CN213138482U

CN213138482U - AGV dolly is with electronic integrative wheel

Info

Publication number: CN213138482U
Application number: CN202021034509.5U
Authority: CN
Inventors: 张振兴; 吴俊峰; 张慧明
Original assignee: Zhejiang University Kunshan Innovation Institute
Current assignee: Zhejiang University Kunshan Innovation Institute
Priority date: 2020-06-08
Filing date: 2020-06-08
Publication date: 2021-05-07
Anticipated expiration: 2030-06-08

Abstract

The utility model provides an electronic integrative wheel is used to AGV dolly, its compact structure, it is small, bearing capacity is high, has optimized the whole car spatial structure of AGV dolly, provides actuating system for the AGV dolly of deploying compact structure fast. The device comprises an actuating mechanism, a driving mechanism and a mounting fixing seat, wherein the actuating mechanism comprises a speed reducer part and a wheel part, the speed reducer part is specifically a planetary speed reduction transmission structure, and the speed reducer part comprises a planetary gear, a sun gear and a gear ring; the wheel part comprises a wheel hub and a wheel outer layer, the inner ring part of the wheel hub is fixedly sleeved on the outer surface of the gear ring, and the wheel outer layer is fixed on the outer surface of the wheel hub and forms an integral structure with the wheel hub; the driving mechanism comprises a low-voltage servo motor and a low-voltage servo driver, an output shaft of the low-voltage servo motor is an input end of the sun gear, a feedback device of the low-voltage servo motor is a magnetic encoder, and the low-voltage servo driver is arranged on the side face of the low-voltage servo motor.

Description

AGV dolly is with electronic integrative wheel

Technical Field

The utility model relates to a technical field of AGV dolly structure specifically is an electronic integrative wheel for AGV dolly.

Background

An AGV is a transport vehicle equipped with an electromagnetic or optical automatic guide device, capable of traveling along a predetermined guide route, and having safety protection and various transfer functions. In the fifties of the twentieth century, the first automated guided vehicles were successfully developed in the united states by Barrett electronics, but in the sixties and seventies, the AGV technology was mainly developed in europe, and the eighties, the center of development, was shifted to the united states. In recent years, the AGV technology is rapidly developed in China, and the AGV has started to be widely applied to industries such as machining, automobile manufacturing, large-scale equipment manufacturing, electronic product assembly, logistics transportation and the like, so that the market prospect is wide.

The power system of the existing AGV trolley model is almost provided by a speed reducer matched with a motor, and the design of the whole space structure of the AGV trolley has certain limitation.

Disclosure of Invention

In order to the problem, the utility model provides an electronic integrative wheel is used to AGV dolly, its compact structure, it is small, bearing capacity is high, has optimized the whole car spatial structure of AGV dolly, provides actuating system for the AGV dolly of deploying compact structure fast.

The utility model provides an AGV dolly is with electronic integrative wheel which characterized in that: the device comprises an actuating mechanism, a driving mechanism and a mounting fixing seat, wherein the actuating mechanism comprises a speed reducer part and a wheel part, the speed reducer part is specifically a planetary speed reduction transmission structure, and the speed reducer part comprises a planetary wheel, a sun wheel and a gear ring; the wheel part comprises a wheel hub and a wheel outer layer, the inner ring part of the wheel hub is fixedly sleeved on the outer surface of the gear ring, and the wheel outer layer is fixed on the outer surface of the wheel hub and forms an integral structure with the wheel hub; the driving mechanism comprises a low-voltage servo motor and a low-voltage servo driver, an output shaft of the low-voltage servo motor is an input end of the sun gear, a feedback device of the low-voltage servo motor is a magnetic encoder, and the low-voltage servo driver is arranged on the side face of the low-voltage servo motor; the installation fixing seat is used for connecting the actuating mechanism and the driving mechanism into a whole to form an electric integrated wheel, and the electric integrated wheel is installed in an AGV trolley frame.

It is further characterized in that:

the speed reducer part is specifically of a structure with a fixed planet carrier and a gear ring output;

the mounting fixing seat specifically comprises an upper mounting plate and a side mounting vertical plate, the upper mounting plate is used for fixedly connecting an AGV trolley frame, one end face of the side mounting vertical plate is used for fixedly connecting a base of a driving mechanism, the other end plate of the side mounting vertical plate is used for fixedly connecting a planet carrier, a planet rotating shaft is arranged on the planet carrier, a corresponding planet wheel is sleeved on the planet rotating shaft, the gear ring is sleeved on the periphery of the planet wheel, and the inner teeth of the gear ring are meshed with the planet wheel;

the upper mounting plate is provided with an upward convex positioning pin shaft, so that the positioning and mounting with the frame of the AGV trolley are accurate and reliable;

