CN104191964B - A kind of transfer robot based on flexible drive wheel - Google Patents
A kind of transfer robot based on flexible drive wheel Download PDFInfo
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- CN104191964B CN104191964B CN201410357050.5A CN201410357050A CN104191964B CN 104191964 B CN104191964 B CN 104191964B CN 201410357050 A CN201410357050 A CN 201410357050A CN 104191964 B CN104191964 B CN 104191964B
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Abstract
The present invention relates to a kind of transfer robot based on flexible drive wheel, including AGV car body and be arranged on four driver elements under AGV car body, it is characterized in that: driver element adopts flexible drive wheel, this flexible drive wheel includes motor, input gear, outfan gear and wheel, motor and input gear link together composition power intake, outfan gear and wheel are connected to form clutch end, one spring is installed between power intake and clutch end and rotates connecting shaft mechanism, this spring is rotated one end of connecting shaft mechanism and is connected with motor by input gear, this spring is rotated the other end of connecting shaft mechanism and is connected with wheel by outfan gear.Present invention employing elastic drive unit, effectively prevent the locked rotor current that electric motor starting moment produces because of overburden, improves safety when transfer robot load starts, and saves energy expenditure when transfer robot load starts.
Description
Technical field
The invention belongs to transfer robot technical field, especially a kind of transfer robot based on flexible drive wheel.
Background technology
At present, transfer robot generally adopts wheeled platform as driving device.Wheeled platform driving device is generally formed by as the motor of power input source, drive mechanism and the wheel as power object output, its connected mode is generally adopted axle connected mode, that is: being all be attached by connection axle between motor and drive mechanism, drive mechanism and wheel, this mode is also referred to as " gun iron link ".Gun iron link is for the very big occasion of motor loading capacity, such as during carrying Shang tonne goods, one " overturning electric current " will be produced, described overturns electric current also referred to as motor rotation blockage electric current, it can by burn-down of electric motor, its reason is: when motor load starts moment, owing between wheel and the ground of bearing goods, stiction is very big, when stiction exceedes motor load ability, the state that the stopping of motor shaft moment does not turn will be produced, but, motor shaft moment stop not turning during this period of time in loading be but invariable to the electric current of motor, this electric current is not as the starting current of motor and As time goes on decays like that, cause that locked rotor current continues, its consequence is the formation of " overturning electric current " and motor damage for motor.Therefore, there is load and start moment and bring the safety issue of motor due to stiction and transfer robot load starts the problem that moment institute's consumed energy is big in existing transfer robot.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, a kind of transfer robot based on flexible drive wheel is provided, solves transfer robot load and start moment and bring the safety issue of motor due to stiction and transfer robot load starts the problem that moment institute's consumed energy is big.
This invention address that it technical problem is that takes techniques below scheme to realize:
A kind of transfer robot based on flexible drive wheel, including 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 is arranged in the driver element mounting groove that AGV car body front and back end is shaped with, described driver element adopts flexible drive wheel, this flexible drive wheel includes motor, input gear, outfan gear and wheel, described motor and input gear link together composition power intake, described outfan gear and wheel are connected to form clutch end, one spring is installed between power intake and clutch end and rotates connecting shaft mechanism, this spring is rotated one end of connecting shaft mechanism and is connected with motor by input gear, this spring is rotated the other end of connecting shaft mechanism and is connected with wheel by outfan gear.
And, the spring of described flexible drive wheel rotates connecting shaft mechanism by limiting the rotating spring of the anglec of rotation and being arranged on the shaft coupling of rotating spring both sides and constitute.
And, the spring of described flexible drive wheel rotates connecting shaft mechanism: the shaft coupling that input gear is rotated on connecting shaft mechanism with spring by the little axle of input change-speed gearing is connected, another shaft coupling that outfan gear is rotated on connecting shaft mechanism with spring by the little axle of outfan change-speed gearing is connected, and the little axle of input change-speed gearing, the little axle of outfan change-speed gearing are separately mounted in input gear and outfan gear.
