CN211764900U - Motor driving wheel assembly with limiting angle for automatic guide transport vehicle - Google Patents
Motor driving wheel assembly with limiting angle for automatic guide transport vehicle Download PDFInfo
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- CN211764900U CN211764900U CN202020350727.3U CN202020350727U CN211764900U CN 211764900 U CN211764900 U CN 211764900U CN 202020350727 U CN202020350727 U CN 202020350727U CN 211764900 U CN211764900 U CN 211764900U
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Abstract
The utility model provides a take motor drive wheel assembly of spacing angle for automatic guide transport vechicle, relates to motor drive wheel assembly field, indicates especially a take motor drive wheel assembly of spacing angle for automatic guide transport vechicle, has solved the problem that motor drive wheel assembly used. Including the installation panel, set up respectively in the drive arrangement of installation panel and turn to the device, the installation panel is the platelike structure that the level set up, drive arrangement sets up in the below of installation panel, turn to the device including the slewing bearing that the level set up in the installation panel top, with slewing bearing meshing linkage turn to drive gear, and set up the steering motor in installation panel below, because motor drive wheel assembly includes drive arrangement, turn to the device, the speed sensor, arresting gear, the setting of detection switch including proximity switch limit switch, and hit the mechanical stop gear of piece and spacing cylinder, thereby the technological effect of integration has been realized, and be convenient for carry out parameter setting and initial point, turn to the accurate control of angle.
Description
Technical Field
The application relates to the field of motor driving wheel assemblies, in particular to a motor driving wheel assembly with a limit angle for an automatic guide transport vehicle.
Background
An automated guided vehicle (agv) is a vehicle equipped with an automated guide device, capable of traveling along a predetermined guide path, having safety protection and various transfer functions, and belongs to the field of a Wheel Mobile Robot (WMR). The automatic guided transport vehicle does not need a carrier of a driver in industrial application, but because the automatic guided transport vehicle has higher requirement on the reliability of the steering performance of a motor driving wheel assembly, the steering control of the existing motor driving wheel assembly mostly depends on computer program control, and the problems of deviation or collision and the like of the automatic guided transport vehicle are caused because the return is not accurate or the steering angle exceeds the control range after the steering is easily caused.
SUMMERY OF THE UTILITY MODEL
Therefore, there is a need for a new motor driving wheel assembly with a limit angle for an automatic guided vehicle, which has the advantages of a detecting and returning device and a mechanical limit mechanism, and can better achieve steering return (angle control) and prevent oversteer.
In order to solve the above technical problem, the present application provides a motor driving wheel assembly with a limit angle for an automatic guided vehicle, comprising an installation panel, a driving device and a steering device, wherein the installation panel is a plate-shaped structure horizontally arranged, the driving device is arranged below the installation panel, the steering device comprises a slewing bearing horizontally arranged above the installation panel, a steering driving gear meshed and linked with the slewing bearing, and a steering motor arranged below the installation panel and driving the steering driving gear to rotate, the slewing bearing comprises an inner ring and an outer ring which are coaxially assembled and relatively rotated, the inner ring of the slewing bearing is fixed on the installation panel, the motor driving wheel assembly further comprises a proximity switch for retrieving the origin of the driving wheel assembly and a countersunk screw matched with the proximity switch for use, the proximity switch is arranged below the installation panel, the countersunk head screw is mounted on the lower surface of an outer wheel ring of the slewing bearing, and the proximity switch outputs a movement reset signal by sensing the position of the countersunk head screw.
Preferably, the motor driving wheel assembly comprises two limit switches and two collision blocks matched for use, the two limit switches are installed at the front end of the upper surface of the installation panel at intervals, the two collision blocks are installed at the rear end of the lower surface of the outer wheel ring of the slewing bearing at intervals, the two limit switches and the two collision blocks are in one-to-one correspondence, and when the installation panel rotates relative to the outer wheel ring of the slewing bearing, the collision range between the two limit switches and the two collision blocks is defined as the rated angle control range of the motor driving wheel assembly.
