CN208376875U - Omnidirectional driving wheel system assembly and the AGV for using the assembly - Google Patents
Omnidirectional driving wheel system assembly and the AGV for using the assembly Download PDFInfo
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- CN208376875U CN208376875U CN201820754897.0U CN201820754897U CN208376875U CN 208376875 U CN208376875 U CN 208376875U CN 201820754897 U CN201820754897 U CN 201820754897U CN 208376875 U CN208376875 U CN 208376875U
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- fluted disc
- bevel gear
- assembly
- mantle
- teeth portion
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- 230000007246 mechanism Effects 0.000 claims description 18
- 238000005096 rolling process Methods 0.000 claims description 5
- 230000003247 decreasing effect Effects 0.000 abstract description 2
- 230000009184 walking Effects 0.000 description 12
- 230000006872 improvement Effects 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 4
- 230000005611 electricity Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 230000009467 reduction Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 210000004556 brain Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
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Abstract
The utility model discloses a kind of omnidirectional driving wheel system assembly and using the AGV of the assembly, omnidirectional driving wheel system assembly includes box shell, roll drive part and steering drive part；Roll drive part includes the horizontally disposed drive roller wheel in central axes, is equipped with roll drive motor assembly inside drive roller wheel；Turning to drive part includes boring fluted disc surely, mantle fluted disc, carrying bevel gear, turning to driving bevel gear and turn to decelerating motor, surely the central axes that the carrying bevel gear of fluted disc and the engagement clamping of mantle fluted disc is left and right symmetrically arranged in drive roller wheel by bearing, and bores the roller body of the central axes and drive roller wheel of fluted disc and mantle fluted disc surely are bored and are intersected vertically and are arranged and crosspoint is located at the horizontal center position of roller body.Omnidirectional driving wheel system assembly can realize the height dimension for further decreasing support carrying platform realizing under the premise of omnidirectional's driving, and then realize that height dimension, the support carrying row reduced by support loading product apart from ground is more stable.
Description
Technical field
It is specifically a kind of to be suitable for dive the utility model relates to a kind of drive train assembly and using the AGV of the assembly
Enter and is carried the omnidirectional driving wheel system assembly of transportation robot and using the AGV of the assembly, belonged to by the low chassis support that support carries bottom of article
In the support defeated vehicle technical field of carrying.
Background technique
AGV (Automated Guided Vehicle) i.e. automated guided vehicle or automatic guided vehicle, refers to and is equipped with
Electricity magnetically or optically waits homing guidances device, can travel along defined guide path, have safeguard protection and various transfer function
The transport vehicle of energy.AGV is generally not required to driver, can pass through electricity generally with rechargeable battery for its power resources in industrial application
Brain or the travelling route and behavior that AGV is set up and controlled using electromagnetic path.
When early stage AGV automatic running can only one-way traffic, thus suitable environment is limited to.It is industrial in order to meet
It is required that recent domestic have can move forward and backward in automatic running even comprehensive traveling AGV product, these achievement
Be attributed to the fact that the progress of walking mechanism.Existing AGV walking mechanism includes following several forms: 1, two wheel guide robot according to application
Walking mechanism, two hoofing part wheels are arranged symmetrically on the middle line of front and back, are arranged in front of and after two bogie wheels with two walkings
The isosceles triangle apex that fulcrum is bottom edge is taken turns, therefore which need not be arranged by the differential steering of two sides driving wheel
Steering wheel；2, three-wheel walking mechanism, three wheels are arranged on three vertex of isosceles triangle, front-wheel be both steering wheel and
Driving wheel, behind two wheels be unpowered bogie wheel；3, the four-wheel walking mechanism with steering wheel is in three-wheel walking mechanism
On the basis of develop, it is equivalent to merges two tricycles, and two bogie wheels are symmetrically arranged at before and after trolley
Middle line on, front and back wheel is symmetrically arranged at using two bogie wheel fulcrums as the isosceles triangle apex on bottom edge.Wherein two
The walking mechanism of wheel differential is therefore steering wheel need not to be arranged, can save space and make AGV can by the differential steering of two sides driving wheel
To realize smallerization, mechanism is simple, reliable operation, at low cost, thus this AGV with two wheel guide robot walking mechanism is obtained
It is widely applied.
