CN213565432U - Differential drive device and AGV vehicle - Google Patents
Differential drive device and AGV vehicle Download PDFInfo
- Publication number
- CN213565432U CN213565432U CN202021687527.3U CN202021687527U CN213565432U CN 213565432 U CN213565432 U CN 213565432U CN 202021687527 U CN202021687527 U CN 202021687527U CN 213565432 U CN213565432 U CN 213565432U
- Authority
- CN
- China
- Prior art keywords
- rotating
- wheels
- frame body
- shell
- driving
- Prior art date
- Legal status (The legal status 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 status listed.)
- Active
Links
Images
Landscapes
- Retarders (AREA)
Abstract
A differential driving device and an AGV vehicle comprise a shell, a frame body, a driving wheel set, a rotating set and a swinging set; the inner wall of the shell is provided with a ring groove, and the driving wheel set is arranged on the frame body and is provided with two driving wheels; the rotating group is arranged on the periphery of the frame body and is in rolling fit with the inner wall of the annular groove; the swing group is arranged on the periphery of the frame body and is in rolling fit with the top of the ring groove to support the shell. The utility model discloses small realizes the omnidirectional movement, reduces required turning radius and passageway width, is applicable to multiple road conditions.
Description
Technical Field
The utility model relates to an industrial vehicle field, especially a differential drive and AGV vehicle.
Background
The present AGV car, i.e., an "automatic guided vehicle", is a vehicle equipped with an electromagnetic or optical automatic guide device, which can travel along a predetermined guide path, and has safety protection and various transfer functions, and belongs to the category of a wheel type Mobile Robot WMR wheel driven Mobile Robot. However, such AGV carts suffer from the following problems:
1. the steering wheel is adopted for driving, and the size of a vehicle body is large due to the large volume of a steering wheel driving unit, so that the turning radius and the channel width of the AGV are large.
2. The fork side adopts passive bearing wheel, and the direction of motion of this kind of theory of bearing is parallel with the automobile body direction of advance all the time, and the bearing wheel can't realize universal rotation around the automobile body promptly, and this has decided that AGV's centre of rotation can only be on two bearing wheel's lines to lead to turning radius and passageway width great.
3. The device can only realize common straight line driving and steering, and can not realize the movement modes of translation, oblique movement, pivot steering and the like, which can greatly reduce the turning radius and the channel width.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a main aim at overcomes the above-mentioned defect among the prior art, provides a differential drive and AGV vehicle, and is small, reduces the turning radius of vehicle, and is applicable to multiple road conditions.
The utility model adopts the following technical scheme:
a differential driving device comprises a shell, and is characterized by also comprising a frame body, a driving wheel set, a rotating set and a swinging set; the inner wall of the shell is provided with a ring groove, and the driving wheel set is arranged on the frame body and is provided with two driving wheels; the rotating group is arranged on the periphery of the frame body and is in rolling fit with the inner wall of the annular groove; the swing group is arranged on the periphery of the frame body and is in rolling fit with the top of the ring groove to support the shell.
Preferably, the two running wheels are symmetrically arranged at two opposite sides of the frame body; the driving wheel set further comprises two driving sets which are fixed in the frame body and are respectively connected with and drive the two driving wheels to rotate.
Preferably, the driving set comprises a motor and a reduction gearbox, an output shaft of the motor is connected with an input end of the reduction gearbox, and an output end of the reduction gearbox is connected with the running wheel.
Preferably, the rotating group comprises at least two rotating wheels, and the at least two rotating wheels are respectively and rotatably positioned on the side parts of the two running wheels and are in rolling fit with the inner wall of the annular groove.
Preferably, the rotating group comprises four rotating wheels, wherein two rotating wheels are positioned on two sides of one driving wheel, and the other two rotating wheels are positioned on two sides of the other driving wheel; or the inner wall of the ring groove and the rolling surface of the rotating wheel are provided with cambered surfaces.
Preferably, the swing group comprises two swing wheels which are respectively symmetrically arranged on two opposite sides of the frame body and are in rolling fit with the top of the ring groove.
