CN209921461U - Rudder wheel based on inner gear ring transmission and omnidirectional AGV forklift - Google Patents
Rudder wheel based on inner gear ring transmission and omnidirectional AGV forklift Download PDFInfo
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- CN209921461U CN209921461U CN201920737896.XU CN201920737896U CN209921461U CN 209921461 U CN209921461 U CN 209921461U CN 201920737896 U CN201920737896 U CN 201920737896U CN 209921461 U CN209921461 U CN 209921461U
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Abstract
The utility model provides a steering wheel based on inner gear ring transmission and an omnidirectional AGV forklift, which relate to the technical field of AGV, wherein the steering wheel based on inner gear ring transmission comprises a base, a first motor, a first gear, an inner gear ring and a walking wheel assembly; the base is provided with a through hole, the inner gear ring is pivoted in the through hole, the walking wheel assembly is fixedly connected with the inner gear ring, the first motor is in driving connection with the first gear, and the first gear is meshed with the inner gear ring. The problem of among the prior art the steering wheel in the horizontal direction shared area great, and then lead to installing the equipment flexibility of this steering wheel and reduce, can not adapt to the transport work in the narrow and small space technical problem is alleviated.
Description
Technical Field
The utility model relates to a AGV technical field particularly, relates to a rudderwheel and qxcomm technology AGV fork truck based on ring gear transmission.
Background
In present transportation industry and logistics, the transport of goods is generally accomplished by fork truck, and present fork truck is mostly manual type, controls fork truck's operation and fork truck promptly and goes up the action of lifting and the descending action of fork, and then accomplishes the transport operation. With the rapid rise of AGVs (Automated Guided vehicles), people need the AGVs to perform unmanned transport functions.
The steering wheel that can turn to automatically is required to be installed in order to realize the removal of qxcomm technology, but the subassembly volume that turns to that plays the function of turning to among the steering wheel that can turn to among the prior art is too big, especially the area occupied in the horizontal direction is great, and corresponding fork truck who installs this kind of steering wheel is also great, can cause fork truck's flexibility to reduce this moment, can not adapt to the transport work in narrow and small space.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a directive wheel and qxcomm technology AGV fork truck based on ring gear transmission to alleviate the directive wheel among the prior art great at the shared area of horizontal direction, and then lead to installing the equipment flexibility of this directive wheel and reduce, can not adapt to the technical problem of the transport work in the narrow and small space.
The utility model provides a steering wheel based on inner gear ring transmission, which comprises a base, a first motor, a first gear, an inner gear ring and a walking wheel component;
the base is provided with a through hole, the inner gear ring is pivoted in the through hole, the walking wheel assembly is fixedly connected with the inner gear ring, the first motor is in driving connection with the first gear, and the first gear is meshed with the inner gear ring.
Further, the walking wheel assembly comprises a support, a second motor and a walking wheel, the support is fixedly connected with the inner gear ring, and the second motor is installed on the support and is in driving connection with the walking wheel.
Furthermore, a guide pipe with openings at two ends is arranged on the support, the guide pipe is positioned in the inner gear ring, the central axis of the guide pipe is superposed with the central axis of the inner gear ring, and a wire can pass through the cavity of the guide pipe and is electrically connected with the second motor.
Further, the sum of the radius of the guide pipe and the diameter of the top circle of the first gear is smaller than the radius of the root circle of the inner gear ring.
Further, a bearing is arranged between the base and the inner gear ring, the outer ring of the bearing is in interference fit with the through hole, and the inner ring of the bearing is in interference fit with the inner gear ring.
Further, the bearing device further comprises an outer ring, balls and a retainer, wherein the outer ring is in interference fit with the through hole, annular grooves are formed in the inner side of the outer ring and the outer side of the inner gear ring, the balls are clamped in the two annular grooves and are in rolling connection with the outer ring and the inner gear ring, and the retainer is sleeved between the outer ring and the inner gear ring and used for positioning the balls.
Furthermore, a convex strip extends from the upper end of the side wall of the through hole, and the upper end face of the outer ring is abutted to the lower end face of the convex strip.
The utility model also provides an omnidirectional AGV fork truck, include the chassis and as above the steerable wheel based on ring gear transmission, base fixed connection based on ring gear transmission steerable wheel is in on the chassis.
Furthermore, the bicycle further comprises a second gear, wherein the second gear is pivoted on the chassis and is meshed with the inner gear ring.
Furthermore, the number of the second gears is two, and the second gears are arranged at intervals along the radial direction of the inner gear ring.