Although comprehensive traveling, but usual walking mechanism may be implemented in the existing AGV with two wheel guide robot walking mechanism
In turning member be the gear transmission structure being arranged in above ground-engaging element, gear transmission structure include it is horizontally disposed, with
The steering driving motor of the transmission gear or gear ring that ground-engaging element is fixedly connected, vertical direction setting is passed by sliding tooth wheel drive
Moving gear or gear ring rotation are realized and are turned to.Since walking mechanism is typically mounted on the bottom of support carrying platform, in order to reduce support
The height dimension of carrying platform generallys use inversion by the bottom of support loading product, the steering driving motor being vertically arranged in order to slip into
The mode of suspension is mounted on the bottom of support carrying platform.However although the size of the driving wheel of reduction ground-engaging element can be passed through
To realize the height dimension for reducing support carrying platform, but the steering driving motor being vertically arranged still makes the height for reducing support carrying platform
Size is restricted, thus can only by improving height dimension slipping into order to AGV by support loading product apart from ground, however
With high center of gravity by support loading product AGV hold in the palm carrying row during there are unsteady defects.
Summary of the invention
In view of the above-mentioned problems of the prior art, the utility model provides a kind of omnidirectional driving wheel system assembly, Neng Gou
Realize omnidirectional driving under the premise of realize further decrease support carrying platform height dimension, and then realize reduce by support loading product away from
Height dimension, support carrying row from the ground is more stable, especially suitable for that need to slip into such as AGV low chassis for being carried bottom of article by support
Support carries transportation robot.
To achieve the goals above, this omnidirectional driving wheel system assembly includes that box shell, roll drive part and steering are driven
Dynamic part；
The inside of box shell, including the horizontally disposed drive roller wheel in central axes is arranged in the roll drive part,
Drive roller wheel includes roller body and stretches out the roller support shaft of setting along roller body central axes direction or so, and the bottom of box shell is flat
The height of identity distance from the ground is less than the radius size of roller body, is equipped with roll drive motor assembly, roll drive inside roller body
Motor assembly includes the motor heart and arrestment mechanism；
The steering drive part includes cone fluted disc group, carrying bevel gear, turns to driving bevel gear and turn to the electricity that slows down
Machine；Cone fluted disc group is horizontally arranged at box enclosure interior, cone fluted disc group include teeth portion be oppositely arranged, be coaxially disposed determine cone fluted disc
With mantle fluted disc, boring fluted disc and mantle fluted disc surely is hollow gear ring structure, bore fluted disc surely and mantle fluted disc include modulus,
The number of teeth and the identical inner ring teeth portion of reference cone angle, mantle fluted disc further include the outer ring tooth for setting within it and enclosing teeth portion periphery
Portion, the bottom for boring fluted disc surely are fixedly mounted on the bottom plate of box shell, and mantle fluted disc is mounted on box shell by bearing erection
On the top plate of body, and bore the geometric center point of roller body of the central axes of fluted disc group Jing Guo drive roller wheel；Vertical direction setting
Carrying bevel gear cooperate and engages with the inner ring teeth portion for determining cone fluted disc and mantle fluted disc of cone fluted disc group simultaneously, carries bevel gear and sets
It is set to two pieces, two pieces carries roller body symmetrical setting and two pieces of the bevel gear relative to drive roller wheel and carries bevel gear
It is mounted in roller support shaft by bearing respectively；The steering driving bevel gear of vertical direction setting and the outer ring tooth of mantle fluted disc
Portion is with merging engagement；The horizontally disposed steering decelerating motor in central axes is fixedly mounted on box hull outside, and turns to the electricity that slows down
The power output shaft of machine stretches to box enclosure interior and is fixedly and coaxially connected with driving bevel gear is turned to, and turns to decelerating motor
It further include arrestment mechanism.
As further improvement of the utility model scheme, the internal diameter of the gear ring structure of fluted disc and mantle fluted disc is bored surely
At least more than the radius size of the roller body of drive roller wheel.
As a preferred embodiment of the present invention, it carries the teeth portion of bevel gear, bore the internal ring gear of fluted disc and mantle fluted disc surely
Portion is screw conic toothing.
As further improvement of the utility model scheme, the inner ring teeth portion of mantle fluted disc and outer gear ring portion are modulus, tooth
The several and identical teeth portion of reference cone angle.
As further improvement of the utility model scheme, box shell is the seperated knot for including upper housing and lower case
Structure, upper housing and lower case, which are fixedly mounted, to be connected.
A kind of AGV, including above-mentioned omnidirectional driving wheel system assembly.