Preferably, the swing mechanism further comprises a stop ring, the stop ring is detachably and fixedly connected with the shell and is located at the bottom of the ring groove, and the swing group is limited between the top of the ring groove and the stop ring.
Preferably, the shell is axially through; the shell is characterized by further comprising a top cover, wherein the top cover is fixed at one end of the shell and is provided with a through hole.
Preferably, the center of the line connecting the two running wheels coincides with the center of the swinging group and the center of the rotating group.
The utility model provides an omnidirectional movement's AGV vehicle, includes frame and fork, its characterized in that: the differential driving device comprises at least two differential driving devices which are arranged on the goods fork.
From the above description of the present invention, compared with the prior art, the present invention has the following advantages:
1. the utility model discloses a device and vehicle are provided with the walking of driving wheel group drive support body, set up rotatory group and can realize making rotary motion around the support body center, play the effect of supporting load power and adaptation uneven road surface through swing group, and small realizes omnidirectional movement, reduces required turning radius and passageway width, is applicable to multiple road conditions.
2. The utility model discloses a device and vehicle through motor and reducing gear box drive running wheel walking, utilize the rotational speed and the direction of control motor to realize universal rotation, including sharp walking, pivot rotation or turn to etc..
3. The utility model discloses a device and vehicle, its rotatory group sets up a plurality of swiveling wheels, and the rolling surface of annular inner wall and swiveling wheel is equipped with the cambered surface, and when the support body swing, the relative annular swing of swiveling wheel also further adapts to uneven ground.
4. The device and the vehicle of the utility model are provided with the stop ring, when the shell is lifted up for some reasons, the oscillating wheel contacts with the upper surface of the stop ring, and the differential drive assembly is prevented from being separated from the shell; and the stop ring is detachably fixed on the shell, so that the components are convenient to disassemble, assemble and replace.
5. The utility model discloses a device and vehicle can select the quantity and the position of the differential drive arrangement of every fork installation according to the load, satisfies the demand of different vehicles.
Drawings
FIG. 1 is a view of the structure of the present invention;
fig. 2 is an exploded view of the present invention;
FIG. 3 is a perspective view of the main structure of the present invention;
FIG. 4 is a top view of FIG. 3;
FIG. 5 is a side view of FIG. 3;
FIG. 6 is a perspective view of the housing;
FIG. 7 is a cross-sectional view of the housing;
fig. 8 is a top view of the present invention;
fig. 9 is a schematic view of the swing of the present invention;
fig. 10 shows a first embodiment of the present invention;
fig. 11 shows a second embodiment of the present invention;
fig. 12 shows a third embodiment of the present invention;
wherein: 10. the fork comprises a shell, 11, ring grooves, 13, a top cover, 14, a through hole, 20, a frame body, 30, a driving wheel set, 31, a running wheel, 32, a motor, 33, a reduction gearbox, 40, a rotating set, 50, a swinging set, 60, a stop ring, 70 and a fork.
Detailed Description
The present invention will be further described with reference to the following detailed description.
In the description of the present invention, if the directions or positional relationships indicated by "up", "down", "left", "right", "front", and "rear" are based on the directions or positional relationships shown in the drawings, the description is only for convenience of description of the present invention, and it is not intended to indicate or imply that the device indicated must have a specific direction, be constructed and operated in a specific direction, and therefore, the present invention is not to be construed as being limited in scope.
Example one
Referring to fig. 1 to 9, a differential driving apparatus includes a housing 10, a frame 20, a driving gear set 30, a rotating set 40, a swinging set 50, and the like. The inner wall of the housing 10 is provided with a ring groove 11, and the driving wheel set 30 is mounted on the frame 20 and provided with two driving wheels 31; the rotating group 40 is arranged on the periphery of the frame body 20 and is in rolling fit with the inner wall of the annular groove 11; the swing group 50 is installed on the outer circumference of the frame body 20 and is in rolling fit with the top of the ring groove 11 to support the housing 10. The frame body 20, the driving wheel set 30, the rotating set 40 and the swinging set 50 may constitute a differential driving assembly.
