CN110949120A - Differential driving device of non-independent suspension - Google Patents
Differential driving device of non-independent suspension Download PDFInfo
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- CN110949120A CN110949120A CN201911424818.5A CN201911424818A CN110949120A CN 110949120 A CN110949120 A CN 110949120A CN 201911424818 A CN201911424818 A CN 201911424818A CN 110949120 A CN110949120 A CN 110949120A
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- 239000000725 suspension Substances 0.000 title claims abstract description 126
- 230000033001 locomotion Effects 0.000 claims abstract description 17
- 230000000712 assembly Effects 0.000 claims abstract description 13
- 238000000429 assembly Methods 0.000 claims abstract description 13
- 230000007704 transition Effects 0.000 claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims description 26
- 230000001419 dependent effect Effects 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 claims description 12
- 239000003638 chemical reducing agent Substances 0.000 claims description 8
- 230000007423 decrease Effects 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 5
- 230000006835 compression Effects 0.000 description 6
- 238000007906 compression Methods 0.000 description 6
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000008713 feedback mechanism Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
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- Mechanical Engineering (AREA)
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- Combustion & Propulsion (AREA)
- Transportation (AREA)
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- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention discloses a differential driving device of a non-independent suspension, which comprises a frame, two sets of independent driving wheel assemblies, a middle supporting piece and a rotating assembly, wherein the two sets of independent driving wheel assemblies are arranged on the frame; the driving wheel assemblies are arranged on two sides of the frame and used for differential motion; the intermediate support is mounted on the frame by a suspension system; the rotating component is rotationally connected to the middle supporting piece; the suspension system adopts a non-independent suspension structure, and comprises two suspension structures respectively matched with two driving wheel assemblies, each suspension structure comprises at least one suspension, the two suspensions are fixedly connected with an intermediate support, and a transition structure with a guiding function is installed between every two adjacent suspensions. The differential driving device can ensure that the driving wheel is effectively contacted with the ground on the road surfaces of uneven roads, small obstacles, factories with slopes, parking lots and the like under the condition of high bearing capacity; the method is particularly applicable to ultrathin wheeled robots.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a differential driving device of a non-independent suspension.
Background
The whole height of the existing high-load AGV is high, and the height of most of the AGV bodies is larger than 250mm, so that the AGV cannot directly enter equipment with lower bottoms such as cars, industrial trucks and the like to be transported and carried.
Patent No. 201220549561.3 "an AGV differential drive unit" patent right has ended, discloses an AGV differential drive unit, including unit body, drive wheel and rotating assembly, this internal fixed block that sets up of unit, the fixed block with the driving wheel bearing is connected, rotating assembly set up in unit body upper portion. The invention adopts a compact structural design, so that the driving structure is flexible to rotate, the axial center is led out and can freely rotate for 360 degrees, the driving bearing seat adopts a double-tapered roller bearing, the compression strength of the driving structure is ensured, the net height is greatly reduced, the height space is saved, and the application range of the AGV on the existing tool car of a client is further improved.
The invention discloses a single-drive differential driving system and an AGV trolley comprising the same, and relates to the single-drive differential driving system and the AGV trolley comprising the same, wherein the driving system comprises a driving mechanism and a supporting mechanism, the supporting mechanism comprises a frame body and a fixed shaft penetrating through the left side plate and the right side plate of the frame body, the driving mechanism comprises a crossed roller bearing arranged in the middle of the frame body, a pair of driving motors symmetrically arranged at two sides of the crossed roller bearing and a pair of driving wheels sleeved at two ends of the fixed shaft and respectively in transmission connection with the driving motor at one corresponding side. Compared with the prior art, the invention adopts two independent driving motors to respectively drive the driving wheel on the corresponding side to independently rotate, and the requirement of differential driving on the road surface is well solved under the matching of the driving mechanism and the supporting mechanism.
Although the two patent schemes can reduce the overall height of the AGV, a suspension system for adapting to complex ground is lacked, and effective contact between a driving wheel and the ground is difficult to ensure when the AGV runs on the road surfaces such as uneven roads, small obstacles, factories with slopes, parking lots and the like under the condition of high bearing capacity; and a 360-degree rotation angle measurement feedback mechanism is lacked, the rotation angle of the differential driving structure cannot be accurately controlled, and the running effect of the wheeled robot can be influenced by the problems.
Disclosure of Invention
The invention aims to provide a differential driving device of a non-independent suspension, aiming at overcoming the defects of the prior art.