Compared with prior art, the carrying bevel gear of this omnidirectional driving wheel system assembly and drive roller wheel carrying are to make cone tooth by oneself
The load of the total integral receiving of this omnidirectional driving wheel system of disk and mantle fluted disc, rolling when carrying out straight-line travelling to drive roller wheel
The motor heart power supply of driving motor assembly realizes that drive roller wheel rolls, and drive roller wheel is relative to the rotation of carrying bevel gear, carrying cone
Gear remains static, and the spinning movement for turn to when Turning travel decelerating motor is dynamic by turning to driving bevel gear drive
Boring fluted disc rotation and then carrying bevel gear by two pieces drives drive roller wheel to realize Plane Rotation, and drive roller wheel edge may be implemented
At any angle rotation of the central axes of fluted disc group within the scope of 360 ° is bored, therefore this omnidirectional driving wheel system assembly is installed
AGV may be implemented translation and turn to；Due to boring tooth using by the carrying for determining cone fluted disc and the engagement clamping of mantle fluted disc of cone fluted disc group
Wheel is left and right symmetrically arranged the drive roller wheel mounting means in roller support shaft by bearing, it is achieved that drive roller wheel is non-straight
It connects the state being mounted on box shell, reduce the installation dimension of drive roller wheel in the vertical direction, and then realize reduction case
The overall height dimension of shell body；Due to the central axes phase vertical with the central axes of roller body of drive roller wheel using cone fluted disc group
Friendship setting and crosspoint are located at the mode of the horizontal center position of roller body, and using the power output with steering decelerating motor
The knuckle section installation side that the steering driving bevel gear that axis is fixedly and coaxially connected is engaged with the outer ring teeth portion of mantle fluted disc with merging
Formula, therefore realize that the central axes for turning to decelerating motor are horizontally disposed with, reduce space hold on vertical direction, and then further
The overall height dimension for reducing this omnidirectional driving wheel system assembly is realized, to realize the height reduced by support loading product apart from ground
Size, support carrying row are more stable, carry transportation machines by such as AGV low chassis support that support carries bottom of article especially suitable for that need to slip into
People.
Detailed description of the invention
Fig. 1 is the three dimensional structure diagram of the utility model；
Fig. 2 is the schematic cross-sectional view of the utility model.
In figure: 1, drive roller wheel, 11, roller support shaft, 2, bore fluted disc surely, 3, mantle fluted disc, 4, carrying bevel gear, 5, turn
To driving bevel gear, 6, steering decelerating motor.
Specific embodiment
Being described further with reference to the accompanying drawing to the utility model (is below interior with the direction for being directed toward box enclosure interior
Side direction is described using the direction for being directed toward box hull outside as lateral direction).
As shown in Figure 1 and Figure 2, this omnidirectional driving wheel system assembly includes box shell, roll drive part and steering driving portion
Point.
The inside of box shell, including the horizontally disposed drive roller wheel 1 in central axes is arranged in the roll drive part,
Drive roller wheel 1 includes roller body and stretches out the roller support shaft 11 of setting along roller body central axes direction or so, box shell
Height of the baseplane apart from ground is less than the radius size of roller body, is equipped with roll drive motor assembly inside roller body, rolls
Driving motor assembly includes the motor heart and arrestment mechanism.
The steering drive part includes cone fluted disc group, carrying bevel gear 4, turns to driving bevel gear 5 and turn to and slow down
Motor 6；Cone fluted disc group is horizontally arranged at box enclosure interior, cone fluted disc group include teeth portion be oppositely arranged, be coaxially disposed determine cone
Fluted disc 2 and mantle fluted disc 3 bore fluted disc 2 surely and mantle fluted disc 3 are hollow gear ring structures, bore fluted disc 2 and mantle fluted disc 3 surely
It further include setting within it to enclose teeth portion including modulus, the number of teeth and the identical inner ring teeth portion of reference cone angle, mantle fluted disc 3
The outer ring teeth portion of periphery, the bottom for boring fluted disc 2 surely are fixedly mounted on the bottom plate of box shell, and mantle fluted disc 3 passes through bearing bracket stand
If being mounted on the top plate of box shell, and the geometric center point of roller body of the central axes of fluted disc group Jing Guo drive roller wheel 1 is bored,
I.e. bore fluted disc group central axes and drive roller wheel 1 roller body central axes intersect vertically be arranged and crosspoint be located at roller body
Horizontal center position；The carrying bevel gear 4 of vertical direction setting simultaneously with bore fluted disc group and determine cone fluted disc 2 and mantle fluted disc 3
Inner ring teeth portion cooperate and engage, i.e., bore fluted disc 2 and mantle fluted disc 3 surely in the state of clamping carrying bevel gear 4, carry bevel gear
4 are set as two pieces, and two pieces carries roller body symmetrical setting and two pieces carrying cone of the bevel gear 4 relative to drive roller wheel 1
Gear 4 is mounted in roller support shaft 11 by bearing respectively；The steering driving bevel gear 5 and mantle fluted disc of vertical direction setting
3 outer ring teeth portion is with merging engagement；The horizontally disposed steering decelerating motor 6 in central axes is fixedly mounted on box hull outside, and
The power output shaft for turning to decelerating motor 6 stretches to box enclosure interior and is fixedly and coaxially connected with driving bevel gear 5 is turned to,
Turning to decelerating motor 6 further includes arrestment mechanism.
