CN112193051A

CN112193051A - Drive wheel and AGV car

Info

Publication number: CN112193051A
Application number: CN202010904898.0A
Authority: CN
Inventors: 李伟达; 吴臣; 胡绪腾; 顾洪
Original assignee: Suzhou Bio Engin Robot Technology Co ltd
Current assignee: Suzhou Bio Engin Robot Technology Co ltd
Priority date: 2020-09-01
Filing date: 2020-09-01
Publication date: 2021-01-08

Abstract

The invention provides a driving wheel and an AGV (automatic guided vehicle), wherein the driving wheel comprises an input shaft, the input shaft is provided with a plurality of eccentric structures, each eccentric structure is provided with an external gear, a hub is sleeved outside the external gear, a circle of internal teeth capable of being meshed with the external teeth of the external gear are arranged on the inner side of the hub, the driving wheel further comprises a support assembly, the support assembly comprises a plurality of pin shafts, the external gear is provided with a plurality of pin holes distributed along the circumferential direction, the pin shafts penetrate through the pin holes of the external gears, the external gears perform translational motion with the center of mass as a circumferential track under the action of the input shaft and the pin shafts, and the external teeth of the external gears dial the internal teeth of the hub to drive the hub to rotate. The driving wheel and the AGV have the advantages that the driving, the transmission and the braking are integrally designed, the arrangement structure is compact, the whole size of the driving wheel is greatly reduced, and in addition, the brake is connected with the input shaft, so that the braking torque is small.

Description

Drive wheel and AGV car

Technical Field

The invention relates to a driving wheel and an AGV (automatic guided vehicle), in particular to an AGV driving wheel integrating driving, transmission and braking and an AGV.

Background

The AGV car is a transport vehicle with an automatic guiding device, can run along a specified route, has a safety protection function and functions, does not need a driver in industrial application, can set and control the running route and behavior of the AGV car through a computer and the like, has the characteristics of high efficiency, rapidness, automation, safety and the like, and is widely applied to the industries of logistics, storage and the like.

AGV dolly walking mainly has the drive wheel drive, and the drive structure on the market adopts the structure of motor plus external wheel hub of reduction gear more. Because the AGV drive wheel requires small, bears greatly, so require that the drive part small in size, the structure is exquisite, and reduction ratio and transmission moment of torsion are big. The rotating speed of the motor is high usually, so that the existing transmission structure is difficult to ensure high transmission ratio and high transmission torque under the condition of ensuring small volume. Most of the existing structures are that a motor and a speed reducer are connected to a hub in series, and the overall size of the structure is large.

In the structure, one end of the speed reducer is input, the other end of the speed reducer is output, and the brake can be only placed at the output end or the tail part of the motor; if the brake torque is placed at the output end, the requirement of the brake torque is larger; if the motor is arranged at the tail part of the motor, the volume is further increased.

Disclosure of Invention

The invention aims to provide a driving wheel and an AGV.

In order to solve the technical problem, the invention provides a driving wheel which comprises an input shaft, wherein the input shaft is provided with a plurality of eccentric structures, each eccentric structure is provided with an external gear, a hub is sleeved outside the external gear, a circle of internal teeth capable of being meshed with the external teeth of the external gear are arranged on the inner side of the hub, the driving wheel further comprises a support assembly, the support assembly comprises a plurality of pin shafts, the external gear is provided with a plurality of pin holes distributed along the circumferential direction, the pin shafts penetrate through the pin holes of the external gears, the external gears perform translational motion with the center of mass as a circumferential track under the action of the input shaft and the pin shafts, and the external teeth of the external gears dial the internal teeth of the hub to drive the hub to rotate.

Preferably, the bracket component still include first support, second support, first support include first support body, install first support body on first support body first end dish, the second support include second support body, install second support body on the second end dish, round pin axle subassembly include a plurality of round pins and respectively with a plurality of round pin axle matched with sleeve, a plurality of round pins along the setting of hoop range be in first end dish on, a plurality of sleeves are along the setting of annular range be in the second end dish on, first end dish and second end dish overlap respectively and locate the both ends of input shaft, it is a plurality of round pin axle insert respectively the sleeve in, make first end dish and second end dish detachable connect.

Preferably, both ends of the input shaft are respectively connected with a motor and a brake.

Preferably, the first end disc is provided with a first shaft hole, the second end disc is provided with a second shaft hole, and two ends of the input shaft respectively penetrate through the first shaft hole and the second shaft hole.

Preferably, a bearing is provided on each eccentric structure of the input shaft, and the external gear is mounted on the input shaft through the bearings.

Preferably, the input shaft is provided with two eccentric structures, the two eccentric structures are respectively provided with a first bearing and a second bearing, the first bearing is sleeved with a first external gear, and the second bearing is sleeved with a second external gear.

