CN112092557A - Differential driver of AGV dolly - Google Patents
Differential driver of AGV dolly Download PDFInfo
- Publication number
- CN112092557A CN112092557A CN202011089171.8A CN202011089171A CN112092557A CN 112092557 A CN112092557 A CN 112092557A CN 202011089171 A CN202011089171 A CN 202011089171A CN 112092557 A CN112092557 A CN 112092557A
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- CN
- China
- Prior art keywords
- frame
- mounting
- rod body
- connecting frame
- wheel
- 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
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
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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
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
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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
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/043—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel
- B60K17/046—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel with planetary gearing having orbital motion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Handcart (AREA)
Abstract
The invention provides a differential driver of an AGV (automatic guided vehicle), which comprises an installation frame, a rotary support bearing, an angle sensor and two groups of wheel assemblies, wherein the rotary support bearing, the angle sensor and the two groups of wheel assemblies are arranged on the installation frame; the angle sensor is positioned beside the slewing support bearing, and a rotating shaft is installed at the rear side of the mounting rack; the two groups of wheel assemblies have the same structure and are respectively arranged on the left side and the right side of the mounting rack; the wheel assembly comprises a connecting frame, a driving device, a speed reducing device, a damping device and wheels; the rear side of the connecting frame is hinged with the rotating shaft; the front side of the connecting frame is connected with the mounting frame through a damping device; the driving device is arranged on the connecting frame and is positioned at one side close to the mounting frame; the wheels are arranged on the connecting frame and positioned on one side far away from the mounting frame; the driving device drives the wheels to rotate through the speed reducing device; embodies this practical job stability is higher to easy to assemble and dismantlement.
Description
Technical Field
The invention relates to the technical field of AGV trolleys, in particular to a differential driver of an AGV trolley.
Background
Two wheels of a conventional differential driver of an AGV trolley are connected through a shock absorber, the two wheels are located in the same axial direction due to the structure, in the actual use process, when the ground contacted with one wheel is sunken or convex, the other wheel is driven to be in an inclined state, the contact area with the ground is reduced, the running stability is reduced, especially in the turning process, the rotating speeds of the two wheels are different, if one wheel is bumpy, the other wheel is also tilted to be reduced in contact area with the bottom surface, the precision of the controlled turning angle is reduced, and therefore improvement is needed.
Disclosure of Invention
It is an object of the present invention to provide a differential drive for an AGV cart that solves the problems noted in the background.
In order to achieve the above purpose, the invention provides the following technical scheme:
a differential driver of an AGV trolley comprises a mounting rack, a rotary support bearing, an angle sensor and two groups of wheel assemblies, wherein the rotary support bearing, the angle sensor and the two groups of wheel assemblies are mounted on the mounting rack; the angle sensor is positioned beside the slewing support bearing, and a rotating shaft is installed at the rear side of the mounting rack; the two groups of wheel assemblies have the same structure and are respectively arranged on the left side and the right side of the mounting rack; the wheel assembly comprises a connecting frame, a driving device, a speed reducing device, a damping device and wheels; the rear side of the connecting frame is hinged with the rotating shaft; the front side of the connecting frame is connected with the mounting frame through a damping device; the driving device is arranged on the connecting frame and is positioned at one side close to the mounting frame; the wheels are arranged on the connecting frame and positioned on one side far away from the mounting frame; the driving device drives the wheels to rotate through the speed reducing device.
Further describing the present invention, the slewing support bearing has an inner race and an outer race; the inner ring is fixed at the middle position above the mounting frame; the outer ring has external teeth; the input end of the angle sensor is provided with a gear meshed with the external teeth of the outer ring.
The invention is further described, wherein the damping device comprises a spring, a rod body, a rod sleeve, a first connecting piece and a second connecting piece; the upper end of the rod body is fixed on the mounting frame through a first connecting piece; the rod sleeve is sleeved below the rod body, and the lower end of the rod sleeve is fixed on the connecting frame through a second connecting piece; the spring sleeve is arranged between the rod body and the rod sleeve, and two ends of the spring sleeve respectively push against the rod body and the rod sleeve.
For further description of the invention, the rod sleeve is internally provided with a through hole for installing the rod body; the upper end of the through hole is provided with a limiting boss, and the lower end of the through hole is provided with a pin hole; the front end of the connecting frame is provided with two connecting plates; the two connecting plates are respectively corresponding to the left side and the right side of the pin hole; the second connecting piece comprises a positioning pin and a locking pin; one end of the positioning pin is abutted against the connecting plate, and the other end of the positioning pin penetrates through the two connecting plates and the pin hole; the locking pin is inserted at the other end of the positioning pin; the lower end of the rod body is fixed with a limiting sheet.
The invention is further described, the wheel comprises a base frame and a rubber wheel arranged on the periphery of the base frame; the speed reducer adopts a planetary speed reducer and is arranged in the base frame; the output end of the speed reducing device is fixedly connected with the base frame; the output end of the motor is connected with the input end of the speed reducing device.
The invention has the beneficial effects that:
according to the invention, the rear ends of the two groups of wheel assemblies are hinged with the rotating shaft arranged on the mounting frame, the front ends of the two groups of wheel assemblies are respectively connected with the mounting frame through the damping device, when one wheel contacts with the bottom surface of the bulge or the depression in the actual walking process, the wheel can be independently buffered through the damping device connected with the wheel assembly, the wheel independently rotates and jolts around the rotating shaft, and the other wheel is not influenced, so that the stability of the integral operation is stronger, the walking control precision is higher, and in addition, the two groups of wheel assemblies in the design are independently installed, and the installation, the disassembly and the maintenance are more convenient.
Drawings
FIG. 1 is an overall block diagram of the present invention;
FIG. 2 is a bottom view of the overall structure of the present invention;
FIG. 3 is a block diagram of the wheel assembly of the present invention;
fig. 4 is a sectional structural view of the shock absorbing device of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
as shown in fig. 1-4, the differential driver of the AGV includes a mounting frame 1, a rotary support bearing 2, an angle sensor 3 and two sets of wheel assemblies 4, wherein the rotary support bearing 2, the angle sensor 3 and the two sets of wheel assemblies 4 are mounted on the mounting frame 1; the angle sensor 3 is positioned beside the slewing bearing 2, and a rotating shaft 11 is installed at the rear side of the mounting rack 1; the two groups of wheel assemblies 4 are identical in structure and are respectively arranged on the left side and the right side of the mounting rack 1; the wheel assembly 4 comprises a connecting frame 41, a driving device 42, a speed reducing device 43, a damping device 44 and wheels 45; the rear side of the connecting frame 41 is hinged with the rotating shaft 11; the front side of the connecting frame 41 is connected with the mounting frame 1 through a damping device 44; the driving device 42 is installed on the connecting frame 41 and is positioned at one side close to the mounting frame 1; the wheels 45 are arranged on the connecting frame 41 and are positioned on one side far away from the mounting frame 1; the driving device 42 drives the wheels 45 to rotate through the speed reducing device 43; two sets of wheel subassembly 4 of this design have set up damping device 44 respectively and have been located the front end and be connected with mounting bracket 1, the link 41 rear end of wheel subassembly 4 then is articulated with pivot 11, thereby when single wheel 45 runs into the ground of jolting in the driving process, this gyro wheel can cushion it through damping device 44 alone, the in-process of buffering, link 41 on this wheel subassembly 4 then rotates round the axle center of pivot 11, two wheels 45 walking in-process do not influence each other, thereby can improve the stability of walking.
