CN209159801U - Differential control steering wheel mechanism and AGV trolley - Google Patents
Differential control steering wheel mechanism and AGV trolley Download PDFInfo
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- CN209159801U CN209159801U CN201821857997.2U CN201821857997U CN209159801U CN 209159801 U CN209159801 U CN 209159801U CN 201821857997 U CN201821857997 U CN 201821857997U CN 209159801 U CN209159801 U CN 209159801U
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Abstract
This application discloses a kind of differential control steering wheel mechanism and AGV trolleies, belong to guiding equipment technology field of transport.It includes steering wheel fixed device, differential drive device, the fixed device of the steering wheel with AGV trolley for fixing, the differential drive device is rotatably arranged in the fixed device of steering wheel, and for driving the fixed device of steering wheel mobile, the fixed device ring-type of the steering wheel surrounds the differential drive device.The utility model cooperatively forms differential control steering wheel mechanism using differential drive device and the fixed device of steering wheel, wherein differential driving provides the power for driving entire mechanism to exercise, and differential drive device is then fixed on AGV trolley by the fixed device of steering wheel；Several differential control steering wheel mechanisms are set on AGV trolley, by adjusting the power of the upper differential drive device of each differential control steering wheel mechanism, i.e., the driving direction of changeable AGV trolley, to achieve the purpose that the whole height and size that reduce AGV trolley.
Description
Technical field
The utility model relates to guide equipment technology field of transport more particularly to a kind of differential control steering wheel mechanism and AGV
Trolley.
Background technique
AGV is the abbreviation of Automated Guaded Vehicle, means automated guided vehicle, is only equipped with electricity
Magnetically or optically equal homing devices, it can be travelled along defined guiding road strength, have safeguard protection and various transfer function
The transport vehicle of energy, AGV belong to the scope of wheeled mobile robot.
AGV compared with walking, is creeped or other non-wheeled mobile robots have action fast characterized by wheel type mobile
The prompt, advantages such as work efficiency is high, structure is simple, controllability is strong, safety is good.With other equipment phase common in material conveying
Than the zone of action of AGV is not limited without being laid with the fixed device such as track, support saddle frame by place, road and space.Therefore,
In automatic Material Handling System, its automaticity and flexibility most can be fully embodied, realizes efficient, economic, flexible unmanned metaplasia
It produces.
Currently, the steering wheel mechanism in existing AGV can be divided into driving structure and direction control structure, driving structure is by electricity
By drive mechanism come driving wheel rotation, direction control structure is then made of components such as motor and revolving supports machine.
But since driving structure and direction control structure need to keep coaxial relation in vertical direction again, cause
Overall structure height is very high.
Utility model content
The utility model is in view of the above-mentioned problems, propose a kind of differential control steering wheel mechanism and AGV trolley, compact structure,
It may be mounted at required position on AGV trolley, by the cooperation between each differential control steering wheel mechanism, can be realized
The omnidirectional of AGV trolley controls, to effectively reduce the overall dimensions of AGV trolley, AGV trolley is made to have omnidirectional running
Energy.
The technical solution that the utility model is taken is as follows: a kind of differential control steering wheel mechanism, including steering wheel fixed device, difference
Fast driving device, the fixed device of the steering wheel with the component on AGV trolley for fixing, and the differential drive device is rotationally
Setting is in the fixed device of steering wheel, and for driving the fixed device of steering wheel mobile, the fixed device ring-type of the steering wheel surrounds the difference
Fast driving device.
Further, the fixed device of the steering wheel includes fixed ring and mounting cup, and mounting cup is arranged in the fixed ring
Inside, for connect with differential drive device, and limit differential drive device can only the rotation in fixed ring, the mounting cup use
It is fixed in AGV trolley.
Further, the fixed ring includes the first fixed ring and the second fixed ring, and first fixed ring and second are consolidated
Determine ring to be fixed in parallel on the inner wall of mounting cup, and be spaced setting between the first fixed ring and the second fixed ring, forms limiting groove.
Further, the differential drive device includes the driving mould group of shell and setting on the shell, the driving mould
Group includes driving motor, gear assembly, driving wheel and follower, the driving motor supplies power, the gear drive
Device is arranged on driving motor, and driving wheel will be passed to after the dynamic retarding of driving motor, drives driving wheel rotation, described
Follower is arranged on outer shell outer wall, and is slidably disposed in limiting groove.
