CN110316278A - A kind of differential driving steering wheel - Google Patents
A kind of differential driving steering wheel Download PDFInfo
- Publication number
- CN110316278A CN110316278A CN201910441381.XA CN201910441381A CN110316278A CN 110316278 A CN110316278 A CN 110316278A CN 201910441381 A CN201910441381 A CN 201910441381A CN 110316278 A CN110316278 A CN 110316278A
- Authority
- CN
- China
- Prior art keywords
- steering wheel
- pedestal
- actuator
- drives
- 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.)
- Pending
Links
Classifications
-
- 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
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The invention discloses a kind of differentials to drive steering wheel, including steering wheel mounting plate, driving device and anti-suspending apparatus；The driving device includes pedestal, the first actuator and the second actuator, and first actuator and the second actuator are installed on pedestal, and first actuator drives the rotation of the first driving wheel, and second actuator drives the rotation of the second driving wheel；Wherein, first driving wheel and the second driving wheel are located at the two sides of pedestal；The anti-suspending apparatus includes pedestal connection component and the first connecting plate for connecting steering wheel mounting plate, and the pedestal connection component is connect with the first connecting plate hinge, the two sides of the pedestal connection component connection pedestal.Two actuators are used to control the revolving speed size of two driving wheels to realize straight trip and steering, structure designs advantages of simple；The differential drives steering wheel to be equipped with anti-suspending apparatus, makes hanging driving wheel freely falling body due to gravity, adapts to ground automatically.
Description
Technical field
The invention belongs to steering wheel technical fields, and in particular to a kind of differential driving steering wheel.
Background technique
AGV trolley (Automated Guided Vehicle) is automated guided vehicle, for equipped with electricity magnetically or optically
Etc. homing guidances device, can travel along defined guide path, have safeguard protection and the load-carrying of various transfer functions
Type transport vehicle.AGV has the characteristics that high degree of automation, safety, flexible, thus is widely used in automobile manufacture, machining
Equal automated productions and warehousing system, it is the Modern Materials Circulations warehousing system such as flexible manufacturing production line and automatic stereowarehouse
One of key equipment.
The driving of AGV trolley, which turns to, to be realized by steering wheel driving device, is integrated with driving motor, steering motor, is subtracted
The integrated mechanical structure such as fast machine, integrated height, suitability is strong, matches hop controller and servo-driver, can intelligent control AGV
The driving and steering of trolley.Steering wheel driving method is broadly divided into single driving, double drive and all-wheel drive a few days ago, wherein single driving
Structure is simple, and use scope is wide, but when its control AGV trolley steering, because of the driving wheel easy to wear there are sliding friction；Double drives
Dynamic and all-wheel drive is separately mounted to the bottom of AGV trolley using two or more steering wheels, by controlling each steering wheel angle
The steering of AGV trolley is realized with speed, can avoid wearing driving wheel, but double drives because of sliding friction when single driving turns to
Dynamic or more drivings need for multiple steering wheels to be mounted on the bottom of AGV trolley, and this thereby necessarily increases AGV trolley occupied areas, so that
The use scope of the steering wheel driving method is restricted.
Therefore, differential driving is come into being, and two driving wheels is used to form a steering wheel driving device, is driven by two
The speed difference of driving wheel generates the steering for realizing AGV trolley, which both can avoid mill caused by the sliding friction singly driven
Driving wheel is damaged, while can be applicable to middle-size and small-size AGV trolley, use scope is unrestricted.
But chain drive is mostly used using the steering wheel driving device of differential driving at present, its structure is complicated, maintenance cost
Greatly.In addition, surface smoothness requires harshness over the ground, it is easy to influence to navigate because one of wheel is hanging, to influence steering angle
The precision of degree.
Summary of the invention
Complicated and hanging there are driving wheel the invention aims to solve the steering wheel apparatus structure of current differential driving
The technical issues of, a kind of differential driving steering wheel is provided, the steering wheel device of current differential driving is designed and is improved, its knot is made
Having on structure prevents the hanging function of driving wheel, the design advantages of simple and maintains easily, and can make AGV trolley that can normally travel
On uneven ground.
