CN206598725U - Omnidirectional's differential driving wheel apparatus and AGV dollies - Google Patents
Omnidirectional's differential driving wheel apparatus and AGV dollies Download PDFInfo
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- CN206598725U CN206598725U CN201720187923.1U CN201720187923U CN206598725U CN 206598725 U CN206598725 U CN 206598725U CN 201720187923 U CN201720187923 U CN 201720187923U CN 206598725 U CN206598725 U CN 206598725U
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- omnidirectional
- differential
- wheel apparatus
- fixed seat
- wheel
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Abstract
The utility model is related to logistics haulage equipment field, and the AGV dollies of wheel apparatus and the application device are driven more particularly, to a kind of omnidirectional's differential；The device includes：Fixed seat, drive device, differential mechanism, wheel and transfer；Differential mechanism is arranged in fixed seat, and two output ends of differential mechanism connect the wheel by wheel shaft respectively；The drive device is connected with the differential mechanism, to provide power；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's differential driving wheel apparatus, 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, and wheel apparatus and application are driven more particularly, to a kind of omnidirectional's differential
The AGV dollies of the device.
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 that providing a kind of omnidirectional's differential drives wheel apparatus, omnidirectional's differential driving wheel apparatus
Purpose is to 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's differential drives wheel apparatus, including：Fixed seat, drive device, differential mechanism, wheel and transfer；
The differential mechanism is arranged in fixed seat, and two output ends of differential mechanism connect the wheel by wheel shaft respectively；
The drive device is connected with the differential mechanism, to provide power；
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 connecting seat；
The steering motor is connected with the transmission mechanism；
The connecting seat is rotatably connected in the fixed seat, and the connecting seat is also to connect dolly, by turning to
Motor adjusting transmission mechanism is rotated, and is turned to so that omnidirectional's differential driving wheel apparatus is relative with dolly.
Further, 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 fixed on the connecting seat.
Further, the diameter of the driven gear is more than driving gear diameter.
Further, the connecting seat is rotated with the fixed seat by axle and is connected.
Further, in addition to angular transducer, the angular transducer is to detect the transfer relative to small
The anglec of rotation of car car body.
Further, the angular transducer is connected with transmission mechanism.
A kind of AGV dollies that the utility model is provided, including omnidirectional's differential as described above driving wheel apparatus.
With reference to above technical scheme, omnidirectional's differential driving wheel apparatus that the utility model is provided, with advantages below：
1st, driven jointly by drive device, differential mechanism and transfer, the device is arbitrarily turned with 360 degrees omnidirection
To while 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, a drive device drives two wheels simultaneously, and two motors of control ratio drive respectively to be more prone to.
5th, differential mechanism distributes the rotating speed of two-wheeled automatically, more steady during steering, and course changing control is more convenient.
6th, the simple in construction of the present apparatus, cost are low, and control difficulty is low.
The AGV dollies of wheel apparatus are driven using above-mentioned omnidirectional's differential, with advantages below：
1st, driven jointly by drive device, differential mechanism and transfer, make AGV dollies any with 360 degrees omnidirection
Turn to, while the pivot stud that radius of turn is zero can be realized.
2nd, every group of train has two wheels while landing, and lifts AGV dolly bearing capacitys；
3rd, transfer can accurately control wheel direction, and AGV dollies traveling deviation is small；
4th, a drive device drives two wheels simultaneously, and two motors of control ratio drive respectively to be more prone to.
5th, differential mechanism distributes the rotating speed of two-wheeled automatically, and AGV dollies are more steady when turning to, and course changing control is more convenient.
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 omnidirectional's differential driving wheel apparatus first visual angle that embodiment one is provided；
Fig. 2 is the structural representation that omnidirectional's differential that embodiment one is provided drives the second visual angle in wheel apparatus；
Fig. 3 is the structural representation that omnidirectional's differential that embodiment one is provided drives the 3rd visual angle in wheel apparatus；
Fig. 4 is that omnidirectional's differential that the utility model embodiment one is provided is driven in wheel apparatus, the structural representation of connecting seat.
Reference：
100- fixed seats；101- supports；200- drive devices；300- differential mechanisms；400- wheels；500- transfers；
501- steering motors；502- connecting seats；503- driving gears；504- driven gears；600- wheel shafts；700- angular transducers.