Preferably, a first rim and a second rim are further respectively arranged on two sides of the hub, the first end disc is inserted into the first rim, the second end disc is inserted into the second rim, the first end disc and the first rim are rotatably connected through a third bearing, and the second end disc and the second rim are rotatably connected through a fourth bearing.

Preferably, the two ends of the input shaft are respectively sleeved with a fifth bearing and a sixth bearing, the first end disc is rotatably connected with the input shaft through the fifth bearing, and the second end disc is rotatably connected with the input shaft through the sixth bearing.

The application also provides an AGV, the AGV include the drive wheel.

Preferably, the AGV includes a frame, the frame being mounted on a carriage assembly.

The driving wheel and the AGV have the advantages that the driving, the transmission and the braking are integrally designed, the arrangement structure is compact, the whole size of the driving wheel is greatly reduced, and in addition, the brake is connected with the input shaft, so that the braking torque is small.

Drawings

FIG. 1 is a schematic structural view of the drive wheel of the present application;

FIG. 2 is a schematic cross-sectional view of the drive wheel of the present application;

FIG. 3 is a schematic structural view of a first stent of the present application;

FIG. 4 is a cross-sectional structural schematic view of a first stent of the present application;

FIG. 5 is a schematic structural view of a second stent of the present application;

FIG. 6 is a cross-sectional structural view of a second stent of the present application;

FIG. 7 is a schematic structural view of the transmission assembly of the present application;

FIG. 8 is a cross-sectional structural schematic view of the transmission assembly of the present application;

FIG. 9 is a schematic structural view of the hub of the present application;

fig. 10 is a cross-sectional structural view of the hub of the present application.

Wherein: 1. a first bracket; 2. a second bracket; 3. a brake; 4. a motor; 5. a hub; 6. an input shaft; 11. a first bracket body; 12. a first end disc; 13. a first shaft hole; 14. a pin shaft; 15. a third bearing; 21. a second stent body; 22. a second end disc; 23. a second shaft hole; 24. a sleeve; 25. a fourth bearing; 51. a first rim; 52. a second rim; 53. internal teeth; 71. a first bearing; 72. a second bearing; 81. a first external gear; 82. a second external gear; 91. a fifth bearing; 92. and a sixth bearing.

Detailed Description

The present invention is further described below in conjunction with the following figures and specific examples so that those skilled in the art may better understand the present invention and practice it, but the examples are not intended to limit the present invention.

As shown in fig. 1 and 2, the present invention provides a driving wheel, which includes an input shaft 6, wherein the input shaft 6 has a plurality of eccentric structures, each eccentric structure is provided with an external gear, a hub 5 is sleeved outside the external gear, a circle of internal teeth 53 capable of meshing with the external teeth of the external gear is arranged inside the hub 5, the driving wheel further includes a bracket assembly, the bracket assembly includes a plurality of pins 14, the external gear is provided with a plurality of pin holes distributed circumferentially, the pins 14 pass through the pin holes of the external gears, the external gears perform translation with a center of mass as a circumferential track under the action of the input shaft 6 and the pins 14, and the external teeth of the external gears dial the internal teeth 53 of the hub 5 to drive the hub 5 to rotate. As shown in fig. 7 and 8, the input shaft 6 is provided with two eccentric structures, the two eccentric structures are respectively provided with a first bearing 71 and a second bearing 72, the first bearing 71 is sleeved with a first external gear 81, and the second bearing 72 is sleeved with a second external gear 82. And the two ends of the input shaft 6 are respectively connected with the motor 4 and the brake 3.

As shown in fig. 3 to 6, the rack assembly further includes a first rack 1 and a second rack 2, the first rack 1 includes a first rack body 11, a first end plate 12 mounted on the first rack body 11, the second bracket 2 comprises a second bracket body 21, a second end disc 22 arranged on the second bracket body 21, the pin 14 assembly comprises a plurality of pins 14 and sleeves 24 respectively matched with the pins 14, the pins 14 are arranged on the first end disc 12 in an annular arrangement, the sleeves 24 are arranged on the second end disc 22 in an annular arrangement, the first end disc 12 and the second end disc 22 are respectively sleeved at two ends of the input shaft 6, and the plurality of pin shafts 14 are respectively inserted into the sleeves 24, so that the first end disc and the second end disc 22 are detachably connected. The first end disc is provided with a first shaft hole 13, the second end disc 22 is provided with a second shaft hole 23, and two ends of the input shaft 6 respectively penetrate through the first shaft hole 13 and the second shaft hole 23.

