CN205112984U - Drive module of qxcomm technology - Google Patents
Drive module of qxcomm technology Download PDFInfo
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- CN205112984U CN205112984U CN201520917085.XU CN201520917085U CN205112984U CN 205112984 U CN205112984 U CN 205112984U CN 201520917085 U CN201520917085 U CN 201520917085U CN 205112984 U CN205112984 U CN 205112984U
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Abstract
The utility model provides a drive module of qxcomm technology, this drive module of qxcomm technology mainly used is automatic to be guided the drive of dolly (being called for short AGV) and turns to. It is provided by motor (17) and motor (3) of installing in this module respectively to be equipped with this drive module of qxcomm technology's AGV's drive and to turn to power. Motor (17) drive AGV through the rotation of gear drive control drive wheel (11), and the rotating band of axle (13) rotated to the axial of drive wheel (11) and controls turning to of AGV outside motor (3) were controlled through gear drive. This drive module of qxcomm technology can realize monocyclic drive and turn to, makes AGV can carry out omnidirectional movement and has the advantage that high transmission efficiency, compact structure, AGV's space utilization is high, enlarge AGV's range of application simultaneously.
Description
Technical field
The utility model belongs to and relates to a kind of omnidirectional automatically guiding trolley, is specifically related to a kind of omnidirectional driver module.
Background technology
Automatically guiding trolley (be called for short AGV) is one of key equipment in modern industry Intelligent logistics transport systems, present automatically guiding trolley is generally propulsion source with battery, by carrying the automatic pilot equipment such as vision, electromagnetism, automatic running can be carried out along the route preset, material is transported to named destination.Compared with transporting with general belt conveyor, rail guided vehicle, roller, AGV has that degree of automation is high, space availability ratio is high, route is arranged and amendment is convenient, controllability is good, be convenient to and the advantage such as Automatic System Inteqration, is therefore used widely in all conglomeraties such as equipment manufacturing, electronics, port traffic.
Current AGV chassis drives overwhelming majority to be wheel undercarriage, is generally two drive wheels and adds two cardan wheels formation four-wheel-type one-way traffic chassis, or is that two drive wheels add four cardan wheels and form six wheeled two way chassis.Two motors drive two drive wheels that two drive wheels can be made to realize differentially making AGV cast respectively, but AGV can not be made directly to move along X, Y both direction, therefore need a kind driver module that AGV can be enable to carry out Omni-mobile.
Summary of the invention
The utility model is to provide a kind of omnidirectional driver module, is applied to automatically guiding trolley (being called for short AGV), and solves the problem that AGV can not carry out Omni-mobile.
The technical solution of the utility model is:
A kind of omnidirectional driver module, comprises the first motor, the first input shaft, the second motor, the second input shaft, casing, outer shaft, the first gear cluster, the second gear cluster, live axle and drive wheel; Wherein: the first motor is connected with the first input shaft, the second motor is connected with the second input shaft, and the first input shaft enters in casing through cabinet shell and is connected with the first gear cluster, and the second input shaft enters in casing through cabinet shell and is connected with the second gear cluster; Outer shaft is hollow shaft, be arranged on casing lower end, with casing for being rotatably connected, namely outer shaft is free to rotate when casing is fixing, and driving all parts being arranged on outer shaft inside together with outer shaft autobiography, outer shaft upper end is fixedly connected with the second gear cluster through cabinet shell; First gear cluster is through casing enter outer shaft inside, and live axle is arranged on outer shaft lower end, its two ends respectively with the both sides, isoplanar of outer shaft for being rotatably connected, and to be fixedly connected with the first gear cluster; Drive wheel is fixedly mounted on live axle, and part passes outer shaft bottom surface.
Described gear cluster refers to be joined the gear combination formed mutually by least two and above gear, also comprises tween drive shaft or other associated components.
The described a kind of connection mode referring to and can make can mutually rotate or rotate between equipment or parts that is rotatably connected, also refers to that one of them equipment or parts are fixed, makes a kind of connection mode that other equipment or parts can freely rotate or rotate; Such as bearing connects.
First electric machine rotation, drives the first gear cluster by the first input shaft, and then drives live axle, and live axle drives drive wheel to rotate, thus above-mentioned omnidirectional driver module can be advanced or fall back; Second electric machine rotation, drives the second gear cluster by the second input shaft, and then drives outer shaft to rotate, and makes drive wheel at original place autobiography, thus can control turning to of above-mentioned omnidirectional driver module; First motor and the second motor can work independently also collaborative work, by controlling the work of the first motor and the second motor simultaneously, can rotate drive wheel and control while turning to, thus control the motion of omnidirectional's driver module different directions, the Omni-mobile namely achieving AGV controls.
