocking carrier 2-1 both sides by connecting little axle 2-2,2-4 respectively, and the both sides of another group opposite side of this driver element static housing are connected with driver element motor case body 2-1 by walking wheel axes 3-5,3-14, two motor 3-1, 3-10, two motors, two cover speed-changing mechanism (input end speed-changing mechanism 3-2 separately, 3-11, mouth speed-changing mechanism 3-7, 3-16), be arranged on the middle spring rotation coupling body 3-3 of two cover speed-changing mechanisms separately, 3-12, spring rotation coupling mechanism 3-3, the little axle 3-6 of input end speed-changing mechanism that 3-12 is connected with two ends variable transmission mechanism, 3-15, the little axle 3-7 of mouth speed-changing mechanism, 3-16, two walking wheel axes 3-5, 3-14, two running wheel 3-5, 3-14 is positioned at driver element static housing 2-3 and driver element motor case body 3-0, in the plane that 3-9 forms, one end of two motors is connected with power intake speed-changing mechanism separately, then is connected with clutch end speed-changing mechanism separately by spring rotation coupling body separately, two cover clutch end speed-changing mechanism 3-4, 3-13 respectively with running wheel 3-5 separately, 3-14 links together, two running wheel 3-5, 3-14 and two motor 3-1, 3-10 is at right angle setting each other, and two running wheels are arranged on separately transmission device relatively near the inner side of two motor center point lines.
The principle of work of elastic drive wheel of the present invention is as follows: motor produces and rotatablely moves, and pass to spring rotation connecting shaft mechanism rotatablely moving by input end speed-changing mechanism and the little axle of input end variable gear, the torsional spring of spring rotation connecting shaft mechanism will produce a kind of squeese pressure for torsional spring and cause spring to be out of shape within the specific limits in the time being subject to the rotational force of motor, torsional spring produces energy storage because of the power of being squeezed and distortion, in the time that torsional spring discharges this energy storage, will drive as power object output vehicle wheel rotation.The heat energy that the method for the present invention by above spring energy-storage produces electric current is transformed into the energy storage of spring, thereby has effectively avoided the locked rotor current that electric motor starting moment produces because of overburden, the safety that has improved to greatest extent motor.Fundamentally solve transfer robot load and started moment because safety issue and transfer robot load that static friction force brings motor start the large problem of moment institute's consumed energy
It is emphasized that; embodiment of the present invention is illustrative; instead of determinate; therefore the present invention includes and be not limited to the embodiment described in detailed description of the invention; every other embodiments that drawn by those skilled in the art's technical scheme according to the present invention, belong to the scope of protection of the invention equally.
Claims (5)
1. the transfer robot based on elastic drive wheel, comprise AGV car body and be arranged on four driver elements under AGV car body, four driver elements are along car body longitudinal axis, lateral shaft is symmetrical and be arranged in the driver element mounting groove that AGV car body front and back end is shaped with, it is characterized in that: described driver element adopts elastic drive wheel, this elastic drive wheel comprises motor, input end speed-changing mechanism, mouth speed-changing mechanism and wheel, described motor and the input end speed-changing mechanism formation power intake that links together, described mouth speed-changing mechanism and wheel are connected to form clutch end, one spring rotation connecting shaft mechanism is installed between power intake and clutch end, one end of this spring rotation connecting shaft mechanism is connected with motor by input end speed-changing mechanism, the other end of this spring rotation connecting shaft mechanism is connected with wheel by mouth speed-changing mechanism.
2. a kind of transfer robot based on elastic drive wheel according to claim 1, is characterized in that: the spring rotation connecting shaft mechanism of described elastic drive wheel is made up of the coupler that limits the torsional spring of the anglec of rotation and be arranged on torsional spring both sides.