The purpose of the invention is realized by the following technical scheme: a differential driving device of a non-independent suspension comprises a frame, two sets of independent driving wheel assemblies, a middle supporting piece and a rotating assembly; the driving wheel assemblies are arranged on two sides of the frame and used for differential motion; the intermediate support is mounted on the frame by a suspension system; the rotating assembly is rotatably connected to the middle supporting piece; the suspension system adopts a non-independent suspension structure and comprises two suspension structures respectively matched with two driving wheel assemblies, each suspension structure comprises at least one suspension, the two suspensions are fixedly connected with an intermediate support, and a transition structure with a guiding function is arranged between every two adjacent suspensions.
Furthermore, the driving wheel assembly comprises driving wheels, a transmission mechanism, a motor and a speed reducer, the two driving wheels are driven by the independent motor and the independent speed reducer through the transmission mechanism respectively, and the differential driving device can realize omnidirectional movement such as straight movement, transverse movement, rotation and the like by controlling the running speed of the two driving wheels.
Further, the transmission mechanism adopts one or more groups of gear transmission or chain transmission; one specific example is: the gear set is composed of three gears, namely a driving gear, an intermediate gear and a driven gear which are meshed in sequence, and the driving gear is connected with an output shaft of the speed reducer through a key and is supported by a bearing; the driven gear is connected with the driving wheel shaft and is supported by a back-to-back angular contact bearing.
Further, the transition structure is realized by matching a guide rail and a sliding block.
Further, the suspension comprises an elastic element and at least one guide mechanism, and the up-and-down telescopic motion is realized through the guide mechanism, and the suspension comprises the following specific examples: the guide mechanism is realized by combining a sliding element with a guide shaft or by combining a guide rail with a sliding block; the sliding element may be a linear bearing, a sliding bearing or a wear resistant material.
Further, when each part of the suspension structure of the suspension system is provided with only one stage of suspension, the suspension is provided with a pre-tightening structure which can pre-tighten the elastic element and adjust the initial height of the differential driving device, and a specific example is as follows: the screw can be matched with the nut seat.
Further, when each part of the suspension structure of the suspension system includes at least two stages of suspensions, the primary suspension is connected with the intermediate support, the primary suspension has a pre-pressing structure for providing an initial pressing force to the elastic member thereof, and the final suspension is mounted on the frame.
Further, the rigidity of the elastic elements of the suspensions of the respective stages is sequentially reduced.
Furthermore, a swinging bearing is arranged at the joint of the guide structure of the primary suspension and the intermediate support piece, the swinging bearing can adopt a self-aligning ball bearing and a joint bearing, and when the guide mechanism is realized by adopting the matching of a sliding element and a guide shaft, the guide shaft passes through the swinging bearing, so that the guide shaft is allowed to have a certain swinging angle relative to the intermediate support piece; when the guide mechanism is realized by matching the guide rail with the sliding block, the guide rail is used as a moving end, one end of the guide rail is matched with the sliding block, and the other end of the guide rail is matched with the oscillating bearing through a cylindrical shaft structure (the tail end of the guide rail can be set into the cylindrical shaft structure, and the tail end of the guide rail can also be matched with the oscillating bearing through an adapter of the cylindrical shaft structure); preferably, a limit block is connected to the shaft end of the guide shaft in a threaded manner, and the limit block is matched with a slotted hole of the middle support piece to limit the guide shaft to swing in one direction;
the guide structure of the secondary suspension to the final suspension is composed of a sliding element (preferably a linear bearing) capable of aligning and a guide shaft, wherein the guide shaft penetrates through the sliding element and can swing at a small angle in the sliding element;
the transition structure is composed of a guide rail, a ball plunger and a sliding block, wherein the ball plungers are embedded into the sliding block, the ball heads of the ball plungers are in contact with the bottom surface of the guide rail, and can be compressed, so that the transition structure can move up and down for guiding and allows a certain pitch angle.
Furthermore, a stopping structure is arranged on the middle supporting piece, a sector structure is arranged on the rotating assembly, and when the sector structure rotates to the stopping structure, the rotating assembly stops moving to realize angle limiting; zero position scribed lines are arranged on the middle supporting piece and the rotating assembly and used for adjusting zero positions.
Furthermore, an angle sensor is arranged in the rotating assembly, and the rotating angle of the whole differential driving device is measured and fed back in real time; and the zero position of the angle sensor is adjusted according to the mechanical zero position, so that the rotation control precision is improved.
Further, a load board is mounted on the top of the rotating assembly.
Furthermore, the rotating assembly is connected with the intermediate support through two angular contact bearings, so that high bearing capacity and rotating motion of the rotating assembly are achieved.