The slewing bearing 2 has an inner ring 21 and an outer ring 22; the inner ring 21 is fixed at the middle position above the mounting frame 1, a wire passing hole is formed in the central position, corresponding to the rotary support bearing 2, of the mounting frame 1, and the wire passing hole is used for allowing a power supply wire to penetrate through in the mounting process, so that wiring is facilitated; the outer ring 22 has external teeth 221; the input of angle sensor 3 has the gear 31 with the external tooth 221 meshing of outer lane 22, the outer lane 22 of slewing bearing 2 is fixed in the bottom of AGV dolly, angle sensor 3 and control system signal connection, control system control and drive arrangement 42 signal connection, thereby the turn of two drive arrangement 42 of control system control AGV dolly, the in-process of turning, gear 31 rotates along with mounting bracket 1, and slewing bearing 2's outer lane 22 is fixed motionless, thereby gear 31 meshes with the external tooth 221 on slewing bearing 2's the outer lane 22 and takes place the rotation, thereby gear 31 rotates the back, receive the corner signal on the angle sensor 3 and transmit to control system, control system is according to the rotational speed of two drive arrangement 42 of received signal real-time control, thereby can the stable control turn angle degree.
The shock-absorbing device 44 includes a spring 441, a rod body 442, a rod sleeve 443, a first connecting member 444 and a second connecting member 445; the upper end of the rod body 442 is fixed on the mounting rack 1 through a first connecting piece 444; the rod sleeve 443 is sleeved below the rod body 442, and the lower end of the rod sleeve is fixed on the connecting frame 41 through a second connecting piece 445; the spring 441 is sleeved between the rod body 442 and the rod sleeve 443, two ends of the spring are respectively pressed against the rod body 442 and the rod sleeve 443, flanges 4422 and 4434 are respectively arranged at the upper part of the rod body 442 and the lower part of the rod sleeve 443, and two ends of the spring 441 are pressed between the two flanges 4422 and 4434 to play roles of buffering and resetting.
The rod sleeve 443 has a through hole 4431 for mounting the rod body 442 therein; the upper end of the through hole 4431 is provided with a limit boss 4432, and the lower end is provided with a pin hole 4433; the front end of the connecting frame 41 is provided with two connecting plates 411; the two connecting plates 411 are respectively corresponding to the left side and the right side of the pin hole 4433; the second link 445 includes a dowel pin 4451 and a locking pin 4452; one end of the positioning pin 4451 is pressed against the connecting plate 411, and the other end of the positioning pin 4451 penetrates through the two connecting plates 411 and the pin hole 4433; the locking pin 4452 is inserted into the other end of the positioning pin 4451; a limiting sheet 4421 is fixed at the lower end of the rod body 442; in the balanced state in this design, the distance from the upper end of the limiting piece 4421 to the bottom of the limiting boss 4432 is 15mm, the distance from the lower end of the limiting piece 4421 to the upper end of the positioning pin 4451 is 20mm, and the limiting boss 4432 and the positioning pin 4451 perform the function of limiting the limiting piece 4421 up and down, so that in the bumping process, the upper limit distance of the upward movement and the lower limit distance of the downward movement of the front end of the connecting plate 411 are 20mm and 15mm respectively relative to the balanced state.
The wheel 45 comprises a base frame 451 and a rubber wheel 452 arranged on the periphery of the base frame 451; the speed reducing device 43 adopts a planetary speed reducer and is arranged in the base frame 451; the output end of the speed reducing device 43 is fixedly connected with the base frame 451; the output end of the motor is connected with the input end of the speed reducing device 43, the planetary speed reducer is integrated in the base frame 451 of the wheel 45, the space can be saved, the stability is higher, the driving device 42 adopts the motor, the two motors can be arranged oppositely, and the staggered installation is not needed.
The above description is not intended to limit the technical scope of the present invention, and any modification, equivalent change and modification of the above embodiments according to the technical spirit of the present invention are still within the technical scope of the present invention.
Claims (5)
1. A differential driver of an AGV trolley comprises a mounting rack, a rotary support bearing, an angle sensor and two groups of wheel assemblies, wherein the rotary support bearing, the angle sensor and the two groups of wheel assemblies are mounted on the mounting rack; angle sensor is located slewing support bearing side, its characterized in that: a rotating shaft is arranged at the rear side of the mounting rack; the two groups of wheel assemblies have the same structure and are respectively arranged on the left side and the right side of the mounting rack; the wheel assembly comprises a connecting frame, a driving device, a speed reducing device, a damping device and wheels; the rear side of the connecting frame is hinged with the rotating shaft; the front side of the connecting frame is connected with the mounting frame through a damping device; the driving device is arranged on the connecting frame and is positioned at one side close to the mounting frame; the wheels are arranged on the connecting frame and positioned on one side far away from the mounting frame; the driving device drives the wheels to rotate through the speed reducing device.
