CN206561896U - Omnidirectional driving wheel device and AGV dollies - Google Patents
Omnidirectional driving wheel device and AGV dollies Download PDFInfo
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- CN206561896U CN206561896U CN201720187963.6U CN201720187963U CN206561896U CN 206561896 U CN206561896 U CN 206561896U CN 201720187963 U CN201720187963 U CN 201720187963U CN 206561896 U CN206561896 U CN 206561896U
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- driving wheel
- omnidirectional
- fixed seat
- drive
- connecting seat
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Abstract
The utility model is related to logistics haulage equipment field, more particularly, to a kind of omnidirectional driving wheel device and AGV dollies；The device includes：Fixed seat, drive device, transmission device, wheel and transfer；The wheel includes rotating the driving wheel and driven pulley that are connected with the fixed seat；The drive device is connected by the wheel shaft of the transmission device and the driving wheel, to drive driving wheel to rotate；The transfer is arranged in fixed seat, meanwhile, the transfer is connected with dolly, to realize dolly omnidirectional moving.The present apparatus has simple in construction, cost low, the low advantage of control difficulty.The dolly includes above-mentioned omnidirectional driving wheel device, possesses the function of Omni-mobile, it is possible to increase the efficiency of production or storage.
Description
Technical field
The utility model is related to logistics haulage equipment field, more particularly, to a kind of omnidirectional driving wheel device and AGV dollies.
Background technology
AGV dollies are that one kind can be travelled along defined guide path, with safeguard protection and various transfer functions
Transport vehicle, due to its have automaticity high, safety, it is flexible the features such as, be that the current country realizes material automatic transporting most
One of good solution route.
At present many workshops or warehouse using AGV dollies come conveying articles, with the effect for improving production or storing
Rate.Due to being limited by place, AGV dollies need to have the function of Omni-mobile, i.e. pivot stud and towards any direction row
Sail.
Existing Mecanum wheel can realize omnidirectional moving, but cost is higher, it is low to bear a heavy burden.Spider gear group is with two motors
To drive a train, the steering of train is realized by the different speed of two wheels, its advantage is large carrying capacity, efficiency
Height, has had the disadvantage a motor many, especially in the process of moving adjustment direction when, control difficulty increase.
Utility model content
The purpose of this utility model is to provide a kind of omnidirectional driving wheel device, and the purpose of the omnidirectional driving wheel device is
Solve the defect that the driving wheel apparatus in AGV dollies in the prior art is present.
To achieve the above object, the utility model provides following technical scheme：
A kind of omnidirectional driving wheel device, including：Fixed seat, drive device, transmission device, wheel and transfer；
The wheel includes rotating the driving wheel and driven pulley that are connected with the fixed seat；
The drive device is connected by the wheel shaft of the transmission device and the driving wheel, is actively rotated with driving
It is dynamic；
The transfer is arranged in fixed seat, meanwhile, the transfer is connected with dolly, to realize dolly omnidirectional
Motion.
Further, the fixed seat is rotated by the wheel shaft of support and wheel and connected.
Further, the transfer includes steering motor, transmission mechanism and connecting seat；
The transmission mechanism is connected with the drive axis set in fixed seat；
The steering motor is connected with the transmission mechanism；
The connecting seat is rotatably connected on the power transmission shaft in the fixed seat, while the connecting seat and the transmission
Mechanism is fixedly connected, and the connecting seat is rotated also to connect dolly by steering motor adjusting transmission mechanism, so that omnidirectional drives
Driving wheel device is turned to relative to dolly.
The transmission mechanism is by the way of gear drive, chain drive or belt transmission.
Further, the transmission mechanism includes the driving gear and driven gear being meshed, and the driving gear is with turning
Connected to the output shaft of motor, the driven gear is rotatably connected on the power transmission shaft, meanwhile, the driven gear with it is described
Connecting seat is affixed.
Further, the diameter of the driven gear is more than driving gear diameter.
Further, in addition to angle detection device, the angle detection device is to detect that the transfer is relative
In the anglec of rotation of trolley.