The two running wheels 31 are symmetrically arranged at two opposite sides of the frame body 20, and the rotating shafts of the running wheels 31 are rotatably connected with the frame body 20 through bearings; the driving wheel set 30 further includes two driving sets fixed in the frame 20 and respectively connected to drive the two driving wheels 31 to rotate.
Wherein, the driving group comprises a motor 32 and a reduction gearbox 33, an output shaft of the motor 32 is connected with an input end of the reduction gearbox 33, and an output end of the reduction gearbox 33 is connected with the running wheel 31. The two motors 32 are arranged in the frame body 20 side by side, and the two reduction boxes 33 are positioned at two sides of the motors 32. The driving group is used as a power unit, and when the speed and the direction of the two motors 32 are the same, the driving wheel group 30 realizes straight-line running; when the speeds of the two motors 32 are equal and the directions are opposite, the driving wheel set 30 realizes pivot steering; when the speeds of the two motors 32 are not equal, the driving wheel set 30 realizes steering.
Further, the rotating set 40 includes at least two rotating wheels, which are respectively located at the side portions of the two traveling wheels 31 and are in rolling fit with the inner wall of the ring groove 11, that is, the two rotating wheels roll along the ring groove 11. The number and position of the rotating wheels can be set according to needs and are not limited. Preferably, the rotating group 40 comprises four rotating wheels, two of which are located on both sides of one of the running wheels 31 and two of which are located on both sides of the other running wheel 31.
Further, the swing set 50 includes two swing wheels symmetrically disposed on two opposite sides of the frame 20, wherein the rotation shafts of the two swing wheels are perpendicular to the rotation shaft of the traveling wheel 31 and the rotation shaft of the rotation wheel, and the two swing wheels are located on different sides from the two traveling wheels 31. The swinging set 50 and the ring groove 11 form a swinging pair, and the two swinging wheels can be in rolling fit with the top of the ring groove 11 to play roles in supporting load force and adapting to uneven road surfaces.
Further, a stop ring 60 is included, the stop ring 60 is detachably and fixedly connected with the housing 10 and is located at the bottom of the ring groove 11, and the swing group 50 is limited between the top of the ring groove 11 and the stop ring 60. The top of the ring groove 11 provides a support surface for the rotation wheel and the swing wheel so that the frame body 20 can rotate around the center thereof.
When the housing 10 is lifted for some reason, the swing wheel may contact the upper surface of the stop ring 60, thereby preventing the differential drive assembly from being separated from the housing 10. The stop ring 60 and the housing 10 are provided with a plurality of holes, the stop ring 60 can be detachably fixed on the housing 10 through bolts, and when the differential drive assembly needs to be replaced, the stop ring 60 and the differential drive assembly can be detached only by detaching the bolts.
In the present invention, the casing 10 is axially through, the casing 10 may be a square frame or an annular or other, preferably an annular, and the inner wall thereof is provided with a circular ring groove 11. The shell is characterized by further comprising a top cover 13, wherein the top cover 13 is fixed at one end of the shell 10 and is provided with a through hole 14. The top cover 13 is used for sealing the shell 10 from the top, and the through hole 14 is used for passing through electric circuits such as a motor and an encoder thereof.
The utility model discloses in, the line center of wheel 31 of traveling coincides with swing group 50 center and rotatory group 40 center. Specifically, the rotating shafts of the rotating wheels can be perpendicular to the rotating shafts of the running wheels 31, the central points of the four rotating wheels are overlapped with the centers of the two running wheels 31, the rotating wheels are in rolling fit with the inner wall of the ring groove 11 to realize central rotating motion, and the center of the connecting line of the two swinging wheels is overlapped with the center of the connecting line of the two running wheels 31.
When the heights of the ground where the two running wheels 31 are located are different, the frame body 20 can swing around a common axis formed by the two vertical swinging wheels at a certain angle, so that the two running wheels 31 are always in contact with the ground. In addition, for the rotating group 40, a gap is formed between the rotating wheel and the top of the ring groove 11 and the stop ring 60, and when the road surface uneven frame body 20 swings, the rotating group 40 can also swing up and down relative to the housing 10, similar to the working principle of a joint bearing.