And, the shaft coupling inwall of described flexible drive wheel is shaped with installation groove, being formed respectively with on the described little axle of input change-speed gearing and the little axle of outfan change-speed gearing installing projection, the projection of installing installed on projection and the little axle of outfan change-speed gearing on the little axle of input change-speed gearing is inlaid in the installation groove in two shaft couplings respectively.
And, the concrete structure of described driver element is upper, middle and lower three-decker:
Ground floor structure includes driver element revolving support and driver element encoder；This driver element revolving support is installed screw by the revolving support inside it and is connected up driver element installing plate, downwards connection driver element rocking carrier；Described driver element encoder is installed screw by encoder seat with encoder and is connected with driver element installing plate；
Second layer structure is driver element rocking carrier, this driver element rocking carrier is made up of a square upper end face and two the square side end faces being arranged on its two bottom sides, this square upper surface is installed screw by revolving support and is installed together with driver element installing plate and driver element revolving support, and two square side end faces are connected with driver element static housing by little axle；
Third layer structure includes driver element static housing, two driver element motor case bodies, two motors, two respective input gears of motor, outfan gear, it is arranged on respective input, the spring rotation coupling body that outfan gear is middle and vertical each other with their gear face, spring rotates coupling body axle little of the connection that two ends variable transmission mechanism is connected, 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 this one group of opposite side of driver element static housing are connected with driver element rocking carrier both sides respectively through little axle, 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 respective two set gears of motor, it is arranged in the middle of respective two set gears and the spring vertical each other with their gear face rotates coupling body, spring rotates coupling mechanism axle little of the connection that two ends variable transmission mechanism is connected, two walking wheel axes, two running wheels are positioned at driver element static housing and the plane of driver element motor case body composition, one end of two motors is connected with respective power intake gear, rotate coupling body again through respective spring to be connected with respective clutch end gear, two set clutch end gears link together with respective running wheel respectively, two running wheels and two motor right angle settings each other, two running wheels are mounted opposite in the respective drive mechanism inner side near two motor center point lines.
Advantages of the present invention and having the benefit effect that
1, present invention employing elastic drive unit, a spring rotation coupling body is increased between the motor of driving and wheel often organizing, motor is made to start moment at overburden, motor torque is passed to spring, spring is when accepting motor torque and rotating, it is extruded because being subject to revolving force and produces energy storage, it is achieved thereby that the thermal energy that motor overload produces to be become the energy storage of spring, vehicle wheel rotation again through the release drive clutch end of spring energy-storage, effectively prevent 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 based on flexible drive four driver elements of wheel four to drive eight to take turns close-coupled omnibearing ambulation mode, by each two wheel, two motors, two sleeve springs rotate coupling body (being arranged in the middle of motor and wheel), two sets of transmission mechanism (gears at spring rotation coupling body two ends) are one group, with the method reducing two wheel distances, the differential apart from some groups of little two wheels will be decomposed into apart from two remote wheel differentials, fundamentally solve Vehicular turn speed issue and vehicle two wheel distance R value minimization problem, the R value making omnibearing ambulation driver element narrows down to original part, thus improve overall vehicle make arbitrary curve motion (include the original place rotary motion being round dot with car body its center point, vehicle body does not turn the transverse movement of vehicle wheel rotation, oblique movement) time rotary speed and degree of stability.
3, the present invention is by passing to spring in electric motor starting overburden moment by motor torque, spring is made to produce flexural deformation, store certain elastic potential energy, after spring release, elastic potential energy is changed into the kinetic energy started with motor car wheel, thus, it is to avoid the heat energy loss produced when motor and wheel rate connect, it has been effectively saved energy expenditure when transfer robot load starts.
