WO2022052947A1 - 可转向驱动机构及运输车 - Google Patents

可转向驱动机构及运输车 Download PDF

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Publication number
WO2022052947A1
WO2022052947A1 PCT/CN2021/117153 CN2021117153W WO2022052947A1 WO 2022052947 A1 WO2022052947 A1 WO 2022052947A1 CN 2021117153 W CN2021117153 W CN 2021117153W WO 2022052947 A1 WO2022052947 A1 WO 2022052947A1
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WO
WIPO (PCT)
Prior art keywords
drive mechanism
bracket
steerable drive
inner bracket
steerable
Prior art date
Application number
PCT/CN2021/117153
Other languages
English (en)
French (fr)
Inventor
俞文涛
赵路豪
Original Assignee
杭州海康机器人技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 杭州海康机器人技术有限公司 filed Critical 杭州海康机器人技术有限公司
Priority to EP21866000.9A priority Critical patent/EP4212410A4/en
Publication of WO2022052947A1 publication Critical patent/WO2022052947A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/021—Determination of steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07568—Steering arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
    • B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
    • B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/02—Steering linkage; Stub axles or their mountings for pivoted bogies
    • B62D7/04—Steering linkage; Stub axles or their mountings for pivoted bogies with more than one wheel

Definitions

  • the present application relates to the technical field of transport vehicles, and in particular, to a steerable drive mechanism and a transport vehicle.
  • the steerable drive mechanism usually uses an encoder as a detection functional component to obtain the steering information of the steerable drive mechanism, and converts it into an electrical signal to input into the controller of the transport vehicle, and the controller then issues correction instructions to the motor according to the specific working conditions.
  • the closed-loop control of the steerable drive mechanism is realized.
  • the present application provides a steerable drive mechanism, which includes an outer bracket, an inner bracket, a traveling wheel and a detection assembly, and the inner bracket is rotatably disposed on the outer bracket;
  • the detection assembly includes a positioning element and a distance measuring element, one of the positioning elements and the distance measuring element is arranged on the peripheral side outer wall of the inner bracket, and the other is arranged on the outer bracket, the The distance measuring element acquires the relative movement information of the positioning element to detect the angle information of the rotation of the inner bracket relative to the outer bracket.
  • the present application provides a transport vehicle comprising the aforementioned steerable drive mechanism.
  • the detection component includes a positioning element and a distance measuring element. Based on the cooperation between the positioning element and the distance measuring element, the angle information of the rotation of the inner bracket relative to the outer bracket can be detected, and then the rotation angle information of the inner bracket relative to the outer bracket can be detected.
  • the steering information of the traveling wheel is obtained; at the same time, among the positioning element and the distance measuring element, one is arranged on the peripheral outer wall of the inner bracket, and the other is arranged on the outer bracket.
  • the driving mechanism occupies too much space in the height direction, so as to achieve the purpose of reducing the overall size of the steerable driving mechanism.
  • the steerable drive mechanism disclosed in the present application is based on the cooperative arrangement of the positioning element and the distance measuring element, so that the steerable drive mechanism can not be enlarged.
  • the overall size of the transport vehicle is small, and sufficient installation space is provided for the drive components, so that high-power type drive components can be selected, which can improve the overall power load capacity of the transport vehicle.
  • FIG. 1 is a schematic diagram of an exploded structure of a steerable drive mechanism disclosed in an embodiment of the application;
  • FIG. 2 is a schematic diagram of an exploded structure of another steerable drive mechanism disclosed in an embodiment of the present application.
  • the steerable drive mechanism has both drive and steering control functions, and can be divided into differential drive mechanism and steering wheel drive mechanism, etc., and can be used for the drive of mechanical structures such as transport vehicles to realize forward and backward straight or steering motion.
  • the two wheels are installed on the same axis, and the speed of the two wheels is controlled by two traveling motors to travel in a predetermined direction.
  • the differential drive mechanism can drive in a straight line; when the two wheels are running at the same speed and in the opposite direction, the differential drive mechanism rotates in place; when the two wheels are differentially driven, the differential drive mechanism can drive. Arc turns.
  • the steering wheel drive mechanism has both driving and steering control functions.
  • the driving and steering functions are independently controlled by two motors.
  • the driving motor provides driving force for the wheels, and the steering motor controls the rotation of the wheels, which can run and steer at the same time. In addition to in-situ steering and arc turning, it can also achieve left-right translation, oblique translation, etc.
  • Common steering wheel drive structures include single steering wheel drive and dual steering wheel drive.
  • the encoder in the related art has a certain volume, which is usually stacked with the drive motor, so that the overall size of the steerable drive mechanism in the height direction is too large; while ensuring that the overall size of the steerable drive mechanism is consistent, the drive
  • the installation space of the motor will be compressed, which forces the drive motor to only use a low-power type, which will limit the overall power load capacity of the transporter
  • the hollow encoder is hollow inside, and the hollow space is also used to accommodate other structures, such as cables for driving motors, etc., which makes the above problems more serious.
  • an embodiment of the present application discloses a steerable drive mechanism.
  • the disclosed steerable drive mechanism includes an outer bracket 100 , an inner bracket 200 , a traveling wheel 300 and a detection assembly 500 .
  • the type of the steerable driving mechanism is not limited, for example, it may be a steerable driving mechanism for a transport vehicle, a steerable driving mechanism for a mobile robot, and the like.
  • the steerable drive mechanism is set on the transport vehicle as an example.
