CN210063103U - AGV dolly walking turns to compound joint - Google Patents
AGV dolly walking turns to compound joint Download PDFInfo
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- CN210063103U CN210063103U CN201920608483.1U CN201920608483U CN210063103U CN 210063103 U CN210063103 U CN 210063103U CN 201920608483 U CN201920608483 U CN 201920608483U CN 210063103 U CN210063103 U CN 210063103U
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Abstract
The utility model discloses a AGV trolley walking and steering composite joint, a first external rotor motor and a first harmonic reducer are arranged in a steering machine body in sequence, the external rotor of the first external rotor motor is coaxially connected with the input end of the first harmonic reducer through a first high-speed shaft, and the output end of the first harmonic reducer is connected with a first flange; one side of the walking machine body is provided with a second flange connected with the first flange, a second outer rotor motor and a second harmonic reducer are sequentially arranged in the walking machine body, and an outer rotor of the second outer rotor motor is coaxially connected with the input end of the second harmonic reducer through a second high-speed shaft. The utility model discloses simple structure, the integrated level is higher, has solved the technical problem that current compound joint size is too big, the transmission is complicated.
Description
Technical Field
The utility model relates to a motor reducer all-in-one technical field, concretely relates to AGV dolly walking turns to compound joint.
Background
The integrated machine is an actuating element in a driving system, organically combines a high-torque motor and a harmonic reducer together, and outputs high-torque high-precision rotary motion to the outside. At present, the actuating element for realizing the driving and steering functions on the AGV trolley mainly has two forms, namely: a drive steering engine that integrates drive and steering functions; a single drive or steering actuator separating the drive and steering functions. The driving steering engine integrates driving and steering functions, can realize that a single driving element can drive linearly and can also assist in steering, is generally used as a power output element by a common stepping or servo motor, realizes motor speed reduction and torque amplification by combining a single-stage gear or a multi-stage gear, further realizes the linear walking or steering function of the single steering engine, and then realizes the linear walking and steering motion of the AGV by reasonably arranging two or more driving steering engines under the AGV. The single driving or steering executing element with the driving function and the steering function separated is that the single driving part can only realize the single linear or steering function, and the linear walking or steering of the AGV trolley is realized through the reasonable arrangement of the driving part at the bottom of the AGV or through a differential mechanism.
Under some current industries, the forward required size of an AGV trolley is smaller and smaller, the load is larger and larger, the protection level is higher and higher, and the traveling precision is higher and higher, so that the same requirements are provided for driving and steering executing elements applied to the AGV trolley, but most of driving and steering mechanisms of the AGV trolley on the market currently provide power by a common standard servo motor or a stepping motor, the traditional single-stage or multi-stage gear combination realizes the functions of speed reduction and torque amplification, and in the occasions where high-torque, high-precision and high-protection output are required to be realized, the traditional servo motor and common gear speed reduction combination output mechanism is obviously overlarge in size, complex in transmission structure and insufficient in output precision and is not suitable for use any more.
SUMMERY OF THE UTILITY MODEL
It is an object of the present invention to solve at least the above problems and to provide at least the advantages which will be described later.
The utility model aims at providing a AGV dolly walking turns to compound joint, simple structure, the integrated level is higher, has solved the technical problem that current compound joint size is too big, the transmission is complicated.
In order to realize that these objects and other advantages according to the present invention are achieved, there is provided an AGV trolley walking steering composite joint, including:
the steering engine body is internally provided with a first outer rotor motor and a first harmonic reducer in sequence, an outer rotor of the first outer rotor motor is coaxially connected with the input end of the first harmonic reducer through a first high-speed shaft, and the output end of the first harmonic reducer is connected with a first flange;
and one side of the walking machine body is provided with a second flange connected with the first flange, a second outer rotor motor and a second harmonic reducer are sequentially arranged in the walking machine body, and an outer rotor of the second outer rotor motor is coaxially connected with the input end of the second harmonic reducer through a second high-speed shaft.