This omnidirectional driving wheel system assembly is mounted on the bottom of AGV in use, the load of AGV by boring fluted disc 2 and mantle surely
Fluted disc 3 passes to carrying bevel gear 4 and drive roller wheel 1；
When needing to carry out straight-line travelling, it can directly pass through the motor heart of the roll drive motor assembly of control drive roller wheel 1
Power supply can be realized the rolling of drive roller wheel 1, relative to the rotation of carrying bevel gear 4, carrying cone in 1 rolling process of drive roller wheel
Gear 4 remains static；
When needing to carry out Turning travel, the rotation of control steering decelerating motor 6 it can be moved during drive roller wheel 1 rolls
Work makes to turn to the rotation of driving bevel gear 5, turns in 5 rotary course of driving bevel gear and mantle fluted disc 3 is driven to rotate along its central axes,
Drive two pieces carrying bevel gear 4 is contrary on fixed cone fluted disc 2 simultaneously to be rolled in 3 rotary course of mantle fluted disc, two pieces
Carry in 4 rolling process of bevel gear drives drive roller wheel 1 along the geometric center point plane of drive roller wheel 1 by roller support shaft 11
Rotation, and then realize the change of 1 driving direction of drive roller wheel.
In order to further decrease the height dimension of box shell, and then realize the chassis height for further decreasing AGV, as
Further improvement of the utility model scheme bores the internal diameter of the gear ring structure of fluted disc 2 and mantle fluted disc 3 at least more than drive surely
The radius size of the roller body of dynamic roller 1.
What carrying bevel gear 4 cooperated and engaged with the inner ring teeth portion for determining cone fluted disc 2 and mantle fluted disc 3 of cone fluted disc group simultaneously
Cooperation tooth form can be straight-tooth cone toothing, be also possible to screw conic toothing, and since the latter has, overlap coefficient is big, carries energy
The advantages that power is strong, transmission ratio is high, stable drive, small noise, therefore preferred the latter, that is, as a preferred embodiment of the present invention,
The teeth portion of carrying bevel gear 4, the inner ring teeth portion of cone fluted disc 2 and mantle fluted disc 3 is screw conic toothing surely.
For the ease of processing and fabricating, as further improvement of the utility model scheme, the inner ring teeth portion of mantle fluted disc 3 and
Outer gear ring portion is modulus, the number of teeth and the identical teeth portion of reference cone angle, that is, the inner ring teeth portion and outer gear ring of mantle fluted disc 3
Portion can be processed and formed at one time.
For the ease of the installation of box enclosure interior components, as further improvement of the utility model scheme, box
Shell is the separate structure for including upper housing and lower case, and upper housing and lower case, which are fixedly mounted, to be connected.The box of separate structure
Shell is more convenient for installing cone fluted disc group and carrying bevel gear 4.
The AGV for being equipped with this omnidirectional driving wheel system assembly not only can be adapted for wisdom factory, wisdom logistic industry, intelligence
The industry that intelligence holds in the palm idling fortune may be implemented in storage sector etc., may be equally applicable for intelligence for the customization AGV of automobile chassis
Parking lot, emergency reaction and resolution etc. carry out support idling fortune to vehicle.
Times of the drive roller wheel 1 along the central axes of cone fluted disc group within the scope of 360 ° may be implemented in this omnidirectional driving wheel system assembly
The rotation for angle of anticipating, therefore the AGV for being equipped with this omnidirectional driving wheel system assembly may be implemented translation and turn to；Due to using by cone tooth
Disk group determine cone fluted disc 2 and mantle fluted disc 3 engagement clamping carrying bevel gear 4 by bearing be left and right symmetrically arranged roller support
1 mounting means of drive roller wheel on axis 11, it is achieved that the indirect state being mounted on box shell of drive roller wheel 1, drop
The low installation dimension of drive roller wheel 1 in the vertical direction, and then realize the overall height dimension for reducing box shell；Due to adopting
With cone fluted disc group central axes and drive roller wheel 1 roller body central axes intersect vertically be arranged and crosspoint be located at roller body
Horizontal center position mode, and using and turn to the steering that is fixedly and coaxially connected of power output shaft of decelerating motor 6 and drive
The knuckle section mounting means that bevel gear 5 engages with the outer ring teeth portion of mantle fluted disc 3 with merging, therefore realize and turn to decelerating motor
6 central axes are horizontally disposed with, reduce space hold on vertical direction, and then further realize and reduce this omnidirectional driving wheel system
The overall height dimension of assembly, thus realize that height dimension, the support carrying row reduced by support loading product apart from ground is more stable, it is special
It Shi Yongyu not need to slip into and transportation robot is carried by such as AGV low chassis support that support carries bottom of article.