To solve the above-mentioned problems, the present invention is achieved by following technical scheme:
A kind of differential of the present invention drives steering wheel, including steering wheel mounting plate, driving device and anti-suspending apparatus,
The driving device includes pedestal, the first actuator, the second actuator, the first driving wheel and the second driving wheel, institute
It states the first actuator and the second actuator is installed on pedestal, first actuator drives the rotation of the first driving wheel, described
Second actuator drives the rotation of the second driving wheel；
Wherein, first driving wheel and the second driving wheel are located at the two sides of pedestal；
The anti-suspending apparatus includes pedestal connection component and the first connecting plate for connecting steering wheel mounting plate, and the pedestal connects
Connected components are connect with the first connecting plate hinge, the two sides of the pedestal connection component connection pedestal.
Further, the pedestal connection component includes connecting shaft and the second connecting plate,
The connecting shaft is connect with the first connecting plate hinge；
It is provided on second connecting plate and is fixed with the rigidly connected convex block of connecting shaft, the both ends of second connecting plate
Connect base side wall.
Further, first actuator includes the first motor for being fixed on base side wall, the first motor it is defeated
Axis where shaft is first axle；
The output shaft of the first motor drives the first driving wheel to rotate around first axle.
Further, second actuator includes the second motor for being fixed on base side wall, second motor it is defeated
Axis where shaft is second axis；
The output shaft of second motor drives the second driving wheel to rotate around second axis.
Further, the first axle is parallel to each other with second axis.
It further, further include two damping devices, the damping device includes spring, elastic axis and is socketed in elastic axis
Damping axle sleeve,
The spring pocket is put on mounted in elastic axis；
The elastic axis is equipped with the first boss for supporting spring；
The elastic axis is arranged with the second boss for supporting spring.
Further, described elastic axis one end is equipped with the first connection ring of connection pedestal, and damping axle sleeve one end is equipped with
Connect the second connection ring of steering wheel mounting plate.
Further, the two sides of the pedestal are provided with the first connecting column connecting with the first connection ring axis hole, the rudder
There are two the second connecting columns connecting with the second connection ring axis hole for setting on wheel mounting plate.
Further, it is fixed with steering wheel gear on the steering wheel mounting plate, is provided with angle sensor on the steering wheel gear
Device.
Further, reinforcing rib is provided between first connecting plate and steering wheel mounting plate.
Compared with prior art, the beneficial effects of the present invention are:
1. differential driving steering wheel uses two actuators to control the revolving speed size of two driving wheels to realize straight trip and turn
Design advantages of simple to, structure, when there are driving problems or damage of components, staff can detect respectively actuator and
Removable parts components solve driving problems, compared to the steering wheel for realizing differential driving using chain drive at present, reduce
Maintenance cost.
2. the differential drives steering wheel to be equipped with anti-suspending apparatus, which is set on rotary shaft for pedestal connection component, when one
When side drive wheel generates hanging because Uneven road is smooth, hanging driving wheel freely falling body due to gravity causes to be connected to
The pedestal connection component of pedestal is rotated around the hanging driving wheel side of axial rotary, and two driving wheels is made to be in same level
On, make to drive and turn to more to balance, adapts to ground automatically, make AGV trolley traveling will not be because hanging on uneven road surface
And influence navigation.
Detailed description of the invention
Specific embodiments of the present invention will be described in further detail with reference to the accompanying drawing, in which:
Fig. 1 is a kind of structural schematic diagram at a visual angle of differential driving steering wheel of the invention；
Fig. 2 is a kind of structural schematic diagram at another visual angle of differential driving steering wheel of the invention；
Fig. 3 is the structural schematic diagram of the anti-suspending apparatus of the invention；
Fig. 4 is the structural schematic diagram of the damping device of the invention；
In figure:
10- steering wheel mounting plate；The second connecting column of 101-；102- steering wheel gear；103- angular transducer；
21- pedestal；The first connecting column of 211-；22- first motor；The first driving wheel of 23-；The second motor of 24-；25- second
Driving wheel；
The first connecting plate of 31-；32- connecting shaft；The second connecting plate of 33-；331- convex block；
41- spring；42- elastic axis；421- first boss；The first connection ring of 422-；43- damping axle sleeve；431- second is convex
Platform；The second connection ring of 432-；
50- reinforcing rib.
Specific embodiment
Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, it should be understood that preferred reality described herein
Apply example only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.