Accompanying drawing explanation
Fig. 1 is the top view of the present invention；
Fig. 2 is the structural representation of flexible drive wheel；
Fig. 3 is that spring rotates connecting shaft mechanism and the schematic diagram of two ends variable transmission mechanism axle connection；
Fig. 4 is the top view of the elastic drive unit of the present invention；
Fig. 5 is the A-A sectional view of Fig. 4；
Fig. 6 is the B-B sectional view of Fig. 4；
In figure, 1:AGV car body；2: driver element mounting groove；1-0: driver element installing plate；1-1: revolving support；1-2: encoder；1-3: encoder seat；1-4: screw installed by encoder；1-5: revolving support installs screw；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 gear；3-3,3-12: spring rotates connecting shaft mechanism；3-4,3-13: clutch end gear；3-5,3-14: wheel；3-6,3-15: the little axle of power intake gear；3-7,3-16: the little axle of clutch end gear；3-8,3-17: axletree；3-18: spring rotates 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 flexible drive wheel, as shown in Figure 1, including AGV car body 1 and be arranged on four elastic drive units under AGV car body, four elastic drive units along car body longitudinal axis, lateral shaft is symmetrical and is arranged in the driver element mounting groove 2 that AGV car body front and back end is shaped with.
Elastic drive unit is the two-wheel drive unit adopting flexible drive wheel.As shown in Figure 2, described flexible drive wheel includes motor 3-1, input gear 3-2, outfan gear 3-4 and wheel 3-5, described motor 3-1 and input gear 3-2 links together composition power intake, described outfan gear 3-4 and wheel 3-5 is connected to form clutch end, one spring is installed between power intake and clutch end and rotates connecting shaft mechanism 3-3, this spring is rotated one end of connecting shaft mechanism and is connected with motor 3-1 by input gear 3-2, this spring is rotated the other end of connecting shaft mechanism and is connected with wheel 3-5 by outfan gear 3-4；The spring of described flexible drive wheel rotates connecting shaft mechanism 3-3 by limiting the rotating spring of the anglec of rotation and being arranged on the shaft coupling of rotating spring both sides and constitute.
The spring of described flexible drive wheel rotates connecting shaft mechanism 3-3 and input gear 3-2 and the concrete annexation of outfan gear 3-4 is: input gear 3-2 is connected by the little axle 3-6 of the input change-speed gearing shaft coupling rotated on connecting shaft mechanism 3-3 with spring, outfan gear 3-4 is connected by the little axle 3-7 of outfan change-speed gearing another shaft coupling rotated on connecting shaft mechanism 3-3 with spring, the little axle 3-6 of input change-speed gearing, the little axle 3-7 of outfan change-speed gearing is separately mounted in input gear 3-2 and outfan gear in 3-4.Spring rotates the shaft coupling of coupling body and the concrete mounting structure within the little axle of change-speed gearing, as shown in Figure 3, the shaft coupling inwall of flexible drive wheel is shaped with installation groove 3-18, being formed respectively with on the described little axle of input change-speed gearing and the little axle of outfan change-speed gearing installing projection 3-19, the projection of installing installed on projection and the little axle of outfan change-speed gearing on the little axle of input change-speed gearing is inlaid in the installation groove in two shaft couplings respectively.
The two-wheel drive unit adopting flexible drive wheel is upper and lower three-decker, as shown in Fig. 4, Fig. 5, Fig. 6, including upper, middle and lower three-decker, illustrates separately below:
Ground floor structure includes driver element revolving support 1-1 and driver element encoder 1-2；This driver element revolving support 1-1 installs screw 1-5 by the revolving support inside it and connects up driver element installing plate 1-0, downwards connection driver element rocking carrier 2-1；Described driver element encoder 1-2 installs screw 1-4 by encoder seat 1-3 with encoder and is connected with driver element installing plate 1-0.
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 the square side end faces being arranged on its two bottom sides, this square upper surface is installed screw 1-5 and driver element installing plate 1-0 and driver element revolving support 1-1 by revolving support 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.