Fig. 9 is a schematic view of the swinging of the differential drive assembly, when the two running wheels 31 are not on the same horizontal plane due to uneven ground, the differential drive assembly can swing around the vertical swinging wheel axis direction, and the cambered surface of the rotating wheel also swings relative to the ring groove 11. The rolling surface of the rotating wheel and the inner wall of the ring groove 11 may be arranged in an arc shape to accommodate the swing. For example, the upper portion of the rolling surface of the rotation wheel and the upper portion of the inner wall of the ring groove 11 may be formed in an arc a to facilitate assembly, or the rolling surface of the rotation wheel and the inner wall of the ring groove 11 may be formed in an arc a which is symmetrical up and down. In practical application, if the arc-shaped annular grooves which are symmetrical up and down are adopted, the shell needs to be assembled by adopting a cracking method, and the assembling method of the oscillating bearing can be referred.
Referring to fig. 10, the present invention also provides an omni-directional AGV vehicle including a frame to which two forks 70 are coupled, and forks 70, and at least two differential driving devices as described above, which are mounted on the forks 70. The differential drive unit can also be mounted on the frame as required.
The total height of the differential drive assembly is lower than 80mm, the outer diameter is not more than 210mm, the requirements of the minimum tray jack thickness of 89mm and the width of 270mm can be met after the thickness of the pallet fork 70 is matched, therefore, the differential drive assembly can be arranged in the fork legs, and the power of each drive unit assembly is about 200W. Specifically, each fork 70 is provided with two differential driving devices which are respectively positioned on the bottom surface of the fork 70 near the front side and the rear side. During installation, a mounting groove can be formed in the bottom surface of the fork 70, and the housing 10 of the differential drive device is fixedly embedded in the mounting groove, so that rigid connection is realized.
Example two
Referring to fig. 11, a differential drive apparatus having the same structure as that of the first embodiment of the AVG vehicle in which three, six differential drive apparatuses are mounted to each fork 70, and an omni-directional moving AGV vehicle are provided.
EXAMPLE III
Referring to fig. 12, the differential driving apparatus and the omni-directional AGV vehicle have the same structure as the first embodiment, the AVG vehicle of this embodiment is provided with only the forks 70, the forks 70 are provided with the navigation system, the control system, and the like, and the forks are provided with one differential driving apparatus near the front and rear ends, respectively.
The above-mentioned be the utility model discloses a concrete implementation way, nevertheless the utility model discloses a design concept is not limited to this, and the ordinary use of this design is right the utility model discloses carry out immaterial change, all should belong to the act of infringement the protection scope of the utility model.
Claims (10)
1. A differential driving device comprises a shell, and is characterized by also comprising a frame body, a driving wheel set, a rotating set and a swinging set; the inner wall of the shell is provided with a ring groove, and the driving wheel set is arranged on the frame body and is provided with two driving wheels; the rotating group is arranged on the periphery of the frame body and is in rolling fit with the inner wall of the annular groove; the swing group is arranged on the periphery of the frame body and is in rolling fit with the top of the ring groove to support the shell.
2. A differential drive as recited in claim 1, wherein: the two running wheels are symmetrically arranged on two opposite sides of the frame body; the driving wheel set further comprises two driving sets which are fixed in the frame body and are respectively connected with and drive the two driving wheels to rotate.
3. A differential drive as recited in claim 2, wherein: the driving set comprises a motor and a reduction gearbox, an output shaft of the motor is connected with an input end of the reduction gearbox, and an output end of the reduction gearbox is connected with the running wheel.
4. A differential drive as recited in claim 1, wherein: the rotating group comprises at least two rotating wheels, and the at least two rotating wheels are respectively and rotatably positioned on the side parts of the two running wheels and are in rolling fit with the inner wall of the annular groove.