Further, the angle detection device includes angular transducer and limit body；
The angular transducer is fixed on the power transmission shaft, and the axle of the angular transducer is connected with limit body one end
Connect, the neck to accommodate the limit body is provided with the middle part of the connecting seat, the limit body is connected in the card of the connecting seat
In groove.
Further, the transmission device uses gear drive, V belt translation or Chain conveyer.
A kind of AGV dollies disclosed in the utility model, including omnidirectional driving wheel device as described above.
The omnidirectional driving wheel device provided with reference to above technical scheme, the utility model, with advantages below：
1st, driven jointly by drive device and transfer, the device is arbitrarily turned to 360 degrees omnidirection, simultaneously
The pivot stud that radius of turn is zero can be realized.
2nd, every group of train has two wheels while landing, and lifts the device bearing capacity；
3rd, transfer can accurately control wheel direction, and dolly traveling deviation is small；
4th, (equivalent to two wheels are driven simultaneously) by the way of a drive device driving driving wheel, control ratio two
Motor drives respectively to be more prone to.
5th, the simple in construction of the present apparatus, cost are low, and control difficulty is low.
Using the AGV dollies of above-mentioned omnidirectional driving wheel device, with advantages below：
1st, driven jointly by drive device and transfer, the AGV dollies is arbitrarily turned to 360 degrees omnidirection,
The pivot stud that radius of turn is zero can be realized simultaneously.
2nd, every group of train has two wheels while landing, and lifts AGV dolly bearing capacitys；
3rd, steering motor accurately controls wheel direction, and AGV dollies traveling deviation is small；
4th, a motor drives two wheels, and it is more convenient that two motors of control ratio drive respectively.
Brief description of the drawings
, below will be right in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
The accompanying drawing used required in embodiment or description of the prior art is briefly described, it should be apparent that, describe below
In accompanying drawing be some embodiments of the present utility model, for those of ordinary skill in the art, do not paying creativeness
On the premise of work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation at the visual angle of omnidirectional driving wheel device first that embodiment one is provided；
The structural representation at the second visual angle in the omnidirectional driving wheel device that Fig. 2 provides for embodiment one；
The structural representation at the 3rd visual angle in the omnidirectional driving wheel device that Fig. 3 provides for embodiment one；
In the omnidirectional driving wheel device that Fig. 4 provides for the utility model embodiment one, the structural representation of fixed seat.
Reference：
100- fixed seats；101- supports；200- drive devices；300- transmission devices；400- wheels；401- driving wheels；
402- driven pulleys；500- transfers；501- steering motors；502- connecting seats；503- driving gears；504- driven gears；
600- power transmission shafts；700- angle detection devices, 701- angular transducers；702- limit bodies.
Embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with accompanying drawing, it is clear that described
Embodiment is a part of embodiment of the utility model, rather than whole embodiments.Based on the embodiment in the utility model, sheet
The every other embodiment that field those of ordinary skill is obtained under the premise of creative work is not made, belongs to this practicality
Novel protected scope.
, it is necessary to explanation in description of the present utility model, term " " center ", " on ", " under ", it is "left", "right", " perpendicular
Directly ", the orientation or position relationship of the instruction such as " level ", " interior ", " outer " are, based on orientation shown in the drawings or position relationship, to be only
Described for the ease of description the utility model and simplifying, rather than to indicate or imply that signified device or element must have specific
Orientation, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.In addition, term " the
One ", " second ", " the 3rd " are only used for describing purpose, and it is not intended that indicating or implying relative importance.
, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in description of the present utility model
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected to by intermediary,
It can be the connection of two element internals.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
Concrete meaning of the language in the utility model.
Embodiment one
A kind of omnidirectional driving wheel device is present embodiments provided, the device can be travelled to any direction, utilize a drive
Dynamic device driving driving wheel, so that driven pulley synchronous axial system, (drives two cars equivalent to using a drive device simultaneously
Wheel), for the structure type with driving a train using two motors in the prior art, two electricity of present apparatus control ratio
Machine drives respectively more to be facilitated.
Illustrate the concrete structure for the omnidirectional driving wheel device that the utility model is provided below：
It refer to shown in Fig. 1 to Fig. 4；
The device includes：Fixed seat 100, drive device 200, transmission device 300, wheel 400 and transfer 500.
