CN107487129A - Two-wheel differential steering driving wheel - Google Patents
Two-wheel differential steering driving wheel Download PDFInfo
- Publication number
- CN107487129A CN107487129A CN201710703512.8A CN201710703512A CN107487129A CN 107487129 A CN107487129 A CN 107487129A CN 201710703512 A CN201710703512 A CN 201710703512A CN 107487129 A CN107487129 A CN 107487129A
- Authority
- CN
- China
- Prior art keywords
- wheel
- driving wheel
- unilateral
- motor
- drive
- 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.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B11/00—Units comprising multiple wheels arranged side by side; Wheels having more than one rim or capable of carrying more than one tyre
- B60B11/02—Units of separate wheels mounted for independent or coupled rotation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- 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
- B62D11/06—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of a single main power source
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
Two-wheel differential steering driving wheel of the present invention, including two-wheel differential driving wheel and the driving wheel rotary disc assembly that is correspondingly arranged and is used in combination with two-wheel differential driving wheel；Two-wheel differential driving wheel includes motor and bracket component, be symmetricly set in motor and bracket component both sides and the equal unilateral drive wheel assemblies being used cooperatively with motor and bracket component and unilateral servo-actuated wheel assembly, motor and bracket component are connected with deceleration box assembly, and deceleration box assembly is corresponding with unilateral drive wheel assemblies to be used in combination.The present invention installs a unilateral driving wheel and unilateral supporting roller respectively in motor and bracket component both sides so that driving wheel has two wheels while bears load, improves the bearing capacity of driving wheel；Unilateral driving wheel and unilateral supporting roller are located at driving wheel rotary disc assembly center both sides, when turning to, two-wheeled can pass through differential speed rotation, the sliding friction on when single-wheel is turned to and ground is improved to the rolling friction on two-wheel and ground, reduces tire wear, reduces power needed for steering motor.
Description
Technical field
The present invention relates to power drive unit, more particularly to for mobile robot and AGV Vidacare corp, specifically
, it shows a kind of two-wheel differential steering driving wheel.
Background technology
AGV belongs to the category of wheeled mobile robot, is（Automated Guided Vehicle）Abbreviation, imply that
" automatical pilot transportation vehicle ", refer to magnetically or optically wait homing guidance device equipped with electricity, it can be along defined guide path row
Sail, there is the transport vehicle of safeguard protection and various transfer functions, constantly independently to change direction during traveling.
In some AGV products, driving wheel need to be used to realize the multidirectional traveling of vehicle and braking.It is continuous with AGV
Development, proposes increasing requirement to driving wheel, size, function and the carrying of such as product, the structure of existing product and
Ability can not meet that market uses needs.
Therefore, it is necessary to a kind of two-wheel differential steering driving wheel is provided to solve the above problems.
The content of the invention
It is an object of the invention to provide a kind of small size, power are strong, high-mechanic, safe and intelligent, it disclosure satisfy that market needs
The two-wheel differential steering driving wheel asked.
The present invention is achieved through the following technical solutions above-mentioned purpose：
A kind of two-wheel differential steering driving wheel, including two-wheel differential driving wheel and be correspondingly arranged with the two-wheel differential driving wheel and
The driving wheel rotary disc assembly being used in combination；The two-wheel differential driving wheel includes motor and bracket component, is symmetricly set in institute
State motor and bracket component both sides and the equal unilateral drive wheel assemblies being used cooperatively with the motor and bracket component and one side
Servo-actuated wheel assembly, the motor and bracket component are connected with deceleration box assembly, the deceleration box assembly and the unilateral driving wheel
Component is corresponding to be used in combination.
Further, the motor and bracket component include electric machine casing and drive wheel bracket in integral type, are arranged at
The electric machine casing both ends be used to set the unilateral drive wheel assemblies and the unilateral servo-actuated wheel assembly bearing block and
The PTO being arranged in the electric machine casing.
Further, the unilateral drive wheel assemblies include unilateral driving wheel and set by driving wheel end ring
In driving wheel bearing that is in the unilateral driving wheel and being used in combination with the bearing block.