Third layer structure includes driver element static housing 2-3, two driver element motor case body 3-0, 3-9, two motor 3-1, 3-10, two respective input gear 3-2 of motor, 3-11, outfan gear 3-4, 3-13, it is arranged on respective input, the spring rotation coupling body 3-3 that outfan gear is middle and vertical each other with their gear face, 3-12, the input that spring rotation coupling mechanism is connected with two ends variable transmission mechanism is connected little axle 3-6, 3-15 and outfan connect little axle 3-7, 3-16；Two walking wheel axes 3-8,3-17, two running wheels 3-5,3-14, two driver elements motor case body 3-0,3-9 are distributed in driver element static housing 2-3 both sides, the both sides of this driver element mono-group of opposite side of static housing 2-3 are connected with driver element rocking carrier 2-1 both sides respectively through connecting little axle 2-2,2-4, 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 respective two set gear (input gear 3-2 of motor, 3-11, outfan gear 3-7, 3-16), it is arranged on the spring in the middle of respective two set gears and rotates coupling body 3-3, 3-12, spring rotates coupling mechanism 3-3, the little axle 3-6 of input gear that 3-12 is connected with two ends variable transmission mechanism, 3-15, the little axle 3-7 of outfan gear, 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 is constituted, one end of two motors is connected with respective power intake gear, rotates coupling body again through respective spring and is connected with respective clutch end gear, two set clutch end gear 3-4, 3-13 respectively with respective running wheel 3-5, 3-14 links together, two running wheel 3-5, 3-14 and two motor 3-1, 3-10 is right angle setting each other, and two running wheels are mounted opposite in the respective drive mechanism inner side near two motor center point lines.
The operation principle of the flexible drive wheel of the present invention is as follows: motor produces rotary motion, and by input gear and input change-speed gearing little axle, rotary motion is passed to spring rotation connecting shaft mechanism, spring rotates the rotating spring of connecting shaft mechanism will be produced a kind of extruding force for rotating spring when being subject to the revolving force of motor and causes that spring deforms within the specific limits, rotating spring produces energy storage because of the power of being squeezed and deformation, when rotating spring discharges this energy storage, will drive as power object output vehicle wheel rotation.The thermal energy that electric current produces is become the energy storage of spring by the present invention by the method for above spring energy-storage, thus effectively prevent the locked rotor current that electric motor starting moment produces because of overburden, improves the safety of motor to greatest extent.Fundamentally solve transfer robot load to start moment and bring the safety issue of motor due to stiction and transfer robot load starts the problem that moment institute's consumed energy is big
It is emphasized that; embodiment of the present invention is illustrative; rather than it is determinate; therefore the present invention includes the embodiment that is not limited to described in detailed description of the invention; every other embodiments drawn according to technical scheme by those skilled in the art, also belong to the scope of protection of the invention.
Claims (5)
1. the transfer robot based on flexible drive wheel, including 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 is 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 flexible drive wheel, this flexible drive wheel includes motor, input gear, outfan gear and wheel, described motor and input gear link together composition power intake, described outfan gear and wheel are connected to form clutch end, one spring is installed between power intake and clutch end and rotates connecting shaft mechanism, this spring is rotated one end of connecting shaft mechanism and is connected with motor by input gear, this spring is rotated the other end of connecting shaft mechanism and is connected with wheel by outfan gear.
2. a kind of transfer robot based on flexible drive wheel according to claim 1, it is characterised in that: the spring of described flexible drive wheel rotates connecting shaft mechanism by limiting the rotating spring of the anglec of rotation and being arranged on the shaft coupling of rotating spring both sides and constitute.
3. a kind of transfer robot based on flexible drive wheel according to claim 1, it is characterized in that: the spring of described flexible drive wheel rotates connecting shaft mechanism and with input gear and the concrete annexation of outfan gear is: the shaft coupling that input gear is rotated on connecting shaft mechanism with spring by the little axle of input change-speed gearing is connected, another shaft coupling that outfan gear is rotated on connecting shaft mechanism with spring by the little axle of outfan change-speed gearing is connected, the little axle of input change-speed gearing, the little axle of outfan change-speed gearing is separately mounted in input gear and outfan gear.