The wheel 400 includes rotating the driving wheel 401 and driven pulley 402 that are connected with the fixed seat 100；
The drive device 200 is connected by the wheel shaft of the transmission device 300 and the driving wheel 401, to drive
Dynamic driving wheel 401 is rotated；
The transfer 500 is arranged in fixed seat 100, meanwhile, the transfer 500 is connected with dolly, with reality
Existing dolly omnidirectional moving.
Drive device 200 can be using devices such as motor, hydraulic-driven or pneumatic actuations.
As an optimal technical scheme of the present utility model, above-mentioned drive device 200 uses motor, drive device
200 are connected with fixed seat 100, specifically on the bottom surface of fixed seat 100, and drive device 200 can be using fixed company
On the bottom surface of the mode mounting-fixing base 100 connect；It can also be connected using removably with fixed seat 100, for example can be with
By the way of bolt is fixed, when drive device 200 produces failure, in order to be dismantled to drive device 200.
As an optimal technical scheme of the present utility model, the two bottom sides of the fixed seat 100 are provided with support
101, fixed seat 100 is rotated with the wheel shaft of wheel 400 by support 101 and is connected.The effect for setting support 101 is to wheel 400
Wheel shaft enough support is provided, to ensure when running over journey, can provide safeguard enough stability.
As an optimal technical scheme of the present utility model, the wheel shaft of support 101 and wheel 400 is rotated by bearing to be connected
Connect.
As an optimal technical scheme of the present utility model, transmission device can use a variety of type of belt drive, for example may be used
To be the kinds of drive such as gear drive, V belt translation or Chain conveyer.
As an optimal technical scheme of the present utility model, transfer 500 is using removably and fixed seat 100
It is connected, when transfer 500 produces failure, in order to carry out dismounting dimension to the corresponding parts in transfer 500
Repair.
Fig. 4 is refer to, as an optimal technical scheme of the present utility model, is vertically arranged at the middle part of fixed seat 100
There is a power transmission shaft 600, power transmission shaft 600 is fixedly connected with fixed seat 100, transfer 500 is rotated with the power transmission shaft 600 and is connected.
As an optimal technical scheme of the present utility model, the transfer 500 includes steering motor 501, transmission
Mechanism and connecting seat 502.
The transmission mechanism is rotated with the power transmission shaft 600 set in fixed seat 100 and is connected；
The steering motor 501 is connected with the transmission mechanism；
The connecting seat 502 is rotatably connected on the power transmission shaft of the fixed seat 100, meanwhile, the connecting seat 502 with
The transmission mechanism is fixedly connected, and the connecting seat 502 passes through the adjusting transmission mechanism of steering motor 501 also to connect dolly
Rotate, so that omnidirectional driving wheel device is turned to relative to dolly, be ultimately converted to the turning function of dolly.
As an optimal technical scheme of the present utility model, above-mentioned steering motor 501 is arranged on the bottom of fixed seat 100
On face, because connecting seat 502 with dolly when being connected, it is contemplated that gap between the two is smaller, so pacifying steering motor 501
Space can be used with reasonable utilization on the bottom surface of fixed seat 100, optimizes structure.
In addition, the steering motor 501 is equally using the mode that is fixedly connected or dismountable connected mode and fixed seat 100
It is attached.
As an optimal technical scheme of the present utility model, the transmission mechanism includes the driving gear 503 being meshed
With driven gear 504, driving gear 503 and driven gear 504 are meshed connection；The driving gear 503 and steering motor 501
Output shaft connection, the driven gear 504 is rotatably connected on the power transmission shaft 600, meanwhile, the driven gear 504 with
The connecting seat 502 is affixed.
As an optimal technical scheme of the present utility model, driven gear 504 is rotated with power transmission shaft 600 by bearing to be connected
Connect, meanwhile, driven gear 504 is connected by bearing pin with connecting seat 502.
The pivot phase of the pivot of driven gear 504 and power transmission shaft 600 in fixed seat 100 and connecting seat 502
Overlap and set, to ensure that whole driving wheel apparatus has good steering behaviour.