Preferably, the steering body includes:
a first outer rotor motor;
the first shell is internally provided with a cavity for the first outer rotor motor to rotate, and the tail end of the first shell is sealed by a first rear cover;
a first high-speed shaft which penetrates through the center of the first outer rotor motor shaft, and the front end of the first high-speed shaft is led out from the front end of the first shell; and
and the input end of the first harmonic reducer is connected with the leading-out end at the front side of the first high-speed shaft, and the first flange is coaxially connected to the output end of the first harmonic reducer.
Preferably, the tail end of the first shell is open, a first concave table is arranged on the inner circumference of the tail end of the first shell, a first mounting plate is connected to the first concave table, and the outer circumference of the first mounting plate is fixedly mounted with the first rear cover; a first through hole is formed in the center of the first mounting plate, a first circular cavity wall extends from the front end of the first through hole to the inside of the first shell, the first circular cavity wall is coaxially sleeved on the periphery of the first high-speed shaft, and a first bearing is arranged between the first circular cavity wall and the first high-speed shaft in a clamping mode.
Preferably, the tail end of the first high-speed shaft is led out from the tail end of the first through hole, a coding disc is mounted on the outer periphery of the leading-out end, a signal transceiver is mounted on the end face of the first mounting plate on the outer periphery of the coding disc, the signal transceiver is aligned with the coding disc in a spaced mode, and the first bearing is axially limited between the first circular cavity wall and the first high-speed shaft by the coding disc.
Preferably, the first outer rotor motor includes:
the stator is fixed on the periphery of the first circular cavity wall;
the shaft center of the rotating disc is provided with a second through hole, the second through hole is sleeved and fixed on the periphery of the first high-speed shaft, the rotating disc is positioned in the first shell cavity, and the rotating disc is wrapped on the periphery of the stator at intervals;
and the magnetic steels are uniformly attached to the inner peripheral wall of the rotating disc, and are distributed in the peripheral space of the stator at intervals.
Preferably, a third through hole is formed in the center of the front end wall shaft of the first shell, a second circular cavity wall extends towards the front end of the third through hole, the second circular cavity wall is coaxially sleeved on the periphery of the first high-speed shaft, a second bearing is clamped between the second circular cavity wall and the first high-speed shaft, and the axial position of the second bearing is limited.
Preferably, the first harmonic reducer includes:
a wave generator fixed to a tip of the first high-speed shaft;
a flexspline located at an outer periphery of the undulator;
a rigid gear located on the outer periphery of the flexible gear; and
the crossed roller bearing is axially positioned between the rigid wheel and the first shell, and part of the crossed roller bearing is sleeved on the periphery of the second circular cavity wall at intervals;
a second concave table is arranged on the outer periphery of the front end wall of the first shell, the outer periphery of the flexible gear is fixed on the second concave table, and the inner periphery of the flexible gear extends towards the front end until the flexible gear is clamped between the wave generator and the rigid gear;
the outer ring of the crossed roller bearing is fixed on the second concave table, the front end wall of the inner ring of the crossed roller bearing is fixed with the tail end wall of the rigid wheel, and the inner ring is located on the periphery of the flexible wheel.
Preferably, the tail end wall of the first flange is fixed on the front end wall of the rigid wheel, a fourth through hole is formed in the center of the first flange shaft, a hollow pipe extends from the fourth through hole to the tail end, the hollow pipe is coaxially arranged in the center of the first high-speed shaft, and a third bearing is clamped between the wave generator and the hollow pipe; the second flange is provided with a first threading hole communicated with the hollow pipe, and the first mounting plate is provided with a second threading hole.
Preferably, the flexible gear is clamped between the outer ring and the front end wall of the first shell, a first groove is formed in the tail end wall of the outer ring, and a first sealing ring is mounted in the first groove;
a second sealing ring is clamped between the front end wall of the rigid wheel and the tail end wall of the first flange; a third sealing ring is clamped between the tail end wall of the rigid wheel and the front end wall of the inner ring;
the inner ring and the outer ring are sealed by an oil seal;
and a fourth sealing ring is clamped between the inner peripheral wall of the third bearing and the outer peripheral wall of the hollow pipe, and the third bearing is a sealing bearing.
