CN114835056A - Working method of differential driving unit for heavy-load AGV - Google Patents
Working method of differential driving unit for heavy-load AGV Download PDFInfo
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- CN114835056A CN114835056A CN202210277065.5A CN202210277065A CN114835056A CN 114835056 A CN114835056 A CN 114835056A CN 202210277065 A CN202210277065 A CN 202210277065A CN 114835056 A CN114835056 A CN 114835056A
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- 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
- B66F9/065—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 non-masted
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- 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
- B66F9/07504—Accessories, e.g. for towing, charging, locking
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- 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
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- 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
- B66F9/07572—Propulsion arrangements
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- 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
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/22—Hydraulic devices or systems
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention belongs to the technical field of heavy-duty AGV (automatic guided vehicle), and particularly relates to a working method of a differential driving unit for the heavy-duty AGV. The differential driving unit comprises a transmission system, a swinging mechanism, a lower wheel frame, a lifting mechanism, a guiding damping mechanism, an upper wheel frame, a tray and a slewing mechanism; the two sets of transmission systems are arranged in a centrosymmetric manner and are positioned at the bottom of the whole driving unit; the swinging mechanism is fixed between the two sets of transmission systems and is in sliding connection with the lower wheel carrier through a swinging shaft; the hoisting mechanism is connected between the lower wheel frame and the upper wheel frame; the upper wheel carrier is sequentially provided with a tray and a swing mechanism; the guide damping mechanism is used for being connected between the upper wheel frame and the lower wheel frame. The driving unit integrates lifting, suspension, guiding, swinging, shock absorption, rotation angle detection and middle position detection, and is used as a driving unit of the AGV trolley, and the AGV trolley well assists in realizing lifting and suspension of the whole vehicle, omni-directional driving, 360-degree rotation, outdoor walking and the like.
Description
Technical Field
The invention belongs to the technical field of heavy-load AGV, and particularly relates to a working method of a differential driving unit for the heavy-load AGV.
Background
The current driving methods of the omnidirectional heavy-load AGV system include several types: steering wheel drive, Mecanum wheel drive and differential wheel drive. When the loading capacity of the AGV reaches 50T or more, the steering wheels and the Mecanum wheels are greatly damaged on the ground due to overlarge wheel pressure, and the ground requirement becomes extremely high. The mainstream 50-200T indoor omnidirectional heavy load AGV in the market is realized in the form of a multi-differential-speed wheel driving unit.
The heavy-load differential driving unit can be used for various heavy-load AGV bodies, has the advantages of flexible rotation, high driving efficiency, stable load structure, moderate pressure to the ground and the like, and is a mainstream product form with technical advancement in the heavy-load AGV market.
The differential drive unit on the market has a lifting function and does not include a guiding function, for example, a hydraulic suspension type heavy load AGV disclosed in Chinese patent CN201610596673.7 has a lifting cylinder which can only bear longitudinal force and cannot bear transverse force caused by uneven braking on a road surface. The differential wheel driving unit has a swinging function but does not have a damping function; for example, in the drive unit of an AGV disclosed in CN202110263898.1, when the AGV encounters an uneven road surface, although the swing device can assist the AGV to pass through the uneven road surface, the frame swings up and down due to no shock absorption during the passing process. For another example, chinese patent CN201420120741.9 discloses a damping mechanism for an AGV driving unit, which has a differential driving unit with damping function but no swinging function.
Disclosure of Invention
The invention provides a working method of a differential drive unit for a heavy-load AGV, which aims to solve the technical problems in the prior art. The driving unit integrates lifting, suspension, guiding, swinging, shock absorption, rotation angle detection and middle position detection, and is used as a driving unit of the AGV trolley, and the AGV trolley well assists in realizing lifting and suspension of the whole vehicle, omni-directional driving, 360-degree rotation, outdoor walking and the like.