Preferably, the second gear cluster comprises the 9th gear and the 6th gear; Wherein, the 9th gear is fixedly connected with the second input shaft, and is connected with the 6th gear transmission, and the 6th gear and outer shaft upper end are for being fixedly connected with.
Preferably, the first gear cluster comprises the 7th gear, octadentate wheel, the first tween drive shaft, the first gear, the second gear, the 3rd gear, the 4th gear, anchor shaft, the 5th gear and the second tween drive shaft; Wherein: the 7th gear is fixedly connected with the first input shaft, and take turns with octadentate and be in transmission connection, octadentate wheel is fixedly connected with tween drive shaft upper end, and tween drive shaft passes casing and enters outer shaft inside, and lower end is fixedly connected with the first gear; First gear is connected with the 5th gear transmission, and the 5th gear and the second gear concentric are installed on the second tween drive shaft, and the second tween drive shaft is installed on outer shaft upper end, and the both sides, isoplanar of its two ends and outer shaft are for being rotatably connected; Second gear is connected with the 3rd gear transmission, and the 3rd gear is installed on anchor shaft, and with anchor shaft for being rotatably connected, anchor shaft is installed on outer shaft medial surface; 3rd gear is connected with the 4th gear transmission, and the 4th gear is fixedly connected with live axle.
Preferably, the first tween drive shaft enters outer shaft inner upper end through the non-drive face of the 6th gear.
Preferably, the first gear cluster at least comprises two finishing bevel gear cuters; More preferably, the first gear and the 5th gear are finishing bevel gear cuter
Preferably, the first motor and the second motor pass through key or spline joint with the first input shaft and the second input shaft respectively.
Preferably, outer shaft is connected by bearing with casing.
Preferably, the 6th gear and the outer shaft gear wheel shaft that is connected by key or is structure as a whole.
Preferably, first tween drive shaft is connected by bearing with the 6th gear, and the second tween drive shaft two ends are all connected by bearing with outer shaft, and live axle is connected by bearing with outer shaft, 3rd gear is connected by bearing with anchor shaft, and the first input shaft is connected respectively by bearing with casing with the second input shaft.
The power of two motors is passed to drive wheel by two sleeve gear group transmissions by the utility model simultaneously, makes drive wheel not only can drive AGV forward-reverse but also AGV can be made to turn to, allows AGV carry out Omni-mobile; Simultaneously make AGV have driving efficiency is high, compact conformation, space availability ratio are high feature, expands the field of application of AGV.
Accompanying drawing explanation
Fig. 1 is the structural representation of embodiment 1 one kinds of omnidirectional's driver modules;
Fig. 2 is the structural representation of embodiment 2 one kinds of omnidirectional's driver modules;
In Fig. 1 and 2, each label symbol is: key 1, first gear cluster 2, second motor 3, first tween drive shaft 4, first gear 5, second gear 6, the 3rd gear 7, anchor shaft 8, the 4th gear 9, live axle 10, drive wheel 11, the 5th gear 12, outer shaft 13, second tween drive shaft 14, bearing 15, the 6th gear 16, first motor 17, key 18, casing 19, first input shaft 20, the 7th gear 21, octadentate wheel the 22, the 9th gear 23, second input shaft 24, second gear cluster 25.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, the utility model is described in further detail, but protection domain of the present utility model is not limited to this.
Embodiment 1: a kind of omnidirectional driver module shown in composition graphs 1 comprises the first motor 17, first input shaft 20, second motor 3, second input shaft 24, casing 19, outer shaft 13, first gear cluster 2, second gear cluster 25, live axle 10 and drive wheel 11; Wherein: the first motor 17 is connected with the first input shaft 20, second motor 3 is connected with the second input shaft 24, first input shaft 17 enters in casing through casing 19 shell and is connected with the first gear cluster 2, and the second input shaft 24 enters in casing through casing 19 shell and is connected with the second gear cluster 25; Outer shaft 13 is hollow shaft, be arranged on casing 19 lower end, with casing 19 for being rotatably connected, namely outer shaft 13 is free to rotate when casing is fixing, and driving all parts being arranged on outer shaft 13 inside together with outer shaft autobiography, outer shaft 13 upper end is fixedly connected with the second gear cluster 25 through casing 19 shell; First gear cluster 2 is through casing 19 and to enter outer shaft 13 inner, and live axle 10 is arranged on outer shaft 13 lower end, its two ends respectively with outer shaft 13 two sides for being rotatably connected, and to be fixedly connected with the first gear cluster 2; Drive wheel 11 is fixedly mounted on live axle 10, and part passes outer shaft 13 bottom surface.