Preferably, the walking machine body includes: the second outer rotor motor, a second shell, a second high-speed shaft and a second harmonic reducer, wherein the second flange is arranged on the outer peripheral wall of the second shell, and the walking machine body and the steering machine body are vertically distributed;
the front end of the walking machine body is sealed by a cover plate, the cover plate is connected with the front end wall of a rigid wheel in the second harmonic reducer, and a walking wheel is installed on the periphery of the cover plate.
Compared with the prior art, the utility model discloses the beneficial effect who contains lies in:
1. the composite structure of the utility model is formed by matching the customized servo motor and the harmonic reducer, is simple and compact, has reasonable design, and has the advantages of flat structure, high output precision, high power density, high protection grade, easy installation and operation, and the like;
2. the outer rotor motor has large power density and flatter volume, and can provide larger output torque under the same spatial property compared with a common servo motor or a stepping motor;
3. compared with a common single-stage or multi-stage gear reducer, the harmonic reducer has smaller volume and higher precision under the condition of realizing the same reduction ratio, and is particularly suitable for application occasions with high protection level requirements.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a cross-sectional view of the overall structure of the present invention;
FIG. 3 is a perspective view of FIG. 2;
FIG. 4 is a cross-sectional view of the steering body;
FIG. 5 is a partial cross-sectional view of the steering body;
FIG. 6 is a schematic view of the structure of a rotating disk;
FIG. 7 is a schematic illustration of the first high speed shaft configuration;
FIG. 8 is a schematic structural view of the first mounting plate;
FIG. 9 is a schematic view of the internal construction of a first harmonic reducer;
FIG. 10 is a schematic view of a mounting structure of the flexspline;
fig. 11 is a cross-sectional view of the walking machine body.
Detailed Description
The present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description.
As shown in fig. 1-11, the utility model provides an AGV trolley walking and steering composite joint, which comprises a steering body 10 and a walking body 20 which are connected integrally.
Specifically, the steering body 10 includes:
a first outer rotor motor 200;
a first housing 130 having a cavity therein for the first outer rotor motor 200 to rotate, wherein a tail end of the first housing 130 is sealed by a first rear cover 110;
a first high-speed shaft 240 that penetrates the axial center of the first outer rotor motor 200, and the front end of the first high-speed shaft 240 is drawn out from the front end of the first housing 130; and
an input end of the first harmonic reducer 300 is connected to a front end of the first high-speed shaft 240, and an output end of the first harmonic reducer 300 is connected to a first flange 150 for connecting with the walking machine body 20.
As can be seen from the above, the first outer rotor motor 200 and the first harmonic reducer 300 are sequentially disposed in the steering engine body 10, and the outer rotor of the first outer rotor motor 200 is coaxially connected to the input end of the first harmonic reducer 300 through the first high-speed shaft 240, so as to form a more compact and flat steering integrated machine.
The tail end of the first shell 130 is open, a first concave table is arranged on the inner periphery of the tail end of the first shell 130, a first mounting plate 120 is connected to the first concave table, the first mounting plate 120 is embedded on the first concave table, a mounting hole 240 is arranged on the outer periphery of the first mounting plate 120, the mounting hole 240 is fixed to the first concave table through a bolt, the outer periphery of the first rear cover 110 penetrates through the first mounting plate 120 through the bolt and is mounted on the first concave table, and therefore the first mounting plate 120 is clamped between the first concave table and the first rear cover 110.
A first through hole is formed in the center of the first mounting plate 120, a first circular cavity wall 122 extends from the front end of the first through hole to the inside of the first housing 130, the first circular cavity wall 122 is coaxially sleeved on the periphery of the first high-speed shaft 240, and a first bearing 242 is arranged between the first circular cavity wall 122 and the first high-speed shaft 240 in a clamping manner, so that the first high-speed shaft 240 and the first mounting plate 120 rotate relatively.