Further, the gear assembly includes the step cone group being rotatably arranged on the bottom plate of shell, two
The shaft of step cone group, three step cone groups and four step cone groups, the step cone group and driving motor connects, and shaft revolving speed is degraded and is transmitted
To two step cone groups, revolving speed degradation is passed to three step cone groups by the two step cones group, and the three step cones group passes to revolving speed degradation
Four step cone groups, the driving wheel are fixed in four step cone groups, are driven and are rotated by four step cone groups.
Further, the follower includes the first follower and the second follower, is arranged on the outer wall of shell.
Further, the driving mould group is two groups, and be centrosymmetric setting.
A kind of AGV trolley includes any differential control steering wheel mechanism as above.
Further, differential control steering wheel mechanism there are four matching on each AGV trolley, and it is uniformly arranged on AGV trolley
In four orientation.
The beneficial effects of the utility model are: cooperatively forming differential control using differential drive device and the fixed device of steering wheel
Steering wheel mechanism, wherein differential driving provides the power for driving entire mechanism to exercise, and the fixed device of steering wheel is then by differential drive device
It is fixed on AGV trolley；Several differential control steering wheel mechanisms are set on AGV trolley, by adjusting each differential control rudder
Take turns the power of the upper differential drive device of mechanism, i.e., the driving direction of changeable AGV trolley, to reach reduction AGV trolley
Whole height and size purpose.
Detailed description of the invention
Fig. 1 is the overall structure diagram of an embodiment of the present invention；
Fig. 2 is the structural schematic diagram of the fixed device of steering wheel of an embodiment of the present invention；
Fig. 3 is the structural schematic diagram of the differential drive device of an embodiment of the present invention；
Fig. 4 is that the schematic diagram of internal structure of the differential drive device of an embodiment of the present invention (only shows one group of driving
Mould group)；
Fig. 5 is the partial enlargement structural representation in Fig. 4 at A；
Fig. 6 is schematic diagram of internal structure (two groups of driving moulds of display of the differential drive device of an embodiment of the present invention
Group).
Each appended drawing reference in figure are as follows: 1, the fixed device of steering wheel, 11, fixed ring, the 111, first fixed ring, 112, second is fixed
Ring, 12, mounting cup, 13, limiting groove, 2, differential drive device, 21, shell, 22, driving mould group, 221, driving motor, 222, tooth
Wheel transmission device, 2221, first round group, 2222, two step cone groups, 2223, three step cone groups, 2224, four step cone groups, 2225, first
Web, the 2226, second web, 2227, third web, the 2228, the 4th web, 223, driving wheel, 224, follower, 2241,
One follower, the 2242, second follower.
Specific embodiment
Below with reference to each attached drawing, the utility model is described in detail.
Embodiment one
Referring to Fig. 1-6, the present embodiment provides a kind of differential control steering wheel mechanisms, including the fixed device 1 of steering wheel, differential driving
Device 2.
For the fixed device 1 of steering wheel for fixing with the component on AGV trolley, differential drive device 2 is rotatably arranged in rudder
It takes turns in fixed device 1, for driving the fixed device 1 of steering wheel mobile.The fixed device 1 of steering wheel is cyclic annular to surround the differential drive device
2。
Differential control steering wheel mechanism is cooperatively formed using differential drive device 2 and the fixed device 1 of steering wheel, wherein differential drives
Dynamic to provide the power for driving entire mechanism to exercise, differential drive device 2 is then fixed on AGV trolley by the fixed device 1 of steering wheel；?
Several differential control steering wheel mechanisms are set on AGV trolley, are driven by adjusting the upper differential of each differential control steering wheel mechanism
The power of device 2, i.e., the driving direction of changeable AGV trolley, to reach the whole height and size for reducing AGV trolley
Purpose.
Referring to fig. 2, the fixed device 1 of steering wheel includes fixed ring 11 and mounting cup 12.
The inside of mounting cup 12 is arranged in fixed ring 11, for connecting with differential drive device 2, and limits differential driving dress
Setting 2 can only the rotation in fixed ring 11.Mounting cup 12 with AGV trolley for fixing.
In the present embodiment, mounting cup 12 is in hollow annular shape, and several mounting holes are equipped on the outer wall of mounting cup 12,
Mounting cup 12 is fixed on AGV trolley by mounting hole attachment screw.In another embodiment, mounting cup 12 is also possible to rectangular
Ring-type is fixed on AGV trolley by way of seccotine or snapping.In other embodiments, to the specific shape of mounting cup 12
Shape with no restrictions, also with no restrictions to the type of attachment between mounting cup 12 and AGV trolley.
Fixed ring 11 includes the first fixed ring 111 and the first fixed ring 112, the first fixed ring 111 and the first fixed ring 112
It is fixed on the inner wall of mounting cup 12 in parallel, and is spaced setting between the first fixed ring 111 and the first fixed ring 112, form limit
Slot 13 processed.