As an optimal technical scheme of the present utility model, the diameter of the driven gear 504 is more than driving gear 503
Diameter.During regulation, power is transferred to driven gear 504 by driving gear 503, and driving gear 503 is rotated around driven tooth
It is dynamic, it is possible to achieve the more precise control to steering is adjusted.
As an optimal technical scheme of the present utility model, connecting seat 502 is set to tabular, also, connecting seat
502nd, fixed seat 100, driving gear 503, driven gear 504 are horizontally disposed with, so that the power output of drive device 200 is converted to
The rotary motion of the device.
As an optimal technical scheme of the present utility model, the connecting seat 502 and the transmission in the fixed seat 100
Axle 600 rotates connection.Bearing can be set on power transmission shaft 600, and connecting seat 502 is rotated by bearing with the power transmission shaft 600
Connection.
It should be noted that the gear that the transmission mechanism of the present apparatus is not limited to be made up of driving gear and driven gear is passed
Flowing mode, can also use V belt translation or the chaindriven kind of drive；, can be in the defeated of motor during using V belt translation mode
On shaft and corresponding belt wheel is respectively mounted on connecting seat, transmission agency is realized using V belt translation mode.Certainly Chain conveyer is used
During mode, on the output shaft of motor and corresponding sprocket wheel can be respectively mounted on connecting seat, realize transmission agency.
It is used as an optimal technical scheme of the present utility model, in addition to angle detection device 700.
The angle detection device 700 is to detect the anglec of rotation of the transfer 500 relative to trolley.
Specifically, the angle detection device 700 includes angular transducer 701 and limit body 702.
The angular transducer 701 is fixed on the power transmission shaft 600, the axle and limit body of the angular transducer 701
702 one ends are connected, and the neck to accommodate the limit body 702, the limit body are provided with the middle part of connecting seat 502
702 are connected in the neck of the connecting seat 502.In the course of work, connecting seat 502 is fixedly connected with dolly, and limit body 702 is consolidated
In the neck for being scheduled on connecting seat 502, under the driving of drive device, fixed seat 100 relative to connecting seat 502 rotate when, fixed seat
Power transmission shaft 600 on 100 drives angular transducer 701 to be driven, and then realizes the real-time acquisition to the anglec of rotation of the device.
The omnidirectional driving wheel device that the utility model is provided, has the characteristics that：
1st, driven jointly by drive device and transfer, the device is arbitrarily turned to 360 degrees omnidirection, simultaneously
The pivot stud that radius of turn is zero can be realized.
2nd, every group of train has two wheels while landing, and lifts the device bearing capacity；
3rd, transfer can accurately control wheel direction, and dolly traveling deviation is small；
4th, (equivalent to two wheels are driven simultaneously) by the way of a drive device driving driving wheel, control ratio two
Motor drives respectively to be more prone to.
5th, the simple in construction of the present apparatus, cost are low, and control difficulty is low.
Embodiment two
Fig. 4 is refer to, the purpose of the present embodiment is to provide a kind of AGV dollies, including omnidirectional driving wheel as described above
Device.
During specific setting, multiple above-mentioned omnidirectional driving wheel devices can be set in the bottom of AGV dollies.
Using the AGV dollies of above-mentioned omnidirectional driving wheel device, with advantages below：
1st, driven jointly by drive device and transfer, the AGV dollies is arbitrarily turned to 360 degrees omnidirection,
The pivot stud that radius of turn is zero can be realized simultaneously.
2nd, every group of train has two wheels while landing, and lifts AGV dolly bearing capacitys；
3rd, steering motor accurately controls wheel direction, and AGV dollies traveling deviation is small；
4th, a motor drives two wheels, and it is more convenient that two motors of control ratio drive respectively.
Finally it should be noted that：Various embodiments above is only limited to illustrate the technical solution of the utility model, rather than to it
System；Although utility model is described in detail with reference to foregoing embodiments, one of ordinary skill in the art should manage
Solution：It can still modify to the technical scheme described in foregoing embodiments, or to which part or whole skills
Art feature carries out equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from the utility model
The scope of each embodiment technical scheme.
