CN106043428A - Single drive differential drive system and AGV trolley comprising system - Google Patents
Single drive differential drive system and AGV trolley comprising system Download PDFInfo
- Publication number
- CN106043428A CN106043428A CN201610504740.8A CN201610504740A CN106043428A CN 106043428 A CN106043428 A CN 106043428A CN 201610504740 A CN201610504740 A CN 201610504740A CN 106043428 A CN106043428 A CN 106043428A
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- drive system
- frame body
- motor
- driving wheel
- driving
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
- Arrangement And Driving Of Transmission Devices (AREA)
Abstract
The invention relates to a single drive differential drive system and an AGV trolley comprising the system. The drive system comprises a driving mechanism and a bearing mechanism. The bearing mechanism comprises a frame body and a fixed shaft penetrating right and left side plates of the frame body, the driving mechanism comprises a cross roller bearing arranged in the middle of the frame body, a pair of drive motors symmetrically arranged on the both sides of the cross roller bearing, and a pair of drive wheels arranged on the two ends of the fixed shaft in a sleeving way and connected with the drive motors on the corresponding sides in a drive way. Compared with the prior art, the two independent drive motors are adopted and used for driving the drive motors on the corresponding sides to rotate independently, and the requirement, on pavements, of differential drive is well solved under the matching of the driving mechanism and the bearing mechanism.
Description
Technical field
The invention belongs to automatical pilot transportation vehicle technical field, relate to one and singly drive differential drive system and containing this system
AGV dolly.
Background technology
AGV dolly refers to automatical pilot transportation vehicle (unmanned transport vehicle), requirement intelligentized for present stage inside transport
Day by day promoting, AGV dolly have also been obtained and uses the most widely.Existing AGV dolly includes car body and drive system, drivetrain
System includes driving motor and driving wheel, drives motor to be positioned at vehicle body, and drives the outfan of motor to be connected with driving wheel
Together；During work, walk by driving electric machine rotation to control driving wheel.AGV dolly, institute are taken turns for existing four-wheel or six
The turning adaptability of AGV dolly can be made to be greatly improved with singly driving differential structure.Compare common single drive structure can realize advance, after
Move back, (corner is more than 90 degree), original place rotation are turned in left and right.But the AGV dolly of this structure is in use, due to driving wheel
Earth-grasping force the least, it is easy to lose earth-grasping force and break away, and the loading capacity of this AGV dolly is little, bears the energy of gravity
Power is poor, and the object for slightly larger type just cannot drag, thus the scope of application is by a definite limitation.
Summary of the invention
Defect that the purpose of the present invention is contemplated to overcome above-mentioned prior art to exist and the list of a kind of compact conformation is provided
Drive differential drive system and the AGV dolly containing this system.
The purpose of the present invention can be achieved through the following technical solutions:
One singly drives differential drive system, and this drive system includes drive mechanism and supporting device, described supporting device
Including frame body and the fixing axle that runs through frame body left and right sides plate, described drive mechanism just includes being arranged in frame body
Middle sized cross roller bearings, it is symmetricly set on the driving motor of sized cross roller bearings both sides for a pair and is set in for a pair fixing
Axle two ends and the driving wheel being connected with corresponding side driving motor-driven respectively, described driving motor drives corresponding side respectively
Driving wheel rotate, make left and right sidesing driving wheel differential motion, and then realize turning to of drive system.
Described fixing axle two ends further respectively have a gear, and described gear drives motor with corresponding side respectively
Motor gear and driving wheel are in transmission connection.
It is provided with, between described driving wheel and a corresponding side gear, centre driving wheel and gear being fixed together
Connecting plate.
Described fixing axle be respectively arranged at two ends with a fixing hubcap corresponding side drive wheel being arranged on fixing axle.
The first deep groove ball bearing, the second deep groove ball bearing it is respectively equipped with between described fixing axle and driving wheel and gear.
It is provided with bearing pressure ring between described the second deep groove ball bearing and frame body.
Described driving is provided with the motor for motor being driven to be fixedly mounted on frame body between motor and frame body
Rebound.
Described driving wheel is connected with middle connecting plate screw, described the first deep groove ball bearing, the second deep-groove ball axle
The outer ring held is fixed with driving wheel, gear respectively, and inner ring is fixed with fixing axle.
The leading section of described frame body is provided with code reader.
A kind of containing the AGV dolly singly driving differential drive system.
Frame body uses the falcon integrally molded frame body of mouth formula, both ensure that the intensity of frame body, the processing cost reduced again.