In order to achieve the purpose, the invention adopts the following technical scheme:
a working method of a differential drive unit for a heavy-duty AGV is disclosed, wherein the differential drive unit comprises a transmission system, a swing mechanism, a lower wheel carrier, a guide damping mechanism, a lifting mechanism and an upper wheel carrier;
the two sets of transmission systems are arranged in a centrosymmetric manner and are positioned at the bottom of the whole driving unit, so that power is provided for the action of the driving unit;
the swinging mechanism is fixed between the two sets of transmission systems and is in sliding connection with the lower wheel frame through a swinging shaft so as to ensure that the lower wheel frame and the structure above the lower wheel frame are not influenced by the ground flatness;
the lifting mechanism is connected between the lower wheel frame and the upper wheel frame and is used for controlling the lifting of the upper wheel frame;
the operation method of the differential drive unit comprises the following steps:
(1) the swinging function: the transmission system drives the AGV to move, when the AGV moves to an uneven road surface, the transmission system inclines along with the terrain, and the lower wheel frame is in sliding connection with the swing frame through the swing shaft, so that the lower wheel frame can be kept stable all the time; meanwhile, the lower wheel frame and the upper wheel frame are connected into a whole through the guide damping mechanism, and the parts above the upper wheel frame and the AGV trolley frame cannot incline due to uneven ground and can be always kept horizontal;
(2) the guiding and damping functions are as follows: the guiding damping mechanism is connected between the upper wheel frame and the lower wheel frame and used for ensuring that the lifting mechanism is not influenced by transverse force and the AGV working platform is not influenced by ground vibration;
(3) lifting and descending the whole vehicle: the lifting mechanism sequentially drives the guide damping mechanism, the tray and the swing mechanism to move along the vertical direction through the upper wheel carrier, so that the whole AGV trolley is driven to lift and descend.
As a preferable technical scheme, the device also comprises a tray and a rotating mechanism;
the tray and the swing mechanism are arranged on the upper wheel carrier;
the slewing mechanism comprises a slewing bearing, a pinion, an encoder, a middle position detection sensor, an induction block, an angle limit sensor and a slewing angle mechanical limit; the outer ring of the slewing bearing is fixedly connected with a frame of the AGV trolley, and the inner ring of the slewing bearing is connected with the tray; a ferrule and external teeth are arranged on the outer ring of the slewing bearing, and the induction block is arranged on the ferrule; the encoder, the middle position detection sensor, the angle limit sensor and the rotation angle mechanical limit are fixed on the tray; the external teeth of the slewing bearing are meshed with a pinion at the top of the encoder.
Further, the operation method of the differential drive unit further includes a neutral position detection: when the AGV trolley travels linearly, the induction block is exactly positioned at a position which can be detected by the middle position detection sensor; once the trolley deflects, the tray drives the middle position detection sensor to deflect, the sensor cannot detect the induction block, and the driving unit can correspondingly adjust according to the received information.
Further, the operation method of the differential drive unit further includes rotation angle detection: when the transmission system does differential rotary motion around the central axis of the driving unit, the lower wheel frame is connected with the tray through the guide damping mechanism, so that the tray can drive the inner ring of the rotary support connected with the tray to do rotary motion; the encoder is fixed on the tray, and when the tray performs rotary motion around the rotary support, the rotation angle is detected through the encoder to reach a preset angle; the angle limiting sensor and the rotation angle mechanical limiting device do rotation motion around the rotation support along with the tray, and when the angle limiting sensor rotates to sense the induction block, the driving unit is shown to be in the maximum rotation angle.
Further, the working method of the differential driving unit further comprises the following steps: when the angle limiting sensor is damaged, the tray drives the rotary angle mechanism to rotate in a limiting mode until the rotary angle mechanism hits the induction block on the rotary support and stops rotating, and therefore the angle limiting effect is achieved.
Furthermore, each set of transmission system comprises a servo motor, a speed reducer, a gear box and a driving wheel which are connected in sequence; the servo motor and the speed reducer are coaxially arranged and are both vertical to the gear box, and an output shaft of the gear box is connected with the driving wheel; the centers of the two systems are provided with cavities, and the swinging mechanisms are connected in the cavities.
Further, the swing mechanism comprises a swing shaft and a swing frame; two sides of the swing frame are in threaded connection between the two opposite gear boxes; the lower wheel frame is located above the swing frame, connecting holes are formed in the two side walls, right facing the servo motor and the speed reducer, of the swing frame, sliding shaft sleeves are installed in the connecting holes, and the swing shaft is fixedly connected with the lower wheel frame and penetrates into the sliding shaft sleeves.
Furthermore, the guide damping mechanism comprises a guide rod, a guide sleeve and a disc spring group; four guide sleeve connecting holes are formed in four corners of the lower wheel frame, one guide sleeve is assembled in each guide sleeve connecting hole, and each guide sleeve is connected with the guide rod in a sliding mode; the top of the guide rod penetrates through the upper wheel frame and the disc spring group and is fixedly connected with the tray, and the tray is connected with the rotary mechanism.