Claims (6)
1. a kind of omnidirectional driving wheel system assembly, including box shell, roll drive part and steering drive part；Its feature exists
In,
The inside of box shell, including the horizontally disposed drive roller wheel in central axes (1) is arranged in the roll drive part, drives
Dynamic roller (1) includes roller body and stretches out the roller support shaft (11) of setting, box shell along roller body central axes direction or so
Height of the baseplane apart from ground be less than the radius size of roller body, be equipped with roll drive motor assembly, rolling inside roller body
Dynamic driving motor assembly includes the motor heart and arrestment mechanism；
The steering drive part includes cone fluted disc group, carrying bevel gear (4), turns to driving bevel gear (5) and turn to and slow down
Motor (6)；Cone fluted disc group is horizontally arranged at box enclosure interior, cone fluted disc group include teeth portion be oppositely arranged, determining of being coaxially disposed
Fluted disc (2) and mantle fluted disc (3) are bored, fluted disc (2) is bored surely and mantle fluted disc (3) is hollow gear ring structure, bores fluted disc (2) surely
It include that modulus, the number of teeth and the identical inner ring teeth portion of reference cone angle, mantle fluted disc (3) further include with mantle fluted disc (3)
It sets within it and encloses the outer ring teeth portion of teeth portion periphery, the bottom for boring fluted disc (2) surely is fixedly mounted on the bottom plate of box shell, is moved
Cone fluted disc (3) is mounted on the top plate of box shell by bearing erection, and drive roller wheel (1) is passed through in the central axes for boring fluted disc group
Roller body geometric center point；Vertical direction setting carrying bevel gear (4) simultaneously with cone fluted disc group determine cone fluted disc (2) and
The inner ring teeth portion of mantle fluted disc (3) cooperates and engages, and carrying bevel gear (4) is set as two pieces, and it is opposite that two pieces carries bevel gear (4)
In the roller body of drive roller wheel (1) it is symmetrical setting and two pieces carrying bevel gear (4) roller is mounted on by bearing respectively
In support shaft (11)；The steering driving bevel gear (5) of vertical direction setting matches to merge with the outer ring teeth portion of mantle fluted disc (3) nibbles
It closes；The horizontally disposed steering decelerating motor (6) in central axes is fixedly mounted on box hull outside, and turns to decelerating motor (6)
Power output shaft stretches to box enclosure interior and is fixedly and coaxially connected with driving bevel gear (5) are turned to, and turns to decelerating motor
It (6) further include arrestment mechanism.
2. omnidirectional driving wheel system according to claim 1 assembly, which is characterized in that bore fluted disc (2) and mantle fluted disc (3) surely
Gear ring structure internal diameter at least more than drive roller wheel (1) roller body radius size.
3. omnidirectional driving wheel system according to claim 1 assembly, which is characterized in that the teeth portion of carrying bevel gear (4), fixed cone
The inner ring teeth portion of fluted disc (2) and mantle fluted disc (3) is screw conic toothing.
4. omnidirectional driving wheel system according to claim 1 assembly, which is characterized in that the inner ring teeth portion of mantle fluted disc (3) and
Outer gear ring portion is modulus, the number of teeth and the identical teeth portion of reference cone angle.
5. omnidirectional driving wheel system according to claim 1 assembly, which is characterized in that box shell is to include upper housing under
The separate structure of shell, upper housing and lower case, which are fixedly mounted, to be connected.
6. a kind of AGV, which is characterized in that including the omnidirectional driving wheel system assembly as described in claim 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820754897.0U CN208376875U (en) | 2018-05-21 | 2018-05-21 | Omnidirectional driving wheel system assembly and the AGV for using the assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820754897.0U CN208376875U (en) | 2018-05-21 | 2018-05-21 | Omnidirectional driving wheel system assembly and the AGV for using the assembly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208376875U true CN208376875U (en) | 2019-01-15 |
Family
ID=64971190
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820754897.0U Expired - Fee Related CN208376875U (en) | 2018-05-21 | 2018-05-21 | Omnidirectional driving wheel system assembly and the AGV for using the assembly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208376875U (en) |
-
2018
- 2018-05-21 CN CN201820754897.0U patent/CN208376875U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20190115 |