Work while first motor 17 and the second motor 3 and can drive the first gear cluster 2 and the second gear cluster 25 respectively, thus drive the rotation of live axle 10 and the autobiography of outer shaft 13, and then control the rotation of drive wheel 11 and turn to, make AGV carry out Omni-mobile.
Embodiment 2: a kind of omnidirectional driver module shown in composition graphs 2 is made up of the first motor 17, key 18, second motor 3, key 1, first input shaft 20, second input shaft 24, first tween drive shaft 4, first gear 5, second gear 6, the 3rd gear 7, anchor shaft 8, the 4th gear 9, live axle 10, drive wheel 11, the 5th gear 12, outer shaft 13, second tween drive shaft 14, the 6th gear 16, casing 19, the 7th gear 21, octadentate wheel the 22, the 9th gear 23 and bearing 15; Wherein: the first motor 17 is connected with the first input shaft 20 by key 18, first input shaft 17 enters in casing through casing 19 shell and is fixedly connected with the 7th gear 21,7th gear 21 and octadentate are taken turns 22 and are in transmission connection, octadentate wheel 22 with in the first countershaft 4 upper end be fixedly connected with, it is inner that first tween drive shaft 4 enters outer shaft 13 through casing 19, and lower end is fixedly connected with the first gear 5; First gear 5 and the 5th gear 12 are in transmission connection, and the 5th gear 12 and the second gear 6 concentric are installed on the second tween drive shaft 14, and the second tween drive shaft 14 is installed on outer shaft 13 upper end, and the both sides, isoplanar of its two ends and outer shaft 13 are for being rotatably connected; Second gear 6 and the 3rd gear 7 are in transmission connection, and the 3rd gear 7 is installed on anchor shaft 8, and with anchor shaft 8 for being rotatably connected, anchor shaft 8 is installed on the medial surface of outer shaft 13; 3rd gear 7 and the 4th gear 8 are in transmission connection, and the 4th gear 8 is fixedly connected with live axle 10, and live axle 10 is arranged on outer shaft 13 lower end, its two ends respectively with outer shaft 13 both sides, isoplanar for being rotatably connected; Drive wheel 11 is fixedly mounted on live axle 10, and part passes outer shaft 13 bottom surface; Second motor 3 is connected with the second input shaft 24 by key 1, second input shaft 24 enters in casing through casing 19 shell and is fixedly connected with the 9th gear 23,9th gear 23 and the 6th tooth 16 are taken turns and are in transmission connection, the 6th gear 16 and outer shaft 13 upper end be connected by key or with outer shaft 13 for being made of one gear wheel shaft; Outer shaft 13 is hollow shaft, is arranged on casing 19 lower end, is connected with casing 19 by bearing 15, and namely outer shaft 13 is free to rotate when casing is fixing, and drives all parts being arranged on outer shaft 13 inside together with outer shaft autobiography.
Claims (10)
1. omnidirectional's driver module, is characterized in that: comprise the first motor, the first input shaft, the second motor, the second input shaft, casing, outer shaft, the first gear cluster, the second gear cluster, live axle and drive wheel; Wherein: the first motor is connected with the first input shaft, the second motor is connected with the second input shaft, and the first input shaft enters in casing through cabinet shell and is connected with the first gear cluster, and the second input shaft enters in casing through cabinet shell and is connected with the second gear cluster; Outer shaft is hollow shaft, is arranged on casing lower end, and with casing for being rotatably connected, outer shaft upper end is fixedly connected with the second gear cluster through cabinet shell; First gear cluster is through casing enter outer shaft inside, and live axle is arranged on outer shaft lower end, its two ends respectively with the both sides, isoplanar of outer shaft for being rotatably connected, and to be fixedly connected with the first gear cluster; Drive wheel is fixedly mounted on live axle, and part passes outer shaft bottom surface.