In the description of the present invention, it is to be understood that, the orientation or positional relationship of the instructions such as term " on ", "lower" is base
In orientation or positional relationship shown in the drawings, it is merely for convenience of description of the present invention and simplification of the description, rather than indication or suggestion
Signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to this
The limitation of invention.In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply relatively heavy
The property wanted or the quantity for implicitly indicating indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed
Or implicitly include one or more of the features.In the description of the present invention, unless otherwise indicated, the meaning of " multiple "
It is two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
As shown in Figure 1 to 4, a kind of differential of the present invention drives steering wheel, including steering wheel mounting plate 10, driving device
With anti-suspending apparatus.
Wherein, the driving device includes pedestal 21, the first actuator, the second actuator, the first driving wheel 23 and second
Preferably the thin-wall case equipped with open lumen is made using synthetic resin in driving wheel 25, the pedestal 21, it should be noted that this
Embodiment is not intended to limit the material and specific structure of pedestal 21, and those skilled in the art voluntarily select specific gravity according to the technical program
The thin-wall case that outer profile is cube or polygonal body is made compared with light, the biggish material of hardness.
First actuator and the second actuator are installed on pedestal 21, and first actuator is drivingly connected first
Driving wheel 23, second actuator are drivingly connected the second driving wheel 25, wherein first driving wheel 23 and the second driving wheel
25 are located at the two sides of pedestal 21.
Specifically, first actuator includes first motor 22, as a kind of preferred embodiment of the present embodiment, described
One motor 22 is preferably the 110 serial two-phase high-torque composite stepper motors of meter Si meter, and precision is high, axially and radially loads
Ability is strong, the revolving speed for being precisely controlled the first driving wheel 23 simultaneously, biggish axially and radially load can be born.First electricity
Machine 22 is bolted and fixed on the inner sidewall of pedestal 21, and the axis where the output shaft of the first motor 22 is first
The output shaft of axis, institute's first motor 22 drives the first driving wheel 23 to rotate around first axle.
Second actuator includes the second motor 24, as a kind of preferred embodiment of the present embodiment, second motor
24 preferably the 110 of meter Si meter serial two-phase high-torque composite stepper motors.Second motor, 24 company of being fixed by bolts
It connects on the inner sidewall of pedestal 21, the axis where the output shaft of second motor 24 is second axis, second motor
24 output shaft drives the second driving wheel 25 to rotate around second axis.
Wherein, first driving wheel 23 and the second driving wheel 25 are located at the two sides of pedestal 21, and AGV trolley passes through control
The revolving speed size of first motor 22 processed and the second motor 24 is realized straight trip and is turned to.Preferably, the first axle and the second axis
Line is parallel to each other.When AGV trolley needs driven by craspedodrome, the control system of AGV trolley is by adjusting first motor 22 and second
The angular displacement of motor 24 is identical, and identical with the revolving speed of the second driving wheel 25 to control the first driving wheel 23, AGV trolley is according to first
The angle direction of driving wheel 23 and the second driving wheel 25 carries out driven by craspedodrome；When AGV trolley needs to turn to, the control of AGV trolley
System processed is different with the angular displacement of the second motor 24 by adjusting first motor 22, so that the first driving wheel 23 and the second driving wheel
25 there are rotational speed difference, and AGV trolley does centrifugal movement, realizes the turning function of AGV trolley.
Specifically, the anti-suspending apparatus includes pedestal connection component and the first connecting plate 31, first connecting plate 31
The bottom of steering wheel mounting plate 10 is fixed on by the way of gluing.As a kind of preferred embodiment of the present embodiment, described first connects
It is provided with reinforcing rib 50 between fishplate bar 31 and steering wheel mounting plate 10, the first connecting plate 31 is further made to be stabilized in steering wheel mounting plate 10
On.
As a kind of preferred embodiment of this example, the pedestal connection component includes connecting shaft 32 and the second connecting plate 33,
First through hole is offered on 32 curved surface of connecting shaft, the second through-hole is offered on first connecting plate 31, and described first is logical
Hole and the second through-hole are got up using can be rotated screw connection, and realization pedestal connection component is hinged with the first connecting plate 31.
