CN215662912U

CN215662912U - AGV drive unit

Info

Publication number: CN215662912U
Application number: CN202120650163.XU
Authority: CN
Inventors: 袁凤襄
Original assignee: Guangdong Jaten Robot and Automation Co Ltd
Current assignee: Guangdong Jaten Robot and Automation Co Ltd
Priority date: 2021-03-30
Filing date: 2021-03-30
Publication date: 2022-01-28
Anticipated expiration: 2031-03-30

Abstract

The utility model provides an AGV driving unit which comprises a supporting frame, driving wheels, driving assemblies, a butting device and limiting columns, wherein the driving wheels are respectively arranged on two sides of the supporting frame; the butt joint device is arranged on the support frame and is used for butt joint with an AGV body; the two driving wheels are connected with each other through a driving wheel shaft, the butt joint device can be arranged on the driving wheel shaft in an omnidirectional rotating mode, the limiting columns are oppositely arranged on two sides of the butt joint device, and the connecting line direction of the limiting columns is perpendicular to the driving wheel shaft, so that the butt joint device is limited to move forwards and backwards. The AGV driving unit provided by the utility model is connected with the two driving wheels through the driving wheel shaft so that the driving wheels penetrate through the whole driving unit, and external force applied to the driving units is acted on the driving wheel shaft, so that the driving wheels are prevented from rotating in an external eight shape when the driving units run under load, and the stability of the driving units under load is improved.

Description

AGV drive unit

Technical Field

The utility model relates to the field of AGV driving equipment, in particular to an AGV driving unit.

Background

Most AGVs of the two-way or multi-way type generally have a drive unit consisting of two motors and drive wheels. Two drive wheels of current drive unit generally assemble the both sides at the support frame alone, adopt the drive unit of this structure, its structural strength is low, the external force that this drive unit received is acted on two drive wheels respectively promptly, this has led to when AGV is receiving the high load, drive unit's drive wheel becomes outer eight types rotation easily, thereby influenced drive unit bulk strength, stability when having reduced drive unit and received the load, the development that makes heavy load AGV receives very big restriction.

SUMMERY OF THE UTILITY MODEL

One of the objects of the present invention is to overcome the disadvantages of the prior art and to provide an AGV driving unit with high structural strength and good stability.

In order to solve the technical problems, the utility model adopts the following technical scheme:

an AGV driving unit comprises a supporting frame, driving wheels, driving assemblies, a butt joint device and limiting columns, wherein the driving wheels are respectively arranged on two sides of the supporting frame, the driving assemblies are respectively fixed on the supporting frame, and the driving assemblies are in transmission connection with the driving wheels through transmission assemblies; the butt joint device is arranged on the support frame and is used for butt joint with an AGV body; the two driving wheels are mutually connected through a driving wheel shaft, the butting device can be arranged on the driving wheel shaft in an omnidirectional rotating mode, the limiting columns are oppositely arranged on two sides of the butting device, and the connecting line direction of the limiting columns is perpendicular to the driving wheel shaft, so that the butting device is limited to move forwards and backwards.

Compared with the prior art, the AGV driving unit provided by the utility model has the advantages that the driving wheel shaft is connected with the two driving wheels, the driving wheel shaft penetrates through the whole driving unit, external force applied to the driving unit acts on the driving wheel shaft, the rigidity of the whole driving unit is ensured, the driving wheels are prevented from rotating in an outer eight shape when the driving unit runs under load, and the stability of the supporting frame of the driving unit under load is also improved.

Preferably, still include the joint bearing frame, the joint bearing frame passes through joint bearing and sets up on the drive wheel shaft, interfacing apparatus sets up on the joint bearing frame, spacing post one end sets up on the support frame, the rotatable setting of the other end is in on the joint bearing frame, cooperation installation joint bearing has again restricted four degrees of freedom of joint bearing with the spacing post of front and back both sides jointly between drive wheel shaft and the joint bearing frame, makes and wholly forms parallelogram line link mechanism, and the joint bearing inner circle can only be followed drive wheel shaft axial lead rotatory, perhaps perpendicular to axial lead plane horizontal hunting, has ensured the stability when drive unit moves with AGV automobile body connection back in the lump

Preferably, the left side and the right side of the bottom of the bearing seat are connected with buffering assemblies, the upper ends of the buffering assemblies are fixedly connected with the bottom of the bearing seat, the lower ends of the buffering assemblies are connected with a driving wheel shaft through a shaft sleeve, and the driving wheel is quickly reset under the action of the buffering assemblies, so that the driving unit can adapt to various road surfaces.

