CN208812871U - Omnidirectional driving wheel - Google Patents
Omnidirectional driving wheel Download PDFInfo
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- CN208812871U CN208812871U CN201821223466.8U CN201821223466U CN208812871U CN 208812871 U CN208812871 U CN 208812871U CN 201821223466 U CN201821223466 U CN 201821223466U CN 208812871 U CN208812871 U CN 208812871U
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- wheel
- synchronous pulley
- driving wheel
- driving
- omnidirectional
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Abstract
The utility model discloses omnidirectional driving wheels, including omnidirectional driving wheel main body and glue coating wheel, Supporting cover is provided with above omnidirectional's wheel body, rotation is provided with big synchronous pulley and small synchronous pulley on the support cover, it is contributed by travel driving motor and small synchronous pulley, small synchronous pulley is driven to drive big synchronous pulley, big synchronous pulley is finally made to drive glue coating wheel rotation by deceleration mechanism, furthermore, it drives gear to engage by the steering turned on driving motor to be provided with outer ring tooth on revolving support part, glue coating wheel is driven to carry out 360 ° of rotations without dead angle.The utility model driving wheel can be along 360 degree of rotations and driving wheel does not have excessively high minimum altitude integrally.
Description
Technical field
The present invention relates to driving wheel technical fields, more specifically, are related to a kind of omnidirectional driving wheel.
Background technique
Currently, the automatically guiding trolley field (AGV) is frequently with the driving AGV walking of direct current generator driving wheel unit, it is normal at present
Driving wheel unit generally uses differential driving wheel or steering wheel driving method, and differential driving has the vehicle length-width ratio of AGV
One requirement, does not allow generally length-width ratio to be greater than 2.5, limits the development of AGV；Although steering wheel driving method solves differential drive
Dynamic disadvantage, but the current steering wheel driving unit radius of gyration is big, rotation angle maximum can only achieve 270 °, and minimum altitude
Relatively high, so that AGV can not really realize that omnidirectional is traveled freely, minimum altitude is big, increases the height of AGV vehicle, increases
AGV slips into the difficulty of bottom shelf.
Summary of the invention
It is an object of the invention to overcome defect existing in the prior art, omnidirectional driving wheel is provided.
The present invention is achieved through the following technical solutions: omnidirectional driving wheel, including omnidirectional driving wheel main body and described
The glue coating wheel that setting is rotated on driving wheel body, is provided with Supporting cover above the omnidirectional driving wheel main body, and the omnidirectional drives
It is rotatablely connected between driving wheel main body and the Supporting cover by revolving support part, rotation is provided with big synchronization on the support cover
Belt wheel and small synchronous pulley are connected between the big synchronous pulley and small synchronous pulley by toothed belt transmission, in the support
Lid lower section is provided with the travel driving motor for driving small synchronous pulley；It is provided with ring gear on the inside of the glue coating wheel,
The pinion gear for engaging the ring gear is additionally provided on the driving wheel body, be fixedly connected on the big synchronous pulley one to
The small coning gear shaft of lower extension is fixed with bevel pinion, the bevel pinion and an auger in the end of the small coning gear shaft
Gear engages, and large bevel gear shaft, the side of large bevel gear shaft and driving wheel body are fixedly connected in the middle part of the bevel gear wheel
Rotation connection, is fixedly connected on the other side of the large bevel gear shaft with the pinion gear, fixed below the Supporting cover
It is provided with steering driving motor, is fixed with rotational driving gear on the output shaft for turning to driving motor, in revolution branch
Outer ring tooth, the rotational driving gear and the outer ring tooth engagement are provided in support member.
In above-mentioned technical proposal, it is additionally provided with eccentric wheel, the eccentric wheel and the synchronous belt top on the support cover
It leans on.
In above-mentioned technical proposal, the ring gear and the glue coating wheel are bolted.
In above-mentioned technical proposal, encoder is equipped in the travel driving motor, steering driving motor.
In above-mentioned technical proposal, the big synchronous pulley is provided with one group and the small synchronous pulley is provided with two groups.
It can be rotated along 360 degree the invention has the following beneficial effects: driving wheel of the present invention and driving wheel integrally will not
There is excessively high minimum altitude.
Detailed description of the invention
Fig. 1 is schematic perspective view of the invention.
Fig. 2 is schematic cross-sectional view of the invention.
Specific embodiment
Present invention is further described in detail with specific embodiment with reference to the accompanying drawing: referring to Fig. 1 to Fig. 2,
Omnidirectional driving wheel, including omnidirectional driving wheel main body 20 are provided with support above the omnidirectional driving wheel main body 20
Lid 21 is rotatablely connected, in the branch by revolving support part 22 between the omnidirectional driving wheel main body 20 and the Supporting cover 21
Rotation is provided with synchronous pulley 21a one group big and two groups of small synchronous pulleys 21b, the big synchronous pulley 21a and small on support lid 21
It is sequentially connected between synchronous pulley 21b by synchronous belt 21c, eccentric wheel 21d is additionally provided in the Supporting cover 21, it is described inclined
Heart wheel 21d and the synchronous belt abut against, and are provided with below the Supporting cover 21 for driving the walking of small synchronous pulley 21b to drive
Dynamic motor 21e.
Rotation is provided with glue coating wheel 23 on the driving wheel body 20, specifically, being provided in the middle part of the glue coating wheel 23
Encapsulated wheel shaft 23a, encapsulated wheel shaft 23a and driving wheel body 20 are rotatablely connected, and are provided with ring gear on the inside of the glue coating wheel
23b is additionally provided on the driving wheel body 20 specifically, the ring gear 23b and the glue coating wheel 23 are bolted
Engage the pinion gear 24 of the ring gear 23b.