The tail end of the first high-speed shaft 240 is led out from the tail end of the first through hole, a coding disc 251 is installed on the periphery of the led-out end, the coding disc 251 rotates synchronously with the first high-speed shaft 240, an installation hole 125 is formed in the end face of the first installation plate 120 on the periphery of the coding disc 251 and used for installing a signal transceiver 252, the signal transceiver 252 is aligned with the coding disc 251 at intervals and faces the rotation of the coding disc 251, and the signal transceiver 252 collects rotation signals on the coding disc 251 to obtain rotation speed signals of the first high-speed shaft 240.
The utility model discloses in the motor of the external rotor structure of adopting, first external rotor electric machine 200 includes:
a stator 210 fixed to an outer periphery of the first circular chamber wall 122;
the rotating disc 230 has a second through hole 234 formed at the center thereof, and the second through hole 234 is sleeved and fixed on the outer periphery of the first high speed shaft 240. Specifically, the periphery of the second through hole 234 is provided with a mounting hole 232, a bolt 231 penetrates through the mounting hole 232 from inside to outside and is mounted on the first high-speed shaft 240, so that the rotating disc 230 and the first high-speed shaft 240 rotate synchronously, the rotating disc 230 is located in the cavity of the first housing 130, the opening of the rotating disc 230 faces the tail end, and the rotating disc 230 is wrapped around the periphery of the stator 210 at intervals;
and the magnetic steels 220 are uniformly attached to the inner peripheral wall of the rotating disk 230, and the magnetic steels 220 are distributed in the peripheral space of the stator 210 at intervals, so that an outer rotor structure is formed, the magnetic field density is higher, and the torque is larger.
The outer rotor motor has large power density and flatter volume, and can provide larger output torque under the same spatial property compared with a common servo motor or a stepping motor;
with the excitation signal given to the stator 210, the magnetic steel 220 and the whole rotating disc 230 thereof can be driven to rotate, and the rotating disc 230 is fixedly connected with the first high-speed shaft 240, so that the first high-speed shaft 240 is driven to rotate synchronously.
A third through hole is formed in the center of the front end wall shaft of the first housing 130, a second circular cavity wall 134 extends to the front end of the third through hole, the second circular cavity wall 134 is coaxially sleeved on the periphery of the first high-speed shaft 240, a second bearing 241 is clamped between the second circular cavity wall 134 and the first high-speed shaft 240, and the second circular cavity wall 134 and the first high-speed shaft 240 rotate relative to each other through the second bearing 241.
A convex ring 244 is arranged on the first high-speed shaft 240, the outer diameter of the shaft body of the first high-speed shaft 240 at the front end of the convex ring 244 is larger than that of the shaft body of the first high-speed shaft 240 at the tail end of the convex ring 244, an annular groove 243 is arranged on the shaft body of the first high-speed shaft 240 at the front end of the convex ring 244, a third concave station is arranged on the inner side wall of the front end of the second circular cavity wall 134, the outer ring of a second bearing 241 is embedded on the third concave station, the inner ring of the second bearing 241 is arranged on the shaft body of the first high-speed shaft 240 between a convex ring 244 and an annular groove 243, a snap ring 132 is arranged in the annular groove 243, thereby axially confining the inner ring of the second bearing 241 to the shaft of the first high speed shaft 240, a stop plate 131 is bolted to the front end wall of the second circular chamber wall 134, the flap 131 abuts against the front end of the outer ring of the second bearing 241 so as to axially confine the outer ring of the second bearing 241 to the third recess, thereby confining the axial position of the second bearing 241.
Screw holes 248 are formed in the end wall of the tail end of the convex ring 244 and used for fixing the bolts 231, the screw holes 248 correspond to the mounting holes 232 on the rotating disc 230 one by one, a mounting table 245 is arranged on the shaft body of the first high-speed shaft 240 on the inner periphery of the end wall of the convex ring 244, the outer periphery of the mounting table 245 is sleeved with the second through hole 234, the inner peripheral wall of the second through hole 234 abuts against the mounting table 245, the side wall of the front end of the second through hole 234 is attached to the end wall of the tail end of the convex ring 244, and the rotating disc 230 is fixed with the convex ring 244 through the bolts 231, so that the outer rotor of the motor.
