CN220791984U - Driving unit suitable for AGV - Google Patents
Driving unit suitable for AGV Download PDFInfo
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- CN220791984U CN220791984U CN202322420371.2U CN202322420371U CN220791984U CN 220791984 U CN220791984 U CN 220791984U CN 202322420371 U CN202322420371 U CN 202322420371U CN 220791984 U CN220791984 U CN 220791984U
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- speed reducer
- driving
- agv
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 51
- 230000005540 biological transmission Effects 0.000 claims abstract description 29
- 230000007246 mechanism Effects 0.000 claims abstract description 26
- 239000000463 material Substances 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000010073 coating (rubber) Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000009347 mechanical transmission Effects 0.000 description 2
- 229920002635 polyurethane Polymers 0.000 description 2
- 239000004814 polyurethane Substances 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000008093 supporting effect Effects 0.000 description 2
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Abstract
The utility model relates to the field of AGV driving, and discloses a driving unit suitable for an AGV, which comprises a speed reducer main body, wherein the top of the speed reducer main body is provided with a top plate connected with an AGV body; two independent transmission mechanisms are arranged in the speed reducer main body, and the input end of each transmission mechanism is positioned at the top of the speed reducer main body and is vertically arranged along the longitudinal direction; two driving wheels are oppositely arranged on two sides of the speed reducer main body, and the two driving wheels are respectively connected with the output ends of the two sets of transmission mechanisms; a driving motor is arranged on one side of the speed reducer main body adjacent to the driving wheel, and the output end of the driving motor is connected with the input end of the transmission mechanism; the device integrates the advantages of the horizontal single steering wheel and the double-wheel differential driving unit, has a simple structure, can meet the radial turning radius, can provide larger bearing capacity, and has lower cost compared with the double-wheel differential driving unit.
Description
Technical Field
The utility model relates to the field of AGV driving, in particular to a driving unit suitable for an AGV.
Background
Among the power units of AGVs in the current market, the horizontal single steering wheel and the double-wheel differential driving unit are two important products; the horizontal single steering wheel has the advantages of small radial turning radius and simple structure; in the double-rudder AGV, the spring suspension structure is configured based on the horizontal single-rudder wheel, and the double-rudder AGV also has a large application specific gravity.
The two steering wheels have the advantages that the turning radius of the horizontal single steering wheel is small, the structure is simple, but the carrying capacity of the horizontal single steering wheel is not as good as that of the double steering wheel, and the horizontal single steering wheel cannot be compared with a double-wheel differential driving unit at all under the condition that the size of the wheel body is not increased; the bearing capacity of the double-wheel differential driving unit is strong, but the structure is complex, the cost is high, and the turning radius is larger; i.e. the advantages and disadvantages between the single steering wheel and the dual-wheel differential drive unit are substantially complementary.
Disclosure of Invention
The utility model aims to solve the problem of providing a driving unit suitable for an AGV, which enables the radial turning radius to be close to that of a horizontal single steering wheel, has the bearing capacity equivalent to that of a double-wheel differential driving unit, has a simple main body structure and is lower in cost than the double-wheel differential driving unit.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
the driving unit suitable for the AGV comprises a speed reducer main body, wherein a top plate connected with the AGV body is arranged at the top of the speed reducer main body; two independent transmission mechanisms are arranged in the speed reducer main body, the input ends of the transmission mechanisms are positioned at the top of the speed reducer main body and are vertically arranged along the longitudinal direction, and the output ends of the transmission mechanisms are positioned at two sides of the speed reducer main body and are mutually perpendicular to the input ends of the transmission mechanisms;
two driving wheels are oppositely arranged on two sides of the speed reducer main body, and the two driving wheels are respectively connected with the output ends of the two sets of transmission mechanisms; and a driving motor is arranged on one side of the speed reducer main body adjacent to the driving wheel, and the output end of the driving motor is connected with the input end of the transmission mechanism.
In a preferred embodiment of the present utility model, the speed reducer body is connected to the top plate through two swing brackets, and the two swing brackets are respectively located at two sides of the adjacent driving wheel.
In a preferred embodiment of the present utility model, a limiting groove is formed on two sides of the speed reducer main body corresponding to the position of the swing bracket, one end of the swing bracket is rotatably mounted in the limiting groove, and the other end is fixedly connected with the top plate.
In a preferred embodiment of the present utility model, a turntable bearing is rotatably installed between the top plate and the AGV body, the turntable bearing includes an inner ring and an outer ring which can relatively surround the axis of the turntable bearing, the inner ring is fixedly installed on the top plate, and the outer ring is fixedly installed at the bottom of the AGV body.
In a preferred embodiment of the utility model, a support plate is fixedly connected to one side of the top plate, an encoder is arranged on the support plate, and driven teeth are arranged at the input end of the encoder; and a gear ring is arranged on the outer diameter circumferential surface of the outer ring, and the gear ring is meshed with the driven teeth.
In a preferred embodiment of the present utility model, the transmission mechanism includes a driving shaft and a driven shaft, the driving shaft is vertically installed in the reducer main body, and the driving shaft is provided with a main driving member and is connected with the driving motor; the driven shaft is horizontally arranged in the reducer main body, a driven member is arranged on the driven shaft and connected with the driving wheel, and the driving member and the driven member are in meshed transmission.
Advantageous effects
The driving unit comprises two driving wheels, and the two driving wheels are respectively driven by two sets of transmission mechanisms independently, so that larger bearing capacity can be provided for the AGV; the input end and the output end of each set of transmission mechanism are mutually perpendicular, and the input ends are vertically distributed, so that the turning radius of the driving unit can be reduced; in a word, the device has the advantages of the horizontal single steering wheel and the double-wheel differential driving unit, has a simple structure, can meet the radial turning radius, can provide larger bearing capacity, and has lower cost compared with the double-wheel differential driving unit.
Drawings
FIG. 1 is a schematic view of the construction of a preferred embodiment of the present utility model;
FIG. 2 is a schematic diagram of the front view of the preferred embodiment of the present utility model;
FIG. 3 is a schematic view showing the structure of a swing bracket according to a preferred embodiment of the present utility model;
1, a speed reducer main body; 2. a driving wheel; 3. a swing bracket; 4. a top plate; 5. a driving motor; 6. a limit groove; 7. a turntable bearing; 8. a support plate; 9. an encoder; 10. driven teeth.
Detailed Description
The utility model will now be described in further detail with reference to the drawings and examples, which are simplified schematic illustrations of the basic structure of the utility model, which are presented only by way of illustration, and thus show only the structures that are relevant to the utility model.
As shown in FIG. 1, a drive unit suitable for AGV, including speed reducer main part 1, install swing frame 3 on the speed reducer main part 1, swing frame 3 is used for supporting roof 4 to roof 4 links to each other with the AGV automobile body, and then reaches the purpose that supports the AGV automobile body.
The turntable bearing 7 is rotatably installed between the top plate 4 and the AGV body, the turntable bearing 7 comprises an inner ring and an outer ring which can relatively surround the axis of the turntable bearing 7, wherein the inner ring is fixedly installed on the top plate 4, and the outer ring is fixedly installed at the bottom of the AGV body; namely, the AGV body and the speed reducer body 1 can coaxially and relatively rotate, so that the steering operation of the AGV body is facilitated.
Further, a support plate 8 is fixedly connected to one side of the top plate 4, an encoder 9 is arranged on the support plate 8, and driven teeth 10 are arranged at the input end of the encoder 9; a gear ring is arranged on the outer diameter circumferential surface of the outer ring, and the gear ring is meshed with the driven teeth 10; when the rotation speeds of the driving wheels 2 at the two sides of the speed reducer body 1 are not synchronous, the speed reducer body 1 deflects, and the steering work of the AGV body is realized based on the deflection.
The driven teeth 10 and the gear ring are cylindrical gears, the driven teeth 10 and the gear ring can be meshed with each other, under the supporting action of the support plate 8, when the AGV body rotates, the outer ring of the AGV body drives the driven teeth 10 to rotate, the driven teeth 10 drive the input end of the encoder 9 to rotate, and then the steering angle of the driving unit is obtained through the encoder 9; the encoder 9 is a well-established technology, and is a device for compiling and converting signals or data into signal forms which can be used for communication, transmission and storage, and belongs to an angular position sensor; the encoder 9 is capable of converting angular displacement, called code wheel, or linear displacement, called code scale, which is used here, into an electrical signal.
In addition, the turntable bearing 7 can be connected with an adapter plate, and is arranged on the AGV body through the adapter plate, so that two mounting modes of lifting and mounting the driving unit from the upper part of the AGV or from the lower part of the AGV can be met; and after the adapter plate is connected, electric elements such as a driver of the servo motor and an interface of the encoder 9 can be integrated in a space between the adapter plate and the turntable bearing 7, and the integrated driving unit is more convenient for the overall layout of the AGV.
As shown in fig. 3, the two sides of the reducer body 1 are provided with a limiting groove 6 at the position corresponding to the swinging bracket 3, one end of the swinging bracket 3 is rotatably installed in the limiting groove 6, and the other end is fixedly connected with the top plate 4.
Above-mentioned, the upper and lower both ends of spacing groove 6 link up speed reducer main part 1, and swing support 3's appearance structure is similar with the eighth note, and one end rotates to be connected, and other end fixed connection, based on this, can make swing support 3 swing around its pivot of installing on speed reducer main part 1, thereby adapt to the fluctuation on ground.
As shown in fig. 1-2, two sets of independent transmission mechanisms (not shown in the drawings) are arranged in the speed reducer main body 1, the output end of each set of transmission mechanism is connected with one driving wheel 2, and the two driving wheels 2 are coaxially and symmetrically distributed on two sides of the speed reducer main body 1; wherein, the driving wheel 2 is of a steel rubber coating structure, the material coated on the outer side of the driving wheel is polyurethane generally, and different materials can be changed according to the requirements of the use scene; the input end of the transmission mechanism is positioned at the top of the speed reducer body 1 and vertically arranged along the longitudinal direction, and the output end of the transmission mechanism is positioned at two sides of the speed reducer body 1 and is mutually perpendicular to the input end of the transmission mechanism.
Specifically, each set of transmission mechanism comprises a driving shaft and a driven shaft, wherein the driving shaft is vertically arranged in the speed reducer main body 1, one end of the driving shaft penetrates through the speed reducer main body 1 to the top of the speed reducer main body 1 to be connected with the output end of the driving motor 5, and a main driving piece is arranged on the driving shaft; the driven shaft is horizontally arranged in the reducer body 1, one end of the driven shaft penetrates through the side wall of the reducer body 1 to the outer side and is connected with the driving wheel 2, a driven member is also arranged on the driven shaft, and power is transmitted between the driving member and the driven member through mutual meshing; the radial rotation size of the driving unit can be reduced through the structure, so that the rotation size of the double-wheel structure is close to that of the single-steering-wheel structure.
The driving motor 5 is preferably a servo motor, is fixedly arranged on the speed reducer main body 1, has an upward output end at one side adjacent to the driving wheel 2, drives the driving shaft to rotate through the auxiliary gear box, transmits power to the driven shaft through the engagement between the driving member and the driven member, and finally drives the driving wheel 2 through the driven shaft; the two driven shafts are mutually independent and the axes of the two driven shafts are on the same straight line, namely, the movement of the two driving wheels 2 is mutually independent and is respectively controlled by the driving motors 5 corresponding to the two driven shafts.
Furthermore, the main driving part and the auxiliary driven part can adopt a mechanical transmission structure of worm and gear, namely, the worm corresponds to the driving shaft and the main driving part on the driving shaft, and the worm corresponds to the driven shaft and the auxiliary driven part arranged on the driven shaft; different mechanical transmission structures with mutually meshed bevel gears can also be adopted, and at the moment, the master driving piece and the slave driven piece are bevel gears.
Working principle:
the driving motors 5 are used as power elements of driving units, each driving unit is required to be provided with two driving motors 5, and the motor power is determined according to the bearing capacity of the driving unit; the driving wheel 2 is of a steel rubber coating structure, the coating material is generally polyurethane, and the material can be changed according to the requirements of the use situation; the swinging bracket 3 is used as a connecting piece between the speed reducer body 1 and the turntable bearing 7 and plays a role in structural connection between the speed reducer body 1 and the turntable bearing 7, and meanwhile, the swinging bracket 3 can swing around a rotating shaft arranged on the speed reducer body 1, so that the swinging bracket is suitable for the fluctuation of the ground; the inner ring of the turntable bearing 7 is arranged on the top plate 4 connected with the swinging bracket 3, the outer ring is connected on the AGV body and bears the structural connection function between the two, meanwhile, the outer ring of the turntable bearing 7 can rotate around the axis of the turntable bearing 7, and the angle of the current driving unit is output by the encoder 9 through gear engagement.
The above-described preferred embodiments according to the present utility model are intended to suggest that, from the above description, various changes and modifications can be made by the person skilled in the art without departing from the scope of the technical idea of the present utility model. The technical scope of the present utility model is not limited to the description, but must be determined according to the scope of claims.
Claims (6)
1. A drive unit for an AGV, characterized by: the automatic speed reducer comprises a speed reducer body (1), wherein a top plate (4) connected with an AGV body is arranged at the top of the speed reducer body (1);
two independent transmission mechanisms are arranged in the speed reducer main body (1), the input ends of the transmission mechanisms are positioned at the top of the speed reducer main body (1) and are vertically arranged along the longitudinal direction, and the output ends of the transmission mechanisms are positioned at two sides of the speed reducer main body (1) and are mutually perpendicular to the input ends of the transmission mechanisms;
two driving wheels (2) are oppositely arranged on two sides of the speed reducer main body (1), and the two driving wheels (2) are respectively connected with the output ends of the two sets of transmission mechanisms; a driving motor (5) is arranged on one side of the speed reducer main body (1) adjacent to the driving wheel (2), and the output end of the driving motor (5) is connected with the input end of the transmission mechanism.
2. The drive unit for an AGV of claim 1 wherein: the speed reducer body (1) is connected with the top plate (4) through swing supports (3), two swing supports (3) are arranged, and the two swing supports (3) are respectively located on two sides of the adjacent driving wheel (2).
3. The drive unit for an AGV of claim 2 wherein: limiting grooves (6) are formed in the two sides of the speed reducer main body (1) corresponding to the positions of the swing supports (3), one end of each swing support (3) is rotatably installed in each limiting groove (6), and the other end of each swing support is fixedly connected with the top plate (4).
4. The drive unit for an AGV of claim 1 wherein: the automatic control device is characterized in that a turntable bearing (7) is rotatably arranged between the top plate (4) and the AGV body, the turntable bearing (7) comprises an inner ring and an outer ring which can relatively surround the axis of the turntable bearing, the inner ring is fixedly arranged on the top plate (4), and the outer ring is fixedly arranged at the bottom of the AGV body.
5. The drive unit for an AGV of claim 4 wherein: one side of the top plate (4) is fixedly connected with a support plate (8), an encoder (9) is arranged on the support plate (8), and a driven tooth (10) is arranged at the input end of the encoder (9); a gear ring is arranged on the outer diameter circumferential surface of the outer ring, and the gear ring is meshed with the driven teeth (10).
6. The drive unit for an AGV of claim 1 wherein: the transmission mechanism comprises a driving shaft and a driven shaft, the driving shaft is vertically arranged in the speed reducer main body (1), and a main driving piece is arranged on the driving shaft and is connected with the driving motor (5); the driven shaft is horizontally arranged in the reducer main body (1), a driven member is arranged on the driven shaft and connected with the driving wheel (2), and the driving member and the driven member are in meshed transmission.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322420371.2U CN220791984U (en) | 2023-09-07 | 2023-09-07 | Driving unit suitable for AGV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322420371.2U CN220791984U (en) | 2023-09-07 | 2023-09-07 | Driving unit suitable for AGV |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220791984U true CN220791984U (en) | 2024-04-16 |
Family
ID=90652273
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322420371.2U Active CN220791984U (en) | 2023-09-07 | 2023-09-07 | Driving unit suitable for AGV |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220791984U (en) |
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2023
- 2023-09-07 CN CN202322420371.2U patent/CN220791984U/en active Active
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