5. A differential drive as recited in claim 4, wherein: the rotating group comprises four rotating wheels, wherein two rotating wheels are positioned on two sides of one driving wheel, and the other two rotating wheels are positioned on two sides of the other driving wheel; or the inner wall of the ring groove and the rolling surface of the rotating wheel are provided with cambered surfaces.
6. A differential drive as recited in claim 1, wherein: the swing group comprises two swing wheels which are respectively symmetrically arranged on two opposite sides of the frame body and are in rolling fit with the top of the ring groove.
7. A differential drive as recited in claim 1, wherein: still include the backstop ring, this backstop ring with the casing is for dismantling fixed connection, and is located the ring groove bottom, swing group limit is located between annular groove top and the backstop ring.
8. A differential drive as recited in claim 1, wherein: the shell is axially through; the shell is characterized by further comprising a top cover, wherein the top cover is fixed at one end of the shell and is provided with a through hole.
9. A differential drive as recited in claim 1, wherein: the center of the connecting line of the two running wheels is superposed with the center of the swinging group and the center of the rotating group.
10. The utility model provides an omnidirectional movement's AGV vehicle, includes frame and fork, its characterized in that: further comprising at least two differential drives of any of claims 1 to 9 mounted within the forks.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021687527.3U CN213565432U (en) | 2020-08-13 | 2020-08-13 | Differential drive device and AGV vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021687527.3U CN213565432U (en) | 2020-08-13 | 2020-08-13 | Differential drive device and AGV vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213565432U true CN213565432U (en) | 2021-06-29 |
Family
ID=76555413
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021687527.3U Active CN213565432U (en) | 2020-08-13 | 2020-08-13 | Differential drive device and AGV vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213565432U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115325108A (en) * | 2022-08-09 | 2022-11-11 | 重庆大学 | Double-wheel type driving module and wheel type transportation robot |
-
2020
- 2020-08-13 CN CN202021687527.3U patent/CN213565432U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115325108A (en) * | 2022-08-09 | 2022-11-11 | 重庆大学 | Double-wheel type driving module and wheel type transportation robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3501872A1 (en) | Non-scrubbing vertical drive unit for a trackless or free roaming vehicle with zero turn radius | |
| CN105882784B (en) | Omnidirectional mobile platform and power universal wheel thereof | |
| CN209757322U (en) | Chassis of automatic guided vehicle and automatic guided vehicle | |
| EP3750769B1 (en) | Driving axle of rail vehicle, rail vehicle, and rail transport system | |
| CN213565432U (en) | Differential drive device and AGV vehicle | |
| CN110614625A (en) | Three-wheel omnidirectional mobile robot platform | |
| CN215097942U (en) | AGV chassis and AGV dolly | |
| KR102704661B1 (en) | Differential drive and AGV | |
| CN210212575U (en) | Vertical helm of wobbling difference | |
| CN211869543U (en) | Diagonal four-wheel all-directional mobile robot | |
| KR20020042853A (en) | Working vehicle with transverse travel system | |
| CN212220365U (en) | Driving wheel mechanism of multidirectional driving transfer vehicle | |
| CN209776542U (en) | Omnidirectional mobile platform | |
| CN111891217B (en) | Suspension structure of vehicle and vehicle | |
| CN212890667U (en) | Synchronous pulley group | |
| CN209870598U (en) | Transport vehicle | |
| CN210882391U (en) | Chassis device, moving device, robot, scooter, and toy | |
| JPH078140U (en) | Driving wheel device for automated guided vehicles | |
| CN218876960U (en) | Running gear and contain its trade electrical equipment | |
| CN211336238U (en) | Automatic guide transport vechicle chassis and automatic guide transport vechicle | |
| CN219115607U (en) | Omnidirectional mobile chassis and mobile robot manufactured by same | |
| CN219583940U (en) | Patrol robot chassis and patrol robot | |
| CN210212574U (en) | Differential vertical steering wheel | |
| CN213649716U (en) | Steering assembly for vehicle and vehicle | |
| CN118322820B (en) | Motor drive turns to mobile device and AGV conveying equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |