CN209112325U - Driving wheel and travelling bogie - Google Patents

Abstract

The utility model proposes a kind of driving wheel, the driving wheel include for connection body fixing seat, two be located at the bracket of opposite sides below fixing seat, the wheel of two opposite exterior lateral sides for being located at two stands and two are respectively used to the driving mechanisms of driving two wheels rotation；Several connecting columns are provided between fixing seat and bracket, correspondence is arranged with damping spring on each connecting column.The driving wheel of the utility model is not only able to realize differential rotation, while the advantages of be also equipped with damping, makes still to keep gentle operation in broken terrain using the travelling bogie of this driving wheel.

Description

Driving wheel and travelling bogie

Technical field

The utility model relates to automatic guided vehicle technical fields, and in particular to a kind of driving wheel and travelling bogie.

Background technique

Existing AGV travelling bogie, also commonly referred to as automatic guided vehicle refer to and magnetically or optically wait homing guidances dress equipped with electricity It sets, can be travelled along defined guide path, the transport vehicle with safeguard protection and various transfer functions.

AGV travelling bogie is moved ahead by drive wheel, and common driving wheel does not have cushioning effect, and AGV travelling bogie exists It is encountered in operational process when jolting, trolley vehicle body can generate significant shock amplitude, cause AGV trolley to be easily badly shaken, service life It shortens.

Utility model content

The main purpose of the utility model is to provide a kind of driving wheels, it is intended to solve existing driving wheel structure and enable transport Trolley, which encounters, leads to the problem of biggish vibration amplitude when jolting.

In order to solve the above technical problems, the driving wheel includes being used for connection body the utility model proposes a kind of driving wheel Fixing seat, below the fixing seat and in two stands positioned opposite, be rotatably arranged on each bracket Wheel and driving mechanism for driving wheel rotation；

Several connecting columns are connected between the fixing seat and the bracket, correspondence is arranged useful on each connecting column In the damping spring for supporting the fixing seat.

Preferably, the fixing seat be equipped with the one-to-one connecting hole of the connecting column, the connecting column is along its axis To being movably arranged in the connecting hole, the top of the connecting column is located above the fixing seat, the connecting column Lower end is connect with the bracket.

Preferably, between the fixing seat and the bracket, several guide posts is additionally provided with, are correspondingly arranged on the bracket Several pilot holes for being used to accommodate the guide post, are inserted in the pilot hole to the bottom slidable of the guide post, institute The top for stating guide post is connect with the fixing seat.

Preferably, self lubrication bearing is provided between the guide post and the pilot hole.

Preferably, the bracket include mounting plate, two left and right ends for being connected to the mounting plate guide part, The damping fixing seat connecting with each guide part, the mounting plate are equipped with the output shaft for accommodating the driving mechanism Mounting hole, be equipped at least one described pilot hole in each guide part, each damping fixing seat is at least with one A connecting column connection.

Preferably, the height of the mounting plate and the guide part is greater than the height of the damping fixing seat, described Damping avoiding space is formed above damping fixing seat.

Preferably, the driving mechanism includes driving motor and retarder, the input terminal of the retarder and the driving Motor connection, the output end of the retarder are connect with the wheel.

Preferably, the driving wheel further includes the pivoting support for being set to the fixing seat upper end, and the pivoting support is used In the vehicle frame lower end that the driving wheel is installed on to transport vehicle.

The utility model also proposes a kind of travelling bogie, which includes vehicle frame and at least one drive as described above Driving wheel.

Preferably, which further includes several universal wheels for being set to the bottom of frame.

The utility model is by the fixing seat for being used for connection body and the bracket split settings for connecting wheel, while use can The connecting column slided in fixing seat links together fixing seat and bracket, and damping spring is arranged on connecting column.Therefore, when Driving wheel by ground uneven place when, wheel drives bracket vertical tremor, fixing seat separately positioned at this time and bracket The distance between mutation so that damping spring between the two generates opposition, the active force can slow down fixing seat with The variation of the distance between bracket, so that driving wheel be enabled to adapt to surface relief, the object carried above driving wheel is gently moved.With this Meanwhile when wheel is under the driving of driving mechanism, when rotating backward with same rotational speed, due to the effect of differential, may be implemented to drive The steering of driving wheel.Therefore, the driving wheel of the utility model is not only able to realize differential rotation, while the advantages of be also equipped with damping, Make still to keep gently running in broken terrain using the AGV travelling bogie of this driving wheel.

Detailed description of the invention

Fig. 1 is structural schematic diagram of the driving wheel of the utility model under a visual angle；

Fig. 2 is structural schematic diagram of the driving wheel of the utility model under another visual angle；

Fig. 3 is the structural schematic diagram of bracket shown in Fig. 1；

Fig. 4 is the structural schematic diagram of travelling bogie in another embodiment of the utility model.

Specific embodiment

The embodiments of the present invention are described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng The embodiment for examining attached drawing description is exemplary, it is intended to for explaining the utility model, and should not be understood as to the utility model Limitation, based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work Every other embodiment obtained, fall within the protection scope of the utility model.

The utility model proposes a kind of driving wheels 100, and as depicted in figs. 1 and 2, which includes for connecting vehicle The fixing seat 110 of body, positioned at the lower section of fixing seat 110 and in two stands 120 positioned opposite, be rotatably arranged in each bracket Wheel 130 on 120 and the driving mechanism 140 for the rotation of driving wheel 130；It is connected between fixing seat 110 and bracket 120 Several connecting columns 150, correspondence is arranged with the damping spring 160 for being used to support fixing seat 110 on each connecting column 150.

In the present embodiment, fixing seat 110 be may connect in the mechanisms such as vehicle frame, this driving wheel 100 is fixed on vehicle bottom.Two Bracket 120 is opposite and is symmetrically disposed on 110 lower section of fixing seat, and the opposite sides of two stands 120 can regard the interior of two stands 120 as Side, the phase of two stands 120 can regard the outside of two stands 120 as from side, and two above-mentioned wheels 130 are located at two stands 120 Outside, corresponding, respectively two driving mechanisms 140 of one wheel 130 of corresponding driving are located at the interior of two stands 120 Side, to save overall space.The wheel 130 of the corresponding driving of driving mechanism 140 is located inside and outside bracket 120, Therefore the output shaft of driving mechanism 140 needs guiding through the reconnection wheel 130 of bracket 120 or the input shaft of wheel passes through bracket 120, Reconnect driving mechanism 140.

Fixing seat 110 and two stands 120 are separately positioned, are attached by connecting column 150, the first end of connecting column 150 It is flexibly connected with fixing seat 110 (or bracket 120), the bracket 120 of 110 lower section of second end and fixing seat is fixedly connected (assuming that the One end is flexibly connected with bracket 120, then second end is fixedly connected with fixing seat).Connecting column 150 can be along the axial solid of its own Play above and below in reservation 110 (or bracket 120).Damping spring 160 on each connecting column 150 is respectively positioned on fixing seat 110 and branch Between frame 120, and it is in compressive state always, or at least in the initial state, upper and lower ends are respectively against fixing seat 110 with bracket 120, when the distance between fixing seat 110 and bracket 120 become smaller, damping spring 160 is compressed, thus generation Propulsive thrust.

In the present embodiment, driving wheel 100 can be used as the wheel component of the devices such as AGV transport vehicle, carry in fixing seat 110 The object of constant weight.Under the driving of each comfortable two driving mechanism 140 of two wheel 130, when being rotated backward with same rotational speed, by In the effect of differential, the steering of driving wheel 100 may be implemented.When uneven place of the driving wheel 100 by ground, wheel 130 drive 120 vertical tremor of bracket, the distance between fixing seat 110 separately positioned at this time and bracket 120 mutation, so that two Damping spring 160 between person generates opposition, the active force can slow down between fixing seat 110 and bracket 120 away from From variation, so that driving wheel 100 be enabled to adapt to surface relief, the object carried above driving wheel 100 is gently moved.Therefore, this reality Made the advantages of being not only able to realize differential rotation, while being also equipped with damping using this drive with the driving wheel 100 of new embodiment The AGV transport vehicle of driving wheel 100 still keeps gently running in broken terrain.