Further, the unilateral servo-actuated wheel assembly includes unilateral supporting roller and set by supporting roller end ring
In servo-actuated wheel bearing that is in the unilateral supporting roller and being used in combination with the bearing block.
Further, the electric machine casing both ends are fixedly installed by motor baffle plate bolt and are engaged with the bearing block
What is used is used for the motor baffle plate of the spacing fixation driving wheel bearing and the servo-actuated wheel bearing.
Further, the deceleration box assembly includes being fixedly connected on the motor baffle plate by reduction box fixing bolt
Reduction box adpting flange, with the reduction box adpting flange be correspondingly arranged institute is fixedly connected on by driving wheel connecting bolt
The reduction box output flange of driving wheel is stated, the PTO connects the reduction box output flange.
Further, the driving wheel rotary disc assembly is arranged in the drive wheel bracket rotating disk drive component, pass through
Turntable bearing inner ring that rotating disk installation bolt is arranged in the drive wheel bracket, it is rotationally connected with the turntable bearing inner ring
And to be engaged with the rotating disk drive component be the turntable bearing external toothing used, the turntable bearing external toothing is used to fix
Connecting vehicle frame.
Further, the rotating disk drive component includes reducing motor and sliding tooth, the sliding tooth and the rotary shaft
Hold external toothing engagement.
Further, the PTO is made up of electric rotation shaft.
Further, the PTO is by the electricity by the motor baffle plate setting inside the electric machine casing
Mechanism into.
Further, the rotating disk drive component bag rotating and limiting mechanism and rotation inductive pick-up.
Compared with prior art, the present invention installs a unilateral driving wheel and one side respectively in motor and bracket component both sides
Supporting roller so that driving wheel has two wheels while bears load, improves support force, improves the bearing capacity of driving wheel；
Simultaneously as unilateral driving wheel and unilateral supporting roller are located at driving wheel rotary disc assembly center both sides, when turning to, two-wheeled can pass through
Differential speed rotation, the sliding friction on when single-wheel is turned to and ground are improved to the rolling friction on two-wheel and ground, can significantly reduce drive
Driving wheel torque required when turning to, reduces tire wear, reduces power needed for steering motor.
Brief description of the drawings
Fig. 1 is one of structural representation of embodiments of the invention；
Fig. 2 is the two of the structural representation of embodiments of the invention；
Fig. 3 is the three of the structural representation of embodiments of the invention；
Fig. 4 is one of structural representation of two-wheel differential driving wheel in embodiments of the invention；
Fig. 5 is two of the structural representation of two-wheel differential driving wheel in embodiments of the invention；
Fig. 6 is three of the structural representation of two-wheel differential driving wheel in embodiments of the invention；
Numeral represents in figure：
1. two-wheel differential drive wheel assemblies；1.1 driving wheel connecting bolts；
1.2 deceleration box assemblies, 1.2.1 reduction box output flanges；1.2.2 reduction box fixing bolt；1.2.3 reduction box connection method
It is blue；
1.3 unilateral drive wheel assemblies；1.3.1 unilateral driving wheel；1.3.2 driving wheel bearing；1.3.3 driving wheel end ring；
1.4 motors and bracket component, 1.4.1 electric machine casings；1.4.2 motor shaft；1.4.3 motor baffle plate；
1.4.4 drive wheel bracket；1.4.5 motor baffle plate bolt；
1.5 the servo-actuated wheel assembly in one side；1.5.1 unilateral supporting roller；1.5.2 it is servo-actuated wheel bearing；1.5.3 supporting roller end ring；
2. driving wheel rotary disc assembly；2.1 rotating disk drive assembly；2.2 turntable bearing external toothings；The rotating disk of 2.3 turntable bearing inner ring 3.
Installation bolt.
Embodiment
Refer to Fig. 1 to Fig. 5, the present embodiment shows a kind of two-wheel differential steering driving wheel, its by structure innovation, as
A kind of small size, power are strong, the electromechanical integrated product of high-mechanic, safe and intelligent, meet the market demand.