2. a kind of omnidirectional according to claim 1 driver module, is characterized in that: described second gear cluster comprises the 9th gear and the 6th gear; Wherein, the 9th gear is fixedly connected with the second input shaft, and is connected with the 6th gear transmission, and the 6th gear and outer shaft upper end are for being fixedly connected with.
3. a kind of omnidirectional according to claim 2 driver module, is characterized in that: described first gear cluster comprises the 7th gear, octadentate wheel, the first tween drive shaft, the first gear, the second gear, the 3rd gear, the 4th gear, anchor shaft, the 5th gear and the second tween drive shaft; Wherein: the 7th gear is fixedly connected with the first input shaft, and take turns with octadentate and be in transmission connection, octadentate wheel is fixedly connected with tween drive shaft upper end, and tween drive shaft passes casing and enters outer shaft inside, and lower end is fixedly connected with the first gear; First gear is connected with the 5th gear transmission, and the 5th gear and the second gear concentric are installed on the second tween drive shaft, and the second tween drive shaft is installed on outer shaft upper end, and the both sides, isoplanar of its two ends and outer shaft are for being rotatably connected; Second gear is connected with the 3rd gear transmission, and the 3rd gear is installed on anchor shaft, and with anchor shaft for being rotatably connected, anchor shaft is installed on outer shaft medial surface; 3rd gear is connected with the 4th gear transmission, and the 4th gear is fixedly connected with live axle.
4. a kind of omnidirectional according to claim 3 driver module, is characterized in that: described first tween drive shaft is through non-drive of the 6th gear.
5. a kind of omnidirectional according to claim 3 driver module, is characterized in that: described first gear cluster at least comprises two finishing bevel gear cuters.
6. a kind of omnidirectional according to claim 5 driver module, is characterized in that: the first gear and the 5th gear are finishing bevel gear cuter.
7. according to a kind of omnidirectional driver module one of claim 1-6 Suo Shu, it is characterized in that: the first motor and the second motor pass through key or spline joint with the first input shaft and the second input shaft respectively.
8., according to a kind of omnidirectional driver module one of claim 1-6 Suo Shu, it is characterized in that: outer shaft is connected by bearing with casing.
9. according to a kind of omnidirectional driver module one of claim 1-6 Suo Shu, it is characterized in that: the gear wheel shaft that the 6th gear and outer shaft are connected by key or are structure as a whole.
10. according to a kind of omnidirectional driver module one of claim 1-6 Suo Shu, it is characterized in that: the first tween drive shaft is connected by bearing with the 6th gear, second tween drive shaft two ends are all connected by bearing with outer shaft, live axle is connected by bearing with outer shaft, 3rd gear is connected by bearing with anchor shaft, and the first input shaft is connected respectively by bearing with casing with the second input shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520917085.XU CN205112984U (en) | 2015-11-17 | 2015-11-17 | Drive module of qxcomm technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520917085.XU CN205112984U (en) | 2015-11-17 | 2015-11-17 | Drive module of qxcomm technology |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205112984U true CN205112984U (en) | 2016-03-30 |
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ID=55568623
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520917085.XU Expired - Fee Related CN205112984U (en) | 2015-11-17 | 2015-11-17 | Drive module of qxcomm technology |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205112984U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106371444A (en) * | 2016-10-27 | 2017-02-01 | 电子科技大学 | Kimchi embedment ingredient delivery system |
| CN106672114A (en) * | 2017-02-28 | 2017-05-17 | 武汉慧能机器人科技有限公司 | Omni-directional driving wheel device and AGV (automatic guided vehicle) |
| CN107933723A (en) * | 2017-11-21 | 2018-04-20 | 苏州智德金网络科技股份有限公司 | A kind of multifunctional obstacle-surmounting robot |
-
2015
- 2015-11-17 CN CN201520917085.XU patent/CN205112984U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106371444A (en) * | 2016-10-27 | 2017-02-01 | 电子科技大学 | Kimchi embedment ingredient delivery system |
| CN106672114A (en) * | 2017-02-28 | 2017-05-17 | 武汉慧能机器人科技有限公司 | Omni-directional driving wheel device and AGV (automatic guided vehicle) |
| CN107933723A (en) * | 2017-11-21 | 2018-04-20 | 苏州智德金网络科技股份有限公司 | A kind of multifunctional obstacle-surmounting robot |
| CN107933723B (en) * | 2017-11-21 | 2020-08-18 | 苏州智德金网络科技股份有限公司 | Multifunctional obstacle-surmounting robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160330 Termination date: 20191117 |