the inner ring surface of the wheel hub is provided with a positioning step, the protruding part of the positioning step is provided with a countersunk screw hole position which is axially installed, the outer surface of the gear ring is provided with a positioning step which is matched with the positioning step of the inner ring surface of the wheel hub in size, the protruding part of the corresponding step of the outer surface of the gear ring is provided with a threaded hole position which is axially installed, and the countersunk screw hole position and the threaded hole position which are corresponding to the threaded hole position are fixedly connected between the wheel hub and the gear ring through screws;

the feedback device of the low-voltage servo motor adopts a magnetic encoder, and the wire outlet mode is a lateral wire outlet mode, so that the axial size of the motor is favorably shortened;

the outer layer of the wheel is made of polyurethane or rubber and is wrapped on the outer surface of the wheel hub by adopting a rubber coating process;

the cover plate is covered on the opposite outer side of the planet carrier, the bearings are respectively embedded on the inner ring surfaces on the two sides of the gear ring, and the inner rings of the bearings are sleeved on the corresponding positions of the planet carrier, so that the installation of the whole structure is rapid, convenient, stable and reliable.

Adopt the utility model discloses a behind the structure, AGV dolly producer just need not go to match speed reducer and motor in addition when designing the AGV dolly, only needs directly to choose for use the electronic integrative wheel that satisfies the overall performance requirement, has alleviateed the lectotype burden, and more can accurate the matching when the lectotype, on the space size, this electronic integrative wheel more can shorten at least one-third's axial dimension and whole space size, can make the whole space of AGV dolly littleer, and the inside whole space overall arrangement of automobile body is compacter.

Drawings

Fig. 1 is a schematic structural view of a perspective view of the present invention;

FIG. 2 is a schematic sectional view of the front view of the present invention;

the names corresponding to the sequence numbers in the figure are as follows:

the device comprises an actuating mechanism 1, a speed reducer part 11, a planet wheel 111, a sun wheel 112, a gear ring 113, a planet carrier 114, a planet rotating shaft 115, a cover plate 116, a bearing 117, a wheel part 12, a wheel hub 121, a wheel outer layer 122, a driving mechanism 2, a low-voltage servo motor 21, an output shaft 211, a magnetic encoder 212, a mounting fixed seat 3, an upper mounting plate 31, a positioning pin shaft 311, a side mounting vertical plate 32 and a screw 4.

Detailed Description

An electric integrated wheel for an AGV trolley is shown in figures 1 and 2: the device comprises an executing mechanism 1, a driving mechanism 2 and a mounting fixing seat 3, wherein the executing mechanism 1 comprises a speed reducer part 11 and a wheel part 12, the speed reducer part 11 is specifically a planetary speed reduction transmission structure, and the speed reducer part 11 comprises a planet wheel 111, a sun wheel 112 and a gear ring 113; the wheel part 12 comprises a wheel hub 121 and a wheel outer layer 122, the inner ring part of the wheel hub 121 is fixedly sleeved on the outer surface of the gear ring 113, and the wheel outer layer 122 is fixed on the outer surface of the wheel hub 121 and forms an integral structure with the wheel hub 121; the driving mechanism 2 comprises a low-voltage servo motor 21 and a low-voltage servo driver (not shown in the figure and belonging to the existing mature structure), wherein an output shaft 211 of the low-voltage servo motor 21 is an input end of the sun gear 112, a feedback device of the low-voltage servo motor 21 is a magnetic encoder 212, and the low-voltage servo driver is arranged on the side surface of the low-voltage servo motor 21; the mounting fixing seat 3 connects the actuating mechanism 1 and the driving mechanism 2 into a whole to form an electric integrated wheel which is mounted in the AGV trolley frame.

The speed reducer part 11 is a structure with a fixed planet carrier 114 and an output of a gear ring 113;

the mounting fixing seat 3 specifically comprises an upper mounting plate 31 and a side mounting vertical plate 32, the upper mounting plate 31 is used for fixedly connecting an AGV trolley frame, one end face of the side mounting vertical plate 32 is used for fixedly connecting a base of the driving mechanism 2, the other end plate of the side mounting vertical plate 32 is used for fixedly connecting a planet carrier 114, the planet carrier 114 is provided with a planet rotating shaft 115, the planet rotating shaft 115 is sleeved with a corresponding planet wheel 111, the periphery of the planet wheel 111 is sleeved with a gear ring 113, and the internal teeth of the gear ring 113 are meshed with the planet wheel 111;

the upper mounting plate 31 is provided with an upward convex positioning pin shaft 311, so that the positioning and mounting with the frame of the AGV trolley are accurate and reliable;