Furthermore, the lifting mechanism comprises a lifting oil cylinder barrel, a lifting oil cylinder piston and a displacement sensor; the top of the lifting oil cylinder piston is fixedly connected with the upper wheel frame, and a cylinder barrel of the lifting oil cylinder is fixedly connected with the lower wheel frame; the displacement sensor is connected with the lifting oil cylinder piston so as to be used for monitoring the lifting position of the lifting oil cylinder piston; when the piston of the lifting oil cylinder extends out, the upper wheel frame, the disc spring group, the tray and the swing mechanism are driven to move upwards, and the guide rod also moves in the guide sleeve along with the movement.
The invention has the advantages and positive effects that:
the invention changes the common chain transmission mechanism of the steering wheel into the gear transmission of the gear box, and has accurate transmission and no maintenance; when the two servo motors rotate reversely, the two driving wheels do rotary motion around the central axis of the unit. The differential rotation can realize the multi-mode steering function (straight, transverse, oblique, splayed, half splayed, pivot and fixed point) of the AGV.
The driving unit connects the swing frame and the lower wheel frame through the swing shaft, so that the lower wheel frame can always keep stable when the swing mechanism swings on an uneven road surface; meanwhile, the lower wheel frame and the upper wheel frame are connected into a whole through the guide damping mechanism, so that when the road passes through uneven roads, components above the upper wheel frame and the frame cannot swing up and down due to vibration;
by arranging the lifting mechanism and the guide damping mechanism between the lower wheel frame and the upper wheel frame, the cylinder barrel of the lifting oil cylinder only needs to bear longitudinal force and does not need to bear transverse force caused by uneven road surface, braking and the like, and the transverse force is borne by the guide rod (the oil cylinder cannot bear the transverse force);
the lifting mechanism sequentially drives the guide damping mechanism, the tray and the swing mechanism to move along the vertical direction through the upper wheel carrier, so that the whole AGV trolley is driven to lift and descend.
Through setting up tray and rotation mechanism, can collect rotation angle detection, meso position detection, angle spacing, as the drive unit of AGV dolly, fine supplementary AGV dolly realizes that whole car rises to rise, hangs, the omnidirectional drive, 360 gyration, outdoor walking etc..
The guiding damping mechanism is connected between the upper wheel frame and the lower wheel frame and used for ensuring that the lifting mechanism is not influenced by transverse force and the AGV working platform is not influenced by ground vibration.
Description of the drawings:
FIG. 1 is a three-dimensional block diagram of a drive unit of the present invention;
FIG. 2 is a three-dimensional block diagram of another angle of the drive unit of the present invention;
FIG. 3 is a front view of the drive unit of the present invention;
FIG. 4 is a three-dimensional block diagram of the drive system and swing mechanism of the present invention;
FIG. 5 is a three-dimensional view of the present invention with the drive train removed;
FIG. 6 is a front view of FIG. 5;
fig. 7 is a cross-sectional view E-E of fig. 6.
Wherein: 1. a servo motor; 2. a speed reducer; 3. a gear case;
4. a hoisting mechanism; 41. lifting the cylinder barrel of the oil cylinder; 42. lifting an oil cylinder piston; 43. a displacement sensor;
5. a lower wheel frame; 51. a guide sleeve connecting hole;
6. a guide damping mechanism; 61. a guide bar; 62. a guide sleeve; 64. a disc spring set;
7. an upper wheel frame;
8. a swing mechanism; 81. a swing shaft; 82. a swing frame; 83. connecting holes;
9. a tray;
10. a swing mechanism; 101. a slewing bearing; 102. a pinion gear; 103. an encoder; 104. a neutral detection sensor; 105. an induction block; 106. an angle limit sensor; 107. mechanically limiting the rotation angle;
11. and a driving wheel.
Detailed Description
The drawings in the embodiments of the invention will be combined; the technical scheme in the embodiment of the invention is clearly and completely described; obviously; the described embodiments are only some of the embodiments of the invention; rather than all embodiments. Based on the embodiments of the invention; all other embodiments obtained by a person skilled in the art without making any inventive step; all fall within the scope of protection of the present invention.