The inner peripheral wall of the first through hole is provided with a third concave platform 123, a fourth concave platform 246 is arranged on the shaft body of the first high-speed shaft 240 at the corresponding position, the first bearing 242 is embedded between the third concave platform 123 and the fourth concave platform 246, a fifth concave platform 247 is arranged on the shaft body of the first high-speed shaft 240 at the tail end of the fourth concave platform 246, a limiting ring body 253 is installed on the fifth concave platform 247, the front side end of the limiting ring body 253 is abutted against the tail end wall of the first bearing 242 to limit the axial position of the first bearing 242, and the coding disc 251 is installed on the periphery of the limiting ring body 253.
In the above technical solution, the first harmonic reducer 300 includes:
a wave generator 310 fixed to the front end of the first high-speed shaft 240, specifically, the wave generator 310 is fixed to the side wall of the front end of the first high-speed shaft 240 by a bolt 312, so that the first high-speed shaft 240 and the wave generator 310 rotate synchronously;
a flexspline 320 located on the outer periphery of the wave generator 310;
the rigid wheel 330 is positioned on the periphery of the flexible wheel 320, and the rigid wheel 330 is driven by the flexible wheel 320 to rotate and output along with the rotation of the wave generator 310; and
and the crossed roller bearing is axially positioned between the rigid wheel 330 and the first shell 130, and the crossed roller bearing is partially sleeved on the periphery of the second circular cavity wall 134 at intervals.
Specifically, a second concave platform 133 is formed on the outer periphery of the front end wall of the first housing 130, the outer periphery of the flexible gear 320 is fixed on the second concave platform 133, and the inner periphery of the flexible gear 320 extends towards the front end until being clamped between the wave generator 310 and the rigid gear 330.
The outer ring 141 of the crossed roller bearing is fixed on the second concave platform 133 through a bolt, the periphery of the flexible gear 320 is clamped between the outer ring 141 and the second concave platform 133, the front end wall of the inner ring 142 of the crossed roller bearing is fixed with the tail end wall of the rigid gear 330, the rigid gear 330 drives the inner ring 142 to synchronously rotate, and the inner ring 142 is located on the periphery of the flexible gear 320. The rigid wheel 330 is mounted by a cross roller bearing to maintain the rotational stability of the rigid wheel 330.
The input end of the first harmonic reducer 300 is directly connected with the output end of the first outer rotor motor 200 through the first high-speed shaft 240, a coupler which is usually required for connecting the first harmonic reducer and the first outer rotor motor is omitted, the mounting structure is simplified, the assembly precision is improved, and the output precision of the first harmonic reducer 300 is higher.
In the above technical solution, the tail end wall of the first flange 150 is fixed on the front end wall of the rigid wheel 330, so that the first flange 150 and the rigid wheel 330 rotate synchronously, a fourth through hole is formed in the center of the first flange 150, a hollow tube 151 extends from the fourth through hole to the tail end, the hollow tube 151 is coaxially disposed in the center of the first high-speed shaft 240, and the hollow tube 151 and the first flange 150 are in clearance fit so as not to affect the rotation of the first high-speed shaft 240, and a third bearing 311 is interposed between the wave generator 310 and the hollow tube 151 so as to cooperate with the relative rotation between the wave generator 310 and the hollow tube 151.
The existing steering engine body matched with the gear is directly exposed outside to protect the grade difference. The utility model discloses in order to improve the leakproofness of organism, not only can make the enclosed construction, be provided with the multiple seal simultaneously on turning to the organism to improve the protection level of whole organism.
Specifically, the flexible gear 320 is clamped between the outer ring 141 and the front end wall of the first housing 130, a first groove 144 is formed in the tail end wall of the outer ring 141, and a first sealing ring is installed in the first groove 144; similarly, a second groove 331 is formed in the tail end wall of the first flange 150, and a second sealing ring is arranged in the second groove 331, that is, the second sealing ring is clamped between the front end wall of the rigid wheel 330 and the tail end wall of the first flange 150; a third groove 332 is formed in the front end wall of the inner ring 142, and a third sealing ring is arranged in the third groove 332, that is, the third sealing ring is arranged between the tail end wall of the rigid wheel 330 and the front end wall of the inner ring 142 in a clamping manner.