It can be applicable in AGV, provide the driving wheel that size is small, bearing capacity is strong for AGV, it is stable to turn to flexible and convenient
Reliably.
Rotated including two-wheel differential driving wheel 1 and the driving for being correspondingly arranged and being used in combination with two-wheel differential driving wheel 1
Disk component 2；
The present embodiment is core with two-wheel differential driving wheel 1, and two-wheel differential driving wheel 1 includes motor and bracket component 1.4, symmetrical
Be arranged at motor and the both sides of bracket component 1.4 and the equal unilateral drive wheel assemblies being used cooperatively with motor and bracket component 1.4
1.3 are servo-actuated wheel assembly 1.5 with unilateral；
Motor and bracket component 1.4 are connected with deceleration box assembly 1.2, and deceleration box assembly 1.2 is relative with unilateral drive wheel assemblies 1.3
It should be used in combination；
Motor and bracket component 1.4 include the electric machine casing 1.4.1 and drive wheel bracket 1.4.4 in integral type；Driven to improve
The bearing capacity and steering capability of driving wheel, motor and bracket component 1.4 set electric machine casing 1.4.1 as load assembly, electricity
Casing body 1.4.1's is provided at both ends with bearing block；
Drive wheel bracket 1.4.4 can be also arranged in the middle part of electric machine casing 1.4.1 by being fixedly connected；
Unilateral drive wheel assemblies 1.3 and unilateral servo-actuated wheel assembly 1.5 include unilateral driving wheel 1.3.1 and unilateral supporting roller respectively
1.5.1, bearing block, unilateral driving wheel 1.3.1 and one side are provided with unilateral driving wheel 1.3.1 and unilateral supporting roller 1.5.1
It is provided with supporting roller 1.5.1 in bearing block and is respectively arranged with driving wheel bearing 1.3.2 and servo-actuated wheel bearing 1.5.2；And set
It is spacing to put driving wheel end ring 1.3.3 and supporting roller end ring 1.5.3 progress；
The bearing block that electric machine casing 1.4.1 both ends are set is used for corresponding driving wheel bearing 1.3.2's and servo-actuated wheel bearing 1.5.2
Set；
Electric machine casing 1.4.1 is provided at both ends with motor baffle plate 1.4.3, and motor baffle plate 1.4.3 is connected using motor baffle plate bolt 1.4.5
Electric machine casing 1.4.1 is connected to, motor baffle plate 1.4.3 is simultaneously spacing solid to driving wheel bearing 1.3.2 and servo-actuated wheel bearing 1.5.2
It is fixed；Thus unilateral driving wheel 1.3.1 and unilateral supporting roller 1.5.1 can on electric machine casing 1.4.1 flexible rotating, and by wheel
Load transmission on electric machine casing 1.4.1；
Unilateral driving wheel 1.3.1 is identical with unilateral supporting roller 1.5.1 external diameter, and such two-wheeled can carry simultaneously；
Deceleration box assembly 1.2 includes reduction box adpting flange 1.2.3, is kept off by reduction box fixing bolt 1.2.2 fixed to motor
On plate 1.4.3；
The drive device 1.4.2 being made up of electric rotation shaft that electric machine casing 1.4.1 is set is inserted into deceleration box assembly 1.2, and
Reduction box is driven to rotate；Deceleration box assembly 1.2 can be exported by reduction box output flange 1.21 and rotated；
Screwed hole is designed with unilateral driving wheel 1.3.1, driving wheel connecting bolt 1.1 can consolidate reduction box output flange 1.2.1
Determine onto unilateral drive wheel assemblies 1.3, so unilateral 1.3 exportable motor of drive wheel assemblies is spread out of by deceleration box assembly 1.2
Rotation, realize the walking of driving wheel.
Driving wheel rotary disc assembly 2 includes rotating disk drive component 2.1, turntable bearing external toothing 2.2, turntable bearing inner ring 2.3
Deng its turntable drive component 2.1 is equipped with reducing motor and sliding tooth, and sliding tooth and turntable bearing external toothing 2.2 engage；Turn
Dish axle holds external toothing 2.2 and turntable bearing inner ring 2.3 forms pivoting support, can mutually rotate and bear load and tilting moment
Deng；
Turntable bearing inner ring 2.3 is arranged on drive wheel bracket 1.4.4 by rotating disk installation bolt 3 so that driving wheel rotating disk group
Part 2 is connected fastening with two-wheel differential drive wheel assemblies 1, and only turntable bearing external toothing 2.2 can be transported in reducing motor and sliding tooth
Around the center rotating of turntable bearing inner ring 2.3 when turning；
In actual use, turntable bearing external toothing 2.2 is fixedly connected with vehicle frame so that driving wheel is in rotating disk drive component 2.1
In the presence of realize the steering of driving wheel.
The motor of small size can be also encased in designed electric machine casing 1.4.1 by the present embodiment, pass through motor baffle plate
1.4.3 it is fixed in housing 1.4.1, realizes the identical function of motor and bracket component 1.4, it is simply electric under identical dimensional structure
Acc power is smaller, and embodiment is simply by small size, the optimizing design scheme of high-power selection.
A variety of position-limit mechanisms and sensor can be contained in the driving wheel rotary disc assembly of embodiment simultaneously, to lift driving wheel
Application power.
Compared with prior art, the present embodiment installs a unilateral driving wheel respectively in motor and the both sides of bracket component 1.4
1.3.1 with unilateral supporting roller 1.5.1 so that driving wheel has two wheels while bears load, improve support force, improve drive
The bearing capacity of driving wheel；Simultaneously as unilateral driving wheel 1.3.1 and unilateral supporting roller 1.5.1 are located at driving wheel rotary disc assembly 1.4
Center both sides, when turning to two-wheeled can by differential speed rotation, the sliding friction on when single-wheel is turned to and ground be improved to two-wheel with
The rolling friction on ground, it can significantly reduce torque required when driving wheel turns to, reduce tire wear, reduce needed for steering motor
Power.
Above-described is only some embodiments of the present invention.For the person of ordinary skill of the art, not
On the premise of departing from the invention design, various modifications and improvements can be made, these belong to the protection model of the present invention
Enclose.
Claims (10)
- A kind of 1. two-wheel differential steering driving wheel, it is characterised in that：Driven including two-wheel differential driving wheel and with the two-wheel differential The driving wheel rotary disc assembly that driving wheel is correspondingly arranged and is used in combination；The two-wheel differential driving wheel includes motor and support group Part, the be symmetricly set in motor and the bracket component both sides and equal unilateral drive being used cooperatively with the motor and bracket component Drive wheel assemblies and unilateral servo-actuated wheel assembly, the motor and bracket component are connected with deceleration box assembly, the deceleration box assembly with The unilateral drive wheel assemblies are corresponding to be used in combination.
- A kind of 2. two-wheel differential steering driving wheel according to claim 1, it is characterised in that：The motor and bracket component Including the electric machine casing in integral type and drive wheel bracket, be arranged at the electric machine casing both ends be used to set described unilateral drive Drive wheel assemblies and the unilateral bearing block for being servo-actuated wheel assembly and the PTO being arranged in the electric machine casing.
- A kind of 3. two-wheel differential steering driving wheel according to claim 2, it is characterised in that：The unilateral drive wheel assemblies Including unilateral driving wheel and by driving wheel end ring be arranged at it is in the unilateral driving wheel and with the bearing block phase The driving wheel bearing being used cooperatively.
- A kind of 4. two-wheel differential steering driving wheel according to claim 3, it is characterised in that：The unilateral servo-actuated wheel assembly Including unilateral supporting roller and by supporting roller end ring be arranged at it is in the unilateral supporting roller and with the bearing block phase The servo-actuated wheel bearing being used cooperatively.