4. a kind of transfer robot based on flexible drive wheel according to claim 3, it is characterized in that: the shaft coupling inwall of described flexible drive wheel is shaped with installation groove, being formed respectively with on the described little axle of input change-speed gearing and the little axle of outfan change-speed gearing installing projection, the projection of installing installed on projection and the little axle of outfan change-speed gearing on the little axle of input change-speed gearing is inlaid in the installation groove in two shaft couplings respectively.
5. a kind of transfer robot based on flexible drive wheel according to claim 1, it is characterised in that: the concrete structure of described driver element is upper, middle and lower three-decker:
Ground floor structure includes driver element revolving support and driver element encoder；This driver element revolving support is installed screw by the revolving support inside it and is connected up driver element installing plate, downwards connection driver element rocking carrier；Described driver element encoder is installed screw by encoder seat with encoder and is connected with driver element installing plate；
Second layer structure is driver element rocking carrier, this driver element rocking carrier is made up of a square upper end face and two the square side end faces being arranged on its two bottom sides, this square upper surface is installed screw by revolving support and is installed together with driver element installing plate and driver element revolving support, and two square side end faces are connected with driver element static housing by little axle；
Third layer structure includes driver element static housing, two driver element motor case bodies, two motors, two respective input gears of motor, outfan gear, it is arranged on respective input, the spring rotation connecting shaft mechanism that outfan gear is middle and vertical each other with their gear face, realize spring to rotate the input that is connected with respective input gear and outfan gear of connecting shaft mechanism and be connected little axle and the outfan little axle of connection, 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 this one group of opposite side of driver element static housing are connected with driver element rocking carrier both sides respectively through little axle, 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, the input gear of two motors and outfan gear, it is arranged in the middle of input gear and outfan gear and the spring vertical each other with their gear face rotates connecting shaft mechanism, realize spring to rotate the input that is connected with respective input gear and outfan gear of connecting shaft mechanism and be connected little axle and the outfan little axle of connection, two walking wheel axes, two running wheels are positioned at driver element static housing and the plane of driver element motor case body composition, one end of two motors is connected with respective input gear, rotate connecting shaft mechanism again through respective spring to be connected with respective outfan gear, respective outfan gear links together with respective running wheel respectively, two running wheels and two motor right angle settings each other, two running wheels are mounted opposite in the respective drive mechanism inner side near two motor center point lines.
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| Application Number | Priority Date | Filing Date | Title |
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| 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 |
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| 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 CN104191964A (en) | 2014-12-10 |
| CN104191964B true CN104191964B (en) | 2016-06-29 |
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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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Families Citing this family (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 |
| CN108945147B (en) * | 2018-06-22 | 2023-06-27 | 深圳市功夫机器人有限公司 | Differential wheel and omnidirectional mobile platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007048157A (en) * | 2005-08-11 | 2007-02-22 | Murata Mach Ltd | Travel control system for automated guided carriage cart |
| CN2897767Y (en) * | 2006-03-03 | 2007-05-09 | 吉林大学 | Driving/steering mechanism for automatic guider |
| CA2841124C (en) * | 2011-07-08 | 2020-01-21 | Boomerang Systems, Inc. | Steering and drive assembly |
| CN102749921B (en) * | 2012-07-21 | 2015-04-15 | 广东嘉腾机器人自动化有限公司 | Directional and universal wheel interchanging device of automatic guided vehicle |
| CN103909994B (en) * | 2014-03-06 | 2016-04-20 | 无锡普智联科高新技术有限公司 | A kind of AGV transport trolley for intensive storage |
| CN203974547U (en) * | 2014-07-25 | 2014-12-03 | 刘征 | Transfer robot based on elastic drive wheel |
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