CN113232716A - Controllable differential omnidirectional wheel set - Google Patents
Controllable differential omnidirectional wheel set Download PDFInfo
- Publication number
- CN113232716A CN113232716A CN202110377206.6A CN202110377206A CN113232716A CN 113232716 A CN113232716 A CN 113232716A CN 202110377206 A CN202110377206 A CN 202110377206A CN 113232716 A CN113232716 A CN 113232716A
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- China
- Prior art keywords
- wheel
- differential
- carrier
- motor reducer
- controllable
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- 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
- B62D5/0418—Electric motor acting on road wheel carriers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
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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)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention provides a controllable differential omnidirectional wheel set, which solves the technical problems that an unmanned carrier in the prior art has no suspension shock absorption and has weak adaptability to ground flatness. The device comprises a wheel carrier (1), a differential wheel assembly, a guide rod (10), an actuating cylinder (5), a sensor assembly and a turntable bearing (9), wherein differential wheel assemblies are connected to two ends of the wheel carrier (1), the guide rod (10) and the actuating cylinder (5) are integrated in the center position of the wheel carrier (1), the differential wheel assembly comprises a differential wheel (4), a motor reducer (3) and an independent chain transmission system (2), the differential wheel (4) is connected to the wheel carrier (1), the motor reducer (3) is fixed to the wheel carrier (1), and the motor reducer (3) is connected with the differential wheel (4) through the chain transmission system (2). The invention realizes steering through the differential wheel assembly, and controls the rotation angle and uneven ground self-adaptation of the wheel set through the sensor assembly.
Description
Technical Field
The invention relates to the technical field of AGV (automatic guided vehicle), in particular to a controllable differential omnidirectional wheel set.
Background
With the development of industry, more and more unmanned vehicles are applied to material transportation, and the unmanned vehicles are characterized by wheeled movement and have the advantages of quick action, high working efficiency, simple structure, strong controllability and good safety compared with walking, crawling or other non-wheeled mobile robots.
An AGV chassis and AGV as CN201922494708.8, including a chassis body; the mounting bracket is rotatably connected to the chassis body; the two differential driving wheels are arranged on the mounting bracket, and when the two differential driving wheels rotate at different rotating speeds, the mounting bracket can rotate relative to the chassis body; and the plurality of universal wheels are arranged on the chassis body and distributed around the mounting bracket, realize the omnidirectional movement and the rotation of the AGV chassis through the two differential driving wheels, and are matched with the two differential driving wheels, so that the chassis body is kept stable, a plurality of supporting points are provided, and the sliding friction between the AGV chassis and the ground when rotating is reduced.
This unmanned transport vehicle does not have suspension shock attenuation, and the wheelset is unsettled easily during the transportation, and it is weak to ground roughness adaptability.
Disclosure of Invention
The invention aims to provide a controllable differential omnidirectional wheel set to solve the technical problems that an unmanned carrier in the prior art has no suspension shock absorption and is weak in adaptability to ground flatness. The technical effects that can be produced by the preferred technical scheme in the technical schemes provided by the invention are described in detail in the following.
In order to achieve the purpose, the invention provides the following technical scheme:
a controllable differential omnidirectional wheel set comprises a wheel carrier, a differential wheel assembly, a guide rod, an actuating cylinder, a sensor assembly and a turntable bearing, wherein the sensor assembly and the turntable bearing are integrated on the actuating cylinder; the guide rod and the actuating cylinder are integrated in the center of the wheel frame;
the differential wheel assembly comprises a differential wheel, a motor reducer and an independent chain transmission system, the differential wheel is connected to the wheel frame, the motor reducer is fixed to the wheel frame, and the motor reducer is connected with the differential wheel through the chain transmission system.
The sensor assembly includes a displacement sensor, a pressure sensor, and an angle sensor.
Alternatively or preferably, the chain transmission system comprises a driving chain wheel fixed on the motor reducer and a driven chain wheel connected to the differential wheel, and the driving chain wheel and the driven chain wheel are externally wound with chains.
Optionally or preferably, the wheel carrier is provided with a connecting shaft, and two ends of the connecting shaft are connected with the two driven sprockets through bearings.
Alternatively or preferably, the driven sprocket is connected with a gear through a screw, and the gear is connected with a differential gear.
Alternatively or preferably, the driven chain wheel is provided with a hole for mounting the bearing, and the driven chain wheel is also provided with a threaded hole for connecting a gear.
Alternatively or preferably, the differential gear is internally provided with teeth for connecting gears.
The invention can at least produce the following technical effects:
the invention utilizes the differential wheel assembly to realize steering, and the precision of a steering angle is controlled by the signal feedback of the angle sensor; the self-adaptation to the unevenness of the road surface is realized through the suspension swing of the actuating cylinder and the signal feedback of the displacement sensor and the pressure sensor.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a cross-sectional view A-A of FIG. 1;
FIG. 3 is an enlarged view of a portion of FIG. 2 at B;
FIG. 4 is a top view of FIG. 1;
fig. 5 is an external structural view of the present invention.
In the figure: 1-wheel carrier; 2-chain transmission systems; 3-motor reducer; 4-a differential wheel; 5-an actuator cylinder; 6-a displacement sensor; 7-a pressure sensor; 8-an angle sensor; 9-a turntable bearing; 10-a guide bar; 11-a connecting shaft; 12-a driven sprocket; 13-gear.