Compared with the prior art, the utility model provides a steering wheel and qxcomm technology AGV fork truck based on ring gear transmission's beneficial effect as follows:
the utility model provides an in the directive wheel based on ring gear transmission, the base is equipped with the through-hole that is used for the pin joint ring gear, ring gear and base just can only take place relative rotation at vertical orientation relatively fixed, first gear meshes with the ring gear and is connected with first motor drive, it is concrete, when using, when base and first motor are all installed on fork truck or other equipment, start first motor, first gear revolve and drive the relative base rotation of ring gear, the walking wheel direction in the walking wheel subassembly with ring gear fixed connection changes, turn to the work completion.
According to the steering wheel based on the inner gear ring transmission, the existing meshing between the gear and the outer gear ring is replaced by the meshing between the first gear and the inner gear ring, on the basis that the size of the walking wheel assembly is not changed, the area occupied in the horizontal direction when the first gear and the inner gear ring are matched can be far smaller than the area occupied when the gear and the outer gear ring are matched, and the steering operation of the walking wheel assembly is also completed. At the moment, the size of the forklift or other equipment provided with the steering wheel driven by the inner gear ring can be correspondingly reduced, the equipment steering is more flexible, and the forklift or other equipment can adapt to carrying work in a smaller space.
The utility model provides an omnidirectional AGV fork truck's technical advantage is the same with foretell technical advantage based on ring gear driven steering wheel, and here is no longer repeated.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a steering wheel based on inner gear ring transmission provided by an embodiment of the present invention;
fig. 2 is a schematic sectional structure view of a steering wheel based on ring gear transmission provided by an embodiment of the present invention.
Icon: 100-a base; 200-a first motor; 300-a first gear; 400-ring gear; 500-a scaffold; 600-a second motor; 700-road wheels; 800-a second gear;
510-catheter.
Detailed Description
The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example one
Referring to fig. 1 and 2, an embodiment of the present invention provides a rudder wheel based on ring gear transmission, including a base 100, a first motor 200, a first gear 300, a ring gear 400, and a walking wheel assembly; the base 100 is provided with a through hole, the inner gear ring 400 is pivoted in the through hole, the walking wheel assembly is fixedly connected with the inner gear ring 400, the first motor 200 is in driving connection with the first gear 300, and the first gear 300 is meshed with the inner gear ring 400.
The embodiment of the utility model provides an in the driven rudder wheel of ring gear, base 100 is equipped with the through-hole that is used for pin joint ring gear 400, ring gear 400 and base 100 just can only take place relative rotation at vertical direction relatively fixed, first gear 300 meshes and is connected with first motor 200 drive with ring gear 400, it is specific, when using, when base 100 and first motor 200 are all installed on fork truck or other equipment, start first motor 200, first gear 300 rotates and drives ring gear 400 relative base 100 and rotates, 700 directions of walking wheel in the walking wheel subassembly with ring gear 400 fixed connection change, turn to the work completion.
According to the internally-geared transmission-based steering wheel, the existing meshing between the gear and the external gear ring is replaced by the meshing between the first gear 300 and the internally-geared ring 400, on the basis that the size of the walking wheel assembly is not changed, the area occupied in the horizontal direction when the first gear 300 and the internally-geared ring 400 are matched can be far smaller than the area occupied when the gear and the externally-geared ring are matched, and the steering operation of the walking wheel assembly is also completed. At the moment, the size of the forklift or other equipment provided with the steering wheel driven by the inner gear ring can be correspondingly reduced, the equipment steering is more flexible, and the forklift or other equipment can adapt to carrying work in a smaller space.
It should be noted that in the present embodiment, the first motor 200 is disposed right above the ring gear 400, the first gear 300 is mounted on the driving shaft of the first motor 200, and the base 100 may have an annular plate-like structure. Alternatively, the base 100 may have other shapes, and the first motor 200 is mounted on the base 100 to fix the two relative to each other.
Specifically, the present embodiment further provides the following detailed description of the specific structure of the steering wheel based on the inner gear ring transmission.
First, in this embodiment, the road wheel assembly includes a bracket 500, a second motor 600 and a road wheel 700, the bracket 500 is fixedly connected with the ring gear 400, and the second motor 600 is mounted on the bracket 500 and is drivingly connected with the road wheel 700.
Specifically, ring gear 400 is equipped with a plurality of connecting holes along circumference, and the corresponding a plurality of connecting holes that are equipped with in support 500 top, and support 500 up end and ring gear 400 lower terminal surface are laminated contact each other and pass two connecting holes in proper order through the bolt and accomplish fixed connection between them with nut threaded connection, and walking wheel 700 can the pin joint in the lower extreme position of support 500 this moment, and second motor 600 provides the power of walking for walking wheel 700.
Referring to fig. 1, in this embodiment, a duct with two open ends is further disposed on the bracket 500, the duct is located in the ring gear 400, a central axis of the duct coincides with a central axis of the ring gear 400, and a wire can pass through a cavity of the duct and is electrically connected to the second motor 600.
