CN106864622A - Robot gear mechanism based on diagonal dual drive train - Google Patents
Robot gear mechanism based on diagonal dual drive train Download PDFInfo
- Publication number
- CN106864622A CN106864622A CN201710204386.1A CN201710204386A CN106864622A CN 106864622 A CN106864622 A CN 106864622A CN 201710204386 A CN201710204386 A CN 201710204386A CN 106864622 A CN106864622 A CN 106864622A
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- China
- Prior art keywords
- supporting roller
- revolving support
- groups
- car bodies
- agv car
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- 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
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of robot gear mechanism based on diagonal dual drive train, including AGV car bodies, two groups of active wheel drive units and two groups of supporting roller revolving support units, two groups of active wheel drive units are along AGV car bodies, two groups of supporting roller revolving support units in diagonally installed in AGV vehicle bottoms, every group of active wheel drive unit is equipped with driving wheel, every group of supporting roller revolving support unit is equipped with supporting roller, and its technical characteristics is：Two groups of supporting rollers are higher by two groups of driving wheels, one certain height, and the certain height is the height for making AGV car bodies in ground even running.The present invention is reasonable in design, avoid to the full extent when ground is uneven, the situation for two groups of supporting rollers and one group of driving wheel landing occur occurs, so that no matter in any case, the probability of driving wheel landing is all than larger, so as to situation about overcoming because of the hanging driving wheel sideslip of driving wheel occurs, it is ensured that the stability of AGV car bodies operation.
Description
Technical field
The invention belongs to mobile robot technology field, especially a kind of robot wheel based on diagonal dual drive train
It is mechanism.
Background technology
Mobile robot be used for parking lot heavy duty goods when, its wheel train structure frequently with four drive wheel train structures, for example：
(the patent name of Application No. 201410081621.7：A kind of AGV carriers for intensive storage) patent document adopt
Eight body constructions taken turns are driven with one four, each group of driver element includes 2 driving wheels.The AGV carriers are in running
In, usually occur because ground is uneven, the driving wheel of wherein three groups driver elements lands and the driving wheel of another set driver element
Hanging situation, cause one group of hanging driving wheel can not by motor control sideslip problem.
The content of the invention
It is an object of the invention to overcome the deficiencies in the prior art, there is provided a kind of machine based on diagonal dual drive train
People's gear mechanism, solves four driving wheel architecture robots and vacantly causes this in the one of which driving wheel that ground does not occur usually
The problem of group driving wheel sideslip.
The present invention solves its technical problem and takes following technical scheme to realize：
A kind of robot gear mechanism based on diagonal dual drive train, including AGV car bodies, two groups of active wheel drive lists
Unit and two groups of supporting roller revolving support units, two groups of active wheel drive units are along a pair of linea angulata directions of AGV car bodies in diagonal installation
In AGV vehicle bottoms, two groups of supporting roller revolving support units are along another diagonal of AGV car bodies in diagonally installed in AGV cars
Body bottom, every group of active wheel drive unit is equipped with driving wheel, and every group of supporting roller revolving support unit is equipped with supporting roller, two groups
Supporting roller is higher by two groups of driving wheels, one certain height, and the certain height is the height for making AGV car bodies in ground even running.
The certain height is 4mm to 6mm.
When one group of supporting roller lands, the height on the hanging ground of supporting roller that another set is lifted be current landing with
2 times of driving wheel.
Each active wheel drive unit is provided with two driving wheels or a driving wheel.
Each supporting roller revolving support unit includes being servo-actuated that a supporting roller revolving support mechanism or two are arranged side by side
Wheel revolution supporting mechanism, or double supporting roller revolving support mechanism arranged in parallel, each supporting roller revolving support mechanism
It is provided with a supporting roller.
The active wheel drive unit includes active wheel drive unit installing plate, installing plate driver element mounting hole, installs
Plate encoder mounting hole, installing plate vehicle body mounting hole, active wheel drive unit is connected to by installing plate driver element mounting hole
The driver element revolving support of installing plate lower surface, passed through by installing plate encoder mounting hole and be connected to active wheel drive list
The driver element encoder of first installing plate, the driver element transmission mechanism that AGV car bodies are connected to by installing plate vehicle body mounting hole
And the driving wheel being connected with driver element transmission mechanism.
The supporting roller revolving support mechanism includes square plate fixation kit, revolving support component and supporting roller；The square plate
Fixation kit is connected by square plate location hole and square plate fastener with AGV car bodies, and the revolving support component is by being embedded in
The connection of the slewing bearing of revolving support center chassis, bearing fastening device and square plate central shaft；Described supporting roller passes through
Supporting roller wheel shaft and servo-actuated wheel shaft fastener are connected with revolving support frame.
Advantages and positive effects of the present invention are：
The supporting roller at diagonal two ends is higher by driving wheel 4mm to 6mm by the present invention in same level, no matter diagonal where
One end supporting roller landing, the supporting roller that diagonal other end is lifted is diagonal apart from inevitable 2 times of the height of same level
Line lands the height of front distance same level when front end supporting roller, so as to avoid to the full extent when ground is uneven, appearance
No matter in any case two groups of supporting rollers and one group of driving wheel land and the hanging situation of another set driving wheel occurs so that,
The probability of driving wheel landing all than larger, so as to situation about overcoming because of the hanging driving wheel sideslip of driving wheel occurs, it is ensured that AGV
The stability of car body operation.
Brief description of the drawings
Fig. 1 is the upward view of AGV car body dual drive units；
Fig. 2 is the top view of AGV car body dual drive units；
Fig. 3 is driving wheel driver element installing plate (being looked down from AGV vehicle body upper portions)；
Fig. 4 is the side view of driving wheel driver element；
Fig. 5 is the top view (being looked down from AGV vehicle body upper portions) of driving wheel driver element；
Fig. 6 is the upward view (being looked up from AGV vehicle bottoms) of driving wheel driver element；
Fig. 7 is the top view (being looked down from AGV vehicle body upper portions) of servo-actuated wheel drive unit；
Fig. 8 is the side view of servo-actuated wheel drive unit；
Fig. 9 is above the ground level 4mm schematic diagrames for supporting roller；
1：AGV car bodies；2：Active wheel drive unit；2-0：Active wheel drive unit installing plate；2-0-1：Installing plate drives
Unit mounting hole；2-0-2：Installing plate encoder mounting hole；2-0-3：Installing plate vehicle body mounting hole；2-1：Driving wheel；2-2：It is main
Driving wheel transmission mechanism；2-3：Driver element encoder；2-3-1：Encoder mounting hole；2-4：Driver element revolving support；2-4-
1：Revolving support mounting hole；3：Supporting roller revolving support unit；3-0：Square plate fixation kit；3-0-1：Square plate location hole；3-0-
2：Square plate fastener；3-0-3：Square plate central rotating shaft；3-1：Revolving support component；3-1-0：Revolving support frame；3-1-1：Return
Turn spring bearing；3-1-2：Revolving support chassis；3-1-3：Bearing fastening device；3-1-4：Supporting roller fastener；3-2：With
Driving wheel；3-2-1：Supporting roller wheel shaft.
Specific embodiment
The embodiment of the present invention is described in further detail below in conjunction with accompanying drawing：
A kind of robot gear mechanism based on diagonal dual drive train, as shown in Figures 1 and 2, including AGV car bodies 1,
Two groups of active wheel drive units 2 and two groups of supporting roller revolving support units 3.Two groups of active wheel drive units are along a pair of AGV car bodies
In AGV vehicle bottoms are diagonally arranged on, two groups of supporting roller revolving support units are along another diagonal of AGV car bodies in linea angulata direction
In diagonally installed in AGV vehicle bottoms.
As shown in Figures 3 and 4, every group of active wheel drive unit includes a driving wheel or two driving wheels, driving wheel
It is connected with AGV car bodies 1 by active wheel drive unit installing plate 2-0.Every group of supporting roller revolving support unit includes one or two
The individual supporting roller revolving support mechanism being arranged side by side, or double (often arranging two, altogether four) supporting roller arranged in parallel
Revolving support mechanism, as shown in Figures 7 and 8, each supporting roller revolving support mechanism includes a supporting roller, and supporting roller passes through
Fixed square plate component 3-0 is connected with AGV car bodies 1.The present embodiment includes two driving wheels and every with every group of active wheel drive unit
Group supporting roller revolving support unit includes being illustrated as a example by two supporting rollers, as shown in figure 9, on same horizontal plane, institute
Stating the driving wheel 2-1 that the supporting roller 3-2 on two groups of supporting roller revolving support units is higher by two groups of active wheel drive units is
One certain height, the certain height is the height for making AGV car bodies in ground even running, that is to say, that the certain height is not for
Make AGV car bodies that the height for jolting is produced in ground handling.In the present embodiment, certain height is preferably 4mm to 6mm.
