CN212289484U - Double-wheel differential driving device with strong ground gripping force and capable of sensitively correcting deviation - Google Patents

Abstract

The invention discloses a double-wheel differential driving device with strong ground gripping force and capable of sensitively correcting deviation, and solves the problems that the conventional AGV is easy to slip and snake-shaped advance in the walking process. The walking frame of the double-wheel differential driving device is divided into two independent parts, namely a rotary support and swing block part, a swing shaft and a driving motor installation frame part, one part is a seesaw, and the other part is a support point of the seesaw, so that left and right walking wheels installed at two ends of the seesaw can automatically swing left and right to adjust when encountering uneven road surfaces, and the ground gripping force of a vehicle body is enhanced; the rotation angle encoder acquisition gear is meshed on the horizontal large gear at the supporting point part of the warping plate, and the rotation angle of the walking frame is greatly amplified and then transmitted to the electric controller through the matching of the large-transformation ratio gear, so that the deviation of the electric controller in the walking direction is sensitively corrected, and the phenomenon that the vehicle body moves forwards in a snake shape is overcome.

Description

Double-wheel differential driving device with strong ground gripping force and capable of sensitively correcting deviation

Technical Field

The invention relates to an automatic guided vehicle, in particular to a double-wheel differential driving device on the automatic guided vehicle.

Background

An AGV is an automatic guided vehicle, a chassis frame of the conventional AGV is generally rectangular, a double-wheel differential driving device is arranged in the center of the rectangular chassis frame, the double-wheel differential driving device is a driving and steering executing mechanism of the automatic guided vehicle, and four corners of the rectangular chassis frame are provided with support wheels (directional wheels or universal wheels) without power, and the four support wheels mainly play a role in supporting the weight of the chassis frame and the weight of a vehicle body; the structure of the existing double-wheel differential driving device is that a main body frame of the double-wheel differential driving device is a traveling frame, a left driving motor and a right driving motor are respectively arranged on the traveling frame, the left driving motor is connected with a left traveling wheel through a left speed reducer, the right driving motor is connected with a right traveling wheel through a right speed reducer, the left traveling wheel and the right traveling wheel are positioned on the same horizontal plane, a central bearing is fixedly arranged at the center of the top end surface of the traveling frame, a central shaft is arranged in the central bearing, the upper end of the central shaft is fixedly connected with a rotary support of a bogie, a pressure plate is connected on the central bearing, a double-wheel differential driving device mounting plate is arranged on an AGV chassis frame, and a left pressure spring and a right pressure spring are respectively arranged between the double-wheel differential driving device mounting plate and the pressure plate; on a horizontal road surface, the left motor and the right motor are controlled to synchronously rotate at the same speed, so that the double-wheel differential driving device can advance or retreat along a straight line; if the left motor and the right motor are controlled to synchronously rotate at different speeds, the turning of the double-wheel differential driving device can be realized; when the walking road surface is not flat, namely when the left walking wheel and the right walking wheel are not on the same horizontal plane, the contact between the left driving wheel and the ground and the realization of keeping the ground gripping force of the left driving wheel and the right driving wheel of the double-wheel differential driving device can be realized through the different compression amounts of the left compression spring and the right compression spring; the existing double-wheel differential driving device with the structure has the following defects: (1) when the walking ground of a left wheel and a right wheel of a double-wheel differential driving device is not on the same horizontal plane, the existing mechanism realizes the attachment of the walking wheels and the ground by adjusting a left pressure spring and a right pressure spring on the double-wheel differential driving device, has the defect that the prepressing elasticity of the two pressure springs is difficult to set in advance, and can generate the phenomenon of skidding of the walking wheels if the elasticity of the pressure springs is too small, and can lift a vehicle body if the elasticity of the pressure springs is too large, so that a certain supporting wheel on a chassis frame is suspended in the air, and the phenomenon of vehicle body inclination is generated; (2) the double-wheel differential driving device is in the straight line, if meet the walking bottom surface of left and right walking wheel not on a horizontal plane, can lead to the walking route length of two walking wheels of left and right sides inconsistent, prior art is to transmit the controller to the signal of gathering through means such as speed sensor, the controller is through the rotational speed regulation to two motors of left and right sides, reach the purpose that makes the device keep the straight line, because the sensing signal of gathering is insensitive, directly lead to the electric controller control to adjust untimely, take place the phenomenon that the automobile body snakelike gos forward, the automobile body rocks seriously.

Disclosure of Invention

The invention provides a double-wheel differential driving device which is strong in ground gripping force and capable of sensitively correcting deviation, and solves the technical problems that sliding and snake-shaped forward easily occur in the traveling process of an existing AGV.