Preferably, the buffer assembly comprises an upper guide pillar, a buffer spring and a lower guide pillar, the upper end and the lower end of the buffer spring are respectively and fixedly connected to the upper guide pillar and the lower guide pillar, the upper guide pillar is fixedly connected to the bottom side of the bearing seat, and the lower guide pillar is fixedly connected to the shaft sleeve.

Preferably, a tapered roller bearing is arranged between the driving wheel shaft and the driving wheel and is in transition connection, when the road surface is uneven, the tapered roller bearing can reasonably bear load under the action of the radial and axial acting forces of the driving wheel, and therefore the service life of the driving unit is prolonged.

Preferably, the driving assembly comprises a servo motor and a planetary reducer, the servo motor is in transmission connection with the planetary reducer, and the planetary reducer is in transmission connection with the driving wheel through the transmission assembly; the transmission assembly is a chain wheel transmission assembly or a gear transmission assembly, so that the driving unit realizes turning and rotation in a differential driving mode.

Preferably, the transmission assembly is a chain wheel transmission assembly and comprises a transmission chain, a first chain wheel and a second chain wheel, the first chain wheel is in transmission connection with the output end of the planetary reducer, the second chain wheel is in transmission connection with the driving wheel shaft, and the transmission chain is connected with the first chain wheel and the second chain wheel; the first chain wheel and the second chain wheel are double-row chain wheels, the transmission chain is a double-row chain, a double-row chain wheel transmission mode is adopted, the driving force is large, the transmission efficiency is improved, the overall dimension of the driving unit can be reduced by adopting the double-row chain, the whole structure of the driving unit is more compact, and the driving unit can be applied to more occasions.

Preferably, the transmission chain is provided with a chain tensioning device which is used for controlling the sag of the transmission chain, so that the sag of the transmission chain is controlled within a reasonable range.

Preferably, a cross roller bearing is arranged between the butt joint device and the bearing seat and used for being connected with the AGV body, and the cross roller bearing can bear large radial force and axial force so that the driving unit can smoothly steer and run.

Preferably, the support frame is provided with an angle detection device for monitoring the turning angle of the driving unit in real time.

Drawings

FIG. 1 is a schematic view of the present invention;

FIG. 2 is a top view of the present invention;

FIG. 3 is a side view of the present invention;

FIG. 4 is a first cross-sectional view of the present invention;

FIG. 5 is an enlarged view of area A of FIG. 4;

FIG. 6 is a second cross-sectional view of the present invention;

fig. 7 is a third cross-sectional view of the present invention.

Description of reference numerals: the device comprises a support frame 1, two driving wheels 2, a driving component 3, a butting device 4, a driving wheel shaft 5, a bearing seat 6, a joint bearing 7, a limiting column 8, a buffer component 9, a shaft sleeve 10, a tapered roller bearing 11, a crossed roller bearing 12, an angle detection device 13, a servo motor 31, a planetary reducer 32, a chain wheel transmission component 33, a transmission chain 331, a first chain wheel 332, a second chain wheel 333, a chain tensioning device 334, an upper guide column 91, a buffer spring 92 and a lower guide column 93.

Detailed Description

The following describes embodiments of the present invention with reference to the drawings.

Referring to fig. 1 to 7, an AGV driving unit includes a supporting frame 1, two driving wheels 2, two driving assemblies 3, a docking device 4 and a limiting post 8, wherein the two driving wheels 2 are respectively disposed at two sides of the supporting frame 1; the two driving components 3 are respectively fixed on the supporting frame 1 and are used for driving the two driving wheels 2; the butt joint device 4 is arranged on the support frame 1 and is used for butt joint with an AGV body; the two driving wheels 2 are connected with each other through a driving wheel shaft 5, the docking device 4 is arranged on the driving wheel shaft 5 in an omnidirectional rotating manner, the limiting columns 8 are oppositely arranged on two sides of the docking device 4, and the connecting line direction of the limiting columns 8 is perpendicular to the driving wheel shaft 5, so that the forward and backward movement of the docking device 4 is limited.