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
Refer to Fig. 1；A kind of omnidirectional's differential driving wheel apparatus is present embodiments provided, the device can be to any direction row
Sail, two wheels 400 are driven simultaneously using a drive device 200, it is relative with utilizing two motor drivings one in the prior art
For the structure type of individual train, two motors of present apparatus control ratio drive respectively more to be facilitated；And it is automatic by differential mechanism 300
The rotating speed of two wheels 400 is distributed, more steady during steering, course changing control is more convenient.
Illustrate the concrete structure for omnidirectional's differential driving wheel apparatus 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, differential mechanism 300, wheel 400 and transfer 500.
The drive device 200 is connected with the differential mechanism 300, is provided by drive device 200 to differential mechanism 300
Power；
The differential mechanism 300 is arranged in fixed seat 100, and two output ends of differential mechanism 300 are connected by wheel shaft 600 respectively
The wheel 400；
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 600 of wheel 400 by support 101 and is connected.The effect for setting support 101 is to wheel
400 wheel shaft 600 provides enough supports, and to ensure when running over journey, can provide safeguard enough stability.
As an optimal technical scheme of the present utility model, the wheel shaft 600 of support 101 and wheel 400 is turned by bearing
Dynamic connection.
As an optimal technical scheme of the present utility model, differential mechanism 300 can be installed by the way of being fixedly connected
On the bottom surface of fixed seat 100；It can also be connected using removably with fixed seat 100, for example, can be fixed using bolt
Mode, differential mechanism 300 produce failure when, in order to be dismantled to differential mechanism 300.
As an optimal technical scheme of the present utility model, transfer 500 can use removably and fixation
Seat 100 is connected, when transfer 500 produces failure, in order to be torn open to the corresponding parts in transfer 500
Unload maintenance.
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 connected with connecting seat 502；
The steering motor 501 is connected with the transmission mechanism；
The connecting seat 502 is rotatably connected in the fixed seat 100, the connecting seat 502 also to connect dolly,
Rotated, turned to so that omnidirectional's differential driving wheel apparatus is relative with dolly, finally by the adjusting transmission mechanism of steering motor 501
Be 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, equally use is fixedly connected with mode to the steering motor 501 or dismountable connected mode is entered with mounting seat
Row connection.
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 fixed on the connecting seat 502.
As an optimal technical scheme of the present utility model, driven gear 504 is set to hollow annular external gear, phase
To with for ordinary gear, the gear can effectively mitigate weight, reduce load.
Driven gear 504 can select fixed or dismountable mode to be arranged on the outer ring surface of connecting seat 502, together
When, the pivot of the pivot of driven gear 504 and fixed seat 100 and connecting seat 502 coincides setting, whole to ensure
Individual 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, driving gear 503 is surrounded driven gear
504 motions, realize and the more precise control of steering are adjusted.
As an optimal technical scheme of the present utility model, fixed seat 100 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 passes through axle and 100 turns of the fixed seat
Dynamic connection.Bearing can be set on connecting seat 502, and connecting seat 502 passes through axle and bearing fit mode and the fixed seat 100
Rotate 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 angular transducer 700.
The angular transducer 700 is to detect the anglec of rotation of the transfer 500 relative to trolley.
Specifically, angular transducer 700 be arranged on fixed seat 100 on, angular transducer 700 by a gear with it is driven
Gear 504 is meshed connection, while driving gear 503 is rotated around driven gear, fixed seat 100 and the same stepping of wheel
Row is rotated, and the corresponding gear of angular transducer 700 can be driven to be rotated around driven gear in real time, make angular transducer 700
The anglec of rotation of the device can be obtained in real time.
Omnidirectional's differential driving wheel apparatus that the utility model is provided, has the characteristics that：
1st, driven jointly by drive device, differential mechanism and transfer, the device is arbitrarily turned with 360 degrees omnidirection
To while 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, a drive device drives two wheels simultaneously, and two motors of control ratio drive respectively to be more prone to.
5th, differential mechanism distributes the rotating speed of two-wheeled automatically, more steady during steering, and course changing control is more convenient.
6th, 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's differential as described above drives
Driving wheel device.
During specific setting, multiple above-mentioned omnidirectional's differentials driving wheel apparatus can be set in the bottom of AGV dollies.
The AGV dollies of wheel apparatus are driven using above-mentioned omnidirectional's differential, with advantages below：
1st, driven jointly by drive device, differential mechanism and transfer, the AGV dollies is appointed with 360 degrees omnidirection
Meaning is turned to, while the pivot stud that radius of turn is zero can be realized.