In a preferred embodiment, as shown in Fig. 2, driving mechanism 140 includes driving motor 141 and retarder 142, slow down The input terminal of device 142 is connect with driving motor 141, and the output end of retarder 142 is connect with wheel 130.Wherein, driving motor 141 are used to provide power, and retarder 142 is used to adjust the revolving speed of the output of driving motor 141 to wheel 130.

In a preferred embodiment, as shown in Figure 1, fixing seat 110 be equipped with connect correspondingly with connecting column 150 Hole, connecting column 150 are axially movably arranged in connecting hole along it, and the top of connecting column 150 is located at 110 top of fixing seat, The lower end of connecting column 150 is connect with bracket 120.

In the present embodiment, connecting column 150 is threaded through correspondingly in the connecting hole being arranged in fixing seat 110, and the company The straight of connecting hole can be greater than along the axially upper and lower play in connecting hole, the upper end diameter of connecting column 150 of its own by connecing column 150 Diameter, to prevent connecting column 150 to be detached from fixing seat 110.The lower end of connecting column 150 is then fixedly connected with bracket 120 or detachably connects It connects.Damping spring 160 on each connecting column 150, is respectively positioned between fixing seat 110 and bracket 120, each damping spring 160 Specification it is consistent, it is consistent with the propulsive thrust for keeping each damping spring 160 to be applied to fixing seat 110, to keep whole The balance of a driving wheel 100.

In a preferred embodiment, as shown in Figure 1, the top of connecting column 150 is located at 110 top of fixing seat, connecting column 150 Middle part be arranged in fixing seat 110, the bottom of connecting column 150 is threadedly coupled with damping fixing seat 123.

Be removably to be threadedly coupled between connecting column 150 and damping fixing seat 123 in the present embodiment, it is easy to repair and Part replacement.The diameter at the middle part of connecting column 150 should be less than the internal diameter of connecting hole in fixing seat 110, so that the middle part can be It is smoothly moved up and down in connecting hole.The diameter at the top of connecting column 150 is greater than the straight of connecting hole in mid diameter and fixing seat 110 Diameter prevents bolt from falling off from fixing seat 110.

In a preferred embodiment, as shown in Figure 1, between fixing seat 110 and bracket 120, several guide posts are additionally provided with 170, several for accommodating the pilot holes of guide post 170, the bottom slidable of guide post 170 is correspondingly arranged on bracket 120 It is inserted in pilot hole, the top of guide post 170 is connect with fixing seat 110.

In the present embodiment, fixing seat 110 is equipped with several through-holes 1231, and it is logical that guide post 170 is arranged in this correspondingly It in hole 1231, and is to be fixedly connected or be detachably connected between the upper end of the guide post 170 and fixing seat 110.Preferably, solid Through-hole 1231 in reservation 110 is screw thread oral pore, and the top of guide post 170 is then equipped with the external screw thread with threaded hole cooperation, guiding The top of column 170 then uses nut to fasten, and prevents it from falling off with fixing seat 110.Guide post 170 should be fitted mutually with pilot hole Match, prevents the double swerve in pilot hole of guide post 170.When the distance between fixing seat 110 and bracket 120 change, i.e., When bracket 120 shakes down on the ground with wheel 130, guide post 170 is upper and lower in pilot hole with the change in displacement of fixing seat 110 Sliding, under the limitation of guide post 170 and pilot hole, with being then not easy left-right and front-back between fixing seat 110 and bracket 120 in water It is square opposite upwards to shake, to increase stationarity.

In a preferred embodiment, self lubrication bearing is provided between guide post 170 and pilot hole.

In the present embodiment, the outer diameter of guide post 170 is adapted to the internal diameter of self lubrication bearing, the outer diameter of self lubrication bearing with lead It is adapted to hole internal diameter.Self lubrication bearing wearability with higher and elastoplasticity, can be by the fixing seat 110 and bracket of opposite shaking 120 in the stress distribution generated in guide post 170 on wider contact surface, thus improve the bearing capacity of guide post 170 with And service life.

