CN106100229A - Compact AGV driving wheel assembly in high precision - Google Patents

Compact AGV driving wheel assembly in high precision Download PDF

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Publication number
CN106100229A
CN106100229A CN201610679959.1A CN201610679959A CN106100229A CN 106100229 A CN106100229 A CN 106100229A CN 201610679959 A CN201610679959 A CN 201610679959A CN 106100229 A CN106100229 A CN 106100229A
Authority
CN
China
Prior art keywords
driving wheel
high accuracy
wheel assembly
speed reducer
decelerator
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201610679959.1A
Other languages
Chinese (zh)
Inventor
张选琪
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenyang Phoenix Robot Technology Co Ltd
Original Assignee
Shenyang Phoenix Robot Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenyang Phoenix Robot Technology Co Ltd filed Critical Shenyang Phoenix Robot Technology Co Ltd
Priority to CN201610679959.1A priority Critical patent/CN106100229A/en
Publication of CN106100229A publication Critical patent/CN106100229A/en
Pending legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B33/00—Castors in general; Anti-clogging castors
    • B60B33/0028—Construction of wheels; methods of assembling on axle
    • 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
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
    • 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
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
    • 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
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H2057/02034—Gearboxes combined or connected with electric machines
    • 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
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H2057/02086—Measures for reducing size of gearbox, e.g. for creating a more compact transmission casing
    • 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
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H2057/02095—Measures for reducing number of parts or components

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Retarders (AREA)

Abstract

The present invention relates to the technical field of machine-building, it is provided that a kind of high accuracy, compact AGV driving wheel assembly.Mostly existing AGV driving wheel, be with motor, decelerator by connector, multi-cascade is received on wheel body, defines the intermediate link producing cumulative errors, also result in the structure that axial dimension is bigger than normal, reduce transmission accuracy, improve manufacturing cost.Present invention would apply to robotics, the RV decelerator that compact conformation, precision are high, it is arranged on the inside of driving wheel wheel body, to carry code-disc, high-precision servomotor direct connection decelerator, realize zero redundancy of axial dimension, decrease driving-chain and axial dimension, thus avoid the accumulation of driving error, and improve globality and decrease amount of parts, simultaneously because adding the friction resistance force driven between wheel treads and ground, decrease the factor causing AGV walking error, it is achieved thereby that present invention high accuracy and the purpose of type of gathering.

Description

Compact AGV driving wheel assembly in high precision
Technical field
The present invention relates to the technical field of machine-building, the AGV driving wheel of a kind of high accuracy, compact is specifically provided Assembly.
Background technology
AGV has been widely used in logistics and robot flexibility manufacture system, is mostly with motor, decelerator by connection Fitting, is coupled in series on wheel body, and owing to have employed Multi-stage transmission, the link forming cumulative errors is more, also result in driving The axial dimension of train is bigger than normal, thus reduces transmission accuracy and increase physical dimension, also improves manufacturing cost simultaneously.
Summary of the invention
It is an object of the invention to provide a kind of high-precision, AGV driving wheel assembly of compact.
The technical problem to be solved in the present invention
Reduce the driving-chain quantity between motor, decelerator and wheel body；Reduce the axial arrangement size of train.
The technical solution adopted for the present invention to solve the technical problems
To be applied to robotics, compact conformation, precision are high, RV decelerator (i.e. planet-cycloid reducer), driving wheel Surface employing and ground have the material of bigger frictional force.
Beneficial effect
By decelerator and the direct connection of motor, and decelerator insert wheel internal, decrease driving-chain and axial dimension, thus reduce Driving error accumulation, and improve train globality and decrease amount of parts, simultaneously because increasing driving wheel wheel body Tread and frictional ground force, decrease the factor causing AGV walking error.
Accompanying drawing explanation
Fig. 1 is the axial section of one embodiment of the invention
In Fig. 1
1, wheel carrier 2, polyurethane wheel face 3, wheel body 4, dust cap 5, pin wheel housing
6, wheel back-up ring 7, Cycloidal Wheel catch 8, output panel 9, interior roll sleeve 10, Cycloidal Wheel
11, eccentric bushing back-up ring 12, eccentric bushing 13, spring bearing I 14, spring bearing II 15, motor.
Detailed description of the invention
With embodiment, the purpose of the present invention is further illustrated below in conjunction with the accompanying drawings.
Embodiments of the invention are parts with RV decelerator as embodiment, and the present invention is equally applicable humorous Ripple decelerator.
Embodiments of the invention are with the lightweight construction of the less wheel body of single bearings, and the present invention is equally applicable many The heavy type structure of individual bearings large wheel body.
The axial external surface of the wheel body (3) of metal material, has the two-way reticulate pattern combined closely with polyurethane rubber, polyurethane Wheel face (2) alloying axial external surface in wheel body (3), the two constitute the present invention, there is bigger frictional force tread, drive The wheel body (3) of wheel.
The present invention is connected with AGV car body by wheel carrier (1).
The Cycloidal Wheel (10) of RV decelerator, is arranged on the alligator on output panel (8) by interior roll sleeve (9).
The outer rim of Cycloidal Wheel (10) is engaged with pin wheel housing (5) by pin tooth；The inner ring of Cycloidal Wheel (10) passes through eccentric bushing (12) couple with motor shaft.
Cycloidal Wheel catch (7) limits Cycloidal Wheel (10) and the interior roll sleeve (9) axial motion in space.
Motor (15) is connected with wheel carrier (1) by screw, and motor (15) is configured with detection motor movement parameter Sensor--code-disc.
With embodiment, the implementation method of the present invention is further illustrated below in conjunction with the accompanying drawings.
The motor shaft of high-precision servo motor (15) drives the eccentric bushing (12) of RV decelerator to rotate, eccentric bushing (12) Motion passes to the Cycloidal Wheel (10) of RV decelerator, and alligator is by the output panel (8) of movement output to RV decelerator, and then driving wheel The body (3) rotation in wheel carrier (1).
High-precision RV decelerator and the application of high-precision servo motor, coordinate the code-disc on motor and polyurethane wheel to step on Face, it is achieved that the high-precision purpose of the present invention；Motor direct connection enters to take turns internal, zero redundancy structure of axial dimension, it is achieved that this The purpose of bright compact.

Claims (10)

1. a high accuracy compact AGV driving wheel assembly, is characterized in that: by high accurate speed reducer, is arranged on driving wheel wheel body Inside, high-precision servo motor direct connection decelerator；Driving wheel body surfaces and ground can form bigger frictional force.
High accuracy compact AGV driving wheel assembly the most according to claim 1, is characterized in that: high accurate speed reducer, installs Inside at driving wheel wheel body.
High accuracy compact AGV driving wheel assembly the most according to claim 1, is characterized in that: high accurate speed reducer is permissible It is RV decelerator and harmonic speed reducer.
High accuracy compact AGV driving wheel assembly the most according to claim 1, is characterized in that: high accurate speed reducer external tooth Circle is connected with the wheel carrier of driving wheel.
High accuracy compact AGV driving wheel assembly the most according to claim 1, is characterized in that: the wheel carrier of driving wheel with drive Spring bearing is installed between driving wheel.
High accuracy compact AGV driving wheel assembly the most according to claim 1, is characterized in that: the structure of the present invention is permissible It is the lightweight construction of the less wheel body of single bearings, it is also possible to be the heavy type structure of multiple bearings large wheel body.
High accuracy compact AGV driving wheel assembly the most according to claim 1, is characterized in that: nibbling of high accurate speed reducer Close parts, drive disk assembly in space, have axial limiting.
High accuracy compact AGV driving wheel assembly the most according to claim 1, is characterized in that: servomotor is for being provided with The high-precision servo motor of code-disc, servomotor directly couples with high accurate speed reducer, without intermediate connector, constitute the present invention without The axially structure of redundant space.
High accuracy compact AGV driving wheel assembly the most according to claim 1, is characterized in that: the axle head of servomotor has Bearings.
High accuracy compact AGV driving wheel assembly the most according to claim 1, is characterized in that: driving wheel matrix axial Outer surface, has dictyonitic structure, combines closely with this with the elastomeric material of high intensity, great friction coefficient, is cast as one, constitutes tool There is bigger frictional force tread, driving wheel wheel body.
CN201610679959.1A 2016-08-18 2016-08-18 Compact AGV driving wheel assembly in high precision Pending CN106100229A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610679959.1A CN106100229A (en) 2016-08-18 2016-08-18 Compact AGV driving wheel assembly in high precision

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610679959.1A CN106100229A (en) 2016-08-18 2016-08-18 Compact AGV driving wheel assembly in high precision

Publications (1)

Publication Number Publication Date
CN106100229A true CN106100229A (en) 2016-11-09

Family

ID=58071073

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610679959.1A Pending CN106100229A (en) 2016-08-18 2016-08-18 Compact AGV driving wheel assembly in high precision

Country Status (1)

Country Link
CN (1) CN106100229A (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107364331A (en) * 2017-07-25 2017-11-21 李鹭扬 A kind of integrated omni-directional drive wheel module of heavy duty
CN107539117A (en) * 2017-07-25 2018-01-05 王心成 A kind of integrated driving wheel module of heavy duty
CN108859748A (en) * 2018-07-10 2018-11-23 随锐科技股份有限公司 A kind of runner system and installation method of wheeled robot
CN109563810A (en) * 2016-08-01 2019-04-02 乌本产权有限公司 Engine house and rotor and method for wind energy plant
TWI680899B (en) * 2017-08-25 2020-01-01 英華達股份有限公司 Automatic guided vehicle power driving system and method, automatic guided vehicle system
WO2020253170A1 (en) * 2019-06-17 2020-12-24 珠海格力智能装备有限公司 Wheel assembly and vehicle

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000233649A (en) * 1999-02-12 2000-08-29 Shinko Electric Co Ltd Drive wheel mechanism for automated guided vehicle
US9101973B2 (en) * 2010-12-15 2015-08-11 Nissan Motor Co., Ltd. Laminated work production method
CN205244261U (en) * 2015-12-15 2016-05-18 浙江双联机械有限公司 Planet cycloidal -pin gear speed reducer

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000233649A (en) * 1999-02-12 2000-08-29 Shinko Electric Co Ltd Drive wheel mechanism for automated guided vehicle
US9101973B2 (en) * 2010-12-15 2015-08-11 Nissan Motor Co., Ltd. Laminated work production method
CN205244261U (en) * 2015-12-15 2016-05-18 浙江双联机械有限公司 Planet cycloidal -pin gear speed reducer

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109563810A (en) * 2016-08-01 2019-04-02 乌本产权有限公司 Engine house and rotor and method for wind energy plant
CN107364331A (en) * 2017-07-25 2017-11-21 李鹭扬 A kind of integrated omni-directional drive wheel module of heavy duty
CN107539117A (en) * 2017-07-25 2018-01-05 王心成 A kind of integrated driving wheel module of heavy duty
TWI680899B (en) * 2017-08-25 2020-01-01 英華達股份有限公司 Automatic guided vehicle power driving system and method, automatic guided vehicle system
CN108859748A (en) * 2018-07-10 2018-11-23 随锐科技股份有限公司 A kind of runner system and installation method of wheeled robot
WO2020253170A1 (en) * 2019-06-17 2020-12-24 珠海格力智能装备有限公司 Wheel assembly and vehicle

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Application publication date: 20161109