Claims (10)
1. a kind of omnidirectional driving wheel device, it is characterised in that including：Fixed seat, drive device, transmission device, wheel and steering
Device；
The wheel includes rotating the driving wheel and driven pulley that are connected with the fixed seat；
The drive device is connected by the wheel shaft of the transmission device and the driving wheel, to drive driving wheel to rotate；
The transfer is arranged in fixed seat, meanwhile, the transfer is connected with dolly, to realize that dolly omnidirectional transports
It is dynamic.
2. omnidirectional driving wheel device according to claim 1, it is characterised in that the fixed seat passes through support and wheel
Wheel shaft rotates connection.
3. omnidirectional driving wheel device according to claim 1, it is characterised in that the transfer include steering motor,
Transmission mechanism and connecting seat；
The transmission mechanism is connected with the drive axis set in fixed seat；
The steering motor is connected with the transmission mechanism；
The connecting seat is rotatably connected on the power transmission shaft in the fixed seat, while the connecting seat and the transmission mechanism
It is fixedly connected, the connecting seat is rotated also to connect dolly by steering motor adjusting transmission mechanism, so that omnidirectional driving wheel
Device is turned to relative to dolly.
4. omnidirectional driving wheel device according to claim 3, it is characterised in that the transmission mechanism using gear drive,
Chain drive or the mode of belt transmission.
5. omnidirectional driving wheel device according to claim 3, it is characterised in that the transmission mechanism includes the master being meshed
The output shaft connection of moving gear and driven gear, the driving gear and steering motor, the driven gear is rotatably connected on institute
State on power transmission shaft, meanwhile, the driven gear and the connecting seat are affixed.
6. omnidirectional driving wheel device according to claim 5, it is characterised in that the diameter of the driven gear is more than actively
Gear diameter.
7. omnidirectional driving wheel device according to claim 3, it is characterised in that also including angle detection device, the angle
Detection means is spent to detect the anglec of rotation of the transfer relative to trolley.
8. omnidirectional driving wheel device according to claim 7, it is characterised in that the angle detection device is passed including angle
Sensor and limit body；
The angular transducer is fixed on the power transmission shaft, and the axle of the angular transducer is connected with limit body one end,
The neck to accommodate the limit body is provided with the middle part of the connecting seat, the limit body is connected in the neck of the connecting seat
It is interior.
9. omnidirectional driving wheel device according to claim 1, it is characterised in that the transmission device using gear drive,
V belt translation or Chain conveyer.
10. a kind of AGV dollies, it is characterised in that including the omnidirectional driving wheel device as described in claim any one of 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720187963.6U CN206561896U (en) | 2017-02-28 | 2017-02-28 | Omnidirectional driving wheel device and AGV dollies |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720187963.6U CN206561896U (en) | 2017-02-28 | 2017-02-28 | Omnidirectional driving wheel device and AGV dollies |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206561896U true CN206561896U (en) | 2017-10-17 |
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ID=60030832
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720187963.6U Active CN206561896U (en) | 2017-02-28 | 2017-02-28 | Omnidirectional driving wheel device and AGV dollies |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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) |
| CN107773357A (en) * | 2017-11-10 | 2018-03-09 | 左国刚 | Intelligent wheel chair |
| CN108100035A (en) * | 2017-12-26 | 2018-06-01 | 大连民族大学 | A kind of reduction truck radius of turn device |
| CN109822543A (en) * | 2019-03-28 | 2019-05-31 | 创泽智能机器人股份有限公司 | A kind of positioning navigation device based on robot ambulation |
| CN111071333A (en) * | 2019-12-26 | 2020-04-28 | 安徽宇锋仓储设备有限公司 | AGV four-wheel counterweight steering system |
-
2017
- 2017-02-28 CN CN201720187963.6U patent/CN206561896U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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) |
| CN107773357A (en) * | 2017-11-10 | 2018-03-09 | 左国刚 | Intelligent wheel chair |
| CN108100035A (en) * | 2017-12-26 | 2018-06-01 | 大连民族大学 | A kind of reduction truck radius of turn device |
| CN109822543A (en) * | 2019-03-28 | 2019-05-31 | 创泽智能机器人股份有限公司 | A kind of positioning navigation device based on robot ambulation |
| CN111071333A (en) * | 2019-12-26 | 2020-04-28 | 安徽宇锋仓储设备有限公司 | AGV four-wheel counterweight steering system |
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