CN212289494U - Double-wheel differential driving mechanism suitable for AGV - Google Patents
Double-wheel differential driving mechanism suitable for AGV Download PDFInfo
- Publication number
- CN212289494U CN212289494U CN202020691684.5U CN202020691684U CN212289494U CN 212289494 U CN212289494 U CN 212289494U CN 202020691684 U CN202020691684 U CN 202020691684U CN 212289494 U CN212289494 U CN 212289494U
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- seesaw
- shaft
- fixed
- agv
- wheel
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Abstract
The utility model belongs to the technical field of the AGV skip, concretely relates to actuating mechanism. The double-wheel differential driving mechanism comprises a bottom mounting plate, two driving mechanisms are arranged below the bottom mounting plate and respectively drive a driving wheel, a swing shaft is arranged in the middle of the bottom mounting plate along the front-back direction, a swing bearing is connected above the swing shaft through a bolt, a seesaw is fixed above the swing bearing, and a top fixing plate is connected to the seesaw through an elastic mechanism; the rear side of the seesaw is provided with a balance shaft which is horizontally arranged along the left and right directions, and the left and right ends of the balance shaft are respectively provided with a bearing with a seat. The utility model discloses a two-wheeled differential drive mechanism suitable for AGV is applied to the AGV car under the condition of the unevenness in environment road surface, has solved the unsettled problem of drive wheel because of the road surface unevenness causes, has improved operating efficiency greatly, just the utility model has the characteristics of compact structure, simple to operate and operating stability are strong etc. are showing.
Description
Technical Field
The utility model belongs to the technical field of the AGV skip, concretely relates to actuating mechanism.
Background
An Automatic Guided Vehicle (AGV) is a transportation Vehicle equipped with an electromagnetic or optical automatic guiding device, which can travel along a predetermined guiding path, has safety protection and various transfer functions, and does not require a driver for transportation, and uses a rechargeable battery as its power source. Generally, the traveling route and behavior can be controlled by a computer, or the traveling route can be set up by using an electromagnetic rail, the electromagnetic rail is adhered to the floor, and the AGV automatically guides the vehicle to move and operate according to the information brought by the electromagnetic rail.
The chassis truckle of current AGV car is fixed usually, leans on the damper above the drive wheel to adapt to the unevenness on ground, and this kind adds spring absorbing mode on the drive wheel, and the scope of reciprocating is less, under the condition of implementing the unevenness in mill's environment road surface, the unsettled problem that leads to the AGV car unable removal of drive wheel appears easily in above-mentioned drive mode.
SUMMERY OF THE UTILITY MODEL
The utility model discloses to AGV car among the prior art appear the unsettled technical problem that leads to the unable removal of AGV car of drive wheel easily under the condition of the unevenness in road surface, aim at provides the double round differential drive mechanism who is applicable to AGV.
The double-wheel differential driving mechanism comprises a bottom mounting plate, two driving mechanisms are arranged below the bottom mounting plate, the two driving mechanisms drive a driving wheel respectively, the two driving wheels are arranged on the left side and the right side below the bottom mounting plate respectively, a swing shaft is arranged in the middle of the bottom mounting plate along the front and back direction, a swing bearing is connected above the swing shaft through bolts, a seesaw is fixed above the swing bearing, and a top fixing plate used for being fixed with a frame of an AGV car is connected on the seesaw through an elastic mechanism;
the rear side of the seesaw is provided with a balance shaft, the balance shaft is horizontally arranged along the left and right directions, and a bearing with a seat for fixing the frame of the AGV car is respectively arranged at the left end and the right end of the balance shaft.
The utility model discloses during the use, it is fixed with top fixed plate, rolling bearing respectively with the frame of AGV car, transports the in-process at the AGV car, if when taking place vibrations, through the utility model discloses an elastic mechanism eliminates, if take place about uneven at ordinary times, through the utility model discloses a balance is carried out to the balance shaft, consequently a drive wheel unsettled phenomenon can not appear, has avoided leading to the problem that the AGV car can't remove because of the road surface unevenness.
The driving mechanisms are driving motors, and each driving motor is connected with a corresponding driving wheel on the same side through a transmission mechanism;
bottom mounting panel below still is fixed with two balancing weights, one the balancing weight corresponds one driving motor, works as driving motor passes through the motor mount pad to be fixed when one side below of bottom mounting panel, the balancing weight is fixed driving motor's offside below.
The transmission mechanism comprises a first chain wheel fixed with a motor shaft of the driving motor and a second chain wheel fixed in the middle of the driving wheel, and the first chain wheel and the second chain wheel are connected in a meshed mode through a chain.