2. The differential drive for an AGV cart of claim 1, wherein: the slewing bearing is provided with an inner ring and an outer ring; the inner ring is fixed at the middle position above the mounting frame; the outer ring has external teeth; the input end of the angle sensor is provided with a gear meshed with the external teeth of the outer ring.
3. The differential drive for an AGV cart of claim 1, wherein: the damping device comprises a spring, a rod body, a rod sleeve, a first connecting piece and a second connecting piece; the upper end of the rod body is fixed on the mounting frame through a first connecting piece; the rod sleeve is sleeved below the rod body, and the lower end of the rod sleeve is fixed on the connecting frame through a second connecting piece; the spring sleeve is arranged between the rod body and the rod sleeve, and two ends of the spring sleeve respectively push against the rod body and the rod sleeve.
4. A differential drive for an AGV cart according to claim 3, further comprising: the rod sleeve is internally provided with a through hole for mounting the rod body; the upper end of the through hole is provided with a limiting boss, and the lower end of the through hole is provided with a pin hole; the front end of the connecting frame is provided with two connecting plates; the two connecting plates are respectively corresponding to the left side and the right side of the pin hole; the second connecting piece comprises a positioning pin and a locking pin; one end of the positioning pin is abutted against the connecting plate, and the other end of the positioning pin penetrates through the two connecting plates and the pin hole; the locking pin is inserted at the other end of the positioning pin; the lower end of the rod body is fixed with a limiting sheet.
5. The differential drive for an AGV cart of claim 1, wherein: the wheel comprises a base frame and a rubber wheel arranged on the periphery of the base frame; the speed reducer adopts a planetary speed reducer and is arranged in the base frame; the output end of the speed reducing device is fixedly connected with the base frame; the output end of the motor is connected with the input end of the speed reducing device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011089171.8A CN112092557A (en) | 2020-10-13 | 2020-10-13 | Differential driver of AGV dolly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011089171.8A CN112092557A (en) | 2020-10-13 | 2020-10-13 | Differential driver of AGV dolly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112092557A true CN112092557A (en) | 2020-12-18 |
Family
ID=73783260
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011089171.8A Pending CN112092557A (en) | 2020-10-13 | 2020-10-13 | Differential driver of AGV dolly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112092557A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112895828A (en) * | 2021-03-12 | 2021-06-04 | 机械工业第九设计研究院有限公司 | Take absorbing ultra-thin differential drive for AGV |
| CN115303385A (en) * | 2022-09-19 | 2022-11-08 | 河南卫特机器人有限公司 | Heavy-load AGV vehicle |
-
2020
- 2020-10-13 CN CN202011089171.8A patent/CN112092557A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112895828A (en) * | 2021-03-12 | 2021-06-04 | 机械工业第九设计研究院有限公司 | Take absorbing ultra-thin differential drive for AGV |
| CN115303385A (en) * | 2022-09-19 | 2022-11-08 | 河南卫特机器人有限公司 | Heavy-load AGV vehicle |
| CN115303385B (en) * | 2022-09-19 | 2023-12-26 | 河南卫特机器人有限公司 | Heavy load AGV vehicle |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: No. 5, Lingang Road, Wangniudun, Dongguan, Guangdong 523000 Applicant after: DONGGUAN ZHUOLAN AUTOMATION EQUIPMENT Co.,Ltd. Address before: No.17 Zhifu Road, Mowu community, Wanjiang District, Dongguan City, Guangdong Province 523000 Applicant before: DONGGUAN ZHUOLAN AUTOMATION EQUIPMENT Co.,Ltd. |
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| CB02 | Change of applicant information |