the inner ring surface of the wheel hub 121 is provided with a positioning step, the projecting part of the positioning step is provided with a countersunk screw hole position which is axially installed, the outer surface of the gear ring 113 is provided with a positioning step which is matched with the size of the positioning step of the inner ring surface of the wheel hub 121, the projecting part of the corresponding step of the outer surface of the gear ring 113 is provided with a threaded hole position which is axially installed, and the countersunk screw hole position and the threaded hole position which are corresponding to the positions are fixedly connected between the wheel hub 121 and the gear ring 113 through screws 4;

a magnetic encoder is selected as a feedback device of the low-voltage servo motor 21, and the wire outgoing mode is a lateral wire outgoing mode, so that the axial size of the motor is favorably shortened;

the outer layer 122 of the wheel is made of polyurethane or rubber and is wrapped on the outer surface of the wheel hub by adopting a rubber coating process;

the opposite outer side of the planet carrier 114 is covered with a cover plate 116, the inner ring surfaces on two sides of the gear ring 113 are respectively embedded with a bearing 117, and the inner ring of the bearing 117 is sleeved at the corresponding position of the planet carrier 114, so that the installation of the whole structure is ensured to be rapid, convenient, stable and reliable.

The working principle is as follows: this integrated motor of electronic integrative wheel, the speed reducer, the wheel is in an organic whole, obtain the running instruction back when the motor, the motor shaft is rotatory, also be planetary reducer's sun gear in fact rotatory, drive the planet wheel, the ring gear is rotatory, it is rotatory to drive the wheel promptly, the gos forward and retreat of steerable AGV dolly, when the AGV dolly carries on a plurality of electronic integrative wheels, the steering that the AGV dolly was realized with the not speed operation to each electronic integrative wheel of accessible control, therefore, for the AGV dolly provides power, realize that the AGV dolly traveles along appointed route.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. The utility model provides an AGV dolly is with electronic integrative wheel which characterized in that: the device comprises an actuating mechanism, a driving mechanism and a mounting fixing seat, wherein the actuating mechanism comprises a speed reducer part and a wheel part, the speed reducer part is specifically a planetary speed reduction transmission structure, and the speed reducer part comprises a planetary wheel, a sun wheel and a gear ring; the wheel part comprises a wheel hub and a wheel outer layer, the inner ring part of the wheel hub is fixedly sleeved on the outer surface of the gear ring, and the wheel outer layer is fixed on the outer surface of the wheel hub and forms an integral structure with the wheel hub; the driving mechanism comprises a low-voltage servo motor and a low-voltage servo driver, an output shaft of the low-voltage servo motor is an input end of the sun gear, a feedback device of the low-voltage servo motor is a magnetic encoder, and the low-voltage servo driver is arranged on the side face of the low-voltage servo motor; the installation fixing seat is used for connecting the actuating mechanism and the driving mechanism into a whole to form an electric integrated wheel, and the electric integrated wheel is installed in an AGV trolley frame.

2. The AGV of claim 1, wherein: the speed reducer part is specifically a structure with a fixed planet carrier and an output gear ring.

3. The AGV of claim 1, wherein: the installation fixing base specifically includes mounting panel, side-mounting riser, it is used for rigid coupling AGV dolly frame to go up the mounting panel, a terminal surface of side-mounting riser is used for rigid coupling actuating mechanism's frame, the other end plate of side-mounting riser is used for setting firmly the planet carrier, be provided with the planet pivot on the planet carrier, the cover is equipped with the planet wheel that corresponds in the planet pivot, the periphery cover of planet wheel is equipped with the ring gear, the internal toothing of ring gear is connected the planet wheel is arranged.

4. The AGV according to claim 3, wherein said integrated electric wheel further comprises: and the upper mounting plate is provided with an upper convex positioning pin shaft.

5. The AGV of claim 1, wherein: wheel hub inner ring has the location step, the convex part of location step has the countersunk screw hole position of axial installation, the ring gear surface has a counterpoint step, with the size of the location step of wheel hub's inner ring coincide, just the corresponding step bulge of ring gear surface has the screw hole site of axial installation, wheel hub with countersunk screw hole site, the screw hole site that corresponds the position by the screw rigid coupling between the ring gear.

6. The AGV of claim 1, wherein: the feedback device of the low-voltage servo motor adopts a magnetic encoder, and the wire outgoing mode is a lateral wire outgoing mode.

7. The AGV of claim 1, wherein: the outer layer of the wheel is made of polyurethane or rubber, and the outer surface of the wheel hub is coated by adopting a rubber coating process.

8. The AGV according to claim 3, wherein said integrated electric wheel further comprises: the opposite outer side of the planet carrier is covered with a cover plate, the inner ring surfaces on two sides of the gear ring are respectively embedded with a bearing, and the inner ring of the bearing is sleeved at the corresponding position of the planet carrier.