CN210554184U

CN210554184U - Differential module and AGV drive arrangement

Info

Publication number: CN210554184U
Application number: CN201921157647.XU
Authority: CN
Inventors: 谭曦; 赵平; 朱绍林; 黄维泉; 张旭; 曹欣; 柏天鹏
Original assignee: Shanghai Enfon Robot Co ltd
Current assignee: Shanghai Enfon Robot Co ltd
Priority date: 2019-07-23
Filing date: 2019-07-23
Publication date: 2020-05-19
Anticipated expiration: 2029-07-23

Abstract

The utility model relates to a differential module, which comprises two motors (1), two transmission units, two traveling wheels (6), a support shaft (5) and an installation module; the two walking wheels (6) are mounted at two ends of the supporting shaft (5) through bearings (8); the starting end of the transmission unit is fixedly connected with the motors (1), the tail end of the transmission unit is fixed with the travelling wheels (6), and the two motors (1) are used for driving the two travelling wheels (6) respectively; wherein the mounting module is used for mounting the differential module on other devices. The utility model discloses still relate to an install AGV drive arrangement of above-mentioned differential module. The utility model discloses a differential module can show the radius that turns to that reduces AGV, reduces the wearing and tearing of AGV wheel, makes AGV nimble more, steady, in the same direction as smooth when turning to.

Description

Differential module and AGV drive arrangement

Technical Field

The utility model relates to a AGV technical field, concretely relates to differential module and AGV drive arrangement.

Background

AGVs are an abbreviation for Automated Guided Vehicle, meaning an Automated Guided Vehicle, a key component in Automated logistics systems and flexible manufacturing systems. Existing AGVs can be divided into 3 drive types: a single-wheel drive mode (SD — Steer Driving), a Differential drive mode (DD — Differential Driving), and an omnidirectional drive mode QUAD (QUAD Motion).

The single-wheel driving means that one driving wheel has both walking and steering functions, and the two driven wheels are fixed casters, so that the movable casters can be added to be auxiliary supports when the stability is insufficient. The AGV with the driving mode has the advantages of poor motion performance, large turning radius and high guiding reliability.

Differential drive means that AGV bilateral symmetry installs two drive wheels that do not turn to 2 or a plurality of casters for following the driving wheel, rely on the differential of left and right wheels to realize turning to, and the AGV of differential drive mode can realize all functions of single round drive, and turning radius is little, and the flexibility is better, but because the restriction of differential mode, the wearing and tearing of drive wheel are comparatively serious.

The omnidirectional driving means that 2 driving wheels are used, both have walking and steering functions, 2 or more movable trundles are used as driven wheels, generally 2 driving wheels are arranged at the front end and the rear end of the AGV, and when the steering angle values of the two driving wheels are the same and the directions are opposite, the 2XSD mode movement (the same as single-wheel driving) can be realized; when the steering angle directions of the two driving wheels are the same, parallel movement can be realized, namely the course angle (posture) of the AGV is unchanged; when the two driving wheels rotate 90 degrees, the AGV can move according to a differential mode, therefore, the QUAD type AGV is the most flexible at present, but the control hardware cost and the control difficulty are correspondingly increased due to the complex mechanism.

The above modes have the problems of overlarge turning radius, strict requirement on ground flatness, large abrasion of wheels in the steering process and inflexible turning.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a differential module that turning radius is little in order to overcome the defect that above-mentioned prior art exists.

The present application further provides an AGV driving apparatus with the differential module.

In order to achieve the purpose of the present invention, the present application provides the following technical solutions.

In a first aspect, the present application provides a differential module, characterized in that the differential module comprises two motors, two transmission units, two traveling wheels, a support shaft and a mounting module;

the two traveling wheels are mounted at two ends of the supporting shaft through bearings; the starting end of the transmission unit is fixedly connected with the motor, the tail end of the transmission unit is fixed with the travelling wheels, and the two motors are used for driving the two travelling wheels respectively;

wherein the mounting module is used for mounting the differential module on other devices.