The middle parts of the two driving wheels are connected through a driven wheel shaft, and two ends of the driven wheel shaft are respectively fixed with the bottom surface of the bottom mounting plate through driven wheel shaft mounting seats;
two mounting rings for wiring are further arranged on the driven wheel shaft;
the two driven wheel shaft installation seats are positioned between the two driving wheels, and the two installation rings are positioned between the two driven wheel shaft installation seats.
Open mounting groove about the middle part of bottom mounting panel is equipped with along the fore-and-aft direction, a pendulum shaft mount pad is fixed respectively at both ends around in the mounting groove, the pendulum shaft sets up in the mounting groove, and the upper surface stretch out in the mounting groove, two around the pendulum shaft respectively with two the pendulum shaft mount pad is fixed.
A limiting column is arranged on the front side of the top surface of the bottom mounting plate, the seesaw is positioned behind the two limiting columns, and the height of the limiting column is higher than that of the seesaw;
the left side and the right side below the top fixing plate are respectively provided with a baffle, the seesaw is arranged between the two baffles, the bottom surface height of the two baffles is lower than that of the seesaw, and the seesaw is blocked by the two baffles;
the left and right sides of the seesaw top surface are respectively provided with an L-shaped limiting plate, the transverse sections of the two limiting plates are located in front of the balance shaft, and the balance shaft blocks the two limiting plates. Uneven when the road surface is controlled, when balancing under the effect of balance shaft, can lead to the seesaw to rock, in the front side spacing post, control two baffles and the balanced axle of rear side under acting together, the position of restriction seesaw that can be fine.
The baffle is the baffle of L style of calligraphy, the left and right sides side of seesaw is equipped with a arch respectively, every the horizontal segment of baffle is located the homonymy protruding rear causes two the arch blocks two the horizontal segment of baffle. So that the protrusion blocks the top fixing plate from tilting forward when the top fixing plate vibrates.
The elastic mechanism comprises a spring seat fixed at the top of the seesaw, a spring cover fixed at the bottom of the top fixing plate, and a spring guide post fixed with the spring cover, wherein the upper part of the spring is sleeved outside the spring guide post, and the lower part of the spring is arranged in the spring seat. When the AGV shakes during transportation, the vibration is eliminated through the elasticity of the spring.
The front side and the rear side of the bottom mounting plate are respectively fixed with a magnetic track sensor mounting bracket, and the front magnetic track sensor mounting bracket and the rear magnetic track sensor mounting bracket cover two driving mechanisms below the bottom mounting plate. The front and the rear magnetic track sensor mounting brackets can be used for mounting the magnetic track sensor and also used as a protective cover to cover the magnetic track sensor, so that the magnetic track sensor is protected from being damaged by the external environment.
The utility model discloses an actively advance the effect and lie in: the utility model discloses a two-wheeled differential drive mechanism suitable for AGV is applied to the AGV car under the condition of the unevenness in environment road surface, has solved the unsettled problem of drive wheel because of the road surface unevenness causes, has improved operating efficiency greatly, just the utility model has the characteristics of compact structure, simple to operate and operating stability are strong etc. are showing.
Drawings
Fig. 1 is a perspective view of the present invention;
fig. 2 is a front view of the present invention;
fig. 3 is a side view of the present invention;
fig. 4 is a top view of the present invention;
3 FIG. 3 5 3 is 3 a 3 cross 3- 3 sectional 3 view 3 A 3- 3 A 3 of 3 FIG. 3 4 3; 3
FIG. 6 is a cross-sectional view B-B of FIG. 4;
fig. 7 is a cross-sectional view taken along line C-C of fig. 4.
Detailed Description
In order to make the technical means, creation features, achievement purposes and functions of the present invention easy to understand, the present invention will be further explained with reference to the specific drawings.
Referring to fig. 1 to 7, the two-wheel differential driving mechanism suitable for AGVs includes a bottom mounting plate 1, two driving mechanisms are arranged below the bottom mounting plate 1, each driving mechanism can be a driving motor 21, and each driving motor 21 is connected with a driving wheel 22 corresponding to the same side through a transmission mechanism. The two driving mechanisms respectively drive one driving wheel 22, and the two driving wheels 22 are respectively arranged at the left side and the right side below the bottom mounting plate 1. Two balancing weights 23 are further fixed below the bottom mounting plate 1, one balancing weight 23 corresponds to one driving motor 21, and when the driving motor 21 is fixed below one side of the bottom mounting plate 1 through a motor mounting seat 24, the balancing weight 23 is fixed below the opposite side of the driving motor 21. The transmission mechanism comprises a first chain wheel fixed with a motor shaft of the driving motor 21 and a second chain wheel fixed with the middle part of the driving wheel 22, and the first chain wheel and the second chain wheel are meshed and connected through a chain 25. The middle parts of the two driving wheels 22 are connected through a driven wheel shaft 26, and two ends of the driven wheel shaft 26 are respectively fixed with the bottom surface of the bottom mounting plate 1 through driven wheel shaft mounting seats. Two mounting rings 27 for the drive motor and sensor lines are also provided on the driven wheel shaft 26, and the mounting rings 27 can be fixed to the driven wheel shaft 26 by welding. Two driven wheel axle mounts are located between the two drive wheels 22 and two mounting rings 27 are located between the two fixed plates.
Open mounting groove about the middle part of bottom mounting panel 1 is equipped with along the fore-and-aft direction, and pendulum shaft 31 sets up in the mounting groove, and pendulum shaft 31 upper surface stretches out in the mounting groove, and both ends are fixed pendulum shaft mount pad 32 respectively around in the mounting groove, and both ends are fixed with two pendulum shaft mount pads 32 around 31 respectively around the pendulum shaft 31, realize that pendulum shaft 31 passes through pendulum shaft mount pad 32 to be fixed in the mounting groove of bottom mounting panel 1. Specifically, the diameter of the swing shaft 31 is greater than the height of the mounting groove, and the horizontal center line of the swing shaft 31 is overlapped with the horizontal center line of the mounting groove, so that the upper side and the lower side of the swing shaft 31 extend out of the mounting groove.
The front side and the rear side of the swing shaft 31 are respectively fixed with the outer ring of the swing bearing 4 above the swing shaft through connecting devices such as bolts and screws, the inner ring of the swing bearing 4 is fixed with the seesaw 5 above through another connecting device, and the seesaw 5 is connected with the top fixing plate 6 fixed with the frame of the AGV car through an elastic mechanism. The elastic mechanism comprises a spring seat 71 fixed with the top of the seesaw 5, a spring 72, a spring cover 73 fixed with the bottom surface of the top fixing plate 6 and a spring guide post 74 fixed with the spring cover 73, the upper part of the spring 72 is sleeved outside the spring guide post 74, and the lower part of the spring 72 is arranged in the spring seat 71.
The top surface front side of bottom mounting panel 1 is equipped with spacing post 11, and seesaw 5 is located two spacing post 11 backs, and the height of spacing post 11 is higher than the height of seesaw 5, and the below left and right sides of top fixed plate 6 is equipped with baffle 61 respectively, is seesaw 5 between two baffles 61, and the bottom surface height of two baffles 61 is less than the bottom surface height of seesaw, and two baffles 61 block seesaw 5. The back side of the seesaw 5 is provided with a balance shaft 81, the balance shaft 81 is horizontally arranged along the left and right direction, and the left and right ends of the balance shaft 81 are respectively provided with a bearing 82 with a seat. The left side and the right side of the top surface of the seesaw 5 are respectively provided with an L-shaped limiting plate 51, the transverse sections of the two limiting plates 51 are positioned in front of a balance shaft 81, and the balance shaft 81 blocks the two limiting plates 51.
Baffle 61 is the baffle of L style of calligraphy, and the left and right sides side of seesaw 5 is equipped with protruding 52 respectively, and the horizontal segment of every baffle 61 is located the protruding 52 rear of homonymy, causes two protruding 52 to block the horizontal segment of two baffles 61. So that the protrusion 52 blocks the top fixing plate 6 from tilting forward when the top fixing plate 6 is shaken.
The front side and the rear side of the bottom mounting plate 1 are respectively fixed with a magnetic track sensor mounting bracket 9, and the front magnetic track sensor mounting bracket 9 and the rear magnetic track sensor mounting bracket 9 cover two driving mechanisms below the bottom mounting plate 1. The front and the rear magnetic track sensor mounting brackets 9 can be used for mounting the magnetic track sensor and also used as a protective cover for covering the magnetic track sensor, so that the magnetic track sensor is protected from being damaged by the external environment.
The utility model discloses during the use, it is fixed with top fixed plate 6, rolling bearing 82 respectively with the frame of AGV car, transport the in-process at the AGV car, if when taking place vibrations, eliminate through elastic mechanism, if take place about uneven, balance through balance 31, a drive wheel 22 unsettled phenomenon can not appear consequently, avoided leading to the problem that the AGV car can't remove because of the road surface unevenness.
The basic principles and the main features of the invention and the advantages of the invention have been shown and described above. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. The double-wheel differential driving mechanism is characterized in that a swing shaft is arranged in the middle of the bottom mounting plate along the front and back direction, a swing bearing is connected above the swing shaft through bolts, a seesaw is fixed above the swing bearing, and a top fixing plate used for fixing a frame of an AGV car is connected on the seesaw through an elastic mechanism;
the rear side of the seesaw is provided with a balance shaft, the balance shaft is horizontally arranged along the left and right directions, and a bearing with a seat for fixing the frame of the AGV car is respectively arranged at the left end and the right end of the balance shaft.
2. A two-wheel differential drive mechanism for an AGV according to claim 1 wherein said drive mechanisms are drive motors, each of said drive motors being connected to a corresponding drive wheel on the same side by a transmission mechanism;
bottom mounting panel below still is fixed with two balancing weights, one the balancing weight corresponds one driving motor, works as driving motor passes through the motor mount pad to be fixed when one side below of bottom mounting panel, the balancing weight is fixed driving motor's offside below.
3. A two-wheel differential drive mechanism for an AGV according to claim 2 wherein said drive mechanism includes a first sprocket fixed to a motor shaft of said drive motor, a second sprocket fixed to a middle portion of said drive wheel, said first and second sprockets being in meshing engagement by a chain.
4. A two-wheel differential drive mechanism for an AGV according to claim 1 wherein the middle portions of the two drive wheels are connected by a driven axle, the two ends of the driven axle being secured to the bottom surface of the bottom mounting plate by driven axle mounting seats, respectively;
two mounting rings for wiring are further arranged on the driven wheel shaft;
the two driven wheel shaft installation seats are positioned between the two driving wheels, and the two installation rings are positioned between the two driven wheel shaft installation seats.
5. A two-wheel differential driving mechanism suitable for AGV according to any one of claims 1 to 4 wherein the middle part of the bottom mounting plate is provided with a mounting groove which is open up and down along the front and back direction, a swing shaft mounting seat is fixed at the front and back ends of the mounting groove respectively, the swing shaft is arranged in the mounting groove, the upper surface of the swing shaft extends out of the mounting groove, and the front and back ends of the swing shaft are fixed with the front and back swing shaft mounting seats respectively.
6. A two-wheel differential drive mechanism for an AGV according to any of claims 1 to 4 wherein a limit post is provided on the front side of the top surface of the bottom mounting plate, the seesaw is located behind the two limit posts, and the height of the limit post is higher than the height of the seesaw;
the left side and the right side below the top fixing plate are respectively provided with a baffle, the seesaw is arranged between the two baffles, the bottom surface height of the two baffles is lower than that of the seesaw, and the seesaw is blocked by the two baffles;
the left and right sides of the seesaw top surface are respectively provided with an L-shaped limiting plate, the transverse sections of the two limiting plates are located in front of the balance shaft, and the balance shaft blocks the two limiting plates.
7. A two-wheel differential drive mechanism for an AGV according to claim 6 wherein said baffles are L-shaped, and wherein each of the left and right sides of said seesaw has a protrusion, and each of the transverse sections of said baffles is located behind said protrusions on the same side, so that said protrusions block said transverse sections of said baffles.
8. The two-wheel differential drive mechanism for an AGV of claim 1 wherein said resilient mechanism includes a spring seat fixed to the top of said seesaw, a spring cover fixed to the bottom of said top mounting plate, and a spring post fixed to said spring cover, wherein the upper portion of said spring is sleeved over said spring post and the lower portion of said spring is disposed in said spring seat.
9. A two-wheel differential drive for an AGV according to claim 1 wherein the bottom mounting plate has track sensor mounting brackets secured to each of the front and rear sides thereof, the front and rear two track sensor mounting brackets housing the two drive mechanisms below the bottom mounting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020691684.5U CN212289494U (en) | 2020-04-29 | 2020-04-29 | Double-wheel differential driving mechanism suitable for AGV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020691684.5U CN212289494U (en) | 2020-04-29 | 2020-04-29 | Double-wheel differential driving mechanism suitable for AGV |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212289494U true CN212289494U (en) | 2021-01-05 |
Family
ID=73964469
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020691684.5U Expired - Fee Related CN212289494U (en) | 2020-04-29 | 2020-04-29 | Double-wheel differential driving mechanism suitable for AGV |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212289494U (en) |
-
2020
- 2020-04-29 CN CN202020691684.5U patent/CN212289494U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210105 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |