CN108790589B - Control method of omnidirectional drive gear train assembly - Google Patents
Control method of omnidirectional drive gear train assembly Download PDFInfo
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- CN108790589B CN108790589B CN201810488049.4A CN201810488049A CN108790589B CN 108790589 B CN108790589 B CN 108790589B CN 201810488049 A CN201810488049 A CN 201810488049A CN 108790589 B CN108790589 B CN 108790589B
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- bevel gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/003—Multidirectional wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0421—Electric motor acting on or near steering gear
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Gear Transmission (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention discloses a control method of an omnidirectional drive gear train assembly, wherein the omnidirectional drive gear train assembly comprises a box-shaped shell, a rolling drive part and a steering drive part; the rolling driving part comprises a driving roller wheel with a horizontal central axis, and a rolling driving motor assembly is arranged in the driving roller wheel; the steering driving part comprises a fixed bevel gear disc, a movable bevel gear disc, a bearing bevel gear, a steering driving bevel gear and a steering speed reduction motor, wherein the bearing bevel gear meshed and clamped by the fixed bevel gear disc and the movable bevel gear disc is arranged on the driving roller wheel through a bearing in bilateral symmetry, the central axes of the fixed bevel gear disc and the movable bevel gear disc are vertically intersected with the central axis of the roller body of the driving roller wheel, and the intersection point is positioned at the horizontal center of the roller body. The omnidirectional driving wheel train assembly can further reduce the height size of the supporting and carrying platform on the premise of realizing omnidirectional driving, and further reduce the height size of the supported and carried object from the ground and more stably carry.
Description
Technical Field
The invention relates to a control method of a driving wheel train assembly, in particular to a control method of an omnidirectional driving wheel train assembly of a low-chassis carrying and transporting robot which needs to submerge the bottom of a carried object, belonging to the technical field of carrying and transporting vehicles.
Background
An automated Guided vehicle (agv) or an automated Guided vehicle (automated Guided vehicle) is a vehicle equipped with an electromagnetic or optical automatic guide device, which can travel along a predetermined guide path, and has safety protection and various transfer functions. In industrial applications, AGVs generally use rechargeable batteries as their power source, and generally do not need drivers, and the AGVs can set up and control the travel route and behavior through a computer or by using electromagnetic tracks.
In the early stage, the AGV can only run in one direction when automatically running, so the applicable environment is limited. In order to meet the requirements of industrial production, AGV products capable of moving forward and backward and even running in all directions during automatic operation have been available at home and abroad in recent years, and the achievement is attributed to the progress of the travelling mechanism. The existing AGV traveling mechanism comprises the following forms according to application occasions: 1. the two-wheel differential walking mechanism is characterized in that two walking driving wheels are symmetrically arranged on the front middle line and the rear middle line, two supporting wheels are respectively arranged at the vertex of an isosceles triangle taking the pivots of the two walking wheels as the bottom edge in the front and the rear directions, and the walking mechanism is steered by the walking driving wheels at two sides in a differential way without arranging a steering wheel; 2. three wheels are respectively arranged on three vertexes of the isosceles triangle, the front wheel is a steering wheel and a traveling driving wheel, and the two rear wheels are unpowered supporting wheels; 3. the four-wheel running mechanism with steering wheels is developed on the basis of a three-wheel running mechanism, which is equivalent to combining two tricycles together, wherein two supporting wheels are symmetrically arranged on the central line of the front and the rear of a trolley, and the front and the rear wheels are respectively and symmetrically arranged at the top points of an isosceles triangle taking the supporting points of the two supporting wheels as the bottom edges. The differential running gear of two-wheeled leans on both sides walking drive wheel differential to turn to, consequently needn't set up the steering wheel, can save space makes AGV can realize more miniaturization, and the mechanism is simple, reliable operation, with low costs, therefore this kind of AGV with two-wheeled differential running gear obtains wide application.
Although the existing AGV with the two-wheeled differential traveling mechanism can realize all-directional traveling, a steering component in the conventional traveling mechanism is a gear transmission structure arranged above the traveling component, the gear transmission structure comprises a transmission gear or a gear ring which is horizontally arranged and fixedly connected with the traveling component, and a steering driving motor arranged in the vertical direction drives the transmission gear or the gear ring to rotate through a driving gear so as to realize steering. Since the traveling mechanism is usually installed at the bottom of the supporting platform, in order to reduce the height of the supporting platform so as to submerge the bottom of the supported object, the vertically arranged steering driving motor is usually installed at the bottom of the supporting platform in an inverted suspension manner. However, although the height of the supporting platform can be reduced by reducing the size of the walking driving wheels of the walking parts, the height of the supporting platform is limited by the vertically arranged steering driving motors, so that the AGV can only submerge the supporting platform by increasing the height of the supported object from the ground, but the supported object with higher gravity center has the defect of instability in the supporting and carrying process of the AGV.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a control method of an omnidirectional drive gear train assembly, which can further reduce the height of a supporting platform on the premise of realizing omnidirectional drive, further reduce the height of a supported object from the ground, and enable the supporting and carrying to be more stable, and is particularly suitable for low-chassis supporting and transporting robots such as AGV and the like needing to be submerged at the bottom of the supported object.
In order to achieve the above object, an omnidirectional drive wheel train assembly comprises a box-shaped shell, a rolling drive part and a steering drive part;
the rolling driving part is arranged inside the box-shaped shell and comprises a driving roller wheel with a horizontal central axis, the driving roller wheel comprises a roller wheel body and a roller wheel supporting shaft which extends out of the left side and the right side along the central axis of the roller wheel body, the height of the bottom plane of the box-shaped shell from the ground is smaller than the radius of the roller wheel body, a rolling driving motor assembly is arranged inside the roller wheel body, and the rolling driving motor assembly comprises a motor core and a braking mechanism;
the steering driving part comprises a bevel gear disc group, a bearing bevel gear, a steering driving bevel gear and a steering speed reducing motor; the bevel gear set is horizontally arranged inside the box-type shell and comprises a fixed bevel gear disc and a movable bevel gear disc which are arranged coaxially, tooth parts of the fixed bevel gear disc and the movable bevel gear disc are opposite, the fixed bevel gear disc and the movable bevel gear disc are of hollow gear ring structures, the fixed bevel gear disc and the movable bevel gear disc respectively comprise inner ring tooth parts with the same modulus, tooth number and indexing cone angle, the movable bevel gear disc further comprises an outer ring tooth part arranged on the periphery of the inner ring tooth part, the bottom of the fixed bevel gear disc is fixedly arranged on a bottom plate of the box-type shell, the movable bevel gear disc is arranged on a top plate of the box-type shell through a bearing frame, and the central axis of the bevel gear set passes through; the bearing bevel gears arranged in the vertical direction are simultaneously matched and meshed with the inner ring teeth of the fixed bevel gear disc and the movable bevel gear disc of the bevel gear disc group, the two bearing bevel gears are arranged in a left-right symmetrical mode relative to the roller body of the driving roller wheel, and the two bearing bevel gears are respectively arranged on the roller wheel supporting shaft through bearings; the steering drive bevel gear arranged in the vertical direction is matched and meshed with the outer ring tooth part of the movable bevel gear disc; the steering speed-reducing motor with a horizontally arranged central axis is fixedly arranged outside the box-type shell, a power output shaft of the steering speed-reducing motor extends into the box-type shell and is coaxially and fixedly connected with the steering driving bevel gear, and the steering speed-reducing motor also comprises a braking mechanism;
the control method comprises the following steps:
when the linear running is carried out, the power supply to the motor core of the rolling driving motor assembly of the driving roller wheel enables the driving roller wheel to rotate and roll along the central axis thereof, and the driving roller wheel rotates relative to the bearing bevel gear and the bearing bevel gear is in a positioning static state in the rolling process;
when the steering driving bevel gear rotates, the rotating action of the steering speed reducing motor is controlled to enable the steering driving bevel gear to rotate, the steering driving bevel gear drives the bevel gear disc to rotate along the central axis of the steering driving bevel gear in the rotating process, the movable bevel gear drives the two bearing bevel gears to roll on the fixed bevel gear disc in opposite directions simultaneously in the rotating process, and the two bearing bevel gears drive the driving roller to rotate along the plane of the geometric central point of the driving roller through the roller supporting shaft in the rolling process.
As a further improvement of the invention, when the steering running is carried out, the rotation action of the steering speed reducing motor is controlled in the process of rolling the driving roller.
Compared with the prior art, the bearing bevel gear and the driving roller of the omnidirectional driving gear train assembly bear the load integrally borne by the omnidirectional driving gear train assembly from the fixed bevel gear disc and the movable bevel gear disc, the motor core of the rolling driving motor assembly of the driving roller is powered to realize the rolling of the driving roller when the omnidirectional driving gear train assembly is in a straight line running, the driving roller rotates relative to the bearing bevel gear, the bearing bevel gear is in a static state, the rotating action of the steering speed reducing motor drives the movable bevel gear disc to rotate through the steering driving bevel gear when the omnidirectional driving gear train assembly is in steering running, and then the driving roller is driven to realize plane rotation through the two bearing bevel gears, so that the driving roller can rotate at any angle within the range of 360 degrees along the central axis of the bevel gear disc group, and therefore, an AGV; the bearing bevel gears meshed and clamped by the fixed bevel gear disc and the movable bevel gear disc of the bevel gear disc group are symmetrically arranged on the driving roller wheel supporting shaft in the left-right direction through the bearings, so that the driving roller wheel is not directly arranged on the box-type shell, the mounting size of the driving roller wheel in the vertical direction is reduced, and the overall height size of the box-type shell is further reduced; because the central axis of the bevel gear set is vertically intersected with the central axis of the roller body of the driving roller wheel, and the intersection point is positioned in the horizontal central position of the roller body, and the steering part mounting mode that the steering driving bevel gear and the outer ring tooth part of the moving bevel gear are matched and meshed with each other is adopted, which is coaxially and fixedly connected with the power output shaft of the steering speed reducing motor, the horizontal setting of the central axis of the steering speed reducing motor is realized, the space occupation in the vertical direction is reduced, and further, the whole height dimension of the omnidirectional driving gear train assembly is further reduced, so that the height dimension of the supported object from the ground is reduced, the supporting and carrying are more stable, and the omnidirectional driving gear train assembly is particularly suitable for low-chassis supporting and transporting robots such as AGVs and the like which need to submerge.
Drawings
FIG. 1 is a schematic three-dimensional structure of an omnidirectional drive train assembly;
fig. 2 is a schematic sectional structure diagram of the omnidirectional driving wheel train assembly.
In the figure: 1. the steering driving bevel gear comprises a driving roller 11, a roller supporting shaft 2, a fixed bevel gear disc 3, a movable bevel gear disc 4, a bearing bevel gear 5, a steering driving bevel gear 6 and a steering speed reduction motor.
Detailed Description
The present invention will be further described with reference to the drawings (hereinafter, the direction toward the inside of the box-shaped casing is referred to as an inside direction, and the direction toward the outside of the box-shaped casing is referred to as an outside direction).
As shown in fig. 1 and 2, the omni-directional driving wheel train assembly includes a box-shaped housing, a rolling driving portion and a steering driving portion.
The rolling driving part is arranged inside the box-shaped shell and comprises a driving roller wheel 1 with a horizontal central axis, the driving roller wheel 1 comprises a roller wheel body and a roller wheel supporting shaft 11 extending from the left side to the right side along the central axis of the roller wheel body, the distance between the bottom plane of the box-shaped shell and the ground is smaller than the radius of the roller wheel body, a rolling driving motor assembly is arranged inside the roller wheel body, and the rolling driving motor assembly comprises a motor core and a braking mechanism.
The steering driving part comprises a bevel gear disc group, a bearing bevel gear 4, a steering driving bevel gear 5 and a steering speed reducing motor 6; the bevel gear disc group is horizontally arranged inside the box-type shell, the bevel gear disc group comprises a fixed bevel gear disc 2 and a movable bevel gear disc 3 which are arranged coaxially, tooth parts are arranged oppositely, the fixed bevel gear disc 2 and the movable bevel gear disc 3 are both of hollow gear ring structures, the fixed bevel gear disc 2 and the movable bevel gear disc 3 both comprise inner ring tooth parts with the same modulus, tooth number and indexing cone angle, the movable bevel gear disc 3 further comprises an outer ring tooth part arranged on the periphery of the inner ring tooth part, the bottom of the fixed bevel gear disc 2 is fixedly arranged on a bottom plate of the box-type shell, the movable bevel gear disc 3 is erected and arranged on a top plate of the box-type shell through a bearing, the central axis of the bevel gear disc group passes through the geometric central point of the roller body of the driving roller 1, namely, the central axis of the bevel gear disc group is vertically intersected with the central axis of the; the bearing bevel gears 4 arranged in the vertical direction are simultaneously matched and meshed with inner ring tooth parts of a fixed bevel gear disc 2 and a movable bevel gear disc 3 of the bevel gear disc group, namely the fixed bevel gear disc 2 and the movable bevel gear disc 3 are in a state of clamping the bearing bevel gears 4, the bearing bevel gears 4 are arranged into two parts, the two bearing bevel gears 4 are arranged in bilateral symmetry relative to a roller body of the driving roller 1, and the two bearing bevel gears 4 are respectively arranged on a roller supporting shaft 11 through bearings; the steering drive bevel gear 5 arranged in the vertical direction is matched and meshed with the outer ring tooth part of the movable bevel gear disc 3; the steering gear motor 6 with the horizontal central axis is fixedly arranged outside the box-type shell, a power output shaft of the steering gear motor 6 extends into the box-type shell and is coaxially and fixedly connected with the steering driving bevel gear 5, and the steering gear motor 6 further comprises a braking mechanism.
When the omnidirectional drive wheel train assembly is arranged at the bottom of an AGV for use, the load of the AGV is transmitted to a bearing bevel gear 4 and a drive roller wheel 1 through a fixed bevel gear disc 2 and a movable bevel gear disc 3;
when the straight-line running is required, the rolling of the driving roller wheel 1 can be realized by directly controlling the power supply of a motor core of a rolling driving motor assembly of the driving roller wheel 1, the driving roller wheel 1 rotates relative to the bearing bevel gear 4 in the rolling process, and the bearing bevel gear 4 is in a positioning static state;
when the steering driving bevel gear is required to be steered to run, the rotating action of the steering speed reduction motor 6 can be controlled in the rolling process of the driving roller wheel 1 to enable the steering driving bevel gear 5 to rotate, the rotating process of the steering driving bevel gear 5 drives the movable bevel gear disc 3 to rotate along the central axis thereof, the rotating process of the movable bevel gear disc 3 drives the two bearing bevel gears 4 to simultaneously roll in opposite directions on the fixed bevel gear disc 2, the rolling process of the two bearing bevel gears 4 drives the driving roller wheel 1 to rotate along the plane of the geometric central point of the driving roller wheel 1 through the roller wheel supporting shaft 11, and then the driving direction of the driving roller wheel 1 is changed.
In order to further reduce the height of the box-type shell and further reduce the chassis height of the AGV, as a further improvement of the present invention, the inner diameter of the gear ring structure of the fixed bevel gear disk 2 and the movable bevel gear disk 3 is at least larger than the radius of the roller body of the driving roller 1.
The matching tooth profile for simultaneously matching and meshing the bearing bevel gear 4 with the inner ring tooth profile of the fixed bevel gear disk 2 and the movable bevel gear disk 3 of the bevel gear disk group can be a straight bevel gear structure or a spiral bevel gear structure, and the latter has the advantages of large overlapping coefficient, strong bearing capacity, high transmission ratio, stable transmission, low noise and the like, so that the latter is preferred, namely, as the preferred scheme of the invention, the tooth profile of the bearing bevel gear 4, the inner ring tooth profile of the fixed bevel gear disk 2 and the inner ring tooth profile of the movable bevel gear disk 3 are spiral bevel gear structures.
In order to facilitate the processing and manufacturing, as a further improvement of the present invention, the inner ring tooth portion and the outer ring portion of the moving bevel gear disc 3 are tooth portions having the same modulus, number of teeth and reference cone angle, that is, the inner ring tooth portion and the outer ring portion of the moving bevel gear disc 3 can be formed by one-step processing.
In order to facilitate the installation of parts in the box-type shell, as a further improvement scheme of the invention, the box-type shell is a split structure comprising an upper shell and a lower shell, and the upper shell and the lower shell are fixedly installed and connected. The box-type shell with the split structure is more convenient for mounting the bevel gear disc group and the bearing bevel gear 4.
The AGV provided with the omnidirectional drive wheel train assembly not only can be suitable for industries such as a smart factory, a smart logistics industry and a smart warehousing industry which can realize intelligent supporting and transporting, but also can be suitable for intelligent parking lots, traffic emergency treatment and the like to support and transport vehicles.
The omnidirectional drive gear train assembly can realize the rotation of the drive roller wheel 1 at any angle within the range of 360 degrees along the central axis of the bevel gear disc group, so that an AGV provided with the omnidirectional drive gear train assembly can realize translation steering; because the mounting mode of the driving roller 1 that the bearing bevel gears 4 meshed and clamped by the fixed bevel gear disc 2 and the movable bevel gear disc 3 of the bevel gear disc group are symmetrically mounted on the roller supporting shaft 11 from left to right through the bearings is adopted, the state that the driving roller 1 is not directly mounted on the box-shaped shell is realized, the mounting size of the driving roller 1 in the vertical direction is reduced, and further the whole height size of the box-shaped shell is reduced; because the central axis of the bevel gear set is vertically intersected with the central axis of the roller body of the driving roller wheel 1, and the intersection point is positioned in the horizontal central position of the roller body, and the installation mode of the steering part which is matched and meshed with the outer ring tooth part of the steering driving bevel gear 5 and the moving bevel gear 3 which are coaxially and fixedly connected with the power output shaft of the steering speed reducing motor 6 is adopted, the horizontal setting of the central axis of the steering speed reducing motor 6 is realized, the space occupation in the vertical direction is reduced, and further the whole height size of the omnidirectional driving gear train assembly is further reduced, so that the height size of a supported object from the ground is reduced, the supporting and carrying is more stable, and the omnidirectional driving gear train assembly is particularly suitable for low-chassis supporting and transporting robots such as AGVs and the like which need to submerge the bottom.
Claims (2)
1. A control method of an omnidirectional drive wheel train assembly comprises a box-shaped shell, a rolling drive part and a steering drive part;
the rolling driving part is arranged inside the box-shaped shell and comprises a driving roller (1) with a horizontal central axis, the driving roller (1) comprises a roller body and a roller supporting shaft (11) extending out of the roller body along the central axis, the height of the bottom plane of the box-shaped shell from the ground is smaller than the radius of the roller body, a rolling driving motor assembly is arranged inside the roller body, and the rolling driving motor assembly comprises a motor core and a braking mechanism;
the steering driving part comprises a bevel gear disc group, a bearing bevel gear (4), a steering driving bevel gear (5) and a steering speed reducing motor (6); the bevel gear disc group is horizontally arranged inside the box-type shell, the bevel gear disc group comprises a fixed bevel gear disc (2) and a movable bevel gear disc (3) which are arranged coaxially, tooth parts are arranged oppositely, the fixed bevel gear disc (2) and the movable bevel gear disc (3) are of hollow gear ring structures, the fixed bevel gear disc (2) and the movable bevel gear disc (3) respectively comprise inner ring tooth parts with the same modulus, tooth number and indexing cone angle, the movable bevel gear disc (3) further comprises an outer ring tooth part arranged on the periphery of the inner ring tooth part, the bottom of the fixed bevel gear disc (2) is fixedly arranged on a bottom plate of the box-type shell, the movable bevel gear disc (3) is arranged on a top plate of the box-type shell in an erecting mode through a bearing, and the central axis of the bevel gear disc group passes through the geometric central; the bearing bevel gears (4) arranged in the vertical direction are simultaneously matched and meshed with the inner ring teeth of the fixed bevel gear disc (2) and the movable bevel gear disc (3) of the bevel gear disc set, the bearing bevel gears (4) are arranged into two parts, the two bearing bevel gears (4) are arranged in bilateral symmetry relative to the roller body of the driving roller (1), and the two bearing bevel gears (4) are respectively arranged on the roller supporting shaft (11) through bearings; the steering drive bevel gear (5) arranged in the vertical direction is matched and meshed with the outer ring tooth part of the movable bevel gear disc (3); a steering speed-reducing motor (6) with a horizontal central axis is fixedly arranged outside the box-type shell, a power output shaft of the steering speed-reducing motor (6) extends into the box-type shell and is coaxially and fixedly connected with a steering driving bevel gear (5), and the steering speed-reducing motor (6) further comprises a braking mechanism;
the control method is characterized by comprising the following steps:
when the straight-line running is carried out, the power supply to the motor core of the rolling driving motor assembly of the driving roller wheel (1) enables the driving roller wheel (1) to rotate and roll along the central axis thereof, the driving roller wheel (1) rotates relative to the bearing bevel gear (4) in the rolling process, and the bearing bevel gear (4) is in a positioning static state;
when the steering driving mechanism runs in a steering mode, the rotating action of the steering speed reducing motor (6) is controlled to enable the steering driving bevel gear (5) to rotate, the rotating process of the steering driving bevel gear (5) drives the movable bevel gear disc (3) to rotate along the central axis of the movable bevel gear disc, the rotating process of the movable bevel gear disc (3) drives the two bearing bevel gears (4) to roll in opposite directions on the fixed bevel gear disc (2), and the rolling process of the two bearing bevel gears (4) drives the driving roller (1) to rotate along the plane of the geometric central point of the driving roller (1) through the roller supporting shaft (11).
2. The control method of an omnidirectional drive wheel train assembly according to claim 1, wherein the rotation of the steering reduction motor (6) is controlled during the rolling of the drive roller (1) during the steering driving.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810488049.4A CN108790589B (en) | 2018-05-21 | 2018-05-21 | Control method of omnidirectional drive gear train assembly |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810488049.4A CN108790589B (en) | 2018-05-21 | 2018-05-21 | Control method of omnidirectional drive gear train assembly |
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| CN108790589A CN108790589A (en) | 2018-11-13 |
| CN108790589B true CN108790589B (en) | 2020-09-15 |
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| CN201810488049.4A Active CN108790589B (en) | 2018-05-21 | 2018-05-21 | Control method of omnidirectional drive gear train assembly |
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| CN110040195A (en) * | 2019-05-20 | 2019-07-23 | 山东洛杰斯特物流科技有限公司 | The chassis combined based on steering wheel with active universal wheel in omnidirectional fork truck AGV |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN201592632U (en) * | 2010-01-19 | 2010-09-29 | 金华法 | Omnidirectional driving wheel |
| CN102673676B (en) * | 2012-04-13 | 2015-11-25 | 机科发展科技股份有限公司 | Many train heavy duty mobile robot AGV |
| JP6003935B2 (en) * | 2014-03-24 | 2016-10-05 | 株式会社日本自動車部品総合研究所 | Traveling body |
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