The inner ring 142 and the outer ring 141 are sealed by an oil seal 143; a fourth groove 313 is formed in the outer peripheral wall of the hollow tube 151, a fourth sealing ring is arranged in the fourth groove 313, that is, the fourth sealing ring is clamped between the inner peripheral wall of the third bearing 311 and the outer peripheral wall of the hollow tube 151, and the third bearing 311 is a sealing bearing. Through the four sealing rings and the oil seal 143, the two axial ends of the first harmonic reducer 300 are sealed, and the protection level of the steering engine body is improved.
In the above technical solution, one side of the walking machine body 20 is provided with a second flange 410 connected with the first flange 150, the first flange 150 and the second flange 410 are connected by a bolt 152, the steering machine body 10 is arranged perpendicular to the walking machine body 20, and the steering machine body 10 provides a steering function for the walking machine body 20.
Specifically, the walking machine body 20 includes: second outer rotor motor 500, second casing 400, second high-speed shaft and second harmonic reduction gear 600, second flange 410 sets up on the second casing 400 periphery wall, walking organism 20 with turn to the fuselage vertical distribution of organism 10.
The front end of the walking machine body 20 is sealed by a cover plate 710, the cover plate 710 is connected with the front end wall of the rigid wheel 330 in the second harmonic reducer 600, a walking wheel 700 is installed on the periphery of the cover plate, that is, the walking wheel 700 is connected with the output end of the second harmonic reducer 600.
As can be seen from the above, the second outer rotor motor 500 and the second harmonic reducer 600 are sequentially disposed in the walking machine body 20, and the outer rotor of the second outer rotor motor 500 is coaxially connected to the input end of the second harmonic reducer 600 through a second high-speed shaft. The structure of the walking machine body 20 is substantially the same as that of the steering machine body 10, and the main difference is that no hollow pipe is arranged in the walking machine body 20, and the output end of the steering machine body 10 is connected with a walking wheel 700.
In the above technical solution, in order to implement the routing conveniently, as shown in the routing circuit shown in fig. 2, a first threading hole 411 communicated with the hollow tube 151 is formed on the second flange 410, a second threading hole 121 is formed on the first mounting plate 120, a rubber plug 111 is arranged at the center of the rear cover, the circuit penetrates through the rubber plug 111 to enter the steering engine body and is connected with the stator of the first outer rotor through a second threading hole 121, then the wire is connected to the stator of the second outer rotor motor through the hollow pipe, the first wire through hole 411, the rubber plug 111 on the walking machine body and the second wire through hole 121 on the walking machine body, after the wire is connected in place, the first threading hole 411 is sealed, so that the connection sealing of the whole machine can be realized, the connection of the steering machine body and the walking machine body is convenient, the protection grade of the whole machine is improved, and water is prevented from entering through the threading hole.
To sum up, the AGV trolley walking and steering integrated machine consists of a rear cover, a rubber plug, a steering end encoder, a steering end high-speed shaft, a steering end motor shell, an outer rotor motor, a harmonic reducer, a steering end output flange, and walking wheels, a walking end output flange, a harmonic reducer, an outer rotor motor, a walking end encoder, a walking end high-speed shaft, a rear cover, a rubber plug and a walking end shell, wherein the outer rotor motor and the harmonic reducer are connected through the steering end high-speed shaft for the steering function end; for the walking function end, the outer rotor motor is connected with the harmonic reducer through a walking end high-speed shaft, a walking end encoder is installed at the tail end of a steering end high-speed shaft of the outer rotor motor, and a rubber plug on the rear cover plays a role in sealing and wiring fixing. After the high-speed motion of the outer rotor motor at the steering function end is decelerated by the harmonic reducer, the low-speed high-torque rotary motion is transmitted to the traveling end shell through the steering end flange, so that the steering function of the mechanism is achieved; after the high-speed movement of the outer rotor motor at the walking function end is decelerated by the harmonic reducer, the low-speed high-torque rotary movement is transmitted to the walking wheel through the walking end flange, so that the walking function is realized.
This AGV dolly walking turns to all-in-one is turned to the functional area promptly by two functional areas and is constituteed with the walking functional area, turns to the functional area and can realize that the all-in-one high accuracy under the heavy load condition is unrestricted to turn to, and the walking functional area can provide the rotatory output of high accuracy high-torque for the all-in-one. Each functional area is composed of an encoder, an outer rotor motor, a harmonic reducer, an output connecting piece and the like which are distributed along the axial direction. The outer rotor motor has large power density and flatter volume, and can provide larger output torque under the same spatial property compared with a common servo motor or a stepping motor; compared with a common single-stage or multi-stage gear reducer, the harmonic reducer has smaller volume and higher precision under the condition of realizing the same reduction ratio, and is particularly suitable for application occasions with high protection level requirements.
From above, the utility model discloses a composite construction comprises customization servo motor and harmonic reducer ware cooperation, and simple compactness, reasonable in design has the structure flat, and the output precision is high, and power density is big, and protection level is high, easily advantages such as installation operation. Specifically, the outer rotor motor has large power density and flatter volume, and can provide larger output torque under the same spatial property compared with a common servo motor or a stepping motor, and the outer rotor motor can be flatter under the same output torque, is simple to install and is beneficial to the reduction of the whole size; meanwhile, compared with a common single-stage or multi-stage gear reducer, the harmonic reducer has smaller volume and higher precision under the condition of realizing the same reduction ratio, and is particularly suitable for application occasions with high protection level requirements.
While the embodiments of the invention have been described above, it is not intended to be limited to the details shown, or described, but rather to cover all modifications, which would come within the scope of the appended claims, and all changes which come within the meaning and range of equivalency of the art are therefore intended to be embraced therein.
Claims (10)
1. The utility model provides a AGV dolly walking turns to compound joint which characterized in that includes:
the steering engine body is internally provided with a first outer rotor motor and a first harmonic reducer in sequence, an outer rotor of the first outer rotor motor is coaxially connected with the input end of the first harmonic reducer through a first high-speed shaft, and the output end of the first harmonic reducer is connected with a first flange;
and one side of the walking machine body is provided with a second flange connected with the first flange, a second outer rotor motor and a second harmonic reducer are sequentially arranged in the walking machine body, and an outer rotor of the second outer rotor motor is coaxially connected with the input end of the second harmonic reducer through a second high-speed shaft.
2. The AGV cart travel steering compound joint of claim 1, wherein the steering body includes:
a first outer rotor motor;
the first shell is internally provided with a cavity for the first outer rotor motor to rotate, and the tail end of the first shell is sealed by a first rear cover;
a first high-speed shaft which penetrates through the center of the first outer rotor motor shaft, and the front end of the first high-speed shaft is led out from the front end of the first shell; and
and the input end of the first harmonic reducer is connected with the leading-out end at the front side of the first high-speed shaft, and the first flange is coaxially connected to the output end of the first harmonic reducer.
3. The AGV trolley travel steering compound joint of claim 2, wherein the rear end of the first housing is open, a first concave table is formed on the inner circumference of the rear end of the first housing, a first mounting plate is connected to the first concave table, and the outer circumference of the first mounting plate is fixedly mounted to the first rear cover; a first through hole is formed in the center of the first mounting plate, a first circular cavity wall extends from the front end of the first through hole to the inside of the first shell, the first circular cavity wall is coaxially sleeved on the periphery of the first high-speed shaft, and a first bearing is arranged between the first circular cavity wall and the first high-speed shaft in a clamping mode.
4. The AGV car travel steering compound joint of claim 3, wherein the rear end of the first high speed shaft extends out from the rear end of the first through hole, a coded disk is mounted on the outer periphery of the extending end, a signal transceiver is mounted on the end face of the first mounting plate on the outer periphery of the coded disk, the signal transceiver and the coded disk are aligned in a spaced mode, and the first bearing is axially limited between the first circular cavity wall and the first high speed shaft by the coded disk.