Preferably, the motor driving wheel assembly further comprises two limit columns which are arranged between the limit switches at intervals and are mechanically limited.
Preferably, the driving device comprises a traction motor arranged below the mounting panel and a gear box powered by the traction motor, and the gear box comprises an output wheel, a driving wheel sleeved on the output wheel and assembled with the output wheel in a linkage manner.
Preferably, the driving wheel is a solid rubber tire.
Preferably, the drive wheel is a polyurethane elastomer or polyurethane material.
Preferably, the output shaft of the steering motor passes through the mounting panel and is fixed with the steering drive gear.
Preferably, the motor drive wheel assembly still includes speed sensor, speed sensor includes the support, installs encoder, potentiometre and the gear that tests the speed on the support, the potentiometre is fixed in the encoder below, the gear that tests the speed is located installation panel top and is meshed with slewing bearing mutually, and the gear that tests the speed links with the encoder.
Preferably, the motor driving wheel assembly further comprises a braking device, the braking device is an electromagnetic brake, the braking device is installed on the gear box, and the braking device is linked with the traction motor.
This application is owing to adopted above-mentioned technical scheme, the utility model discloses for prior art have following beneficial effect: because the motor driving wheel assembly comprises the driving device, the steering device, the speed measuring device, the braking device, the detection switch including the proximity switch limit switch and the mechanical limit mechanism of the collision block and the limit cylinder, the integrated technical effect is realized, and the parameter setting and the accurate control of the original point and the steering angle are convenient to carry out.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a schematic view of the motor driving wheel assembly of the present invention;
fig. 2 is a schematic view of the overall decomposition structure of the motor driving wheel of the present invention.
Description of main components:
| motor |
100 | Traction motor | 1 |
| |
11 | Slewing bearing | 12 |
| Countersunk |
13 | |
14 |
| |
15 | |
16 |
| |
17 | |
2 |
| |
3 | |
4 |
| |
5 | |
6 |
| Steering drive gear |
7 | |
8 |
| |
9 | |
10 |
The following further describes the present invention with reference to the accompanying drawings.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings.
The definition of the direction of the present application is based on fig. 1, and the traction motor 1 is located at the front end of the motor driving wheel assembly 100, and defines a front-back direction, a transverse direction perpendicular to the front-back direction, and an up-down direction perpendicular to the front-back direction and the transverse direction, respectively, with the traction motor 1 as the front end.
Referring to fig. 1 and 2, the present invention provides a motor driving wheel assembly 100 for an automatic guided vehicle, which accurately controls a limit angle. The motor driving wheel assembly 100 includes an installation panel 10, and a driving device, a steering device, a speed measuring device 15, and a braking device respectively disposed on the installation panel 10.
Referring to fig. 2, the mounting panel 10 is a horizontally disposed plate-shaped structure. The driving device is disposed below the mounting panel 10. The driving device comprises a traction motor 1 with a driving shaft arranged below the mounting panel 10 and a gear box 4 powered by the traction motor 1. The gear box 4 comprises an output wheel 3 arranged on the gear box 4 and a driving wheel 2 sleeved on the output wheel 3 and linked with the output wheel 3. The driving shaft of the traction motor 1 is inserted into the traction gear box 4 to drive the output wheel 3 to rotate, and then the output wheel 3 drives the driving wheel 2 to rotate, so that the transport vehicle is driven to run linearly.
The steering device comprises a slewing bearing 12 horizontally arranged above the installation panel 10, a steering driving gear 6 meshed and linked with the slewing bearing 12, and a steering motor 5 arranged below the installation panel 10 and used for driving the steering driving gear 6 to rotate. The slewing bearing 12 comprises an inner ring and an outer ring which are coaxially assembled and rotate relatively. The inner ring of the slewing bearing 12 is fixed on the mounting panel 10, and the outer ring is fixed at the lower end of the frame of the transport vehicle. The output shaft of the steering motor 5 passes through the mounting panel 10 and is fixed with the steering driving gear 6. A steering driving gear mounting cover plate 7 is mounted above the steering driving gear 6, and the steering driving gear 6 and the steering motor 5 are fixed through screws. The steering motor 5 powers the steering drive gear 6 to rotate the slewing bearing 12, thereby causing the motor drive wheel assembly 100 to rotate relative to the vehicle frame to control the steering operation.
The speed measuring device 15 comprises a support, an encoder, a potentiometer and a speed measuring gear 14, wherein the encoder, the potentiometer and the speed measuring gear are installed on the support. The potentiometer is fixed below the encoder to achieve the function of measuring speed. The speed measuring gear 14 is located above the mounting panel 10, meshed with the rotary support 12 and linked with the encoder.
The braking device is an electromagnetic brake 8. The electromagnetic brake 8 is installed on the gear box 4 and is linked with the traction motor 1 to realize a braking effect.
The motor driving wheel assembly 100 further comprises a proximity switch 9, a countersunk screw 13 matched with the proximity switch 9, two limit switches 16 and two collision blocks 11 matched with the two limit switches 16.
The proximity switch 9 is mounted below the mounting panel 10, and the countersunk head screw 13 is mounted on the lower surface of the outer portion of the slewing bearing 12. The proximity switch 9 may sense the position of the countersunk screw 13 in an area proximate to the upper surface of the mounting panel 10.
The two limit switches 16 are installed at the front end of the upper surface of the installation panel 10 and are separately provided. The two striking blocks 11 are mounted at the rear end of the lower surface of the outer portion of the slewing bearing 12 and are separately arranged. The two limit switches 16 correspond to the two collision blocks 11 one by one. When the mounting panel 10 rotates relative to the outer portion (i.e., the frame) of the slewing bearing 12, the collision range between the two limit switches 16 and the two collision blocks 11 is the rated angle control range of the motor drive wheel assembly 100. Two limit switch 16 with two collide with each other between the piece 11 and make it reach the accurate angle control function of this application patent.
The motor driving wheel assembly 100 further includes two limit columns 17 separately disposed between the two limit switches 16. When the limit switch 16 fails, the two limit columns 17 can play a role in mechanical hard limit and prevent over-steering. The position-limiting column 17 cooperates with the ram 11 to act as a final mechanical barrier in the event of a failure of an electrical component.
The driving wheel 2 adopts a solid rubber tire, can be made of polyurethane elastomer or polyurethane, and the material has various excellent characteristics and meets the design requirement. It is not set forth or limited herein since it is a mature technology, and the present embodiment is not the only limitation on materials.
Mainly comprises the following steps: 1. the limit angle between the limit switch 16 and the collision block 11 plays a role in accurate control; 2. the mechanical hard limit of the limit column 17 plays a final mechanical protection role when the assembly is out of control due to the complete failure of the electrical components; 3. the proximity switch 9 is matched with the countersunk head screw 13 for induction after the assembly is just installed with the carrier or when the carrier is restarted each time, and plays a role in resetting the original point of the initial installation state of the assembly.
To sum up, owing to adopted above-mentioned technical scheme, the utility model discloses for prior art have following beneficial effect: because the motor driving wheel assembly 100 comprises a driving device, a steering device, a speed measuring device 15, a braking device, a detection switch comprising a proximity switch 9 and a limit switch 16, and a mechanical limit mechanism of a collision block and a limit cylinder, the technical effect of integration is realized, and the parameter setting and the accurate control of the original point and the steering angle are convenient to carry out.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (9)
1. The utility model provides a take spacing angle's motor drive wheel assembly for automatic guide transport vechicle, includes installation panel, drive arrangement and turns to the device, the mounting panel is the platelike structure that the level set up, drive arrangement set up in the below of installation panel, turn to the device including the level set up in slewing bearing of installation panel top, with slewing bearing meshing linkage turn to drive gear and set up in the drive of installation panel below turns to drive gear pivoted and turns to the motor, its characterized in that: the slewing bearing comprises an inner ring and an outer ring which are assembled coaxially and rotate relatively, the inner ring of the slewing bearing is fixed on an installation panel, the slewing bearing further comprises a proximity switch for retrieving the original point of a driving wheel assembly and a countersunk head screw matched with the proximity switch for use, the proximity switch is installed below the installation panel, the countersunk head screw is installed on the lower surface of the outer ring of the slewing bearing, and the proximity switch outputs a movement reset signal through sensing the position of the countersunk head screw.
2. The motor driving wheel assembly with the limit angle for the automatic guided transporting vehicle as claimed in claim 1, further comprising a speed measuring device, wherein the speed measuring device comprises a support, an encoder mounted on the support, a potentiometer and a speed measuring gear, the potentiometer is fixed below the encoder, the speed measuring gear is arranged above the mounting panel and meshed with the rotary support, and the speed measuring gear is linked with the encoder.
3. The motor driving wheel assembly with limiting angle for automatic guided vehicle as claimed in claim 1, further comprising two limiting switches and two collision blocks, wherein the two limiting switches are installed at the front end of the upper surface of the mounting panel at intervals, the two collision blocks are installed at the rear end of the lower surface of the outer rim of the rotary support at intervals, the two limiting switches and the two collision blocks are in one-to-one correspondence, and when the mounting panel rotates relative to the outer rim of the rotary support, the collision range between the two limiting switches and the two collision blocks is defined as the rated angle control range of the motor driving wheel assembly.
4. A motor drive wheel assembly with limit angle for an automated guided vehicle as claimed in claim 3, further comprising two limit posts spaced apart to provide a mechanical limit between the limit switches.
5. The motor driving wheel assembly with a limit angle for the automatic guided vehicle as claimed in claim 1, wherein the driving device comprises a traction motor disposed under the mounting panel and a gear box powered by the traction motor, the gear box comprises an output wheel, a driving wheel sleeved on the output wheel and assembled with the output wheel in a linkage manner.
6. A motor drive wheel assembly with a limit angle for an automated guided vehicle as claimed in claim 5 wherein the drive wheel is solid rubber tires.
7. A motor drive wheel assembly with a limit angle for an automated guided vehicle as claimed in claim 5 wherein the drive wheel is a polyurethane elastomer or polyurethane material.
8. A motor drive wheel assembly with a limit angle for an automated guided vehicle as claimed in claim 1 wherein the output shaft of the steering motor passes through the mounting panel and is fixed to the steering drive gear.
9. The motor drive wheel assembly with a limit angle for an automated guided vehicle of claim 5 further comprising a brake device, wherein the brake device is an electromagnetic brake, the brake device is mounted on the gear box, and the brake device is linked with the traction motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020350727.3U CN211764900U (en) | 2020-03-19 | 2020-03-19 | Motor driving wheel assembly with limiting angle for automatic guide transport vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020350727.3U CN211764900U (en) | 2020-03-19 | 2020-03-19 | Motor driving wheel assembly with limiting angle for automatic guide transport vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211764900U true CN211764900U (en) | 2020-10-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020350727.3U Active CN211764900U (en) | 2020-03-19 | 2020-03-19 | Motor driving wheel assembly with limiting angle for automatic guide transport vehicle |
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| CN (1) | CN211764900U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112850566A (en) * | 2020-12-29 | 2021-05-28 | 杭州海康机器人技术有限公司 | Lifting device and automatic guide transport vehicle |
-
2020
- 2020-03-19 CN CN202020350727.3U patent/CN211764900U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112850566A (en) * | 2020-12-29 | 2021-05-28 | 杭州海康机器人技术有限公司 | Lifting device and automatic guide transport vehicle |
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Address after: 226000 building 63, No. 2699, bingang Avenue, Binjiang street, Haimen District, Nantong City, Jiangsu Province Patentee after: Jiangsu yikong Intelligent Equipment Co.,Ltd. Address before: 322000 4th floor, No. 10, Gaoxin Road, Houjiang street, Yiwu City, Jinhua City, Zhejiang Province Patentee before: ZHEJIANG YI KONG AUTOMATION EQUIPMENT Co.,Ltd. |