- A kind of 5. two-wheel differential steering driving wheel according to claim 4, it is characterised in that：The electric machine casing both ends lead to Cross motor baffle plate bolt be fixedly installed with the bearing block be used in combination be used for the spacing fixation driving wheel bearing and The motor baffle plate of the servo-actuated wheel bearing.
- A kind of 6. two-wheel differential steering driving wheel according to claim 5, it is characterised in that：The deceleration box assembly includes Reduction box adpting flange and the reduction box connection method being fixedly connected on by reduction box fixing bolt on the motor baffle plate The reduction box output flange that the driving wheel is fixedly connected on by driving wheel connecting bolt that orchid is correspondingly arranged, the power are defeated Go out device and connect the reduction box output flange.
- A kind of 7. two-wheel differential steering driving wheel according to claim 6, it is characterised in that：The driving wheel rotary disc assembly The rotating disk drive component that is arranged in the drive wheel bracket, it is arranged in the drive wheel bracket by rotating disk installation bolt Turntable bearing inner ring, be rotationally connected with the turntable bearing inner ring and be engaged and use with the rotating disk drive component Turntable bearing external toothing, the turntable bearing external toothing are used to be fixedly connected with vehicle frame；The rotating disk drive component includes the electricity that slows down Machine and sliding tooth, the sliding tooth and rolling bearing external toothing engagement.
- A kind of 8. two-wheel differential steering driving wheel according to claim 2-7 any one, it is characterised in that：The power Output device is made up of electric rotation shaft.
- A kind of 9. two-wheel differential steering driving wheel according to claim 2-7 any one, it is characterised in that：The power Output device motor of the motor baffle plate setting inside the electric machine casing by being made up of.
- A kind of 10. two-wheel differential steering driving wheel according to claim 2-7 any one, it is characterised in that：Described turn Dish driving component bag rotating and limiting mechanism and rotation inductive pick-up.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710703512.8A CN107487129A (en) | 2017-08-16 | 2017-08-16 | Two-wheel differential steering driving wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710703512.8A CN107487129A (en) | 2017-08-16 | 2017-08-16 | Two-wheel differential steering driving wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107487129A true CN107487129A (en) | 2017-12-19 |
Family
ID=60646256
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710703512.8A Withdrawn CN107487129A (en) | 2017-08-16 | 2017-08-16 | Two-wheel differential steering driving wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107487129A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11524720B2 (en) * | 2017-12-11 | 2022-12-13 | Jacques Tranchero | Crane with wheels having variable camber angle |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2137146B (en) * | 1983-03-03 | 1986-11-05 | Daimler Benz Ag | A wheel suspension for a motor vehicle |
| JP4488420B2 (en) * | 2004-11-15 | 2010-06-23 | 株式会社クボタ | Ride type rice transplanter |
| CN205387067U (en) * | 2016-02-23 | 2016-07-20 | 山西东杰智能物流装备股份有限公司 | Automatic double round differential drive unit for guided vehicles |
| CN106828074A (en) * | 2017-01-05 | 2017-06-13 | 苏州凤凰动力工业有限公司 | Dual-gripper driving wheel |
-
2017
- 2017-08-16 CN CN201710703512.8A patent/CN107487129A/en not_active Withdrawn
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2137146B (en) * | 1983-03-03 | 1986-11-05 | Daimler Benz Ag | A wheel suspension for a motor vehicle |
| JP4488420B2 (en) * | 2004-11-15 | 2010-06-23 | 株式会社クボタ | Ride type rice transplanter |
| CN205387067U (en) * | 2016-02-23 | 2016-07-20 | 山西东杰智能物流装备股份有限公司 | Automatic double round differential drive unit for guided vehicles |
| CN106828074A (en) * | 2017-01-05 | 2017-06-13 | 苏州凤凰动力工业有限公司 | Dual-gripper driving wheel |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11524720B2 (en) * | 2017-12-11 | 2022-12-13 | Jacques Tranchero | Crane with wheels having variable camber angle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20171219 |
|
| WW01 | Invention patent application withdrawn after publication |