As shown in fig. 1-7, the present invention provides a method for operating a differential drive unit for heavy-duty AGVs, wherein the differential drive unit comprises a transmission system, a lifting mechanism 4, a lower wheel carrier 5, a guiding and damping mechanism 6, an upper wheel carrier 7, a swinging mechanism 8, a tray 9 and a swing mechanism 10;
the two sets of transmission systems are arranged in a centrosymmetric manner, and each set of system comprises a servo motor 1, a speed reducer 2, a gear box 3 and a driving wheel 11 which are connected in sequence; the servo motor 1 and the speed reducer 2 are coaxially arranged and are both vertical to the gear box 3, and an output shaft of the gear box 3 is connected with a driving wheel 11; the centers of the two systems are provided with cavities, and the cavities are internally connected with swing mechanisms 8;
the swing mechanism 8 includes a swing shaft 81 and a swing frame 82; the two sides of the swing frame 82 are in threaded connection between the two opposite gear boxes 3; the lower wheel frame 5 is positioned above the swing frame 82, connecting holes 83 are formed in two side walls, facing the servo motor 1 and the speed reducer 2, of the swing frame 82, sliding bearings are arranged in the connecting holes 83 and connected with the swing shaft through the sliding bearings, and the swing shaft is fixed with the lower wheel frame 5. When the driving wheel 11 travels on uneven ground, the transmission system at the bottom and the swing frame 82 both generate oblique swing, but the lower wheel frame 5 can keep smooth in the horizontal direction due to the existence of the sliding bearing and the swing shaft 81.
The guide damping mechanism 6 comprises a guide rod 61, a guide sleeve 62 and a disc spring group 64; four guide sleeve connecting holes 51 are formed in four corners of the lower wheel frame 5, a guide sleeve 62 is assembled in each guide sleeve connecting hole, and the guide sleeve 62 is connected with the guide rod 61 in a sliding mode; the top of the guide rod 61 penetrates through the upper wheel carrier 7 and the disc spring set 64 and is fixedly connected with the tray 9, and the tray 9 is connected with the rotary mechanism 10; that is, the upper wheel frame 7 is connected with the lower wheel frame 5 through the guiding and damping mechanism 6 to form a whole, so that the guiding and damping mechanism 6, the upper wheel frame 7, the tray 9 and the swing mechanism 10 are all not affected by the flatness of the ground and can keep stable, and the disc spring set 64 can play a role in damping the vertical direction and does not affect the normal operation of the swing mechanism 10.
The lifting mechanism 4 comprises a lifting oil cylinder 41, a lifting oil cylinder piston 42 and a displacement sensor 43; the top of the lifting oil cylinder piston 42 is fixedly connected with the upper wheel frame 7, and the lifting oil cylinder 41 is fixedly connected with the lower wheel frame 5; the displacement sensor 43 is connected with the lifting cylinder piston 42 so as to be used for monitoring the lifting position of the lifting cylinder piston; when the lifting cylinder piston 421 extends, the upper wheel frame 7, the disc spring set 64, the tray 9 and the swing mechanism 10 are driven to move upwards, and the guide rod 61 also moves in the guide sleeve 62.
The slewing mechanism 10 comprises a slewing bearing 101, a pinion 102, an encoder 103, a neutral position detection sensor 104, an induction block 105, an angle limit sensor 106 and a slewing angle mechanical limit 107. The outer ring of the top of the slewing bearing is used for being connected with an AGV trolley frame, the inner ring of the slewing bearing 101 is connected with the tray 9, the outer ring of the slewing bearing 101 is provided with a ferrule and outer teeth, and the ferrule is provided with the induction block 105; the encoder 103, the middle position detection sensor 104, the angle limit sensor 106 and the rotation angle mechanical limit 107 are fixed on the tray 9; the external teeth of the slewing bearing 101 are meshed with a pinion 102 on the top of an encoder 103;
the method of operating the differential drive unit of the present invention includes the following aspects:
(1) the swinging function is as follows: the transmission system drives the AGV to move, when the AGV moves to an uneven road surface, the transmission system inclines along with the terrain, and the lower wheel frame is in sliding connection with the swing frame through the swing shaft, so that the lower wheel frame can be kept stable all the time; meanwhile, the lower wheel frame and the upper wheel frame are connected into a whole through the guide damping mechanism, and the parts above the upper wheel frame and the AGV trolley frame cannot incline due to uneven ground and can be always kept horizontal;
(2) the guiding and damping functions are as follows: the guiding damping mechanism is connected between the upper wheel frame and the lower wheel frame and used for ensuring that the lifting mechanism is not influenced by transverse force and the AGV working platform is not influenced by ground vibration;
(3) lifting and descending the whole vehicle: the lifting mechanism sequentially drives the guide damping mechanism, the tray and the swing mechanism to move along the vertical direction through the upper wheel carrier, so that the whole AGV trolley is driven to lift and descend.