Specifically, the driving assembly 3 includes a servo motor 31 and a planetary reducer 32, the servo motor 31 is in transmission connection with the driving wheel 2 through a transmission assembly 33 and is in transmission connection with the planetary reducer 32, and the planetary reducer 32 is in transmission connection with the driving wheel 2, so that the driving unit realizes turning and rotation in a differential driving mode.

The device is characterized by further comprising a joint bearing seat 6, wherein the joint bearing seat 6 is arranged on the driving wheel shaft 5 through a joint bearing 7, the butt joint device 4 is arranged on the joint bearing seat 6, one end of the limiting column 8 is arranged on the supporting frame 1, and the other end of the limiting column is rotatably arranged on the joint bearing seat 6.

Compared with the prior art, the AGV driving unit provided by the utility model has the advantages that the driving wheel shaft 5 is connected with the two driving wheels 2, so that the driving wheel shaft 5 penetrates through the whole driving unit, external force borne by the driving unit acts on the driving wheel shaft 5, the rigidity of the whole driving unit is ensured, the driving wheels 2 are prevented from rotating in an outer eight shape when the driving unit runs under load, and the stability of the supporting frame 1 of the driving unit under load is also improved; meanwhile, after the knuckle bearing 7 is installed between the driving wheel shaft 5 and the bearing seat 6 in a matched mode, the four degrees of freedom of the knuckle bearing 7 are limited together with the limiting columns 8 on the front side and the rear side, so that the whole parallelogram link mechanism is formed, the inner ring of the knuckle bearing 7 can only rotate along the axial lead of the driving wheel shaft 5 or can swing left and right perpendicular to the axial lead plane, and the stability of the driving unit and the AGV moving together after being connected is guaranteed.

Referring to fig. 1 to 3 and 7, in a preferred embodiment, the transmission assembly 33 is a sprocket transmission assembly, which includes a transmission chain 331, a first sprocket 332 and a second sprocket 333, the first sprocket 332 is in transmission connection with the output end of the planetary reducer 32, the second sprocket 333 is in transmission connection with the driving axle 5, and the transmission chain 331 is connected with the first sprocket 332 and the second sprocket 333; the first chain wheel 332 and the second chain wheel 333 are double-row chain wheels, the transmission chain 331 is a double-row chain, a double-row chain wheel transmission mode is adopted, the driving force is large, the transmission efficiency is improved, and the overall size of the driving unit can be reduced by adopting the double-row chain, so that the whole structure of the driving unit is more compact, and the driving unit can be applied to more occasions.

In this embodiment, the design of drive wheel 2 periphery has the rubber coating layer for it is little to guarantee the deflection when drive wheel 2 bears heavy load, and it is less to overcome rolling resistance when making drive unit operation, alleviates motor power burden.

Referring to fig. 2, 4 and 5, in a preferred embodiment, the left and right sides of the bottom of the bearing seat 6 are connected with the buffer assemblies 9, the upper ends of the buffer assemblies 9 are fixedly connected with the bottom of the bearing seat 6, the lower ends of the buffer assemblies 9 are connected with the driving wheel shaft 5 through the shaft sleeve 10, and the driving wheel 2 is quickly reset under the action of the buffer assemblies 9, so that the driving unit can adapt to various road surfaces. In this embodiment, the buffering component 9 includes an upper guide post 91, a buffering spring 92 and a lower guide post 93, the upper end and the lower end of the buffering spring 92 are respectively and fixedly connected to the upper guide post 91 and the lower guide post 93, the upper guide post 91 is fixedly connected to the bottom side of the bearing seat 6, and the lower guide post 93 is fixedly connected to the shaft sleeve 10.