In an embodiment of the first aspect, the transmission unit includes a pinion gear and a gearwheel that are engaged with each other, the pinion gear is fixedly connected with a motor shaft of the motor, and the gearwheel is fixed with the traveling wheel.

In one embodiment of the first aspect, the support shaft is fixedly attached to the mounting bracket.

In an embodiment of the first aspect, an inner ring of the bearing is in interference connection with the support shaft, and an outer ring of the bearing is in interference connection with the road wheel.

In an embodiment of the first aspect, the installation module includes mounting flange and installing support, the installing support edge is equipped with a plurality of leading wheels, mounting flange's inner wall is circular, and is equipped with the direction track at mounting flange's inner wall, leading wheel roll connection be in the direction track.

In one embodiment of the first aspect, the supporting shaft passes through the middle of a mounting bracket, the motor (1) is fixed on the mounting bracket, the mounting flange is fixedly mounted on other devices, and the top of the mounting bracket is in threaded connection with the other devices.

In the second aspect, the application discloses install as above AGV drive arrangement of differential module, AGV drive arrangement sets up in AGV dolly bottom to drive AGV dolly straight line or turn, AGV drive arrangement includes at least two the differential module, the differential module passes through the bottom fixed connection of installation module and AGV dolly.

In one embodiment of the second aspect, a shock absorbing unit is provided between the mounting module and the AGV cart.

In one embodiment of the second aspect, the AGV drive includes two or four differential modules.

Compared with the prior art, the beneficial effects of the utility model reside in that:

(1) the differential module of the utility model adopts the principle of 'double differential', reduces the turning radius and has more flexible steering;

(2) the inside guiding mechanism that disposes of single differential module, when walking wheel differential turned to, the better assurance of guiding mechanism turned to stationarity, stationarity when turning to.

Drawings

Fig. 1 is a schematic perspective view of a differential module according to the present invention;

3 FIG. 3 2 3 is 3 a 3 schematic 3 view 3 of 3 the 3 cross 3- 3 sectional 3 structure 3 A 3- 3 A 3 in 3 FIG. 3 1 3; 3

FIG. 3 is a schematic view of the cross-sectional structure B-B in FIG. 1;

FIG. 4 is a schematic view of the AGV cart bottom structure.

In the attached drawings, 1 is a motor, 2 is a motor shaft, 3 is a pinion, 4 is a gearwheel, 5 is a supporting shaft, 6 is a traveling wheel, 7 is a mounting bracket, 8 is a bearing, 9 is a guide wheel, 10 is a guide rail, 11 is a mounting flange, and 12 is an AGV trolley.

Detailed Description

Unless otherwise defined, technical or scientific terms used herein shall have the ordinary meaning as is understood by those of ordinary skill in the art to which the invention belongs. All numerical values recited herein as between the lowest value and the highest value are intended to mean all values between the lowest value and the highest value in increments of one unit when there is more than two units difference between the lowest value and the highest value.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings, which are merely for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be construed as limiting the invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the invention, the meaning of "a plurality" is two or more unless otherwise specified.

In the description of the invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted", "connected" and "connected" are to be construed broadly, e.g. as being fixed or detachable 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 creation of the present invention can be understood by those of ordinary skill in the art through specific situations.

In the following description of the embodiments of the present invention, with reference to the drawings, it is noted that in the detailed description of the embodiments, all features of the actual embodiments may not be described in detail in order to make the description concise and concise. Modifications and substitutions may be made to the embodiments of the present invention by those skilled in the art without departing from the spirit and scope of the invention, and the resulting embodiments are within the scope of the invention.