The invention solves the technical problems by the following technical scheme:

the general concept of the invention is: the walking frame of the double-wheel differential driving device is divided into two independent parts, namely a rotary support and swing block part, a swing shaft and a driving motor installation frame part, one part is a seesaw, and the other part is a support point of the seesaw, so that left and right walking wheels installed at two ends of the seesaw can automatically swing left and right to adjust when encountering uneven road surfaces, and the ground gripping force of a vehicle body is enhanced; a horizontal large gear is fixedly arranged on a supporting point part of the warping plate, namely a rotary supporting and swinging block part, a rotary angle encoder acquisition gear is meshed on the horizontal large gear, and the rotary angle of the walking frame is greatly amplified and transmitted to the electric controller through the matching of the large-transformation-ratio gear, so that the electric controller sensitively corrects the walking direction, and the phenomenon that the vehicle body moves forwards in a snake shape is overcome.

A double-wheel differential driving device with strong ground grabbing force and capable of sensitively correcting deviation comprises an electric controller, a front side frame plate, a rear side frame plate, a left side frame plate, a right side frame plate, a swinging shaft, a shaft sleeve block, a rotary support and a disc-shaped bogie, wherein the front side frame plate, the rear side frame plate, the left side frame plate and the right side frame plate form a square walking frame; a left speed reducer is fixedly arranged on the left side surface of the left side frame plate, a left driving wheel is connected to an output shaft of the left speed reducer, a left driving motor is arranged on the front side surface of the front side frame plate, an output shaft of the left driving motor is connected with an input shaft of the left speed reducer, a right speed reducer is fixedly arranged on the right side surface of the right side frame plate, a right driving wheel is connected to an output shaft of the right speed reducer, a right driving motor is arranged on the rear side surface of the rear side frame plate, and an output shaft of the right driving motor is connected with an input shaft of the right speed reducer; the left driving motor and the right driving motor are respectively and electrically connected with the electric controller.

A gear is sleeved on the outer side surface of the outer ring of the rotary support, an encoder is arranged on the disc-shaped bogie, an output shaft of the encoder is connected with an encoder rotation angle acquisition gear, and the encoder rotation angle acquisition gear is meshed with the gear; the encoder is electrically connected with the electric controller; the front frame plate is provided with a front swing shaft through hole, the rear frame plate is provided with a rear swing shaft through hole, the front end of the swing shaft is connected in the front swing shaft through hole in a penetrating mode, and the rear end of the swing shaft is connected in the rear swing shaft through hole in a penetrating mode.

The invention has simple structure, convenient maintenance, low cost and convenient operation, overcomes the defect that the AGV easily goes forwards in a snake shape due to the uneven ground, increases the ground gripping force of the two travelling wheels and avoids the occurrence of the slipping phenomenon of the driving wheels.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic structural view of the square walking frame of the present invention;

fig. 3 is a diagram showing the fitting relationship between the boss block 14, the slewing bearing 17 and the disc bogie 16 of the present invention and the swing shaft 13.

Detailed Description

The invention is described in detail below with reference to the accompanying drawings:

a double-wheel differential driving device with strong ground grabbing force and capable of sensitively correcting deviation comprises an electric controller, a front side frame plate 7, a rear side frame plate 8, a left side frame plate 11, a right side frame plate 12, a swinging shaft 13, a shaft sleeve block 14, a rotary support 17 and a disc-shaped bogie 16, wherein the front side frame plate 7, the rear side frame plate 8, the left side frame plate 11 and the right side frame plate 12 form a square walking frame, the swinging shaft 13 is fixedly arranged between the front side frame plate 7 and the rear side frame plate 8, the shaft sleeve block 14 is movably sleeved on the swinging shaft 13, the outer ring of the rotary support 17 is fixedly connected to the top end face of the shaft sleeve block 14, and the disc-shaped bogie 16 is connected to the top face of the inner ring of the rotary support 17; a left speed reducer 2 is fixedly arranged on the left side surface of the left side frame plate 11, a left driving wheel 3 is connected to an output shaft of the left speed reducer 2, a left driving motor 1 is arranged on the front side surface of the front side frame plate 7, the output shaft of the left driving motor 1 is connected with an input shaft of the left speed reducer 2, a right speed reducer 5 is fixedly arranged on the right side surface of the right side frame plate 12, a right driving wheel 6 is connected to an output shaft of the right speed reducer 5, a right driving motor 4 is arranged on the rear side surface of the rear side frame plate 8, and the output shaft of the right driving motor 4 is connected with the input shaft of the right speed reducer 5; the left driving motor 1 and the right driving motor 4 are respectively and electrically connected with an electric controller.