Furthermore, the device also comprises an electrical box arranged at the front and the back of the frame, and the controller, the driver and the battery can be arranged in the electrical box, thereby realizing independent driving.
A differential-driven wheeled robot comprises at least one differential driving device.
The invention has the beneficial effects that: according to the differential driving device, if the non-independent suspension only adopts the primary suspension, the spring can be compressed by a certain amount after loading, and the driving wheel can jump up and down in the movement process, so that the differential driving device is suitable for the unevenness of the ground and obstacle crossing; if a secondary suspension is added, the spring of the primary suspension can lock an initial pressure, the spring of the secondary suspension does not change or changes less due to the initial pressure when the primary suspension is loaded, and the spring of the secondary suspension has a certain compression amount, so that the secondary suspension can realize the downward jump of a driving wheel in the loading motion process, and the primary suspension realizes the upward jump of the driving wheel; if a multi-stage suspension is added, the rigidity of different stages of suspension springs is different, and the multi-stage suspension is combined to realize the jumping-up and jumping-down actions of the driving wheel. The load of the multi-stage suspension structure can be transmitted in a grading way, the deformation of elastic elements with different rigidity is different, and the adaptability and obstacle crossing performance of wheels to the unevenness of the ground are improved according to the difference of the deformation; by adopting a multi-stage suspension structure, the whole height of the wheel type robot can be kept unchanged or slightly changed under the two conditions of no load and heavy load, so that the wheel type robot is favorable for directly diving into lower-bottom equipment such as cars, industrial vehicles and the like. The differential driving device can ensure that the driving wheel can be effectively contacted with the ground on the road surfaces of uneven roads, small obstacles, factories with slopes, parking lots and the like under the condition of high bearing capacity; the method is particularly applicable to ultrathin wheeled robots.
Drawings
FIG. 1 is a schematic view of a differential drive of a dependent suspension of the present invention 1;
FIG. 2 is a top plan view of a differential drive of a dependent suspension of the present invention;
FIG. 3 is a schematic view of a differential drive of a dependent suspension of the present invention 2;
FIG. 4 is a schematic view of a dependent suspension configuration of the present invention;
FIG. 5 is a perspective view of the suspension structure 1 of the present invention;
FIG. 6 is a perspective view 2 of the suspension arrangement of the present invention;
FIG. 7 is a cross-sectional view of a differential drive of the dependent suspension of the present invention;
FIG. 8 is a partial cross-sectional view of a secondary suspension of the present invention;
FIG. 9 is a schematic view of the guide rail structure of the present invention;
FIG. 10 is a schematic view of a slider configuration according to the present invention;
FIG. 11 is a schematic view of a rotating shaft according to the present invention;
in the figure, a frame 1, a driving wheel assembly 2, an intermediate support 3, a rotating assembly 4, an electrical box 5, a driving wheel 6, a transmission mechanism 7, a motor 8, a speed reducer 9, a suspension structure 10, a primary suspension 11, a secondary suspension 12, a transition structure 13, a screw 14, a compression element 15, a primary guide mechanism 16, a suspension support seat 17, a limit block 18, a swing bearing 19, a nut seat 20, a guide rail 21, a sliding block 22, a secondary guide mechanism 23, a primary spring 24, a secondary spring 25, a threaded hole 26, a rotating shaft element 27, a coupling shaft element 28, an angular contact bearing 29, an absolute encoder 30, a stop structure 31, a connecting element 32, a zero position marking line 33, a fan-shaped structure 34, a positioning pin 35 and an end face fixing.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples.
As shown in fig. 1 and 2, the present embodiment provides a differential driving device for a dependent suspension, which includes a frame 1, two independent sets of driving wheel assemblies 2, an intermediate support 3 and a rotating assembly 4; the driving wheel assemblies 2 are arranged on two sides of the frame 1; the middle support 3 is arranged on the frame 1 through a suspension system, and the rotating assembly 4 is rotatably connected to the middle support 3; an electrical box 5 is arranged at the front and the back of the frame 1, and a controller, a driver and a battery can be arranged in the electrical box 5.
As shown in fig. 3, the driving wheel assembly 2 includes a driving wheel 6, a transmission mechanism 7, a motor 8 and a speed reducer 9, wherein the two driving wheels 6 are respectively installed at two ends of the frame 1; the transmission mechanism 7 adopts a gear transmission mode, a gear set consists of three gears, namely a driving gear, a middle gear and a driven gear which are sequentially meshed, and the driving gear is connected with an output shaft of the speed reducer 9 through a key and is supported by a bearing; the driven gear is connected with the driving wheel shaft and is supported by a back-to-back angular contact bearing.