  • the outer bracket 100 and the inner bracket 200 are both basic components of the steerable drive mechanism, and both the outer bracket 100 and the inner bracket 200 can play a supporting role and serve as a base for installation and support.
  • the steerable drive mechanism generally further includes a drive assembly 400, the drive assembly 400 is a power component of the steerable drive mechanism, the traveling wheel 300 can be used in conjunction with the drive assembly 400, and the drive assembly 400 is drivingly connected with the traveling wheel 300 to drive the traveling wheel 300 to move.
  • the driving assembly 400 can drive the traveling wheel 300 to rotate, thereby enabling the traveling wheel 300 to walk on the support surface.
  • the driving assembly 400 can also drive the traveling wheel 300 to turn, and the above working principles are common knowledge in the art, and are not repeated here.
  • the detection assembly 500 is a functional component of a steerable drive mechanism, which can detect the angle information of the rotation of the inner bracket 200 relative to the outer bracket 100, and then can obtain the steering information of the traveling wheels. It should be understood that when the steerable drive mechanism performs the steering action, it needs to obtain the steering information of the traveling wheel 300 based on the detection component 500, convert the steering information into electrical signals, and transmit them to the controller of the transport vehicle, where the controller Then, a correction command is issued to the drive assembly 400 according to the specific working conditions to adjust the steering angle of the traveling wheel 300, and the closed-loop control of the traveling wheel by the transport vehicle is completed through the above working process.
  • the driving assembly 400 can be generally disposed on the inner bracket 200 .
  • the driving assembly 400 is connected to the traveling wheel 300 and drives the traveling wheel 300.
  • the traveling wheel 300 turns, it will drive the inner bracket 200 to rotate.
  • the inner bracket 200 is rotatably disposed on the outer bracket 100, that is, the inner bracket 200 can rotate relative to the outer bracket 100. Therefore, when the inner bracket 200 rotates, the space between the inner bracket 200 and the outer bracket 100 is rotatable. There will be no interference.
  • the inner bracket 200 can be rotatably engaged with the inner wall of the outer bracket 100 through its outer circumference. In one embodiment, the rotatable relationship between the two may be achieved by a clearance sliding fit.
  • the inner bracket 200 may also be connected to the outer bracket 100 through other rotational and fitting relationships.
  • the power source for the rotation of the inner bracket 200 relative to the outer bracket 100 is the indirect drive of the drive assembly 400 .
  • the detection assembly 500 includes a positioning element 510 and a distance measuring element 520 .
  • the positioning element 510 and the distance measuring element 520 one is arranged on the peripheral outer wall of the inner bracket 200 , and the other is arranged at the outer bracket 100 . That is, the positioning element 510 may be disposed on the peripheral outer wall of the inner bracket 200, and the distance measuring element 520 is correspondingly disposed on the outer bracket 100, or the distance measuring element 520 may be disposed on the peripheral outer wall of the inner bracket 200, and the positioning element 510 Correspondingly arranged on the outer bracket 100 , the present embodiment does not limit the arrangement positions of the positioning element 510 and the distance measuring element 520 .
  • the distance measuring element 520 can obtain the relative movement information of the positioning element 510 to detect the angle information of the rotation of the inner bracket 200 relative to the outer bracket 100 . Since the inner bracket 200 rotates relative to the outer bracket 100, during this process, the positioning element 510 and the distance measuring element 520 also rotate relative to each other, and the movement information of the positioning element 510 relative to the distance measuring element 520 is transmitted through the interior of the transport vehicle. After processing by the controller, the steering information of the traveling wheel 300 can be obtained, and then an instruction can be issued to control the traveling wheel 300 to turn in place, that is, to complete the precise steering action.
  • the detection assembly 500 includes a positioning element 510 and a distance measuring element 520. Based on the cooperation between the positioning element 510 and the distance measuring element 520, the inner bracket can be detected. The rotation angle information relative to the outer bracket can then obtain the steering information of the traveling wheel 300; at the same time, among the positioning element 510 and the distance measuring element 520, one is arranged on the peripheral outer wall of the inner bracket 200, and the other is arranged on the outer wall of the inner bracket 200. In the case of the outer bracket 100, the detection assembly 500 can be prevented from occupying too much space in the height direction of the steerable driving mechanism, so as to achieve the purpose of making the overall size of the steerable driving mechanism smaller.
  • the steerable drive mechanism disclosed in the embodiment of the present application is based on the cooperative arrangement of the positioning element 510 and the distance measuring element 520 , which can reduce the increase in size.
  • the overall size of the steerable drive mechanism can provide sufficient installation space for the drive assembly 400, so that a high-power type of drive assembly 400 can be selected, thereby improving the overall power load capacity of the transport vehicle.
  • the detection assembly 500 can be of various types.
  • the positioning element 510 is a magnet
  • the distance measuring element 520 is a Hall device.
  • the Hall device can obtain the movement information of the magnet by detecting the intensity change of the magnetic field generated by the magnet, and based on the movement information, the controller inside the transporter can calculate the steering information of the traveling wheel 300 .
  • the detection component 500 may be a magnetic scale
  • the positioning element 510 is a scale magnetic grid
  • the distance measuring element 520 is a magnetic grid reader.
  • the magnetic grid reader and the scale magnetic grid usually induce mutual induction in a non-contact way, and the magnetic poles on the scale magnetic grid generate magnetic fields with different directions, and the magnetic grid reader moves along the scale magnetic grid in the process of It senses the change of the magnetic field and converts the magnetic field change into an analog signal or a digital signal output, that is, converts the magnetization signal on the read scale magnetic grid into an electrical signal and sends it to the detection circuit to realize displacement measurement or position. position.
  • the relative position of the scale magnetic grid and the magnetic grid reader changes with the inner bracket 200 and the outer bracket 100 respectively, and the magnetic grid reader can move on the scale magnetic grid to obtain the relative movement information between them, and based on these
  • the movement information calculates the steering information of the traveling wheel 300 through the controller inside the transport vehicle.
  • the detection component 500 may also be other detection structures, as long as the steering information of the traveling wheel 300 can be detected through reasonable arrangement, such as a combination of a magnetic element and a Hall element.
  • the arrangement of the magnetic scale is not limited.
  • the outer wall of the inner bracket 200 may be provided with a circular arc mounting surface, and the magnetic scale of the scale is arranged along the circular arc mounting surface.
  • the device is arranged on the outer bracket 100 . In this way, due to the relative movement of the inner bracket and the outer bracket, the magnetic grid reader moves on the scale magnetic grid along the arc mounting surface, and its moving trajectory tends to perform a circular rotation based on the arc mounting surface, and then the traveling wheel can be obtained. 300 for more accurate steering information.
  • the scale magnetic grid can also be arranged on the outer bracket 100, and the magnetic grid reader is arranged on the peripheral outer wall of the inner bracket 200.
  • the outer bracket 100 can be correspondingly provided with a circular arc mounting surface for installing the scale magnetic grid.
  • the scale magnetic grid has a certain length dimension and a relatively small thickness. Therefore, in the above-mentioned embodiment, the scale magnetic grid can be installed by using the peripheral side outer wall of the inner bracket 200 , and the peripheral side of the inner bracket 200 can be installed on the scale magnetic grid. Only a small space is occupied, thereby avoiding a large space in the height direction of the steerable drive mechanism, so that the drive assembly 400 can be provided with a larger size without increasing the overall size of the steerable drive mechanism The installation space is convenient for the use of high-power type drive devices.
  • the detection component 500 can be a grating ruler, the positioning element 510 is a scale grating, and the ranging element 520 is a grating reader.
  • the grating scale is a photoelectric detection element made of light transmission and diffraction phenomena
  • an indicator grating is arranged in the grating reader, and the scale grating and the grating reader are generated with the inner bracket 200 and the outer bracket 100 respectively.
  • the indicator grating moves on the scale grating, and then obtains relative movement information between the two, and calculates the steering information of the traveling wheel 300 based on the movement information through the controller inside the transport vehicle.
  • the grating scale may also adopt the arrangement of the magnetic grating scale in the above-mentioned embodiments.
  • the outer bracket 100 may be provided with a first installation space 110, and the first installation space 110 is arranged opposite to the scale magnetic grid, and the magnetic grid reader is arranged in the first installation space 110 .
  • the magnetic grid reader can be embedded in the outer bracket 100, so that the magnetic grid reader can be prevented from being arranged between the outer bracket 100 and the inner bracket 200, and the gap between the outer bracket 100 and the inner bracket 200 can be reduced.
  • the magnetic grid reader arranged in the first installation space 110 can be read from the scale magnetic grid. The grid obtains displacement information, thereby ensuring the normal operation of the magnetic scale.
  • the first installation space 110 there are various types of the first installation space 110 , for example, it may be an installation groove, an installation through hole, or the like.
  • the outer bracket 100 may have various structural forms, and the inner bracket 200 is rotatably matched with the outer bracket 100 through a rotating shaft.
  • the outer bracket 100 may have a first accommodating space 120 and an opening, the opening communicates with the first accommodating space 120 , the inner bracket 200 and the traveling wheel 300 are both disposed in the first accommodating space 120 , and the traveling wheel 300 passes through the first accommodating space 120 .
  • the opening portion is exposed to the outer bracket 100 so as to walk on the supporting surface.
  • the outer bracket 100 can play a protective role for the inner bracket 200 and the traveling wheel 300 to avoid damage to the inner bracket 200 , the driving assembly 400 disposed on the inner bracket 200 , and the traveling wheel 300 .
  • the opening is usually disposed on the side of the outer bracket 100 facing the supporting surface, so that the traveling wheel 300 can extend out of the outer bracket 100 through the opening and contact the supporting surface to travel on the supporting surface.
  • a cover in order to prevent foreign objects from falling into the inner and/or outer brackets from the top of the outer bracket 100, thereby affecting the normal operation of the steerable drive mechanism, a cover can be installed on the top of the outer bracket 100, and the cover can be screwed Or fixed on the top of the outer bracket 100 by welding.
  • the size of the opening is smaller than that of the inner bracket.
  • the inner wall of the outer bracket is provided with a limit step.
  • the inner bracket 200 may be provided with rolling bodies 600 along its peripheral outer wall, and the inner bracket 200 is rotatably matched with the outer bracket 100 through the rolling bodies 600 . It should be understood that the inner bracket 200 , the outer bracket 100 and the rolling bodies 600 can form a rolling bearing structure, which can improve the rotational smoothness between the inner bracket 200 and the outer bracket 100 to achieve higher rotational efficiency.
  • the type of the rolling body 600 is not limited. As shown in FIG. 1 , the rolling body 600 can be optionally a side roller, and of course can also be other types, such as balls and the like. The number of rolling bodies 600 is also not limited, and can be one or more.
  • the top of the inner bracket is provided with two or more grooves, the grooves are provided with a second rolling body, and the second rolling body partially protrudes from the groove, so that the inner bracket can abut against the cover installed on the top of the outer bracket While rolling, the rotational smoothness between the inner bracket 200 and the outer bracket 100 is further improved, so as to achieve higher rotation efficiency.
  • the type of the second rolling body is not limited, and can be rollers, balls or other suitable structures.
  • the inner bracket 200 when the traveling wheel 300 is in contact with the supporting surface, the inner bracket 200 abuts against the cover installed on the top of the outer bracket through the second rolling body, and the lower surface of the side of the inner bracket 200 is connected to the outer bracket on the peripheral side of the opening. There is a gap between the flanges.
  • the inner bracket 200 is a circular rotary bracket. With this arrangement, the rotation of the inner bracket 200 is less likely to be interfered by the outer bracket 100, and the center of gravity of the inner bracket 200 is constant, so there is no eccentricity problem, so the rotation efficiency is the highest At the same time, since the inner support 200 performs a circular rotary motion, from the perspective of the configuration of the rotating structure, the circular rotary support is more convenient to set in the outer support 100 .
  • the traveling wheel 300 may be one.
  • the driving assembly 400 should include a steering motor, and the traveling wheel 300 is driven by the steering motor to realize the steering action .
  • the number of traveling wheels 300 may be two.
  • the driving assembly 400 may include two driving modules, and each driving module is connected to one traveling wheel 300 and drives the traveling wheel 300 .
  • the traveling wheels 300 are respectively driven by the two driving modules, so that the differential speed control of the two traveling wheels 300 can be realized.
  • the controller of the transport vehicle can control the two driving modules, and indirectly control the rotation rates of the two traveling wheels 300 to be different, that is, the rotation rate of one traveling wheel 300 is higher, and the rotation rate of one traveling wheel 300 is higher than that of the other traveling wheel 300.
  • the entire steerable drive mechanism is steered toward the side of the traveling wheel 300 with a low rotation rate.
  • two driving modules can also be used to drive the traveling wheels 300 to run and appropriately steer according to a preset angle, so as to coordinately realize the steering motion of the steering wheel drive mechanism.
  • the inner bracket 200 may be provided with a second installation space 210, and the drive assembly 400 is disposed in the In the second installation space 210 ; the inner bracket 200 may also be provided with a second accommodation space 220 , the second accommodation space 220 is communicated with the second installation space 210 , and the traveling wheels 300 are arranged in the second accommodation space 220 .
  • the driving assembly 400 and the traveling wheel 300 can be embedded in the inner bracket 200 , so that they can be prevented from being arranged between the outer bracket 100 and the inner bracket 200 .
  • the gap between the outer bracket 100 and the inner bracket 200 can be reduced, that is, the outer bracket 100 and the inner bracket 200 can be arranged closer, thereby improving the structural compactness and space utilization of the steerable drive mechanism.
  • the two driving modules can be integrated into one modular driving assembly 400 , which is more convenient to be embedded in the second installation space 210 ; the two traveling wheels 300 can be respectively arranged on opposite sides of the driving assembly 400, so that the distribution of the traveling wheels 300 is more uniform, and the interference between the two traveling wheels 300 can be avoided.
  • Two traveling wheels 300 are correspondingly accommodated.
  • the structure for accommodating the traveling wheel 300 (including the first accommodating space 120, the opening and the second accommodating space 220) needs to be able to ensure that the traveling wheel 300 is not interfered during rotation, steering and other actions.
  • FIG. 2 shows another steerable drive mechanism, wherein the inner bracket 200 may be provided with a notch area 230, and the notch area 230 may be used to accommodate smaller structures inside the steerable drive mechanism, such as the drive assembly 400. power supply cable.
  • the number and location of the notch regions 230 are not limited, and can be determined according to the specific working conditions inside the steerable drive mechanism.
  • the embodiments of the present application further disclose a transport vehicle, which includes the aforementioned steerable drive mechanism.
  • the transport vehicles referred to in the embodiments of the present application may be AGV vehicles (Automated Guided Vehicle, automatic guided vehicles), RGV vehicles (Rail Guided Vehicle, rail-guided vehicles), IGV vehicles (Intelligent Guided Vehicle, intelligent guided vehicles) ), etc., the embodiment of the present application does not limit the type of the transport vehicle.
  • the outer bracket 100 of the steerable drive mechanism is the body frame of the transport vehicle.
  • the inner bracket 200 is directly rotatably fitted to the vehicle body frame.
  • the steerable drive mechanism lacks the outer bracket.
  • This part of the structure 100 can reduce the overall volume of the steerable drive mechanism, thereby improving the space utilization rate inside the transport vehicle; of course, the outer bracket 100 of the steerable drive mechanism and the body frame of the transport vehicle can also be independent.
  • the steerable drive mechanism is an independent module. Based on the modular design, the ease of disassembly and assembly of the steerable drive mechanism can be optimized, and it is also more conducive to troubleshooting.
  • the transporter may further include one or more casters to cooperate with the steerable drive mechanism to achieve various movements of the transporter.

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Abstract

一种可转向驱动机构，包括外支架(100)、内支架(200)、行走轮(300)和检测组件(500)，所述内支架(200)可转动地设置于所述外支架(100)；所述检测组件(500)包括定位元件(510)和测距元件(520)，在所述定位元件(510)和所述测距元件(520)中，一者设置于所述内支架(200)的周侧外壁，另一者设置于所述外支架(100)，所述测距元件(510)获取其与所述定位元件(520)的相对移动信息，以检测所述内支架(200)相对于所述外支架(100)转动的角度信息。以及一种运输车。

Description

可转向驱动机构及运输车 技术领域
本申请涉及运输车技术领域，尤其涉及一种可转向驱动机构及运输车。
背景技术
目前，可转向驱动机构通常采用编码器作为检测功能构件来获取可转向驱动机构的转向信息，并转换为电信号输入运输车的控制器，由控制器再根据具体工况下达修正指令至电机来实现对可转向驱动机构的闭环控制。
发明内容
一方面，本申请提供一种可转向驱动机构，其包括外支架、内支架、行走轮和检测组件，所述内支架可转动地设置于所述外支架；
所述检测组件包括定位元件和测距元件，在所述定位元件和所述测距元件中，一者设置于所述内支架的周侧外壁，另一者设置于所述外支架，所述测距元件获取其与所述定位元件的相对移动信息，以检测所述内支架相对于所述外支架转动的角度信息。
另一方面，本申请提供一种运输车，其包括前述的可转向驱动机构。
本申请采用的技术方案能够达到以下有益效果：
在本申请公开的可转向驱动机构中，检测组件包括定位元件和测距元件，基于定位元件和测距元件之间的配合使用，能够检测内支架相对于外支架转动的角度信息，进而就能够获取到行走轮的转向信息；同时，在定位元件和测距元件中，一者设置于内支架的周侧外壁，另一者设置于外支架，如此情况下，无疑能够避免检测组件在可转向驱动机构高度方向上占据过大的空间，而达到可转向驱动机构整体尺寸较小的目的。
相较于相关技术中编码器在可转向驱动机构的高度方向上与驱动电机堆叠设置，本申请公开的可转向驱动机构基于定位元件和测距元件的配合设置，能够不增大可转向驱动机构的整体尺寸，而为驱动组件提供充足的安装空间，如此就可选用大功率类型的驱动组件，进而能够提升运输车整体的动力负载能力。
附图说明
此处所说明的附图用来提供对本申请的进一步理解，构成本申请的一部分，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。在附图中：
图1为本申请实施例公开的一种可转向驱动机构的分解结构示意图；
图2为本申请实施例公开的另一种可转向驱动机构的分解结构示意图。
具体实施方式
为使本申请的目的、技术方案和优点更加清楚，下面将结合本申请具体实施例及相应的附图对本申请技术方案进行清楚、完整地描述。显然，所描述的实施例仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
可转向驱动机构兼有驱动和转向控制功能，可分为差速驱动机构和舵轮驱动机构等，可用于运输车等机械结构的驱动，实现前后直行或转向运动。
差速驱动机构中两个轮子安装在同一轴线上，由两个行走电机分别控制两个轮子的速度，以按预定方向行驶。两个轮子同速同方向行驶时，差速驱动机构可直线行驶；两个轮子同速反方向行驶时，差速驱动机构原地旋转运动；两个轮子差速行驶时，差速驱动机构可弧线转弯。
舵轮驱动机构兼有驱动和转向控制功能，其驱动和转向功能由两个电机分别独立控制，驱动电机为轮子提供驱动力，转向电机控制轮子转动，可同时进行行驶和转向。除了原地转向和弧线转弯外，还可以实现左右平移、斜向平移等。常见的舵轮驱动结构有单舵轮驱动与双舵轮驱动。
相关技术中的编码器具有一定的体积，其通常与驱动电机堆叠设置，如此会使得可转向驱动机构整体在高度方向的尺寸过大；而在确保可转向驱动机构整体尺寸一致的情况下，驱动电机的安装空间会被压缩，这就迫使驱动电机只能选用小功率类型，进而会限制运输车整体的动力负载能力
在编码器为中空编码器的情况下，中空编码器内部中空，在其中空空间内还用于收容其他结构，例如驱动电机的线缆等，这使得上述的问题更为严重突出。
以下结合附图，详细说明本申请各个实施例公开的技术方案。
请参考图1，本申请实施例公开一种可转向驱动机构，所公开的可转向驱动机构包括外支架100、内支架200、行走轮300和检测组件500。在本实施例中，未限制可转向驱动机构的类型，举例来说，其可以为运输车可转向驱动机构、移动机器人可转向驱动机构等。后续的内容以可转向驱动机构设置在运输车上为例。
其中，外支架100和内支架200均为可转向驱动机构的基础构件，外支架100和内支架200均能够起到支撑作用而作为安装支撑基础。
可转向驱动机构通常还包括驱动组件400，驱动组件400为可转向驱动机构的动力构件，行走轮300可与驱动组件400配合使用，驱动组件400与行走轮300驱动相连，以驱动行走轮300在支撑面上行走，例如，驱动组件400能够驱动行走轮300转动，进而能够使得行走轮300在支撑面上行走。驱动组件400也能够驱动行走轮300转向，上述工作原理均为本领域的公知常识，在此不再赘述。在本实施例中，支撑面的类型有多种，例如地面、工作台面、物流轨道等。
检测组件500为可转向驱动机构的功能构件，其能够检测内支架200相对于外支架100转动的角度信息，进而可获取行走轮的转向信息。应理解的是，可转向驱动机构在进行转向动作时，其需要基于检测组件500获取行走轮300的转向信息，并将转向信息转换为电信号，并传输至运输车的控制器，由控制器再根据具体工况下达修正指令至驱动组件400来调整行走轮300的转向角度，通过上述的工作过程完成运输车对行走轮的闭环控制。
在本实施例中，为了优化结构布局，驱动组件400通常可设置于内支架200。结合前述，驱动组件400与行走轮300相连，并驱动行走轮300，在行走轮300转向时，就会带动内支架200转动。同时，内支架200可转动地设置于外支架100，也即是说，内支架200可相对于外支架100产生相对转动，因此，当内支架200转动时，内支架200与外支架100之间不会出现干涉。
在一实施例中，内支架200可通过其外周与外支架100的内壁进行转动配合。在一实施例中，可通过间隙滑动配合来实现二者之间的可转动关系。内支架200还可以通过其他转动配合关系与外支架100相连。内支架200相对于外支架100的转动，其动力来源为驱动组件400的间接驱动。
在本实施例中，检测组件500包括定位元件510和测距元件520，在定位元件510和测距元件520中，一者设置于内支架200的周侧外壁，另一者设置于外支架100，也 就是说，定位元件510可设置于内支架200的周侧外壁，测距元件520相应设置于外支架100，或者，测距元件520可设置于内支架200的周侧外壁，定位元件510相应设置于外支架100，本实施例不限制定位元件510和测距元件520的设置位置。
测距元件520可获取其与定位元件510的相对移动信息，以检测内支架200相对于外支架100转动的角度信息。由于内支架200相对于外支架100产生相对转动，在此过程中，定位元件510与测距元件520之间也产生了相对转动，定位元件510相对于测距元件520的移动信息经运输车内部的控制器处理就能够得出行走轮300的转向信息，进而就能够下达指令控制行走轮300转向到位，即完成精确的转向动作。
由上述说明可知，在本申请实施例公开的可转向驱动机构中，检测组件500包括定位元件510和测距元件520，基于定位元件510和测距元件520之间的配合使用，能够检测内支架相对于外支架转动的角度信息，进而就能够获取到行走轮300的转向信息；同时，在定位元件510和测距元件520中，一者设置于内支架200的周侧外壁，另一者设置于外支架100，如此情况下，能够避免检测组件500在可转向驱动机构高度方向上占据过大的空间，而达到使可转向驱动机构整体尺寸较小的目的。
相较于相关技术中编码器在可转向驱动机构的高度方向上与驱动电机堆叠设置，本申请实施例公开的可转向驱动机构基于定位元件510和测距元件520的配合设置，能够不增大可转向驱动机构的整体尺寸，而为驱动组件400提供充足的安装空间，如此就可选用大功率类型的驱动组件400，进而能够提升运输车整体的动力负载能力。
在本实施例中，检测组件500的类型可以有多种，例如定位元件510为磁体，测距元件520为霍尔器件，在内支架200相对于外支架100产生相对转动时，磁体与霍尔器件之间也产生了相对移动，霍尔器件可通过检测磁体产生的磁场的强度变化，而获取磁体的移动信息，并基于这些移动信息通过运输车内部的控制器推算出行走轮300的转向信息。
在一种实施方式中，检测组件500可以为磁栅尺，定位元件510为标尺磁栅，测距元件520为磁栅读数器。应理解的是，磁栅读数器与标尺磁栅通常通过非接触式方式相互感应，标尺磁栅上的磁极生成带有不同方向的磁场，磁栅读数器在沿着标尺磁栅运动的过程中感应到磁场的变化并将这个磁场变化转化为模拟量信号或者数字量信号输出，也即把读取到的标尺磁栅上的磁化信号转换为电信号输送到检测电路中，实现位移测量或者位置定位。
标尺磁栅和磁栅读数器分别随内支架200和外支架100而产生相对位置变化，磁栅读数器可在标尺磁栅上移动，进而获取到二者之间的相对移动信息，并基于这些移动信息通过运输车内部的控制器计算出行走轮300的转向信息。
检测组件500也可以为其他的检测结构，只要能够通过合理布设而对行走轮300的转向信息进行检测即可，例如磁性元件与霍尔元器件的组合。
在本实施例中，未限制磁栅尺的布设方式，在可选的方案中，内支架200的周侧外壁可以设置有圆弧安装面，标尺磁栅沿圆弧安装面布设，磁栅读数器设置于外支架100。如此，由于内支架与外支架的相对运动，磁栅读数器沿圆弧安装面而在标尺磁栅上移动，其移动轨迹基于圆弧安装面而趋向于做圆周回转运动，进而可获取行走轮300更为准确的转向信息。
标尺磁栅也可以设置在外支架100，而磁栅读数器设置在内支架200的周侧外壁，此时，外支架100上可相应设置有用于安装标尺磁栅的圆弧安装面。
应理解的是，标尺磁栅具有一定的长度尺寸，且厚度较小，因此在上述的实施方式中，标尺磁栅能够利用内支架200的周侧外壁进行安装，且在内支架200的周侧仅占据较小的空间，进而能够避免在可转向驱动机构的高度方向上占据较大的空间，如此就能够在不增大可转向驱动机构整体尺寸的情况下，而为驱动组件400提供更大的安装空间，以便于使用大功率类型的驱动器件。
在另一种实施方式中，检测组件500可以为光栅尺，定位元件510为标尺光栅，测距元件520为光栅读数器。需要说明的是，光栅尺是利用光的透射、衍射现象制成的光电检测元件，在光栅读数器内设置有指示光栅，在标尺光栅和光栅读数器分别随着内支架200和外支架100产生相对位置变化时，指示光栅便在标尺光栅上移动，进而获取到二者之间的相对移动信息，并基于这些移动信息通过运输车内部的控制器推算出行走轮300的转向信息。
光栅尺也可以采用上述实施方式中磁栅尺的布设方式。
为了优化可转向驱动机构的结构布局并优化空间利用率，在可选的方案中，外支架100可以设有第一安装空间110，第一安装空间110与标尺磁栅相对设置，磁栅读数器设置于第一安装空间110内。
通过第一安装空间110，磁栅读数器可以嵌设于外支架100内，如此能够避免磁栅读数器设置在外支架100和内支架200之间，可减小外支架100与内支架200之间的间 隙，进而提升可转向驱动机构的结构紧凑性和空间利用率；同时，第一安装空间110与标尺磁栅相对设置，则设置于第一安装空间110内的磁栅读数器可从标尺磁栅获取位移信息，进而确保磁栅尺正常工作。
在本实施例中，第一安装空间110的类型有多种，举例来说其可以为安装槽、安装通孔等。
外支架100的结构形式可以有多种，内支架200通过转轴而与外支架100转动配合。在另一种实施方式中，外支架100可以具有第一收容空间120和开口，开口与第一收容空间120连通，内支架200和行走轮300均设置于第一收容空间120，行走轮300通过开口部分外露于外支架100，以在支撑面上行走。
应理解的是，在上述的实施方式中，由于内支架200和行走轮300均位于第一收容空间120内，也就是说，外支架100包绕于内支架200和行走轮300之外，如此外支架100能够为内支架200和行走轮300起到防护作用，避免内支架200、设置于内支架200上的驱动组件400和行走轮300受到破坏。开口通常设置在外支架100朝向支撑面的一侧，如此行走轮300通过开口就能够伸出至外支架100之外而与支撑面接触，以在支撑面上行走。应理解的是，为防异物从外支架100的顶部落入内支架和/外支架中，从而影响可转向驱动机构的正常运转，可在外支架100的顶部加装盖体，盖体可通过螺钉或焊接的方式固定在外支架100的顶部。此外，为了防止内支架从开口整体脱出，所述开口的大小小于所述内支架。例如，所述外支架的内壁设有限位台阶。
内支架200可以沿其周侧外壁环绕布设有滚动体600，内支架200通过滚动体600与外支架100转动配合。应理解的是，内支架200、外支架100和滚动体600能够构成滚动轴承结构，进而能够提升内支架200与外支架100之间转动流畅度，以达到更高的转动效率。
滚动体600的类型不受限制，如图1所示，滚动体600可选为侧滚轮，当然也可以为其他类型，例如滚珠等。滚动体600的数量也不受限制，可以为一个或多个。
此外，内支架的顶部开设有两个或多个凹槽，凹槽中设置有第二滚动体，第二滚动体部分突出凹槽，使得内支架可以抵靠于外支架顶部加装的盖体而进行滚动，进一步提升内支架200与外支架100之间转动流畅度，以达到更高的转动效率。第二滚动体的类型不受限制，可以为滚轮、滚珠或其他适合的结构。
在一实施例中，当行走轮300与支撑面接触时，内支架200通过第二滚动体抵靠于 外支架顶部加装的盖体，内支架200侧部下表面与外支架中开口周侧的凸缘间存在间隙。
通常情况下，内支架200为圆形回转支架，如此设置下，内支架200的转动动作更不易被外支架100干涉，且内支架200的重心恒定，不会存现偏心问题，因此转动效率最高；同时，由于内支架200做圆周回转运动，从转动结构的构型角度看，圆形的回转支架更便于在外支架100内进行设置。
本实施例未限制行走轮300的具体数量，行走轮300可以为一个，此时为了确保行走轮300能够实现转向功能，驱动组件400应包括转向电机，通过转向电机来驱动行走轮300实现转向动作。
当然，行走轮300可以为两个，此时，驱动组件400可以包括两个驱动模组，每个驱动模组与一个行走轮300相连，并驱动行走轮300。通过两个驱动模组分别驱动行走轮300，进而能够实现两个行走轮300的差速控制。在使用时，运输车的控制器能够控制两个驱动模组，而间接控制两个行走轮300的转动速率不同，也即一个行走轮300的转动速率较高，一个行走轮300的转动速率较低，此时，可转向驱动机构整体就会朝向转动速率较低的行走轮300一侧进行转向。对于舵轮驱动结构，还可以通过两个驱动模组分别驱动行走轮300运行并按预设角度适当转向，协同实现舵轮驱动机构的转向运动。
为了进一步地优化可转向驱动机构的结构布局、提升可转向驱动机构的结构紧凑性和空间利用率，在可选的方案中，内支架200可以开设有第二安装空间210，驱动组件400设置于第二安装空间210内；内支架200还可以开设有第二收容空间220，第二收容空间220与第二安装空间210连通，行走轮300设置于第二收容空间220内。
应理解的是，基于第二安装空间210和第二收容空间220，驱动组件400和行走轮300均能够嵌设于内支架200中，如此能够避免它们设置在外支架100和内支架200之间的间隙，可减小外支架100与内支架200之间的间隙，也即外支架100与内支架200能够设置得更为靠近，进而提升了可转向驱动机构的结构紧凑性和空间利用率。
如图1所示，在行走轮300为两个的情况下，两个驱动模组可集成为一个模块式的驱动组件400，如此更便于嵌设在第二安装空间210中；两个行走轮300可分别设置在驱动组件400的相对两侧，如此行走轮300分布更为均匀，能够避免两个行走轮300之间产生干涉，当然，此时，第二收容空间220应为两个，以对应收容两个行走轮300。
需要说明的是，对行走轮300起到收容作用的结构(包括第一收容空间120、开口和第二收容空间220)需能够确保行走轮300在进行转动、转向等动作时不受到干涉。
请参照图2，图2示出了另一种可转向驱动机构，其中，内支架200可设置有缺口区230，缺口区230可用于可转向驱动机构内部较小结构的收容，例如驱动组件400的供电线缆。缺口区230的设置数量、设置位置不受限制，其可根据可转向驱动机构内部的具体工况来确定。
基于前述的可转向驱动机构，本申请实施例还公开一种运输车，其包括前述的可转向驱动机构。本申请实施例所指的运输车可以是AGV车(Automated Guided Vehicle，自动导引运输车)、RGV车(Rail Guided Vehicle，有轨制导车辆)、IGV车(Intelligent Guided Vehicle，智慧型引导运输车)等，本申请实施例不限制运输车的类型。
通常情况下，可转向驱动机构的外支架100即是运输车的车体机架，此时，内支架200直接转动配合于车体机架，如此设置下，由于可转向驱动机构缺少了外支架100这部分结构，能够减小可转向驱动机构的整体体积，进而可提升运输车内部的空间利用率；当然，可转向驱动机构的外支架100与运输车的车体机架也可以分别为独立的构件，此时，可转向驱动机构为一个独立的模块，基于模块化设计，能够优化可转向驱动机构的拆装便捷性，也更有利于故障检修。
在一些实施例中，运输车还可以包括一个或多个脚轮，以与可转向驱动机构配合实现运输车的各种运动。
本申请上文实施例中重点描述的是各个实施例之间的不同，各个实施例之间不同的优化特征只要不矛盾，均可以组合形成更优的实施例，考虑到行文简洁，在此则不再赘述。
以上所述仅为本申请的实施例而已，并不用于限制本申请。对于本领域技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原理之内所作的任何修改、等同替换、改进等，均应包含在本申请的权利要求范围之内。

Claims (15)

  1. 一种可转向驱动机构，包括外支架(100)、内支架(200)、行走轮(300)和检测组件(500)，所述内支架(200)可转动地设置于所述外支架(100)；
    所述检测组件(500)包括定位元件(510)和测距元件(520)，在所述定位元件(510)和所述测距元件(520)中，一者设置于所述内支架(200)的周侧外壁，另一者设置于所述外支架(100)，所述测距元件(520)获取其与所述定位元件(510)的相对移动信息，以检测所述内支架(200)相对于所述外支架(100)转动的角度信息。
  2. 根据权利要求1所述的可转向驱动机构，其中，所述检测组件(500)为磁栅尺，所述定位元件(510)为标尺磁栅，所述测距元件(520)为磁栅读数器。
  3. 根据权利要求2所述的可转向驱动机构，其中，所述内支架(200)的周侧外壁设置有圆弧安装面，所述标尺磁栅沿所述圆弧安装面布设，所述磁栅读数器设置于所述外支架(100)。
  4. 根据权利要求3所述的可转向驱动机构，其中，所述外支架(100)设有第一安装空间(110)，所述第一安装空间(110)与所述标尺磁栅相对设置，所述磁栅读数器设置于所述第一安装空间(110)内。
  5. 根据权利要求1所述的可转向驱动机构，其中，所述检测组件(500)为光栅尺，所述定位元件(510)为标尺光栅，所述测距元件(520)为光栅读数器。
  6. 根据权利要求1至5中任一项所述的可转向驱动机构，其中，所述外支架(100)具有第一收容空间(120)和开口，所述开口与所述第一收容空间(120)连通，所述内支架(200)和行走轮(300)均设置于所述第一收容空间(120)，所述行走轮(300)通过所述开口部分外露于所述外支架(100)，以在支撑面上行走。
  7. 根据权利要求1至6中任一项所述的可转向驱动机构，其中，所述内支架(200)沿其周侧外壁环绕布设有滚动体(600)，所述内支架(200)通过所述滚动体(600)与所述外支架(100)转动配合。
  8. 根据权利要求1至7中任一项所述的可转向驱动机构，其中，所述内支架(200)为圆形回转支架。
  9. 根据权利要求1至8中任一项所述的可转向驱动机构，其中，所述可转向驱动机构还包括驱动组件(400)，所述驱动组件(400)与所述行走轮(300)驱动相连。
  10. 根据权利要求9所述的可转向驱动机构，其中，所述行走轮(300)为两个，所述驱动组件(400)包括两个驱动模组，每个所述驱动模组与一个所述行走轮(300)相连，并驱动所述行走轮(300)。
  11. 根据权利要求9所述的可转向驱动机构，其中，所述驱动组件(400)包括转向电机。
  12. 根据权利要求9所述的可转向驱动机构，其中，所述内支架(200)开设有第二安装空间(210)，所述驱动组件(400)设置于所述第二安装空间(210)内。
  13. 根据权利要求12所述的可转向驱动机构，其中，所述内支架(200)还开设有第二收容空间(220)，所述第二收容空间(220)与所述第二安装空间(210)连通，所述行走轮(300)设置于所述第二收容空间(220)内。
  14. 根据权利要求1至13中任一项所述的可转向驱动机构，其中，所述内支架设置有一个或多个缺口区(230)。
  15. 一种运输车，包括权利要求1至14中任一项所述的可转向驱动机构。
PCT/CN2021/117153 2020-09-08 2021-09-08 可转向驱动机构及运输车 WO2022052947A1 (zh)

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