A gear 15 is sleeved on the outer side surface of the outer ring of the rotary support 17, an encoder 20 is arranged on the disc-shaped bogie 16, an output shaft 19 of the encoder 20 is connected with an encoder rotation angle acquisition gear 18, and the encoder rotation angle acquisition gear 18 is meshed with the gear 15; the encoder 20 is electrically connected with the electric controller; a swing shaft front through hole 9 is provided in the front frame plate 7, a swing shaft rear through hole 10 is provided in the rear frame plate 8, a front end of the swing shaft 13 is inserted into the swing shaft front through hole 9, and a rear end of the swing shaft 13 is inserted into the swing shaft rear through hole 10.

Because the left driving wheel 3, the right driving wheel 6, the swinging shaft 13 and the square walking frame are integrated, the whole body takes the shaft sleeve block 14 as a supporting point, and can swing left and right like a seesaw, when the road surface is uneven, the whole square walking frame can automatically swing along with the road surface, so that two walking wheels are reliably contacted with the ground all the time, the ground gripping force of the two driving wheels to the ground is improved, and the two driving wheels cannot slip; when the vehicle body turns due to uneven road surface or other factors during walking, the outer ring of the rotary support 17 fixed with the square walking frame can turn simultaneously, the gear 15 fixed on the outer ring of the rotary support 17 is driven to synchronously rotate, the encoder rotation angle acquisition gear 18 meshed with the gear 15 passively rotates, since the transformation ratio of the gear 15 to the encoder rotation angle collection gear 18 is large, a small rotation angle of the gear 15 will cause a large rotation angle of the encoder rotation angle collection gear 18, this sensitive rotation angle acquisition signal of enlargiing transmits for automatically controlled ware through encoder 20, for the timely control to driving motor of automatically controlled ware provides convenient condition, has realized sensitive regulation and control, has overcome the snakelike defect of advancing of square shape walking frame greatly.

Claims (2)

1. A double-wheel differential driving device with strong ground gripping force and capable of sensitively correcting deviation comprises an electric controller, a front side frame plate (7), a rear side frame plate (8), a left side frame plate (11), a right side frame plate (12), a swinging shaft (13), a shaft sleeve block (14), a rotating support (17) and a disc-shaped bogie (16), wherein the front side frame plate (7), the rear side frame plate (8), the left side frame plate (11) and the right side frame plate (12) form a square walking frame, and the double-wheel differential driving device is characterized in that the swinging shaft (13) is fixedly arranged between the front side frame plate (7) and the rear side frame plate (8), the shaft sleeve block (14) is movably sleeved on the swinging shaft (13), the top end surface of the shaft sleeve block (14) is fixedly connected with an outer ring of the rotating support (17), and the disc-shaped bogie (16) is connected to the top surface of the inner ring of the rotating support (17); a left speed reducer (2) is fixedly arranged on the left side surface of the left side frame plate (11), a left driving wheel (3) is connected to an output shaft of the left speed reducer (2), a left driving motor (1) is arranged on the front side surface of the front side frame plate (7), an output shaft of the left driving motor (1) is connected with an input shaft of the left speed reducer (2), a right speed reducer (5) is fixedly arranged on the right side surface of the right side frame plate (12), a right driving wheel (6) is connected to an output shaft of the right speed reducer (5), a right driving motor (4) is arranged on the rear side surface of the rear side frame plate (8), and an output shaft of the right driving motor (4) is connected with an input shaft of the right speed reducer (5); the left driving motor (1) and the right driving motor (4) are respectively and electrically connected with the electric controller.

2. The double-wheel differential driving device with strong ground gripping force and sensitive deviation rectification function as claimed in claim 1, wherein a gear (15) is sleeved on the outer side surface of the outer ring of the rotary support (17), an encoder (20) is arranged on the disc-shaped bogie (16), an output shaft (19) of the encoder (20) is connected with an encoder rotation angle acquisition gear (18), and the encoder rotation angle acquisition gear (18) is meshed with the gear (15); the encoder (20) is electrically connected with the electric controller; a swing shaft front through hole (9) is formed in the front frame plate (7), a swing shaft rear through hole (10) is formed in the rear frame plate (8), the front end of a swing shaft (13) penetrates through the swing shaft front through hole (9), and the rear end of the swing shaft (13) penetrates through the swing shaft rear through hole (10).

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