As shown in fig. 4, the suspension system adopts a non-independent suspension structure, and comprises two suspension structures 10 respectively matched with two driving wheel assemblies, the suspension structure is shown in fig. 5 and 6, each suspension structure 10 comprises a primary suspension 11 and a secondary suspension 12, as shown in the suspension section views in fig. 7 and 8, the two primary suspensions 11 are fixedly connected with the intermediate support 3, a transition structure 13 with a guiding function is arranged between the primary suspensions 11 and the secondary suspensions 12, and the secondary suspensions 12 are arranged on the frame 1.
The primary suspension 11 comprises a primary spring 24 and two primary guide mechanisms 16, wherein the primary spring 24 is a die spring and is arranged in a suspension support seat 17, a compression piece 15 is used for compressing the primary spring 24, the two primary guide mechanisms 16 are combined by adopting a linear bearing and a guide shaft, the linear bearing of the primary guide mechanism 16 is arranged on the suspension support seat 17, the guide shaft of the primary guide mechanism 16 passes through a swinging bearing 19, the swinging bearing 19 adopts a self-aligning ball bearing, the swinging bearing 19 is arranged at the joint of the compression piece 15 and the middle support piece 3, a limiting block 18 is in threaded connection with the shaft end of the guide shaft, and the limiting block 18 is matched with a slotted hole of the middle support piece 3, so that the guide shaft is allowed to have a certain swinging angle relative to the middle support piece 3 and only swings in one; the primary suspension 11 can adjust the initial height of the differential drive by pre-tightening the primary spring 24 through the screw 14 and the nut seat 20.
The transition structure 13 comprises guide rails 21 and sliders 22, the two guide rails 21 are mounted on the frame 1, the sliders 22 are mounted on the suspension support seat 17, as shown in fig. 9 and 10, a plurality of ball plungers can be mounted in threaded holes 26 in the sliders 22, the ball heads of the ball plungers are in contact with the bottom surfaces of the guide rails 21, the ball heads of the ball plungers can be compressed, and the transition structure 13 can be guided by up-and-down movement and also allows a certain pitch angle.
The spring rate of the primary suspension 11 is higher than that of the secondary suspension 12; after the load is loaded, the weight can be transmitted to the secondary suspension through the primary suspension, the spring of the primary suspension can lock an initial pressure, the spring does not change or changes a little, the spring of the secondary suspension has a certain compression amount, the secondary suspension can realize the downward jump of the driving wheel in the movement process, and the primary suspension realizes the upward jump of the driving wheel; the two driving wheels can swing transversely together through a non-independent suspension system, and the driving device is suitable for unevenness of the ground and obstacle crossing.
As shown in fig. 7, the rotating assembly 4, including the rotating shaft 27, is mounted on the intermediate support 3 through two angular contact bearings 29, the built-in absolute encoder 30 is fixedly connected with the rotating shaft 27 through a connecting member 32, an output shaft of the absolute encoder 30 is connected with the coupling member 28, the other end of the coupling member 28 is fixedly connected with the end surface fixing member 36, and the end surface fixing member 36 is fixedly connected to the intermediate support 3, so that the rotating assembly 4 can rotate relative to the intermediate support 3, and the absolute encoder 30 measures and feeds back the rotation angle.
As shown in fig. 11, the rotation shaft member 27 is provided with a zero position scribed line 33, a sector structure 34 with an angle of 60 ° in the radial direction, and a positioning pin 35; as shown in fig. 2, the middle support member 3 is provided with a stop structure 31, and when the sector structure 34 rotates to the stop structure 31, the rotating shaft member 27 stops moving, so as to realize angle limit; zero position scribed lines 33 are arranged on the intermediate support member 3 and the rotating assembly 4, and the zero position of the absolute encoder can be calibrated according to the zero position scribed lines, so that the rotation control precision is improved; a positioning pin 35 is provided at the top of the rotating shaft 27 to facilitate installation of the robot load board.
The present invention is not limited to the above-described embodiments, and those skilled in the art can implement the present invention in other various embodiments based on the disclosure of the present invention. Therefore, the design of the invention is within the scope of protection, with simple changes or modifications, based on the design structure and thought of the invention.
Claims (10)
1. A differential driving device of a non-independent suspension is characterized by comprising a frame, two sets of independent driving wheel assemblies, a middle supporting piece and a rotating assembly; the driving wheel assemblies are arranged on two sides of the frame and used for differential motion; the intermediate support is mounted on the frame by a suspension system; the rotating assembly is rotatably connected to the middle supporting piece; the suspension system adopts a non-independent suspension structure and comprises two suspension structures respectively matched with two driving wheel assemblies, each suspension structure comprises at least one suspension, the two suspensions are fixedly connected with an intermediate support, and a transition structure with a guiding function is arranged between every two adjacent suspensions.