Referring to Fig. 3-5, differential drive device 2 includes shell 21 and the driving mould group 22 being arranged on shell 21.
Driving mould group 22 includes driving motor 221, gear assembly 222, driving wheel 223 and follower 224.
Driving motor 221 provides power.Gear assembly 222 is arranged on driving motor 221, and by driving motor
Driving wheel 223 is passed to after 221 dynamic retarding, and driving wheel 223 is driven to rotate.In the present embodiment, driving wheel 223 is poly- ammonia
Ester driving wheel, in other embodiments, with no restrictions to the material of driving wheel 223.
Gear assembly 222 includes the step cone group 2221 being rotatably arranged on the bottom plate of shell 21, two step cones
2222, three step cone groups 2223 of group and four step cone groups 2224.One step cone group 2221 is connect with the shaft of driving motor 221, by shaft
Revolving speed degradation passes to two step cone groups 2222；Revolving speed degradation is passed to three step cone groups 2223, three step cone groups by two step cone groups 2222
2223 revolving speeds degradation passes to four step cone groups 2224.Driving wheel 223 is fixed in four step cone groups 2224, by four step cone groups, 2224 band
Turn is dynamic.
In the present embodiment, a step cone group 2221, two step cone groups 2222 and four step cone groups 2224 are gear set, three step cones
Group 2223 is belt wheel group.
First driving wheel of one step cone group 2221 is coaxially fixed with the shaft of driving motor 221, and the of a step cone group 2221
One driven wheel is rotatably arranged on the bottom plate of shell 21 by the first web 2225.First driven wheel is nibbled with the first driving wheel
It closes, and the radius of the first driven wheel is greater than the radius of the first driving wheel.
Second driving wheel of two step cone groups 2222 is coaxially fixed with the first driven wheel, the second driven wheel of two step cone groups 2222
It is rotatably arranged on the bottom plate of shell 21 by the second web 2226.Second driven wheel is engaged with the second driving wheel, and the
The radius of two driven wheels is greater than the radius of the second driving wheel.
The third driving wheel of three step cone groups 2223 is coaxially fixed with the second driven wheel, the third driven wheel of three step cone groups 2223
It is rotatably arranged in by third web 2227 on the bottom plate of shell 21.Third driven wheel and third driving wheel pass through belt shape
At rotation connection, and the radius of third driven wheel is greater than the radius of third driving wheel.
4th driving wheel of four step cone groups 2224 is coaxially fixed with third driven wheel, the 4th driven wheel of four step cone groups 2224
It is rotatably arranged on the bottom plate of shell 21 by the 4th web 2228.4th driven wheel is engaged with the 4th driving wheel, and the
The radius of four driven wheels is greater than the radius of the 4th driving wheel.
Driving wheel 223 is coaxially fixed with the 4th driven wheel, when rotating under drive of the 4th driven wheel in each wheel group, is driven
Driving wheel 223 rotates.
Referring to Fig. 1-3, follower 224 is arranged on 21 outer wall of shell, and is slidably disposed in limiting groove 13.?
In the present embodiment, follower 224 includes the first follower 2241 and the second follower 2242, is arranged at the outer wall of shell 21
On.
First follower 2241 includes the first supporting roller, and the first supporting roller is rotatably arranged on the outer wall of shell 21,
The central axis of first supporting roller and the central axis of fixed ring 11 are arranged.First fixed ring 111 and the cooperation of the first fixed ring 112
Two sides that mounting cup 12 forms limiting groove 13 are respectively first side and second side, and limitation is used to form on mounting cup 12
The one side of slot 13 is third side.The wheel face of first supporting roller is bonded rolling with first side, second side.
Second follower 2242 includes the second supporting roller, and the second supporting roller is rotatably arranged on the outer wall of shell 21,
The central axis of second supporting roller and the central axis of fixed ring 11 are arranged in parallel.The wheel face of second supporting roller is bonded rolling with third side
It is dynamic.
The cooperation of first follower 2241 and the second follower 2242, to the fixed device 1 of differential drive device 2 and steering wheel it
Between axial direction and vertically to relative displacement limited so that the intelligence of differential drive device 2 is among the fixed device 1 of steering wheel
Do round circumferential movement.
Referring to Fig. 6, in the present embodiment, there are two the first followers 2241, and two for being separately positioned on shell 21 are opposite
Side on.There are four second followers 2242, and second follower is respectively set in the two sides of each first follower 2241
2242.In other embodiments, with no restrictions to the particular number of the first follower 2241, the second follower 2242.