In a preferred embodiment, as shown in figure 3, bracket 120, which includes mounting plate 121, two, is connected to mounting plate The guide part 1221 of 121 left and right ends and two damping fixing seats 123 being connect with each guide part 1221, two damping fixing seats 123 are connected to the phase of two guide parts 1221 from two sides, and mounting plate 121 is equipped with the output for accommodating driving mechanism 140 The mounting hole 1211 of axis, is equipped at least one pilot hole in each guide part 1221, each damping fixing seat 123 at least with One connecting column 150 connects.

In the present embodiment, two brackets 120 being oppositely arranged can split settings, can also be by adding at the top of bracket 120 If connecting plate links together two stands 120.Mounting hole 1211 on the mounting plate 121 of two stands 120 is symmetrical Setting, the mounting hole 1211 that the output shaft of two driving mechanisms 140 is each passed through on a mounting plate 121 and the wheel driven with it 130 connections, therefore two wheels 130 are also symmetrical.Between 121 bottom edge of mounting hole 1211 on mounting plate 121 and mounting plate Distance should be less than the radius of wheel 130, and when on duty by turns land, mounting plate 121 should be hanging.Similarly, guide part 1221 With where the bottom end of damping fixing seat 123 horizontal plane and the distance between mounting hole 1211 should all be less than the half of wheel 130 Diameter, this is common-sense problem, not described here any more.

Preferably, guide part 1221 is set as shown in figure 3, mounting plate 121 selects the plate with first thickness Rectangular column with second thickness, two guide parts 1221 are connected to the length direction both ends of the plate.Wherein, second thickness Greater than first thickness, and guide part 1221 and mounting plate 121 are towards the side of driving mechanism 140 (i.e. two mounting plates 121 are opposite) Concordantly, therefore side (i.e. two installations of two guide parts 1221 of one piece of mounting plate 121 with mounting plate 121 far from driving mechanism 140 121 phase of plate is from side), because the thickness difference of guide part 1221 and mounting plate 121 forms one for accommodating the wheel for being located at the side 130 space.Damping fixing seat 123 is located at the two sides that two guide parts 1221 are away from each other.

Preferably, a vertical pilot hole is arranged in each guide part 1221, to be cooperatively connected with guide post 170. Each damping fixing seat 123 is then connected in a connecting column 150.Therefore preferably, connecting there are four the entire settings of driving wheel 100 Column 150 and four guide posts 170 are connect, is both realized enough to the guiding and damping work between two mounting plates 121 and fixing seat 110 With, and irredundant component, save manufacturing cost.

In a preferred embodiment, as shown in figure 3, the height of mounting plate 121 and guide part 1221 is greater than damping fixing seat 123 height, to form damping avoiding space above damping fixing seat 123.Preferably, mounting plate 121 and its both ends connect The bottom of the damping fixing seat 123 of guide part 1221, two guide parts, 1221 phase from both ends connect is respectively positioned in same horizontal line.

In a preferred embodiment, as shown in Figure 1, the driving wheel 100 further includes being set to returning for 110 upper end of fixing seat Turn bearing 180, pivoting support 180 is used to for driving wheel 100 being installed on the vehicle frame lower end of transport vehicle.Pivoting support 180, including altogether Axis and the inner ring and outer ring that can be relatively rotated along the axis, wherein the inner ring and outer ring vehicle frame with fixing seat 110 and transport vehicle respectively It is fixed by screw, the driving wheel 100 of the utility model is mounted on to the vehicle frame lower end of transport vehicle, the wheel as the transport vehicle Component uses, and more realizes the differential speed rotation of driving wheel 320 itself.

The utility model also proposes a kind of travelling bogie, as shown in figure 4, the travelling bogie includes vehicle frame 200 and at least one A driving wheel 100, the driving wheel 100 are driving wheel 100 described in any embodiment as above.

As shown in Figure 1, driving wheel 100 include for connection body fixing seat 110, be located at the lower section of fixing seat 110 Opposite sides two stands 120, be located at two stands 120 opposite exterior lateral sides two wheels 130 and be respectively used to drive Two driving mechanisms 140 of two wheels 130 rotation；The output shaft of driving mechanism 140 is arranged in bracket 120, and is driven with corresponding Dynamic wheel 130 connects；It is connected between fixing seat 110 and bracket 120 by several connecting columns 150, it is right on each connecting column 150 Damping spring 160 should be arranged with.