As shown in fig. 9 and 10, a first rim 51 and a second rim 52 are respectively disposed on two sides of the hub 5, the first end disc 12 is inserted into the first rim 51, the second end disc 22 is inserted into the second rim 52, the first end disc 12 is rotatably connected to the first rim 51 through a third bearing 15, and the second end disc 22 is rotatably connected to the second rim 52 through a fourth bearing 25. The both ends of input shaft 6 still overlap respectively and be equipped with fifth bearing 91 and sixth bearing 92, first end dish 12 pass through fifth bearing 91 with input shaft 6 rotate mutually and be connected, second end dish 22 pass through sixth bearing 92 with input shaft 6 rotate mutually and be connected.

In the application, the tooth profile of the external teeth of the external gear can be cycloid, circular arc, involute or other tooth profiles, and the circular arc tooth profile can be replaced by a tooth socket and needle roller structure.

The internal teeth 53 of the hub 5 can be cycloid, circular arc, involute or other tooth profiles, the circular arc tooth profile can be replaced by a tooth socket and roller pin structure, the hub 5 can be of an integral structure, or the internal teeth 53 and the wheel can be separated, and can be fixedly connected by adopting the forms of threaded connection, welding, glue connection, riveting and the like.

The first bracket 1 and the second bracket 2 can be a single part and can also be fixedly connected in the forms of threaded connection, welding, glue connection, riveting and the like.

The application also provides an AGV, the AGV include the drive wheel. The AGV car include the frame, the frame install on the bracket component.

The driving wheel and the AGV have the advantages that the driving, the transmission and the braking are integrally designed, the arrangement structure is compact, the whole size of the driving wheel is greatly reduced, and in addition, the brake 3 is connected with the input shaft 6, so that the braking torque is convenient to be small.

The above-mentioned embodiments are merely preferred embodiments for fully explaining the present invention, and the scope of the present invention is not limited thereto. The equivalent substitution or change made by the technical personnel in the technical field on the basis of the invention is all within the protection scope of the invention. The protection scope of the invention is subject to the claims.

Claims

1. A driving wheel is characterized in that the driving wheel comprises an input shaft, the input shaft is provided with a plurality of eccentric structures, each eccentric structure is provided with an external gear, a hub is sleeved outside the external gear, the inner side of the hub is provided with a circle of internal teeth capable of being meshed with the external teeth of the external gear,

the driving wheel also comprises a bracket component, the bracket component comprises a plurality of pin shafts, the outer gear is provided with a plurality of pin holes distributed along the circumferential direction, the pin shafts penetrate through the pin holes of the outer gears,

the external gear is used for translating the mass center into a circular track under the action of the input shaft and the pin shaft, and the external gear of the external gear dials the internal gear of the hub to drive the hub to rotate.

2. The driving wheel as claimed in claim 1, wherein the supporting member further comprises a first support and a second support, the first support comprises a first support body and a first end plate mounted on the first support body, the second support comprises a second support body and a second end plate mounted on the second support body, the pin assembly comprises a plurality of pins and sleeves respectively matched with the pins, the pins are arranged on the first end plate in an annular arrangement, the sleeves are arranged on the second end plate in an annular arrangement, the first end plate and the second end plate are respectively sleeved on two ends of the input shaft, and the pins are respectively inserted into the sleeves to detachably connect the first end plate and the second end plate.

3. A drive wheel as defined in claim 1 wherein said input shaft is connected at each end to a motor and a brake.

4. A drive wheel in accordance with claim 2 wherein said first end plate is provided with a first axle hole and said second end plate is provided with a second axle hole, and wherein said input shaft has opposite ends passing through said first and second axle holes, respectively.

5. A drive wheel as defined in claim 1 wherein a bearing is provided on each eccentric configuration of said input shaft, said outer gear being mounted on said input shaft by said bearings.

6. A drive wheel as defined in claim 1 wherein said input shaft is provided with two eccentric structures, said two eccentric structures being provided with a first bearing and a second bearing, respectively, said first bearing being sleeved with a first external gear and said second bearing being sleeved with a second external gear.

7. A drive wheel as claimed in claim 2 wherein said hub is further provided on each side with a first rim and a second rim, said first end disc being inserted into said first rim and said second end disc being inserted into said second rim, said first end disc being rotatably connected to said first rim by a third bearing and said second end disc being rotatably connected to said second rim by a fourth bearing.

8. A drive wheel as defined in claim 2 wherein said input shaft is further sleeved at opposite ends thereof with a fifth bearing and a sixth bearing, respectively, said first end disc being rotatably connected to said input shaft by said fifth bearing, said second end disc being rotatably connected to said input shaft by said sixth bearing.

9. An AGV car which characterized in that: the AGV car includes the driving wheel of any one of claims 1 to 8.

10. The AGV vehicle of claim 9, wherein: the AGV car include the frame, the frame install on the bracket component.