Further, convex block 331 is provided on second connecting plate 33, the convex block 331 is preferably two, described
Third through-hole is offered on convex block 331, is connect by the both ends of connecting shaft 32 with the axis hole of the third through-hole of two convex blocks 331,
Realize the rigid connection of the second connecting plate 33 and connecting shaft 32.As a kind of preferred embodiment of the present embodiment, 21 side of pedestal
Open up fluted on wall, the both ends of second connecting plate 33 are connected on groove, so that the second connecting plate 33 is fixedly connected with bottom
21 side walls of seat.
When the driving wheel for being connected to 21 side of pedestal occurs hanging, driving wheel does freely falling body due to gravity, connection
21 side wall of pedestal pedestal connection component by gravimetric tilt, by being hinged on the inclination hanging to driving wheel of connecting shaft 32
Tiltedly, so that hanging driving wheel is landed and is adapted to ground automatically, prevent driving wheel from hanging phenomenon occur.
Specifically, the differential driving steering wheel further includes damping device, and the damping device is preferably two, the damping
Device includes spring 41, elastic axis 42 and damping axle sleeve 43, and the elastic axis 42 is equipped with the first boss 421 for supporting spring 41,
The damping axle sleeve 43 is equipped with the second boss 431 for supporting spring 41, and the spring 41 is sleeved on damping axle sleeve 43, then will be set
There is the damping axle sleeve 43 of spring 41 to be socketed in elastic axis 42, spring 41 is socketed in elastic axis 42 and damping axle sleeve 43.
Further, described 42 one end of elastic axis is equipped with the first connection ring 422, and described 43 one end of damping axle sleeve is equipped with second
Connection ring 432, the two sides of the pedestal 21 are equipped with the first connecting column 211, set that there are two second on the steering wheel mounting plate 10
Connecting column 101, first connecting column 211 are connect by axis hole with the first connection ring 422 and are fixed, second connecting column
101 are connect by axis hole with the second connection ring 432 and are fixed.When anti-suspending apparatus make hanging driving wheel fall ground when,
Damping device converts on ground in face of the reaction force of driving wheel the elastic force potential energy of spring 41 in damping device, plays buffering decompression
Effect.
Steering wheel gear 102, the bottom at steering wheel gear 102 top and AGV trolley are fixed on the steering wheel mounting plate 10
Portion is fixedly connected, and when AGV trolley turns to, steering wheel gear 102 is rotated with the deflection of trolley, is set on the steering wheel gear 102
It is equipped with angular transducer 103.Preferably, angular transducer 103 is connected with pinion gear, the pinion gear and steering wheel by rotary shaft
Gear 102 is engaged, and when rotary shaft often turns over 1/16 circle, angular transducer 103 is primary with regard to counting, for detecting steering wheel tooth
The steering angle of wheel 102, after steering wheel gear 102 deflects into proper angle, angular transducer 103 locks rotary shaft, makes steering wheel
Gear 102 no longer rotates.
Differential driving steering wheel working principle of the present invention is: driving device is caused by using the first actuator and second
Dynamic device controls the revolving speed of the first driving wheel and the second driving wheel respectively, is turned to by speed difference.When the driving wheel of side goes out
When now hanging, by hanging driving wheel, freely falling body adapts to ground to ground to anti-suspending apparatus automatically under the effect of gravity, prevents
Driving wheel is hanging.The elastic force gesture of spring in damping device is converted into the reaction force of driving device in the landing of hanging driving wheel
Can, play the role of buffering decompression.
Differential described in the present embodiment drives the other structures of steering wheel referring to the prior art.
The above described is only a preferred embodiment of the present invention, be not intended to limit the present invention in any form, therefore
Without departing from the technical solutions of the present invention, according to the technical essence of the invention it is to the above embodiments it is any modification,
Equivalent variations and modification, all of which are still within the scope of the technical scheme of the invention.
Claims (10)
1. a kind of differential drives steering wheel, it is characterised in that: including steering wheel mounting plate, driving device and anti-suspending apparatus,
The driving device includes pedestal, the first actuator, the second actuator, the first driving wheel and the second driving wheel, and described
One actuator and the second actuator are installed on pedestal, and first actuator drives the first driving wheel to rotate, and described second
Actuator drives the rotation of the second driving wheel；
Wherein, first driving wheel and the second driving wheel are located at the two sides of pedestal；
The anti-suspending apparatus includes pedestal connection component and the first connecting plate for connecting steering wheel mounting plate, the pedestal connection group
Part is connect with the first connecting plate hinge, the two sides of the pedestal connection component connection pedestal.