3. a kind of transfer robot based on elastic drive wheel according to claim 1, it is characterized in that: the spring rotation connecting shaft mechanism of described elastic drive wheel with input end speed-changing mechanism with the concrete annexation of mouth speed-changing mechanism is: input end speed-changing mechanism is connected with the coupler on spring rotation connecting shaft mechanism by the little axle of input end variable gear, mouth speed-changing mechanism is connected with another coupler on spring rotation connecting shaft mechanism by the little axle of mouth variable gear, the little axle of input end variable gear, the little axle of mouth variable gear is arranged on respectively in input end speed-changing mechanism and mouth speed-changing mechanism.
4. a kind of transfer robot based on elastic drive wheel according to claim 1, it is characterized in that: on the coupler inwall of described elastic drive wheel, be shaped with installation groove, on the little axle of described input end variable gear and the little axle of mouth variable gear, be shaped with respectively installation projection, the installation projection on the installation projection on the little axle of input end variable gear and the little axle of mouth variable gear is inlaid in respectively in two installation grooves in coupler.
5. a kind of transfer robot based on elastic drive wheel according to claim 1, is characterized in that: the concrete structure of described driver element is upper, middle and lower three-decker:
Ground floor structure comprises driver element revolution support and driver element coder; The revolution of this driver element is supported and is supported mounting screw by the revolution of its inner side and upwards connect driver element adapter plate, connect driver element rocking carrier downwards; Described driver element coder is connected with driver element adapter plate with coder mounting screw by coder seat;
Second layer structure is driver element rocking carrier, this driver element rocking carrier is made up of a square upper end face and two square side end faces that are arranged on its two bottom sides, this square upper surface is supported mounting screw and driver element adapter plate and driver element revolution support by revolution and is installed together, and two square side end faces are connected with driver element static housing by little axle;
Three-decker comprises driver element static housing, two driver element motor case bodies, two motors, two motors input end speed-changing mechanism separately, mouth speed-changing mechanism, be arranged on input end separately, in the middle of mouth speed-changing mechanism and with their gear face vertical spring rotation coupling body each other, what spring rotation coupling body was connected with two ends variable transmission mechanism is connected little axle, two walking wheel axes, two running wheels, two driver element motor case bodies are distributed in driver element static housing both sides, the both sides of one group of opposite side of this driver element static housing are connected with driver element rocking carrier both sides by little axle respectively, the both sides of another group opposite side of this driver element static housing are connected with driver element motor case body by walking wheel axes, two motors, two motors, two cover speed-changing mechanisms separately, be arranged on separately in the middle of two cover speed-changing mechanisms and with their gear face vertical spring rotation coupling body each other, what spring rotation coupling mechanism was connected with two ends variable transmission mechanism is connected little axle, two walking wheel axes, two running wheels are positioned at the plane of driver element static housing and driver element motor case body formation, one end of two motors is connected with power intake speed-changing mechanism separately, be connected with clutch end speed-changing mechanism separately by spring rotation coupling body separately again, two cover clutch end speed-changing mechanisms link together with running wheel separately respectively, two running wheels and two motors at right angle setting each other, two running wheels are arranged on separately transmission device relatively near the inner side of two motor center point lines.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410357050.5A CN104191964B (en) | 2014-07-25 | 2014-07-25 | A kind of transfer robot based on flexible drive wheel |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410357050.5A CN104191964B (en) | 2014-07-25 | 2014-07-25 | A kind of transfer robot based on flexible drive wheel |
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| CN104191964A true CN104191964A (en) | 2014-12-10 |
| CN104191964B CN104191964B (en) | 2016-06-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410357050.5A Active CN104191964B (en) | 2014-07-25 | 2014-07-25 | A kind of transfer robot based on flexible drive wheel |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107128169A (en) * | 2017-05-10 | 2017-09-05 | 黄珍珍 | It is a kind of that transportation robot is automatically adjusted based on gimbal suspension |
| CN108945147A (en) * | 2018-06-22 | 2018-12-07 | 深圳市功夫机器人有限公司 | A kind of differential gear and Omni-mobile platform |
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| CN104191964B (en) | 2016-06-29 |
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