(4) The median detection function is implemented as follows: when the AGV trolley travels linearly, the sensing block 105 is just positioned at a position which can be detected by the middle position detection sensor 104; once the direction of the trolley deflects, the pallet drives the middle position detection sensor 104 to deflect, and the sensor 104 cannot detect the sensing block 105.
(5) The rotation angle detection function is realized by: specifically, when the two servo motors 1 rotate in opposite directions, the two driving wheels perform differential rotation around the central axis of the driving unit, and the gear box drives the swing frame 82, so that the swing frame 82 drives the lower wheel carrier 5 to perform rotation. Because the lower wheel carrier 5 is connected with the tray through the guide damping mechanism, the tray can drive the inner ring of the slewing bearing connected with the tray to do slewing motion; the encoder is fixed on the tray, and when the tray performs rotary motion around the rotary support, the rotation angle is detected through the encoder to reach a preset angle; the angle limit sensor 106 and the rotation angle mechanical limit 107 perform rotation motion around the rotation support 101 along with the tray 9, and when the angle limit sensor 106 rotates to sense the induction block 105, the driving unit is in the maximum rotation angle at the moment.
(6) The angle limiting function is realized as follows: when the angle limit sensor 106 is damaged, the tray 9 drives the rotation angle mechanical limit 107 to rotate until the sensing block 105 on the slewing bearing 101 is collided to stop rotating, so that the angle limit function is realized.
The embodiments of the present invention have been described in detail, but the description is only for the preferred embodiments of the present invention and should not be construed as limiting the scope of the present invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.
Claims (9)
1. A working method of a differential drive unit for a heavy-load AGV is characterized in that the differential drive unit comprises a transmission system, a swing mechanism, a lower wheel carrier, a guide damping mechanism, a lifting mechanism and an upper wheel carrier;
the two sets of transmission systems are arranged in a centrosymmetric manner and are positioned at the bottom of the whole driving unit, so that power is provided for the action of the driving unit;
the swinging mechanism is fixed between the two sets of transmission systems and is in sliding connection with the lower wheel frame through a swinging shaft so as to ensure that the lower wheel frame and the structure above the lower wheel frame are not influenced by the ground flatness;
the lifting mechanism is connected between the lower wheel frame and the upper wheel frame and is used for controlling the lifting of the upper wheel frame;
the operation method of the differential drive unit comprises the following steps:
(1) the swinging function is as follows: the transmission system drives the AGV to move, when the AGV moves to an uneven road surface, the transmission system inclines along with the terrain, and the lower wheel frame is in sliding connection with the swing frame through the swing shaft, so that the lower wheel frame can be kept stable all the time; meanwhile, the lower wheel frame and the upper wheel frame are connected into a whole through a guide damping mechanism, and parts above the upper wheel frame and the AGV trolley frame cannot incline due to uneven ground and can be always kept horizontal;
(2) the guiding and damping functions are as follows: the guiding damping mechanism is connected between the upper wheel frame and the lower wheel frame and used for ensuring that the lifting mechanism is not influenced by transverse force and the AGV working platform is not influenced by ground vibration;
(3) lifting and descending the whole vehicle: hoisting mechanism drives direction damper, tray and rotation mechanism through last wheel carrier in proper order and removes along vertical direction to the whole car that drives the AGV dolly rises to rise and descends.
2. The method of operating a differential drive unit for a heavy loaded AGV of claim 1 wherein: the device also comprises a tray and a swing mechanism;
the tray and the swing mechanism are arranged on the upper wheel carrier;
the slewing mechanism comprises a slewing bearing, a pinion, an encoder, a middle position detection sensor, an induction block, an angle limit sensor and a slewing angle mechanical limit; the outer ring of the slewing bearing is fixedly connected with a frame of the AGV trolley, and the inner ring of the slewing bearing is connected with the tray; a ferrule and external teeth are arranged on the outer ring of the slewing bearing, and the induction block is arranged on the ferrule; the encoder, the middle position detection sensor, the angle limit sensor and the rotation angle mechanical limit are fixed on the tray; the external teeth of the slewing bearing are meshed with a pinion at the top of the encoder.