In the present embodiment, 110 upper end of fixing seat of driving wheel 100 is connect with 200 bottom of vehicle frame plays entire bracket with support, And under the driving of two driving mechanisms 140 of each comfortable driving wheel 100 of two wheel 130 of driving wheel 100, with same rotational speed When rotating backward, due to the effect of differential, the steering of driving wheel 100 may be implemented, that is, realize the steering of travelling bogie.Work as transport Trolley by ground uneven place when, with shock-absorbing function driving wheel 100, phase between fixing seat 110 and wheel 130 It is smaller to being displaced, therefore the bracket connecting on travelling bogie with fixing seat 110 200 can be enabled to remain flat during traveling It is slow.Preferably, mountable even number symmetrically arranged driving wheel 100 two-by-two under a vehicle frame 200, to keep vehicle frame 200 Balance.

In a preferred embodiment, as shown in figure 4, above-mentioned travelling bogie further includes several being set to 200 bottom of vehicle frame Universal wheel 300.Universal wheel 300, which has, turns to flexible advantage, and effect is that auxiliary drive wheels 100 have supported entire vehicle frame 200 And the need transport article placed above vehicle frame 200, while when driving wheel 100 turns to, it can flexibly turn to therewith.

It is to be appreciated that the technical solution between each embodiment of the utility model can be combined with each other, but must be with It, should when the combination of technical solution appearance is conflicting or cannot achieve based on those of ordinary skill in the art can be realized Think that the combination of this technical solution is not present, also not within the scope of the requires of the utility model is protected.

Therefore above part for being only the utility model or preferred embodiment, either text or attached drawing cannot all limit The range of the utility model protection processed is illustrated under all designs with one entirety of the utility model using the utility model Equivalent structure transformation made by book and accompanying drawing content, or directly/be used in other related technical areas indirectly and be included in this In the range of utility model protection.

Claims (10)

1. a kind of driving wheel, which is characterized in that including for connection body fixing seat, be located at below the fixing seat and be in phase To the two stands of arrangement, the wheel being rotatably arranged on each bracket and driving machine for driving the wheel rotation Structure；Several connecting columns are connected between the fixing seat and the bracket, corresponding be arranged with is used for branch on each connecting column Support the damping spring of the fixing seat.

2. driving wheel according to claim 1, which is characterized in that the fixing seat is equipped with a pair of with the connecting column one The connecting hole answered, the connecting column are axially movably arranged in the connecting hole along it, and the top of the connecting column is located at Above the fixing seat, the lower end of the connecting column is connect with the bracket.

3. driving wheel according to claim 1, which is characterized in that between the fixing seat and the bracket, if being additionally provided with Guide post is done, is correspondingly arranged on the bracket several for accommodating the pilot holes of the guide post, the lower part of the guide post It is slideably inserted in the pilot hole, the top of the guide post is connect with the fixing seat.

4. driving wheel according to claim 3, which is characterized in that be provided between the guide post and the pilot hole certainly Lubricative axle sleeve.

5. driving wheel according to claim 3, which is characterized in that the bracket include mounting plate, two be connected to The guide part of the left and right ends of the mounting plate and the damping fixing seat connecting with each guide part are set on the mounting plate There is the mounting hole of the output shaft for accommodating the driving mechanism, at least one described guiding is equipped in each guide part Hole, each damping fixing seat are at least connect with a connecting column.

6. driving wheel according to claim 5, which is characterized in that the height of the mounting plate and the guide part is greater than institute The height of damping fixing seat is stated, to form damping avoiding space above the damping fixing seat.

7. driving wheel according to claim 1, which is characterized in that the driving mechanism includes driving motor and retarder, The input terminal of the retarder is connect with the driving motor, and the output end of the retarder is connect with the wheel.

8. driving wheel described in -7 any one according to claim 1, which is characterized in that further include being set in the fixing seat The pivoting support at end, the pivoting support are used to for the driving wheel being installed on the vehicle frame lower end of transport vehicle.

9. a kind of travelling bogie, which is characterized in that including vehicle frame and at least one driving wheel, the driving wheel is such as claim Driving wheel described in 1-8 any one.

10. travelling bogie according to claim 9, which is characterized in that further include several being set to the bottom of frame Universal wheel.