Fixing axle uses the single through frame body of chromium plating optical axis, and two ends driving wheel and gear inlay deep groove ball bearing and optical axis by inside
Coordinating, this mounting means is simple and reliable for structure, and driving wheel can preferably bear axially and radially power；Two driving motors pass through
Motor transitional plate is connected with frame body, and motor transitional plate is provided with the installation fixing hole of multiple driving motor, can apply alternating current-direct current
Plurality of specifications motor, therefore can directly change driving motor, and structure is without change.Each driving motor passes through gear drive
Drive left and right sidesing driving wheel respectively, it is ensured that the stability of power transmission.
When reality is applied, owing to vehicle body deadweight will be oppressed in sized cross roller bearings, and it is transferred to by supporting device
On two driving wheels, compressing driving wheel adapts with road surface, increases the earth-grasping force of driving wheel；Two independent driving motors can
The driving wheel driving corresponding side respectively independently rotates, thus can drive about regulation respectively by controlling to drive the rotating speed of motor
The velocity of rotation of driving wheel so that it is differential motion, and then realize turning to of drive system；Sized cross roller bearings enhances drive system
Comprcssive strength so that it is the weight that vehicle body is certain can be born.
Compared with prior art, the invention have the characteristics that:
1) use two independent driving motors, drive the driving wheel of corresponding side independently to rotate respectively, it is provided that walk and
The power turned to, in drive mechanism with under the cooperation of supporting device, well solves differential and drives the requirement of road pavement, and grab
Soil fertility is big, it is adaptable to AGV dolly and other needs walkings and the automated machine turned to；
2) use frame-type integral structure, compact conformation, reduce the volume of drive system；
3) simple to operate, motility is good, and stability is strong.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of drive system in the present invention；
Fig. 2 is the plan structure schematic diagram of drive system in the present invention；
Fig. 3 is the right TV structure schematic diagram of drive system in the present invention；
Description of symbols in figure:
1 drives motor, 2 sized cross roller bearings, 3 motor transitional plates, 4 driving wheels, 5 motor gears, 6 frames
Support body, 7 code readers, 8 gears, 9 first deep groove ball bearings, 10 middle connecting plates, 11 bearing pressure rings, 12 fix
Axle, 13 fix hubcap.
Detailed description of the invention
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with technical solution of the present invention
Premised on implement, give detailed embodiment and concrete operating process, but protection scope of the present invention be not limited to
Following embodiment.
Embodiment:
A kind of containing the AGV dolly singly driving differential drive system as Figure 1-3, its drive system includes drive mechanism
And supporting device, supporting device includes frame body 6 and runs through the fixing axle 12 of frame body 6 left and right sides plate, before frame body 6
End is provided with code reader 7, and drive mechanism includes being arranged on the sized cross roller bearings 2 of middle in frame body 6, is symmetrical arranged for a pair
Driving motor 1 in sized cross roller bearings 2 both sides and be set in fixing axle 12 two ends for a pair and drive with corresponding side respectively
The driving wheel 4 that motor 1 is in transmission connection, fixing axle 12 two ends further respectively have a gear 8, and gear 8 drives with corresponding side respectively
Motor gear 5 and the driving wheel 4 of galvanic electricity machine 1 are in transmission connection, be provided with between driving wheel 4 and a corresponding side gear 8 by driving wheel 4 with
The middle connecting plate 10 that gear 8 is fixed together, driving wheel 4 is connected with screw with middle connecting plate 10, fixing axle 12
It is respectively arranged at two ends with and a corresponding side drive wheel 4 is arranged on the fixing hubcap 13 on fixing axle 12, fixing axle 12 and driving wheel 4
And between gear 8, it is respectively equipped with first deep groove ball bearing the 9, second deep groove ball bearing, first deep groove ball bearing the 9, second deep-groove ball
The outer ring of bearing is fixed with driving wheel 4, gear 8 respectively, and inner ring is fixed with fixing axle 12.Second deep groove ball bearing and frame body 6
Between be provided with bearing pressure ring 11.Drive and be provided with for driving motor 1 is fixedly mounted on frame body 6 between motor 1 and frame body 6
On motor transitional plate 3.Drive motor 1 to drive the driving wheel 4 of corresponding side to rotate by motor gear 5 and gear 8 respectively, make
Left and right sidesing driving wheel 4 differential motion, and then realize turning to of drive system.