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 two motors of control ratio drive respectively to be more prone to；
5th, differential mechanism distributes the rotating speed of two-wheeled automatically, and AGV dollies are more steady when turning to, and course changing control is more convenient.
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's differential drives wheel apparatus, it is characterised in that including：Fixed seat, drive device, differential mechanism, wheel and turn
To device；
The differential mechanism is arranged in fixed seat, and two output ends of differential mechanism connect the wheel by wheel shaft respectively；
The drive device is connected with the differential mechanism, to provide power；
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's differential according to claim 1 drives wheel apparatus, it is characterised in that the fixed seat passes through support and car
The wheel shaft of wheel rotates connection.
3. omnidirectional's differential according to claim 1 drives wheel apparatus, it is characterised in that the transfer includes turning to electricity
Machine, transmission mechanism and connecting seat；
The transmission mechanism is connected with connecting seat；
The steering motor is connected with the transmission mechanism；
The connecting seat is rotatably connected in the fixed seat, and the connecting seat passes through steering motor also to connect dolly
Adjusting transmission mechanism is rotated, and is turned to so that omnidirectional's differential driving wheel apparatus is relative with dolly.
4. omnidirectional's differential according to claim 3 drives wheel apparatus, it is characterised in that the transmission mechanism is passed using gear
Dynamic, chain drive or the mode of belt transmission.
5. omnidirectional's differential according to claim 3 drives wheel apparatus, it is characterised in that the transmission mechanism includes being meshed
Driving gear and driven gear, the output shaft of the driving gear and steering motor connects, and the driven gear is fixed on institute
State on connecting seat.
6. omnidirectional's differential according to claim 5 drives wheel apparatus, it is characterised in that the diameter of the driven gear is more than
Driving gear diameter.
7. omnidirectional's differential according to claim 3 drives wheel apparatus, it is characterised in that the connecting seat by axle with it is described
Fixed seat rotates connection.
8. omnidirectional's differential driving wheel apparatus according to claim any one of 3-7, it is characterised in that also including angle sensor
Device, the angular transducer is to detect the anglec of rotation of the transfer relative to trolley.
9. omnidirectional's differential according to claim 8 drives wheel apparatus, it is characterised in that the angular transducer and driver
Structure is connected.
10. a kind of AGV dollies, it is characterised in that including omnidirectional's differential driving wheel dress as described in claim any one of 1-9
Put.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720187923.1U CN206598725U (en) | 2017-02-28 | 2017-02-28 | Omnidirectional's differential driving wheel apparatus and AGV dollies |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720187923.1U CN206598725U (en) | 2017-02-28 | 2017-02-28 | Omnidirectional's differential driving wheel apparatus and AGV dollies |
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| Publication Number | Publication Date |
|---|---|
| CN206598725U true CN206598725U (en) | 2017-10-31 |
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|---|---|---|---|
| CN201720187923.1U Active CN206598725U (en) | 2017-02-28 | 2017-02-28 | Omnidirectional's differential driving wheel apparatus and AGV dollies |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106627122A (en) * | 2017-02-28 | 2017-05-10 | 武汉慧能机器人科技有限公司 | Omni-directional differential drive wheel device and AGV |
| CN108860310A (en) * | 2018-01-08 | 2018-11-23 | 苏州极客嘉智能科技有限公司 | A kind of AGV differential drive mechanism with traverse moving function |
| CN110588766A (en) * | 2019-09-10 | 2019-12-20 | 三峡大学 | Differential steering mechanism of automatic conveying trolley and steering control method |
-
2017
- 2017-02-28 CN CN201720187923.1U patent/CN206598725U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106627122A (en) * | 2017-02-28 | 2017-05-10 | 武汉慧能机器人科技有限公司 | Omni-directional differential drive wheel device and AGV |
| CN108860310A (en) * | 2018-01-08 | 2018-11-23 | 苏州极客嘉智能科技有限公司 | A kind of AGV differential drive mechanism with traverse moving function |
| CN108860310B (en) * | 2018-01-08 | 2020-09-04 | 苏州极客嘉智能科技有限公司 | AGV differential driving mechanism with transverse moving function |
| CN110588766A (en) * | 2019-09-10 | 2019-12-20 | 三峡大学 | Differential steering mechanism of automatic conveying trolley and steering control method |
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