Referring to fig. 4, in a preferred embodiment, a tapered roller bearing 11 is arranged between the driving wheel shaft 5 and the driving wheel 2, and the tapered roller bearing 11 is used for transition connection, so that when the road surface is uneven, the tapered roller bearing 11 can reasonably bear load under the action of radial and axial forces of the driving wheel 2 on the driving wheel shaft 5, thereby prolonging the service life of the driving unit. In this embodiment, two tapered roller bearings 11 are provided between each driving wheel 2 and the driving wheel shaft 5

Referring to fig. 4, in a preferred embodiment, a cross roller bearing 12 is provided between the docking unit 4 and the bearing housing 6 for connecting with the AGV body, and the cross roller bearing 12 can bear large radial force and axial force to make the driving unit turn and drive smoothly.

Referring to fig. 2, in a preferred embodiment, the driving chain 331 is provided with a chain tensioning device 334 for controlling the sag of the driving chain 331, so that the sag of the driving chain 331 is controlled within a reasonable range. And an angle detection device 13 is arranged on the support frame 1 and used for monitoring the turning angle of the driving unit in real time. In this embodiment, the angle detection device 13 is preferably a gear, wherein a mating gear and an encoder that mate with the angle detection device 13 are mounted on the AGV body.

It should be noted that the chain tensioner 334 and the angle detector 13 provided by the present invention are both prior art, which are not the improvement point of the present invention, and therefore, they will not be described in detail herein.

Variations and modifications to the above-described embodiments may occur to those skilled in the art, which fall within the scope and spirit of the above description. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and variations of the present invention should fall within the scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

Claims

1. An AGV drive unit comprising:

a support frame;

the driving wheels are respectively arranged on two sides of the supporting frame;

the driving assemblies are respectively fixed on the supporting frames and are in transmission connection with the driving wheels through transmission assemblies;

the butt joint device is arranged on the support frame and is used for butt joint with the AGV body;

it is characterized by also comprising a limit column,

the two driving wheels are mutually connected through a driving wheel shaft, the butting device can be arranged on the driving wheel shaft in an omnidirectional rotating mode, the limiting columns are oppositely arranged on two sides of the butting device, and the connecting line direction of the limiting columns is perpendicular to the driving wheel shaft, so that the butting device is limited to move forwards and backwards.

2. The AGV driving unit according to claim 1, further comprising a joint bearing seat, wherein said joint bearing seat is disposed on said driving wheel shaft through a joint bearing, said docking device is disposed on said joint bearing seat, one end of said limit column is disposed on said supporting frame, and the other end of said limit column is rotatably disposed on said joint bearing seat.

3. The AGV driving unit according to claim 1, wherein the bearing housing is connected to the left and right sides of the bottom thereof with buffer members, the upper end of the buffer members being fixedly connected to the bottom of the bearing housing, and the lower end thereof being connected to the driving wheel shaft through a shaft sleeve.

4. The AGV driving unit of claim 3, wherein the buffer assembly comprises an upper guide post, a buffer spring and a lower guide post, the upper and lower ends of the buffer spring are fixedly connected to the upper guide post and the lower guide post respectively, the upper guide post is fixedly connected to the bottom side of the bearing seat, and the lower guide post is fixedly connected to the shaft housing.

5. AGV drive unit according to claim 1, characterised in that a tapered roller bearing is provided between the drive wheel axle and the drive wheel.

6. The AGV drive unit of claim 1, wherein the drive assembly includes a servo motor and a planetary gear set, the servo motor being drivingly connected to the planetary gear set, the planetary gear set being drivingly connected to the drive wheel via the drive assembly; the transmission assembly is a chain wheel transmission assembly or a gear transmission assembly.

7. The AGV drive unit of claim 6, wherein the drive assembly is a sprocket drive assembly comprising a drive chain, a first sprocket and a second sprocket, the first sprocket being drivingly connected to the output of the planetary reducer, the second sprocket being drivingly connected to the drive wheel shaft, the drive chain connecting the first sprocket and the second sprocket; the first chain wheel and the second chain wheel are double-row chain wheels, and the transmission chain is a double-row chain.

8. The AGV drive unit of claim 7, wherein the drive chain is provided with a chain tensioner for controlling the sag of the drive chain.

9. AGV drive unit according to claim 1, characterised in that cross roller bearings are provided between the docking device and the bearing blocks for connection with the AGV body.

10. The AGV drive unit of claim 1, wherein the support frame is provided with an angle detection device for monitoring the drive unit turning angle in real time.