3. The method of operating a differential drive unit for a heavy loaded AGV of claim 2 wherein: the working method of the differential driving unit further comprises the following steps: when the AGV trolley travels linearly, the induction block is exactly positioned at a position which can be detected by the middle position detection sensor; once the trolley deflects, the tray drives the middle position detection sensor to deflect, the sensor cannot detect the induction block, and the driving unit can correspondingly adjust according to the received information.
4. The method of operating a differential drive unit for a heavy loaded AGV of claim 2 wherein: the operation method of the differential drive unit further includes rotation angle detection: when the transmission system does differential rotary motion around the central axis of the driving unit, the lower wheel frame is connected with the tray through the guide damping mechanism, so that the tray can drive the inner ring of the rotary support connected with the tray to do rotary motion; the encoder is fixed on the tray, and when the tray performs rotary motion around the rotary support, the rotation angle is detected through the encoder to reach a preset angle; the angle limiting sensor and the rotation angle mechanical limiting device do rotation motion around the rotation support along with the tray, and when the angle limiting sensor rotates to sense the induction block, the driving unit is shown to be in the maximum rotation angle.
5. The method of operating a differential drive unit for a heavy loaded AGV of claim 2 wherein: the working method of the differential driving unit further comprises the following steps of angle limiting: when the angle limiting sensor is damaged, the tray drives the rotary angle mechanism to rotate in a limiting mode until the rotary angle mechanism hits the induction block on the rotary support and stops rotating, and therefore the angle limiting effect is achieved.
6. The method of operating a differential drive unit for a heavy loaded AGV of claim 1 wherein: each set of transmission system comprises a servo motor, a speed reducer, a gear box and a driving wheel which are connected in sequence; the servo motor and the speed reducer are coaxially arranged and are both vertical to the gear box, and an output shaft of the gear box is connected with the driving wheel; the centers of the two systems are provided with cavities, and the swinging mechanisms are connected in the cavities.
7. The method of operating a differential drive unit for a heavy loaded AGV of claim 1 wherein: the swing mechanism comprises a swing shaft and a swing frame; two sides of the swing frame are in threaded connection between the two opposite gear boxes; the lower wheel frame is located above the swing frame, connecting holes are formed in the two side walls, right facing the servo motor and the speed reducer, of the swing frame, sliding shaft sleeves are installed in the connecting holes, and the swing shaft is fixedly connected with the lower wheel frame and penetrates into the sliding shaft sleeves.
8. The method of operating a differential drive unit for a heavy-duty AGV of claim 2 wherein: the guide damping mechanism comprises a guide rod, a guide sleeve and a disc spring group; four guide sleeve connecting holes are formed in four corners of the lower wheel frame, one guide sleeve is assembled in each guide sleeve connecting hole, and each guide sleeve is connected with the guide rod in a sliding mode; the top of the guide rod penetrates through the upper wheel frame and the disc spring group and is fixedly connected with the tray, and the tray is connected with the rotary mechanism.
9. The method of operating a differential drive unit for a heavy-duty AGV of claim 2 wherein: the lifting mechanism comprises a lifting oil cylinder barrel, a lifting oil cylinder piston and a displacement sensor; the top of the lifting oil cylinder piston is fixedly connected with the upper wheel frame, and a cylinder barrel of the lifting oil cylinder is fixedly connected with the lower wheel frame; the displacement sensor is connected with the lifting oil cylinder piston so as to be used for monitoring the lifting position of the lifting oil cylinder piston; when the piston of the lifting oil cylinder extends out, the upper wheel frame, the disc spring group, the tray and the swing mechanism are driven to move upwards, and the guide rod also moves in the guide sleeve along with the movement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210277065.5A CN114835056A (en) | 2022-03-21 | 2022-03-21 | Working method of differential driving unit for heavy-load AGV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210277065.5A CN114835056A (en) | 2022-03-21 | 2022-03-21 | Working method of differential driving unit for heavy-load AGV |
Publications (1)
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2024114043A1 (en) * | 2022-12-02 | 2024-06-06 | 杭州海康机器人股份有限公司 | Differential drive device and robot |
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Application publication date: 20220802 |