5. The AGV car travel steering compound joint of claim 4, wherein said first outer rotor motor comprises:
the stator is fixed on the periphery of the first circular cavity wall;
the shaft center of the rotating disc is provided with a second through hole, the second through hole is sleeved and fixed on the periphery of the first high-speed shaft, the rotating disc is positioned in the first shell cavity, and the rotating disc is wrapped on the periphery of the stator at intervals;
and the magnetic steels are uniformly attached to the inner peripheral wall of the rotating disc, and are distributed in the peripheral space of the stator at intervals.
6. The AGV trolley walking steering composite joint according to claim 5, wherein a third through hole is formed in the center of the front end wall shaft of the first housing, a second circular cavity wall extends to the front end of the third through hole, the second circular cavity wall is coaxially sleeved on the periphery of the first high-speed shaft, a second bearing is clamped between the second circular cavity wall and the first high-speed shaft, and the axial position of the second bearing is limited.
7. The AGV car travel steering compound joint of claim 6, wherein said first harmonic reducer comprises:
a wave generator fixed to a tip of the first high-speed shaft;
a flexspline located at an outer periphery of the undulator;
a rigid gear located on the outer periphery of the flexible gear; and
the crossed roller bearing is axially positioned between the rigid wheel and the first shell, and part of the crossed roller bearing is sleeved on the periphery of the second circular cavity wall at intervals;
a second concave table is arranged on the outer periphery of the front end wall of the first shell, the outer periphery of the flexible gear is fixed on the second concave table, and the inner periphery of the flexible gear extends towards the front end until the flexible gear is clamped between the wave generator and the rigid gear;
the outer ring of the crossed roller bearing is fixed on the second concave table, the front end wall of the inner ring of the crossed roller bearing is fixed with the tail end wall of the rigid wheel, and the inner ring is located on the periphery of the flexible wheel.
8. The AGV trolley traveling steering composite joint according to claim 7, wherein the first flange is fixed to the rigid wheel front end wall at the rear end wall, a fourth through hole is formed in the center of the first flange shaft, a hollow pipe extends from the fourth through hole to the rear end, the hollow pipe is coaxially arranged in the center of the first high-speed shaft, and a third bearing is clamped between the wave generator and the hollow pipe; the second flange is provided with a first threading hole communicated with the hollow pipe, and the first mounting plate is provided with a second threading hole.
9. The AGV cart travel steering compound joint of claim 8, wherein the flexspline is sandwiched between the outer race and the first housing front end wall, the outer race rear end wall defining a first groove, the first groove having a first seal disposed therein;
a second sealing ring is clamped between the front end wall of the rigid wheel and the tail end wall of the first flange; a third sealing ring is clamped between the tail end wall of the rigid wheel and the front end wall of the inner ring;
the inner ring and the outer ring are sealed by an oil seal;
and a fourth sealing ring is clamped between the inner peripheral wall of the third bearing and the outer peripheral wall of the hollow pipe, and the third bearing is a sealing bearing.
10. The AGV cart travel steering compound joint of claim 9, wherein the travel body includes: the second outer rotor motor, a second shell, a second high-speed shaft and a second harmonic reducer, wherein the second flange is arranged on the outer peripheral wall of the second shell, and the walking machine body and the steering machine body are vertically distributed;
the front end of the walking machine body is sealed by a cover plate, the cover plate is connected with the front end wall of a rigid wheel in the second harmonic reducer, and a walking wheel is installed on the periphery of the cover plate.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920608483.1U CN210063103U (en) | 2019-04-29 | 2019-04-29 | AGV dolly walking turns to compound joint |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920608483.1U CN210063103U (en) | 2019-04-29 | 2019-04-29 | AGV dolly walking turns to compound joint |
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| CN210063103U true CN210063103U (en) | 2020-02-14 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110182254A (en) * | 2019-04-29 | 2019-08-30 | 江苏开璇智能科技有限公司 | A kind of AGV carriage walking steering composite joint |
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2019
- 2019-04-29 CN CN201920608483.1U patent/CN210063103U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110182254A (en) * | 2019-04-29 | 2019-08-30 | 江苏开璇智能科技有限公司 | A kind of AGV carriage walking steering composite joint |
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