The traditional AGV steering structure has the problems that the turning radius is too large, the requirement on the ground flatness is strict, the abrasion of wheels is large in the steering process, and the turning is not flexible. An object of the application is to provide a differential module, the differential module includes installation module, two rotational speed adjustable motors, two drive units, back shaft and two walking wheels, wherein, two the walking wheel passes through the bearing to be installed the both ends of back shaft, the initiating terminal and the motor fixed connection of drive unit, the tail end of drive unit with the walking wheel is fixed, two the rotational speed of motor is the same or different, the installation module be used for with the differential module is installed on other mechanisms. When the output rotating speeds of the two motors are the same, the rotating speeds of the two traveling wheels connected with the motors through the transmission unit are also kept the same, so that the whole differential module moves forwards along a straight line; when the output rotating speeds of the two motors are different, the rotating speeds of the two walking wheels are different, namely the rotating speed of one walking wheel is high, the rotating speed of one walking wheel is low, even 0, and the whole differential module realizes turning. The turning radius depends on the difference of the rotating speeds of the two road wheels and the distance between the two road wheels, and the turning radius is smaller when the difference of the rotating speeds is larger and/or the center distance between the road wheels is smaller.

Further preferably, the differential module can be provided with a controller, and the rotation speeds of the two motors can be adjusted by setting the turning radius and the known center distance of the road wheels.

In a specific embodiment, the transmission unit comprises a pinion and a gearwheel which are meshed with each other, the pinion is fixedly connected with a motor shaft of the motor, and the gearwheel is fixed with the travelling wheel. Specifically, the pinion and motor shaft are held stationary by a key.

In a specific implementation mode, the bull gear is step-shaped, and includes flange and the outer gear of coaxial setting in the flange center, the outer gear meshes with the pinion, flange and walking wheel coaxial fixed. The connecting flange of the large gear is fixed with the walking wheel through tools such as bolts and the like.

In a specific embodiment, the bull gear is sleeved on the support shaft, and the support shaft is fixedly connected with the mounting bracket.

In a specific embodiment, the inner ring of the bearing is in interference connection with the supporting shaft, and the outer ring of the bearing is in interference connection with the travelling wheel.

In a specific implementation mode, the mounting module comprises a mounting flange and a mounting bracket, both the mounting flange and the mounting bracket can be fixedly mounted on other mechanisms, the motor is fixed on the mounting bracket, and the middle part of the supporting shaft penetrates through the mounting bracket and is fixed with the mounting bracket. The mounting bracket can provide support for the differential module, and the mounting flange plays a protective role.

In a specific implementation mode, the installing support edge is equipped with a plurality of leading wheels, mounting flange's inner wall is circular, and is equipped with the direction track at mounting flange's inner wall, the leading wheel roll connection be in the direction track. When the differential module turned to, the leading wheel moved in the guide track to better assurance turned to steady, smooth.

The application still provides an installation as above the AGV drive arrangement of differential module, AGV drive arrangement sets up in AGV dolly bottom to drive AGV dolly straight line or turn, AGV drive arrangement includes at least two the differential module, the differential module passes through the bottom fixed connection of installation module and AGV dolly.

In a particular embodiment of the second aspect, a shock absorbing unit is provided between the mounting module and the AGV cart.

Examples

The embodiments of the present invention will be described in detail with reference to the accompanying drawings, which are implemented on the premise of the technical solution of the present invention, and the detailed embodiments and the specific operation processes are given, but the scope of the present invention is not limited to the following embodiments.

Example 1

A differential module is structurally shown in figures 1-3 and comprises a mounting flange 11 and a mounting bracket 7, particularly shown in figure 1. Wherein, the pinion 3 is fixed on the motor 1 through the motor shaft 2, the output force of the motor 1 is transmitted to the pinion 3 through the motor shaft 2. The small gear 3 is meshed with the large gear 4, and the large gear 4 is coaxially fixed on the travelling wheel 6. The inside bearing 8 that is equipped with of walking wheel 6, the inner circle and the support shaft 5 interference connection of bearing 8, the outer lane of bearing 8 is fixed in the inside of walking wheel 6 through the mode of interference connection too. The supporting shaft 5 is fixedly connected with the mounting bracket 7. The two traveling wheels 6 are coaxially connected through the support shaft 5, so that the bearing capacity of the whole differential module is guaranteed, and different rotating speeds of the two traveling wheels are realized through the bearing 8, as shown in fig. 2.

When the differential module needs to walk linearly, the two motors 3 of the differential module are controlled to output the same rotating speed and sequentially pass through the motor shaft 2, the pinion 3 and the bull gear 4, the rotating speed of the two walking wheels 6 is the same, and the linear walking of the differential module is guaranteed.