The present invention does not have particular/special requirement to ground flat degree, as long as meeting the flatness on general ground, Land leveling
The scope of degree is AGV car bodies scope long and wide.
The present invention is in actual moving process, even if AGV car bodies are under ground very smooth and static conditions, according to 3 points
Into the principle of one side, always there are two groups of driving wheels and one group of supporting roller to land, when one of which supporting roller lands, car body direction
Landing supporting roller direction is slightly slanted, and now, its diagonal other end supporting roller will be lifted, height when being lifted
It is 2 times of initial distance ground level：8mm to 12mm.The height of 4mm to the 6mm is experimental data gained, it is demonstrated experimentally that
When height is more than 6mm, if when previous group supporting roller lands, its cornerwise another set supporting roller will be lifted and high
Go out more than ground 12mm, now, operating AGV car bodies jolt generation；It is less than when two groups of supporting rollers are set to terrain clearance
During 4mm, that group of supporting roller of overhead positions should be in because its flying height is not enough to be suspended, therefore can equally produce top
Winnow with a dustpan.For preferred 4mm to the 6mm of the present embodiment is the flatness according to general ground, can according to circumstances be set during practical application
Its regional extent, the overall principle is：The certain height is not make AGV car bodies that the height for jolting is produced in ground handling.
As shown in Figures 3 to 6, active wheel drive unit includes that active wheel drive unit installing plate 2-0, installing plate drive list
First mounting hole 2-0-1, installing plate encoder mounting hole 2-0-2, installing plate vehicle body mounting hole 2-0-3, driven by installing plate it is single
First mounting hole 2-0-1 is connected to the driver element revolving support 2-4-1 of installing plate lower surface, by installing plate encoder mounting hole
2-3-1 is passed through and is connected to the driver element encoder 2-3 of installing plate, is connected to AGV by installing plate vehicle body mounting hole 2-0-3
The driver element transmission mechanism 2-2 of the car body and driving wheel 2-1 being connected with driver element transmission mechanism 2-2.In the present embodiment
In, every group of active wheel drive unit includes two driving wheels, and certain active wheel drive unit can also use a driving wheel, together
Sample can realize function of the invention.
As shown in Figures 7 and 8, the supporting roller revolving support mechanism includes square plate fixation kit 3-0, revolving support component
3-1 and supporting roller 3-2；The square plate fixation kit 3-0 passes through square plate location hole 3-0-1 and square plate fastener 3-0-2 and AGV
Car body 1 is connected；The revolving support component 3-1 is by being embedded in the slewing bearing 3- at revolving support chassis 3-1-2 centers
1-1, bearing fastening device 3-1-3 are connected with square plate central shaft 3-0-3；Described supporting roller 3-2 passes through supporting roller wheel shaft 3-2-1
It is connected with revolving support frame 3-1-0 with servo-actuated wheel shaft fastener 3-1-4.In the present embodiment, every group of supporting roller revolving support
Unit includes two supporting roller revolving support mechanisms, and a supporting roller is provided with each revolving support mechanism, every group certainly
Supporting roller revolving support unit can also use a supporting roller revolving support mechanism, i.e., every group supporting roller revolving support unit bag
Including a supporting roller can equally realize function of the invention.
Design principle of the present invention：Two mechanical peaks and two machinery time high points are set first；Then two machines are used
The change of tool time high point dynamically adapting ground flat degree, so as to ensure the maximum probability of driving wheel landing.The mechanical peak
It is two groups of driving wheel pick-up points, the machinery time high point is two groups of supporting rollers specified point above ground level.It is described as follows：
(1) in AGV runnings, the flatness of chassis of vehicle body is changeless, and the flatness on ground relative to ground
It is dynamic change relative to chassis of vehicle body, therefore, it can adapt to Land leveling by adjusting wheel tracks height from the ground
The change of degree.
(2), according to 3 points of principles into one side, when ground is uneven, three wheels landings of point are necessarily there is and point
Wheel hanging, for the situation for avoiding the hanging sideslip of driving wheel occurs, should try one's best and cause that the hanging probability of driving wheel is minimum and be servo-actuated
The hanging maximum probability of wheel, therefore, the change of ground flat degree is adapted to apart from the height on ground by adjusting supporting roller.
(3) due to that in any case, must there is one group of supporting roller in three pick-up points, if two groups of supporting rollers are both designed as
Apart from mutually level time of ground high point, when one of which supporting roller lands, due to landing before its apart from the certain height in ground
Degree, when it lands, car body certainty run-off the straight, and because car body there occurs inclination, car body diagonal other end supporting roller
Then therefore it is lifted, twice when height when being lifted apart from ground is initial, therefore, to ensure supporting roller flying height foot
Enough height, should design the specific height of one above ground level of two groups of supporting rollers.
It is emphasized that embodiment of the present invention is illustrative, rather than limited, therefore present invention bag
The embodiment for being not limited to described in specific embodiment is included, it is every by those skilled in the art's technology according to the present invention scheme
The other embodiment for drawing, also belongs to the scope of protection of the invention.
Claims (7)
1. a kind of robot gear mechanism based on diagonal dual drive train, including AGV car bodies, two groups of active wheel drive units
With two groups of supporting roller revolving support units, two groups of active wheel drive units are in diagonally to be arranged on along a pair of linea angulata directions of AGV car bodies
AGV vehicle bottoms, two groups of supporting roller revolving support units are along another diagonal of AGV car bodies in diagonally installed in AGV car bodies
Bottom, every group of active wheel drive unit is equipped with driving wheel, and every group of supporting roller revolving support unit is equipped with supporting roller, its feature
It is：Two groups of supporting rollers are higher by two groups of driving wheels, one certain height, and the certain height is AGV car bodies is steadily transported on ground
Capable height.
2. the robot gear mechanism based on diagonal dual drive train according to claim 1, it is characterised in that：It is described
Certain height is 4mm to 6mm.
3. the robot gear mechanism based on diagonal dual drive train according to claim 2, it is characterised in that：It is described
When one group of supporting roller lands, the height on the hanging ground of supporting roller that another set is lifted is 2 times that currently land supporting roller.
4. the robot gear mechanism based on diagonal dual drive train according to any one of claims 1 to 3, its feature
It is：Each active wheel drive unit is provided with two driving wheels or a driving wheel.
5. the robot gear mechanism based on diagonal dual drive train according to any one of claims 1 to 3, its feature
It is：Each supporting roller revolving support unit includes the servo-actuated samsara that a supporting roller revolving support mechanism or two are arranged side by side
Turn supporting mechanism, or double supporting roller revolving support mechanism arranged in parallel, each supporting roller revolving support mechanism is provided with
One supporting roller.
6. the robot gear mechanism based on diagonal dual drive train according to any one of claims 1 to 3, its feature
It is：The active wheel drive unit includes that active wheel drive unit installing plate, installing plate driver element mounting hole, installing plate are compiled
Code device mounting hole, installing plate vehicle body mounting hole, the installation of active wheel drive unit is connected to by installing plate driver element mounting hole
The driver element revolving support of plate lower surface, passed through by installing plate encoder mounting hole and be connected to active wheel drive unit pacify
Fill plate driver element encoder, be connected to by installing plate vehicle body mounting hole AGV car bodies driver element transmission mechanism and
The driving wheel being connected with driver element transmission mechanism.
7. the robot gear mechanism based on diagonal dual drive train according to any one of claims 1 to 3, its feature
It is：The supporting roller revolving support mechanism includes square plate fixation kit, revolving support component and supporting roller；The square plate is fixed
Component is connected by square plate location hole and square plate fastener with AGV car bodies, and the revolving support component is by being embedded in revolution
The connection of the slewing bearing at support chassis center, bearing fastening device and square plate central shaft；Described supporting roller is by servo-actuated
Wheel wheel shaft and servo-actuated wheel shaft fastener are connected with revolving support frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710204386.1A CN106864622B (en) | 2017-03-31 | 2017-03-31 | Robot gear mechanism based on diagonal line double drive train |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710204386.1A CN106864622B (en) | 2017-03-31 | 2017-03-31 | Robot gear mechanism based on diagonal line double drive train |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106864622A true CN106864622A (en) | 2017-06-20 |
| CN106864622B CN106864622B (en) | 2019-05-14 |
Family
ID=59161241
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710204386.1A Active CN106864622B (en) | 2017-03-31 | 2017-03-31 | Robot gear mechanism based on diagonal line double drive train |
Country Status (1)
| Country | Link |
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| CN (1) | CN106864622B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07251768A (en) * | 1994-03-14 | 1995-10-03 | Fujita Corp | Traveling body |
| EP1063107A1 (en) * | 1999-06-25 | 2000-12-27 | MAN Nutzfahrzeuge Aktiengesellschaft | Automated traction aid of driving axles with at least an air-spring-suspended leading or trailing axle |
| CN201264619Y (en) * | 2008-09-10 | 2009-07-01 | 王明哲 | Teeterboard type cart |
| CN103273988A (en) * | 2013-06-14 | 2013-09-04 | 长沙驰众机械科技有限公司 | All-directional traveling system applicable to AGV (automatic guided vehicle) |
| CN103909994A (en) * | 2014-03-06 | 2014-07-09 | 无锡普智联科高新技术有限公司 | AGV (automatic guided vehicle) for dense storage area |
| CN203740015U (en) * | 2014-03-06 | 2014-07-30 | 无锡普智联科高新技术有限公司 | Omnidirectional working drive mechanism suitable for AGV |
| CN205186356U (en) * | 2015-11-27 | 2016-04-27 | 青岛海通机器人系统有限公司 | Two magnetic navigation train subassemblies for mobile robot that drive |
| CN205292845U (en) * | 2015-11-27 | 2016-06-08 | 青岛海通机器人系统有限公司 | Two magnetic navigation gear train structure for mobile robot that drive |
-
2017
- 2017-03-31 CN CN201710204386.1A patent/CN106864622B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07251768A (en) * | 1994-03-14 | 1995-10-03 | Fujita Corp | Traveling body |
| EP1063107A1 (en) * | 1999-06-25 | 2000-12-27 | MAN Nutzfahrzeuge Aktiengesellschaft | Automated traction aid of driving axles with at least an air-spring-suspended leading or trailing axle |
| CN201264619Y (en) * | 2008-09-10 | 2009-07-01 | 王明哲 | Teeterboard type cart |
| CN103273988A (en) * | 2013-06-14 | 2013-09-04 | 长沙驰众机械科技有限公司 | All-directional traveling system applicable to AGV (automatic guided vehicle) |
| CN103909994A (en) * | 2014-03-06 | 2014-07-09 | 无锡普智联科高新技术有限公司 | AGV (automatic guided vehicle) for dense storage area |
| CN203740015U (en) * | 2014-03-06 | 2014-07-30 | 无锡普智联科高新技术有限公司 | Omnidirectional working drive mechanism suitable for AGV |
| CN205186356U (en) * | 2015-11-27 | 2016-04-27 | 青岛海通机器人系统有限公司 | Two magnetic navigation train subassemblies for mobile robot that drive |
| CN205292845U (en) * | 2015-11-27 | 2016-06-08 | 青岛海通机器人系统有限公司 | Two magnetic navigation gear train structure for mobile robot that drive |
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| Publication number | Publication date |
|---|---|
| CN106864622B (en) | 2019-05-14 |
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Effective date of registration: 20210628 Address after: B2014, building 9, zone 2, Shenzhen Bay science and technology ecological park, 3609 Baishi Road, high tech Zone community, Yuehai street, Nanshan District, Shenzhen, Guangdong 518000 Patentee after: Puzhilianke (Shenzhen) Co.,Ltd. Address before: Room 503, Block A, Sangtai Building, Xili University Town, Nanshan District, Shenzhen City, Guangdong Province Patentee before: SHENZHEN PUZHI LIANKE ROBOT TECHNOLOGY Co.,Ltd. |