2. differential according to claim 1 drives steering wheel, it is characterised in that: the pedestal connection component include connecting shaft and
Second connecting plate,
The connecting shaft is connect with the first connecting plate hinge；
It is provided on second connecting plate and is fixedly connected with the rigidly connected convex block of connecting shaft, the both ends of second connecting plate
Base side wall.
3. differential according to claim 1 drives steering wheel, it is characterised in that:
First actuator includes the first motor for being fixed on base side wall, the axis where the output shaft of the first motor
For first axle；
The output shaft of the first motor drives the first driving wheel to rotate around first axle.
4. differential according to claim 3 drives steering wheel, it is characterised in that:
Second actuator includes the second motor for being fixed on base side wall, the axis where the output shaft of second motor
For second axis；
The output shaft of second motor drives the second driving wheel to rotate around second axis.
5. differential according to claim 4 drives steering wheel, it is characterised in that:
The first axle is parallel to each other with second axis.
6. differential according to claim 1 drives steering wheel, it is characterised in that: further include two damping devices, the damping
Device includes spring, elastic axis and the damping axle sleeve for being socketed in elastic axis,
The spring pocket is put on mounted in elastic axis；
The elastic axis is equipped with the first boss for supporting spring；
The elastic axis is arranged with the second boss for supporting spring.
7. differential according to claim 6 drives steering wheel, it is characterised in that:
Described elastic axis one end is equipped with the first connection ring of connection pedestal, and damping axle sleeve one end is equipped with connection steering wheel mounting plate
The second connection ring.
8. differential according to claim 7 drives steering wheel, it is characterised in that:
The two sides of the pedestal are provided with the first connecting column connecting with the first connection ring axis hole, are arranged on the steering wheel mounting plate
There are two the second connecting columns connecting with the second connection ring axis hole.
9. differential according to claim 1 drives steering wheel, it is characterised in that:
It is fixed with steering wheel gear on the steering wheel mounting plate, is provided with angular transducer on the steering wheel gear.
10. differential according to claim 8 drives steering wheel, it is characterised in that:
Reinforcing rib is provided between first connecting plate and steering wheel mounting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910441381.XA CN110316278A (en) | 2019-05-24 | 2019-05-24 | A kind of differential driving steering wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910441381.XA CN110316278A (en) | 2019-05-24 | 2019-05-24 | A kind of differential driving steering wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110316278A true CN110316278A (en) | 2019-10-11 |
Family
ID=68119107
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910441381.XA Pending CN110316278A (en) | 2019-05-24 | 2019-05-24 | A kind of differential driving steering wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110316278A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110588266A (en) * | 2019-10-22 | 2019-12-20 | 广东博智林机器人有限公司 | Driving device and AGV chassis |
| CN110789331A (en) * | 2019-12-12 | 2020-02-14 | 长沙万为机器人有限公司 | Servo steering wheel of robot |
| CN112895828A (en) * | 2021-03-12 | 2021-06-04 | 机械工业第九设计研究院有限公司 | Take absorbing ultra-thin differential drive for AGV |
| CN113525507A (en) * | 2021-07-16 | 2021-10-22 | 湖南国科智能技术研究院有限公司 | Shock attenuation steering wheel suitable for robot |
| CN114348146A (en) * | 2021-12-02 | 2022-04-15 | 中国汽车工业工程有限公司 | Heavy-load compact AGV damping driving unit |
| CN114802445A (en) * | 2022-05-19 | 2022-07-29 | 北京京东乾石科技有限公司 | Chassis structure and omnidirectional transport vehicle |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105240453A (en) * | 2015-10-19 | 2016-01-13 | 广州市远能物流自动化设备科技有限公司 | Differential driving assembly |