2. A differential drive for a dependent suspension according to claim 1 wherein the suspension includes a resilient member and at least one guide means for providing the telescopic up and down movement, the guide means being provided by a slide member in cooperation with a guide shaft or by a guide rail in cooperation with a slide block.
3. The differential drive device of a dependent suspension as claimed in claim 2 wherein when each suspension structure of the suspension system has only one stage of suspension, the suspension has a pre-tightening structure capable of pre-tightening the elastic element to adjust the initial height of the differential drive device;
when each part of the suspension structure of the suspension system comprises at least two stages of suspensions, the first stage of suspension is connected with the intermediate support, the first stage of suspension is provided with a pre-pressing structure for providing initial pressure for an elastic element of the first stage of suspension, and the final stage of suspension is arranged on the frame.
4. A differential drive of a dependent suspension as claimed in claim 2 wherein the spring element stiffness of each stage of the suspension decreases in sequence.
5. A differential drive for a dependent suspension as claimed in claim 2 wherein the guide structure of the primary suspension is provided with a rocking bearing at the junction with the intermediate support, the guide structure being implemented using a sliding element in cooperation with a guide shaft which passes through the rocking bearing to allow the guide shaft to have a certain rocking angle relative to the intermediate support; when the guide mechanism is realized by matching the guide rail with the sliding block, the guide rail is used as a moving end, one end of the guide rail is matched with the sliding block, and the other end of the guide rail is matched with the oscillating bearing through a cylindrical shaft structure;
the guide structure of the second-stage to last-stage suspension consists of a sliding element capable of aligning and a guide shaft, wherein the guide shaft passes through the sliding element capable of aligning and can swing at a small angle in the sliding element;
the transition structure is composed of a guide rail, a ball plunger and a sliding block, wherein the ball plungers are embedded into the sliding block, and the ball heads of the ball plunger are in contact with the bottom surface of the guide rail.
6. A differential drive for a dependent suspension according to claim 1 wherein said transition structure is provided by rail and block cooperation.
7. A differential drive for a dependent suspension as claimed in claim 1 wherein a stop is provided on said intermediate support member and a sector is provided on said rotary member, such that when the sector rotates to the stop, the rotary member stops moving and an angular limit is achieved; zero position scribed lines are arranged on the middle supporting piece and the rotating assembly and used for adjusting zero positions.
8. The differential drive of a dependent suspension as claimed in claim 1 wherein the drive wheel assembly comprises a drive wheel, a transmission, a motor and a reducer, the two drive wheels are driven by the independent motor and reducer respectively through the transmission, and the differential drive can achieve omnidirectional movement such as straight movement, transverse movement, rotation, etc. by controlling the operating speed of the two drive wheels.
9. A differential drive for a dependent suspension as claimed in claim 1 wherein a load plate is mounted on top of said rotating assembly; an angle sensor is arranged in the rotating assembly, and the rotating angle of the whole differential driving device is measured and fed back in real time; the rotating assembly is connected with the intermediate support member through two angular contact bearings, so that high bearing capacity and rotating motion of the rotating assembly are achieved.
10. A differentially driven wheeled robot comprising at least one differential drive as claimed in any one of claims 1 to 9.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911424818.5A CN110949120B (en) | 2019-12-31 | 2019-12-31 | Differential driving device of non-independent suspension |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911424818.5A CN110949120B (en) | 2019-12-31 | 2019-12-31 | Differential driving device of non-independent suspension |
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| CN110949120A true CN110949120A (en) | 2020-04-03 |
| CN110949120B CN110949120B (en) | 2024-04-19 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111547158A (en) * | 2020-04-30 | 2020-08-18 | 杭州极木科技有限公司 | Ultra-thin type AGV differential drive arrangement |
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| US5178357A (en) * | 1989-08-16 | 1993-01-12 | Platus David L | Vibration isolation system |
| WO2016015759A1 (en) * | 2014-07-30 | 2016-02-04 | Gravity Transport System S.A. | Rail vehicle braking system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111547158A (en) * | 2020-04-30 | 2020-08-18 | 杭州极木科技有限公司 | Ultra-thin type AGV differential drive arrangement |
| CN111547158B (en) * | 2020-04-30 | 2021-05-07 | 杭州极木科技有限公司 | Ultra-thin type AGV differential drive arrangement |
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| Publication number | Publication date |
|---|---|
| CN110949120B (en) | 2024-04-19 |
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