In the present embodiment, driving mould group 22 is two groups, and be centrosymmetric setting.
Embodiment two
A kind of AGV trolley includes the differential control steering wheel mechanism in embodiment one.
Differential control steering wheel mechanism there are four matching on each AGV trolley, and it is uniformly arranged on four orientation of AGV trolley
On.Each differential control steering wheel mechanism can carry out the adjustment in direction non-interferencely, so that the radius of gyration of AGV trolley is significantly
Reduce, is conducive to the layout designs of AGV trolley.
The above is only the preferred embodiment of the present invention, not thereby limits the patent protection of the utility model
Range, it is all with equivalent structure transformation made by the utility model specification and accompanying drawing content, directly or indirectly it is used in it
His relevant technical field similarly includes within the protection scope of the present utility model.
Claims (9)
1. a kind of differential control steering wheel mechanism, which is characterized in that including the fixed device of steering wheel and differential drive device, the steering wheel
For fixed device for fixing with the component on AGV trolley, the differential drive device is rotatably arranged in the fixed device of steering wheel
Interior, for driving the fixed device of steering wheel mobile, the fixed device ring-type of the steering wheel surrounds the differential drive device.
2. differential control steering wheel as described in claim 1 mechanism, which is characterized in that the fixed device of the steering wheel includes fixed ring
And the inside of mounting cup is arranged in mounting cup, the fixed ring, for connecting with differential drive device, and limits differential driving dress
Set can only the rotation in fixed ring, the mounting cup with AGV trolley for fixing.
3. differential control steering wheel as claimed in claim 2 mechanism, which is characterized in that the fixed ring include the first fixed ring and
Second fixed ring, first fixed ring is parallel with the second fixed ring to be fixed on the inner wall of mounting cup, and the first fixed ring and
It is spaced setting between second fixed ring, forms limiting groove.
4. differential control steering wheel as claimed in claim 3 mechanism, which is characterized in that the differential drive device include shell and
Driving mould group on the shell is set, the driving mould group includes driving motor, gear assembly, driving wheel and follower,
The driving motor supplies power, the gear assembly are arranged on driving motor, and by the dynamic retarding of driving motor
After pass to driving wheel, drive driving wheel rotation, the follower is arranged on outer shell outer wall, and is slidably disposed on limit
In slot processed.
5. differential control steering wheel as claimed in claim 4 mechanism, which is characterized in that the gear assembly includes that can be rotated
A step cone group, two step cone groups, three step cone groups and four step cone groups on the bottom plate of shell, the step cone group and driving is arranged in ground
The shaft of motor connects, and shaft revolving speed degradation is passed to two step cone groups, revolving speed degradation is passed to three-level by the two step cones group
Revolving speed degradation is passed to four step cone groups by wheel group, the three step cones group, and the driving wheel is fixed in four step cone groups, by four step cones
Group drives rotation.
6. differential control steering wheel as described in claim 4 or 5 mechanism, which is characterized in that the follower includes first servo-actuated
Device and the second follower, are arranged on the outer wall of shell.
7. differential control steering wheel as claimed in claim 6 mechanism, which is characterized in that the driving mould group is two groups, is in center
It is symmetrical arranged.
8. a kind of AGV trolley, it is characterised in that: include differential control steering wheel as claimed in claim 1 mechanism.
9. AGV trolley as claimed in claim 8, it is characterised in that: with there are four differential control steering wheel machines on each AGV trolley
Structure, and be uniformly arranged in four orientation of AGV trolley.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821857997.2U CN209159801U (en) | 2018-11-12 | 2018-11-12 | Differential control steering wheel mechanism and AGV trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821857997.2U CN209159801U (en) | 2018-11-12 | 2018-11-12 | Differential control steering wheel mechanism and AGV trolley |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209159801U true CN209159801U (en) | 2019-07-26 |
Family
ID=67337640
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821857997.2U Active CN209159801U (en) | 2018-11-12 | 2018-11-12 | Differential control steering wheel mechanism and AGV trolley |
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| Country | Link |
|---|---|
| CN (1) | CN209159801U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112046278A (en) * | 2019-06-06 | 2020-12-08 | 杭州海康机器人技术有限公司 | Differential driving device |
-
2018
- 2018-11-12 CN CN201821857997.2U patent/CN209159801U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112046278A (en) * | 2019-06-06 | 2020-12-08 | 杭州海康机器人技术有限公司 | Differential driving device |
| CN112046278B (en) * | 2019-06-06 | 2022-05-03 | 杭州海康机器人技术有限公司 | Differential driving device |
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