A small coning gear shaft 25a extended downwardly is fixedly connected on the big synchronous pulley 21a, in the bevel pinion
The end of axis is fixed with bevel pinion 25, and the bevel pinion 25 and a bevel gear wheel 26 engage, in the bevel gear wheel 26
Portion is fixedly connected with large bevel gear shaft 26a, and the side of large bevel gear shaft 26a is connected with driving wheel body rotation, in the auger
It is fixedly connected on the other side of gear shaft with the pinion gear 24.
In above structure, small synchronous pulley is driven by travel driving motor, synchronous belt is then tensioned by eccentric wheel and is connected
Big synchronous pulley is connect, big synchronous pulley is engaged with bevel gear wheel, passed through by bevel pinion axis connection bevel pinion, bevel pinion
Large bevel gear shaft driving pinion, pinion gear engage driving glue coating wheel with ring gear and rotate around encapsulated wheel shaft, pass through this multistage
Deceleration transmission, it is final to realize travel driving motor driving glue coating wheel rotation.In addition the drive that encoder passes through small synchronous pulley
Realize the accurate control to omnidirectional driving wheel revolving speed.
It is fixedly installed below the Supporting cover and turns to driving motor 27, turned to 27 vertical support lid of driving motor and set
It sets, is fixed with rotational driving gear 28 on the output shaft for turning to driving motor 27, is provided on the revolving support part
Outer ring tooth (attached drawing is not shown), the rotational driving gear and the outer ring tooth engagement are driven by turning to driving motor power output
Rotational driving gear engage revolving support part on outer ring tooth so that omnidirectional driving wheel main body in omnidirectional driving wheel main body
Interior 360 ° of omnidirectional's rotations of glue coating wheel.Additionally by close to switching and turning to the included encoder of driving motor, realize to omnidirectional
The accurate control that driving wheel turns to.
The revolving support part includes the inner ring and outer ring of two rotation settings, and inner ring is connected and fixed with Supporting cover, outer ring
It is connected and fixed with omnidirectional driving wheel main body, the outer ring tooth is arranged on the outer ring of revolving support part.
It is equipped with encoder on travel driving motor, steering driving motor in the application, for providing to motor
The accurate control of revolving speed.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments.Described in the above embodiment and specification in the application
It is the principle of the present invention, various changes and improvements may be made to the invention without departing from the spirit and scope of the present invention.On
Changes and improvements are stated to both fall in the range of claimed invention.
Claims (5)
1. omnidirectional driving wheel rotates the glue coating wheel of setting including omnidirectional driving wheel main body and on the driving wheel body, special
Sign is: be provided with Supporting cover above the omnidirectional driving wheel main body, the omnidirectional driving wheel main body and the Supporting cover it
Between be rotatablely connected by revolving support part, on the support cover rotation be provided with big synchronous pulley and small synchronous pulley, it is described
It is connected, is provided with below the Supporting cover small for driving by toothed belt transmission between big synchronous pulley and small synchronous pulley
The travel driving motor of synchronous pulley；It is provided with ring gear on the inside of the glue coating wheel, is also set up on the driving wheel body
There is the pinion gear for engaging the ring gear, a small coning gear shaft extended downwardly is fixedly connected on the big synchronous pulley,
The end of the small coning gear shaft is fixed with bevel pinion, the bevel pinion and bevel gear wheel engagement, the bevel gear wheel
Middle part be fixedly connected with large bevel gear shaft, the side of large bevel gear shaft is connected with driving wheel body rotation, in the auger tooth
It is fixedly connected on the other side of wheel shaft with the pinion gear, steering driving motor, institute is fixedly installed below the Supporting cover
It states and is fixed with steering driving gear on the output shaft for turning to driving motor, outer ring tooth, institute are provided on the revolving support part
State steering driving gear and the outer ring tooth engagement.
2. omnidirectional driving wheel as described in claim 1, it is characterised in that: be additionally provided with eccentric wheel on the support cover, institute
It states eccentric wheel and the synchronous belt abuts against.
3. omnidirectional driving wheel as described in claim 1, it is characterised in that: the ring gear and the glue coating wheel are connected by bolt
It connects.
4. omnidirectional driving wheel as described in claim 1, it is characterised in that: the travel driving motor turns on driving motor
It is equipped with encoder.
5. omnidirectional driving wheel as described in claim 1, it is characterised in that: the big synchronous pulley is provided with one group and described small
Synchronous pulley is provided with two groups.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821223466.8U CN208812871U (en) | 2018-07-31 | 2018-07-31 | Omnidirectional driving wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821223466.8U CN208812871U (en) | 2018-07-31 | 2018-07-31 | Omnidirectional driving wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208812871U true CN208812871U (en) | 2019-05-03 |
Family
ID=66272053
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821223466.8U Active CN208812871U (en) | 2018-07-31 | 2018-07-31 | Omnidirectional driving wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208812871U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108819612A (en) * | 2018-07-31 | 2018-11-16 | 宁波舜宇贝尔自动化有限公司 | Omnidirectional driving wheel |
-
2018
- 2018-07-31 CN CN201821223466.8U patent/CN208812871U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108819612A (en) * | 2018-07-31 | 2018-11-16 | 宁波舜宇贝尔自动化有限公司 | Omnidirectional driving wheel |
| CN108819612B (en) * | 2018-07-31 | 2024-03-05 | 宁波舜宇贝尔机器人有限公司 | Omnidirectional driving wheel |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: No. 2, Shunbei Road, Yangming Street, Yuyao City, Ningbo City, Zhejiang Province 315000 Patentee after: Ningbo Shunyu Bell Robot Co.,Ltd. Address before: 315400 Xingye Road, Yuyao City, Ningbo City, Zhejiang Province Patentee before: NINGBO SHUNYU BEIER AUTOMATION CO.,LTD. |