Frame body 6 uses the falcon integrally molded frame body of mouth formula, both ensure that the intensity of frame body 6, and that reduces again is processed into
This.Fixing axle 12 uses the single through frame body of chromium plating optical axis 6, and two ends driving wheel 4 and gear 8 inlay deep-groove ball axle by inside
Holding and coordinate with optical axis, this mounting means is simple and reliable for structure, and driving wheel 4 can preferably bear axially and radially power；Two are driven
Galvanic electricity machine 1 is connected with frame body 6 by motor transitional plate 3, and motor transitional plate 3 is provided with the installation of multiple driving motor 1 and fixes
Hole, can apply alternating current-direct current plurality of specifications motor, therefore can directly change driving motor 1, and structure is without change.Each driving
Motor 1 drives left and right sidesing driving wheel 4 respectively by gear drive, it is ensured that the stability of power transmission.
When reality is applied, owing to vehicle body deadweight will be oppressed in sized cross roller bearings 2, and it is transferred to by supporting device
On two driving wheels 4, compressing driving wheel 4 adapts with road surface, increases the earth-grasping force of driving wheel 4；Two independent driving motors 1
The independent rotation of driving wheel 4 of corresponding side can be driven respectively, thus can regulate respectively by controlling to drive the rotating speed of motor 1
The velocity of rotation of left and right sidesing driving wheel 4 so that it is differential motion, and then realize turning to of drive system；Sized cross roller bearings 2 enhances
The comprcssive strength of drive system so that it is the weight that vehicle body is certain can be born.
The above-mentioned description to embodiment is to be understood that for ease of those skilled in the art and use invention.
These embodiments obviously easily can be made various amendment by person skilled in the art, and described herein typically
Principle is applied in other embodiments without through performing creative labour.Therefore, the invention is not restricted to above-described embodiment, ability
Field technique personnel should be the present invention's according to the announcement of the present invention, the improvement made without departing from scope and amendment
Within protection domain.
Claims (8)
1. singly driving a differential drive system, this drive system includes drive mechanism and supporting device, it is characterised in that described
Supporting device includes frame body (6) and runs through the fixing axle (12) of frame body (6) left and right sides plate, described drive mechanism bag
Include and be arranged on the sized cross roller bearings (2) of frame body (6) interior middle, be symmetricly set on sized cross roller bearings (2) both sides for a pair
Driving motor (1) and be set in for a pair fixing axle (12) two ends and respectively with corresponding side drive motor (1) be in transmission connection
Driving wheel (4).
One the most according to claim 1 singly drives differential drive system, it is characterised in that described fixing axle (12) two ends
Further respectively having a gear (8), described gear (8) drives the motor gear (5) of motor (1) with corresponding side respectively and drives
Driving wheel (4) is in transmission connection.
One the most according to claim 2 singly drives differential drive system, it is characterised in that described driving wheel (4) and phase
Answer and between a side gear (8), be provided with the middle connecting plate (10) driving wheel (4) and gear (8) being fixed together.
One the most according to claim 3 singly drives differential drive system, it is characterised in that the two of described fixing axle (12)
End is respectively equipped with the fixing hubcap (13) corresponding side drive wheel (4) being arranged on fixing axle (12).
One the most according to claim 2 singly drives differential drive system, it is characterised in that described fixing axle (12) with drive
It is respectively equipped with the first deep groove ball bearing (9), the second deep groove ball bearing between driving wheel (4) and gear (8).
One the most according to claim 5 singly drives differential drive system, it is characterised in that the second described deep groove ball bearing
And it is provided with bearing pressure ring (11) between frame body (6).
One the most according to claim 1 singly drives differential drive system, it is characterised in that described driving motor (1) with
Motor transitional plate (3) it is provided with between frame body (6).
8. one kind contains just like the AGV dolly singly driving differential drive system described in any one of claim 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610504740.8A CN106043428A (en) | 2016-06-30 | 2016-06-30 | Single drive differential drive system and AGV trolley comprising system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610504740.8A CN106043428A (en) | 2016-06-30 | 2016-06-30 | Single drive differential drive system and AGV trolley comprising system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106043428A true CN106043428A (en) | 2016-10-26 |
Family
ID=57201187
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610504740.8A Pending CN106043428A (en) | 2016-06-30 | 2016-06-30 | Single drive differential drive system and AGV trolley comprising system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106043428A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114643854A (en) * | 2022-03-22 | 2022-06-21 | 扬州威斯德智能科技有限公司 | AGV trolley with high stability and operation method thereof |
-
2016
- 2016-06-30 CN CN201610504740.8A patent/CN106043428A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114643854A (en) * | 2022-03-22 | 2022-06-21 | 扬州威斯德智能科技有限公司 | AGV trolley with high stability and operation method thereof |
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| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20161026 |
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| WD01 | Invention patent application deemed withdrawn after publication |