Detailed Description
As shown in fig. 1-5, a controllable differential omnidirectional wheel set comprises a wheel carrier 1, a differential wheel assembly, a guide bar 10, a swing-suspended actuator cylinder 5, a sensor assembly integrated on the actuator cylinder 5 and a turntable bearing 9; the two ends of the wheel carrier 1 are both connected with differential wheel assemblies; the guide rod 10 and the actuating cylinder 5 are integrated at the central position of the wheel frame 1;
the differential wheel assembly comprises a differential wheel 4, a motor reducer 3 and an independent chain transmission system 2; the differential wheel 4 is connected to the wheel carrier 1; the motor reducer 3 is fixed on the wheel carrier 1; the motor reducer 3 is connected with a differential wheel 4 through a chain transmission system 2, and generates speed difference through two groups of differential wheel assemblies to form wheel set steering;
the sensor assembly comprises a displacement sensor 6, a pressure sensor 7 and an angle sensor 8, and the self-adaptive shrinkage of the wheel set is controlled through signal feedback of the displacement sensor 6 and the pressure sensor 7, so that the longitudinal unevenness of the road surface is adjusted.
As an alternative embodiment, the chain transmission system 2 comprises a driving sprocket fixed on the motor reducer 3, a driven sprocket 12 connected on the differential gear 4; chains are wound outside the driving chain wheel and the driven chain wheel 12; the driving chain wheel is driven to rotate by the motor reducer 3, and the driving chain wheel drives the driven chain wheel 12 to rotate through a chain.
As an optional embodiment, the wheel carrier 1 is provided with a connecting shaft 11; two ends of the connecting shaft 11 are connected with two driven chain wheels 12 through bearings; the bearing supports the driven sprocket 12, and the driven sprocket 12 rotates about the axis of the connecting shaft 11.
As an alternative embodiment, the driven sprocket 12 is connected with a gear 13 through a screw; the gear 13 is connected with the differential wheel 4, so that the driven chain wheel 12 is connected with the differential wheel 4, and the differential wheel 4 is ensured to rotate along with the driven chain wheel 12.
As an alternative embodiment, the driven sprocket 12 is further provided with a threaded hole for connecting the gear 13.
As an alternative, the differential wheel 4 is provided with teeth for connecting the gear 13, so that the gear 13 can drive the differential wheel 4 to rotate.
As an alternative embodiment, the steerable bar 10 can be extended and retracted under heavy load conditions, facilitating active suspension, and satisfying the transportation of large heavy-load items.
The invention can form wheel set steering by the speed difference of two groups of differential wheel assemblies, and control the precision of the steering angle by the signal feedback of the angle sensor 8; the self-adaption to the unevenness of the transverse plane is realized by the suspension swing of the actuating cylinder 5 in the walking process; the self-adaptive shrinkage of the wheel set is controlled through signal feedback of the displacement sensor 6 and the pressure sensor 7, and the longitudinal unevenness of the road surface is adjusted.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention.
Claims (6)
1. A controllable differential omnidirectional wheel set is characterized in that: the device comprises a wheel carrier (1), a differential wheel assembly, a guide rod (10), an actuating cylinder (5), a sensor assembly integrated on the actuating cylinder (5) and a turntable bearing (9), wherein the differential wheel assembly is connected to both ends of the wheel carrier (1), and the guide rod (10) and the actuating cylinder (5) are integrated at the central position of the wheel carrier (1);
the differential wheel assembly comprises a differential wheel (4), a motor reducer (3) and an independent chain transmission system (2), the differential wheel (4) is connected to the wheel carrier (1), and the motor reducer (3) is fixed on the wheel carrier (1); the motor reducer (3) is connected with the differential wheel (4) through the chain transmission system (2);
the sensor assembly comprises a displacement sensor (6), a pressure sensor (7) and an angle sensor (8).
2. A controllable differential omni-directional wheel set according to claim 1, wherein: the chain transmission system (2) comprises a driving chain wheel fixed on the motor reducer (3) and a driven chain wheel (12) connected to the differential wheel (4), and chains are wound outside the driving chain wheel and the driven chain wheel (12).
3. A controllable differential omni-directional wheel set according to claim 2 wherein: the wheel carrier (1) is provided with a connecting shaft (11); two ends of the connecting shaft (11) are connected with two driven chain wheels (12) through bearings.
4. A controllable differential omni-directional wheel set according to claim 2 wherein: the driven chain wheel (12) is connected with a gear (13) through a screw, and the gear (13) is connected with the differential wheel (4).
5. A controllable differential omni-directional wheel set according to claim 2 wherein: the driven chain wheel (12) is provided with a hole for mounting a bearing, and the driven chain wheel (12) is also provided with a threaded hole for connecting a gear (13).
6. A controllable differential omni-directional wheel set according to claim 4 wherein: and teeth used for connecting the gear (13) are arranged in the differential wheel (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110377206.6A CN113232716A (en) | 2021-04-08 | 2021-04-08 | Controllable differential omnidirectional wheel set |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110377206.6A CN113232716A (en) | 2021-04-08 | 2021-04-08 | Controllable differential omnidirectional wheel set |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113232716A true CN113232716A (en) | 2021-08-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110377206.6A Pending CN113232716A (en) | 2021-04-08 | 2021-04-08 | Controllable differential omnidirectional wheel set |
Country Status (1)
| Country | Link |
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| CN (1) | CN113232716A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114835056A (en) * | 2022-03-21 | 2022-08-02 | 天津工程机械研究院有限公司 | Working method of differential driving unit for heavy-load AGV |
-
2021
- 2021-04-08 CN CN202110377206.6A patent/CN113232716A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114835056A (en) * | 2022-03-21 | 2022-08-02 | 天津工程机械研究院有限公司 | Working method of differential driving unit for heavy-load AGV |
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