When the differential module need turn to, two motors 3 of control differential module output different rotational speeds, loop through motor shaft 2, pinion 3, gear wheel 4, realize that the rotational speed of two walking wheels is different, and two walking wheels 6 are installed compactly, and the centre spacing is little, and single walking wheel 6 turns to the scope great, obtains littleer radius that turns to when guaranteeing that the differential module turns to.

In addition, 4 guide wheels 9 are arranged on the mounting bracket 7 of the differential module, and one guide rail 10 is arranged on the inner wall of the mounting flange 11. When the differential module turns to, leading wheel 9 moves in guide rail 11 to better guarantee to turn to steady, smooth.

The present embodiment also provides an AGV driving apparatus having a structure as shown in fig. 4. The driving device is provided with 4 differential modules, and a mounting bracket 7 and a mounting flange 11 of each differential module are fixed at the bottom of an AGV trolley 12 in a bolt mode and the like. The 4 differential modules can be simply classified, namely, the two front differential modules are classified into front wheel sets, and the two rear differential modules are classified into rear wheel sets. The differential speed can be realized between two differential speed modules in the front wheel set or the rear wheel set, and the differential speed can also be realized between the front wheel set and the rear wheel set. Thereby turn radius when great reduction AGV dolly turns to can guarantee AGV dolly automobile body direction when necessary to realize 180 degrees full steering.

The embodiments described above are intended to facilitate the understanding and appreciation of the application by those skilled in the art. It will be readily apparent to those skilled in the art that various modifications to these embodiments may be made, and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present application is not limited to the embodiments herein, and those skilled in the art who have the benefit of this disclosure will appreciate that many modifications and variations are possible within the scope of the present application without departing from the scope and spirit of the present application.

Claims

1. The differential module is characterized by comprising two motors (1), two transmission units, two traveling wheels (6), a support shaft (5) and an installation module;

the two walking wheels (6) are mounted at two ends of the supporting shaft (5) through bearings (8); the starting end of the transmission unit is fixedly connected with the motor (1), the tail end of the transmission unit is fixed with the travelling wheels (6), and the two motors (1) are used for driving the two travelling wheels (6) respectively;

wherein, the installation module is used for installing the differential module on the AGV dolly.

2. A differential module according to claim 1 wherein the mounting module comprises a mounting flange (11) and a mounting bracket (7), the edge of the mounting bracket (7) is provided with a plurality of guide wheels (9), the inner wall of the mounting flange (11) is circular, the inner wall of the mounting flange (11) is provided with a guide track (10), and the guide wheels (9) are connected in the guide track (10) in a rolling manner.

3. A differential module according to claim 2 wherein the support shaft (5) passes through the middle of the mounting bracket (7), the motor (1) is fixed to the mounting bracket (7), the mounting flange (11) is fixedly mounted to other devices, and the top of the mounting bracket (7) is threaded onto the AGV cart.

4. A differential module according to claim 1, characterized in that the transmission unit comprises a pinion (3) and a gearwheel (4) that mesh with each other, the pinion (3) being fixedly connected to the motor shaft (2) of the motor (1), the gearwheel (4) being fixed to the road wheels (6).

5. A differential module according to claim 2, wherein the support shaft (5) is fixedly connected to the mounting bracket (7).

6. A differential module according to claim 1, characterized in that the inner ring of the bearing (8) is in interference connection with the support shaft (5) and the outer ring of the bearing (8) is in interference connection with the road wheel (6).

7. An AGV driving device provided with the differential module according to any one of claims 1 to 6, wherein the AGV driving device is arranged at the bottom of the AGV and is used for driving the AGV to move straight or turn, the AGV driving device comprises at least two differential modules, and the differential modules are fixedly connected with the bottom of the AGV through the mounting modules.

8. An AGV drive according to claim 7 wherein a shock absorbing unit is provided between the mounting module and the AGV car.

9. An AGV drive according to claim 7 wherein said AGV drive includes two or four of said differential modules.