Specifically, the bracket 500 in this embodiment is a 7-shaped structure, and is composed of a horizontal plate at the upper end and a vertical plate at the lower end, the horizontal plate is fixed to the inner gear ring 400, and the vertical plate is used to mount the second motor 600 and the pivot traveling wheel 700, wherein the horizontal plate is provided with an opening facing the center of the inner gear ring 400, and the conduit is fixed at the opening (or inserted into the opening), and at this time, a wire extending from a power supply on the forklift enters from the upper end of the conduit, extends from the lower end, and is electrically connected to the second motor 600 on the vertical plate. The guide pipe hides and guides the conducting wire, and avoids the conducting wire interfering with the first gear 300 or the inner gear ring 400 to influence the steering and the walking of the walking wheel 700.
Preferably, the present embodiment provides that the sum of the radius of the duct and the diameter of the addendum circle of the first gear 300 is smaller than the radius of the dedendum circle of the ring gear 400.
Specifically, when the guide tube is located at the center of the inner gear ring 400, the first gear 300 is sized to have a certain gap from the guide tube, so that interference between the first gear 300 and the guide tube does not occur even when radial relative sliding occurs between the first gear 300 and the inner gear ring 400, and the accuracy and effectiveness of steering are ensured.
Further, in order to complete that the ring gear 400 can rotate in the through hole and is fixed to the base 100 in the vertical direction, a bearing may be disposed between the base 100 and the ring gear 400 in the embodiment, an outer ring of the bearing is in interference fit with the through hole, and an inner ring of the bearing is in interference fit with the ring gear 400.
That is, the relative fixing in the vertical direction is accomplished by the friction force of the bearing with the inner sidewall of the through hole and the outer sidewall of the ring gear 400.
Or, referring to fig. 2, as a further improvement of this embodiment, the steering wheel based on the transmission of the inner gear ring may further replace a bearing by an outer ring, balls, and a retainer, the outer ring is in interference fit with the through hole, annular grooves are respectively formed on the inner side of the outer ring and the outer side of the inner gear ring 400, the balls are clamped in the two annular grooves and are in rolling connection with the outer ring and the inner gear ring 400, and the retainer is sleeved between the outer ring and the inner gear ring 400 and is.
At this moment, the base 100, the outer ring, the balls, the retainer and the inner gear ring 400 can be integrally used as a turntable bearing, the outer ring and the inner gear ring 400 can be ensured to be fixed relatively in the vertical direction by being clamped in the two annular grooves through the balls, the retainer is uniformly provided with a plurality of positioning holes along the circumferential direction, the rollers are respectively arranged in the positioning holes, the outer ring and the inner gear ring 400 are ensured to be uniformly stressed in the axial direction, and the rotation between the outer ring and the inner gear ring 400 is more stable. Through this setting, only guarantee relative fixing between outer lane and the through-hole inside wall through frictional force between them, compare with ordinary bearing, connect more stably, the condition that base 100 and ring gear 400 break away from can not take place more.
Furthermore, the protruding strip extends from the upper end of the side wall of the through hole, and the upper end surface of the outer ring abuts against the lower end surface of the protruding strip.
When the rudder wheel based on the inner gear ring transmission is used, the friction force exerted on the inner side wall of the through hole of the base 100 by the inner gear ring 400 is mainly downward force, and when the friction force is smaller than the gravity of equipment, relative sliding can occur, at the moment, the downward acting force exerted on the inner gear ring 400 by the convex strips ensures that the inner gear ring 400 cannot slide upward relative to the through hole, and further ensures the stability of the rudder wheel structure based on the inner gear ring transmission.
Example two
The embodiment of the utility model provides an omnidirectional AGV fork truck, including the chassis with as above the steerable wheel based on ring gear transmission, based on the base 100 fixed connection of ring gear transmission steerable wheel on the chassis.
The utility model provides an omnidirectional AGV fork truck's technical advantage is the same with foretell technical advantage based on ring gear driven steering wheel, and here is no longer repeated.
Further, the present embodiment further includes a second gear 800, and the second gear 800 is pivoted on the chassis and engaged with the ring gear 400.
That is, the second gear 800 and the first gear 300 are engaged with the second ring gear 400 together, so that the relative fixation of the third gear 800, the second gear 300 and the second ring gear 400 is ensured, and the deflection force generated when the first gear 300 drives the ring gear 400 to rotate is balanced, and at this time, when the base 100 is in other shapes, the second gear 800 may be pivoted on the base 100.
Preferably, in this embodiment, the second gears 800 are two and spaced apart from each other in the radial direction of the ring gear 400. The two second gears 800 ensure that the ring gear 400 is fixed in the horizontal direction, and the first gear 300 is only used for driving the ring gear 400 to rotate and cannot enable the ring gear 400 to slide in the horizontal direction during rotation.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (10)
1. The steering wheel based on the transmission of the inner gear ring is characterized by comprising a base (100), a first motor (200), a first gear (300), the inner gear ring (400) and a road wheel assembly;
the base (100) is provided with a through hole, the inner gear ring (400) is pivoted in the through hole, the walking wheel assembly is fixedly connected with the inner gear ring (400), the first motor (200) is in driving connection with the first gear (300), and the first gear (300) is meshed with the inner gear ring (400).
2. The internally-geared transmission-based rudder wheel according to claim 1, wherein the walking wheel assembly comprises a bracket (500), a second motor (600) and a walking wheel (700), the bracket (500) is fixedly connected with the internally-geared ring (400), and the second motor (600) is mounted on the bracket (500) and is in driving connection with the walking wheel (700).
3. The rudder wheel based on inner gear ring transmission according to claim 2, wherein a guide pipe with two open ends is arranged on the bracket (500), the guide pipe is positioned in the inner gear ring (400), the central axis of the guide pipe is coincident with the central axis of the inner gear ring (400), and a wire can pass through the cavity of the guide pipe and is electrically connected with the second motor (600).
4. Rudder wheel based on annulus gear transmission according to claim 3, wherein the sum of the radius of the duct and the tip circle diameter of the first gear (300) is smaller than the root circle radius of the annulus gear (400).
5. The inner gear ring transmission-based rudder wheel according to any one of claims 1 to 4, wherein a bearing is arranged between the base (100) and the inner gear ring (400), an outer ring of the bearing is in interference fit with the through hole, and an inner ring of the bearing is in interference fit with the inner gear ring (400).
6. The steering wheel based on the transmission of the inner gear ring according to any one of claims 1 to 4, further comprising an outer ring, balls and a retainer, wherein the outer ring is in interference fit with the through hole, annular grooves are formed in the inner side of the outer ring and the outer side of the inner gear ring (400), the balls are clamped in the two annular grooves and are in rolling connection with the outer ring and the inner gear ring (400), and the retainer is sleeved between the outer ring and the inner gear ring (400) and is used for positioning the balls.
7. The internally-geared transmission-based rudder wheel according to claim 6, wherein a convex strip extends from an upper end of a side wall of the through hole, and an upper end surface of the outer ring abuts against a lower end surface of the convex strip.
8. Omnidirectional AGV fork truck, characterized in that it comprises a chassis and an internally geared transmission based steering wheel according to any one of claims 1 to 7, the base (100) of which is fixedly connected to the chassis.
9. An omnidirectional AGV forklift as recited in claim 8, further comprising a second gear (800), said second gear (800) being pivotally mounted to said chassis and engaging said inner gear ring (400).
10. An omnidirectional AGV forklift as recited in claim 9, wherein said second gear (800) is two and arranged at intervals in a radial direction of said ring gear (400).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920737896.XU CN209921461U (en) | 2019-05-20 | 2019-05-20 | Rudder wheel based on inner gear ring transmission and omnidirectional AGV forklift |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920737896.XU CN209921461U (en) | 2019-05-20 | 2019-05-20 | Rudder wheel based on inner gear ring transmission and omnidirectional AGV forklift |
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| Publication Number | Publication Date |
|---|---|
| CN209921461U true CN209921461U (en) | 2020-01-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920737896.XU Active CN209921461U (en) | 2019-05-20 | 2019-05-20 | Rudder wheel based on inner gear ring transmission and omnidirectional AGV forklift |
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| CN (1) | CN209921461U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110040194A (en) * | 2019-05-20 | 2019-07-23 | 山东洛杰斯特物流科技有限公司 | Steering wheel and omnidirectional's AGV fork truck based on ring gear transmission |
| CN111361636A (en) * | 2020-03-30 | 2020-07-03 | 武汉理工大学 | Steering mechanism based on arm type suspension |
-
2019
- 2019-05-20 CN CN201920737896.XU patent/CN209921461U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110040194A (en) * | 2019-05-20 | 2019-07-23 | 山东洛杰斯特物流科技有限公司 | Steering wheel and omnidirectional's AGV fork truck based on ring gear transmission |
| CN111361636A (en) * | 2020-03-30 | 2020-07-03 | 武汉理工大学 | Steering mechanism based on arm type suspension |
| CN111361636B (en) * | 2020-03-30 | 2021-11-16 | 武汉理工大学 | Steering mechanism based on arm type suspension |
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Address after: 253000 south side of East section of Huayuan street, Linyi County, Dezhou City, Shandong Province Patentee after: Lanjian Intelligent Technology (Linyi) Co.,Ltd. Address before: 253000 south side of East section of Huayuan street, Linyi County, Dezhou City, Shandong Province Patentee before: SHANDONG LUOJIESITE LOGISTICS TECHNOLOGY Co.,Ltd. |
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