| CN206125225U (en) * | 2016-09-21 | 2017-04-26 | 东莞市日博机电科技有限公司 | AGV differential drive unit |
| CN208236047U (en) * | 2018-05-18 | 2018-12-14 | 广东顺力智能物流装备股份有限公司 | AGV driving device |
| CN109501857A (en) * | 2018-11-14 | 2019-03-22 | 沈阳慧远自动化设备有限公司 | A kind of AGV self-level(l)ing differential steering gear |
| CN109572414A (en) * | 2018-12-17 | 2019-04-05 | 上海灵至科技有限公司 | A kind of suspension module and transfer robot |
-
2019
- 2019-05-24 CN CN201910441381.XA patent/CN110316278A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105240453A (en) * | 2015-10-19 | 2016-01-13 | 广州市远能物流自动化设备科技有限公司 | Differential driving assembly |
| CN206125225U (en) * | 2016-09-21 | 2017-04-26 | 东莞市日博机电科技有限公司 | AGV differential drive unit |
| CN208236047U (en) * | 2018-05-18 | 2018-12-14 | 广东顺力智能物流装备股份有限公司 | AGV driving device |
| CN109501857A (en) * | 2018-11-14 | 2019-03-22 | 沈阳慧远自动化设备有限公司 | A kind of AGV self-level(l)ing differential steering gear |
| CN109572414A (en) * | 2018-12-17 | 2019-04-05 | 上海灵至科技有限公司 | A kind of suspension module and transfer robot |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110588266A (en) * | 2019-10-22 | 2019-12-20 | 广东博智林机器人有限公司 | Driving device and AGV chassis |
| CN110789331A (en) * | 2019-12-12 | 2020-02-14 | 长沙万为机器人有限公司 | Servo steering wheel of robot |
| CN112895828A (en) * | 2021-03-12 | 2021-06-04 | 机械工业第九设计研究院有限公司 | Take absorbing ultra-thin differential drive for AGV |
| CN113525507A (en) * | 2021-07-16 | 2021-10-22 | 湖南国科智能技术研究院有限公司 | Shock attenuation steering wheel suitable for robot |
| CN114348146A (en) * | 2021-12-02 | 2022-04-15 | 中国汽车工业工程有限公司 | Heavy-load compact AGV damping driving unit |
| CN114348146B (en) * | 2021-12-02 | 2023-05-26 | 中国汽车工业工程有限公司 | Heavy-load compact AGV damping driving unit |
| CN114802445A (en) * | 2022-05-19 | 2022-07-29 | 北京京东乾石科技有限公司 | Chassis structure and omnidirectional transport vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110316278A (en) | A kind of differential driving steering wheel | |
| EP3114029B1 (en) | Drive system for landing gear and drive system engagement control method | |
| CN104985985A (en) | AGV elastic support driving device with hub motor | |
| CN206841510U (en) | It is a kind of can free switching driving model pilotless automobile steering mechanism | |
| CN106004298A (en) | AGV (automatic guided vehicle) elastic support driving device using hub motor and AGV | |
| US11370485B2 (en) | Identical steer control mechanism of radial bar-link trapezoidal swing arm and method and multi-wheel vehicle | |
| CN111867921B (en) | Steering system and vehicle with same | |
| CN110316279A (en) | A kind of omnidirectional's differential driving steering wheel | |
| CN106627122A (en) | Omni-directional differential drive wheel device and AGV | |
| CN102892673A (en) | Drive unit for aircraft running gear | |
| JP7244994B2 (en) | Hub unit with steering function, steering system, and vehicle equipped with hub unit with steering function | |
| CN106672114A (en) | Omni-directional driving wheel device and AGV (automatic guided vehicle) | |
| CN210617839U (en) | AGV steering wheel of quick replacement truckle | |
| CN205891045U (en) | Omnidirectional movement platform and power universal wheel thereof | |
| CN109177648B (en) | Mecanum wheel platform | |
| CN106585706A (en) | Steering control device for pilotless automobile | |
| CN110155206B (en) | Active independent steering device for heavy-load carrying trolley | |
| JP7037315B2 (en) | Hub unit with steering function and vehicles equipped with it | |
| CN103502084B (en) | With the articulated vehicle of controllable wheel route | |
| CN204955916U (en) | Adopt in -wheel motor's AGV elastic support drive arrangement | |
| CN206938847U (en) | Drive transfer | |
| CN105667488B (en) | A kind of automobile wheel speed sensor auxiliary installation device | |
| CN217294239U (en) | Vertical steering wheel driving device | |
| CN105889162A (en) | Synchronous control system for hydraulic motors | |
| CN107757288A (en) | The suspension system of automobile and with its automobile, control method |
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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191011 |