CN219467833U - Self-adaptive differential mechanism module - Google Patents
Self-adaptive differential mechanism module Download PDFInfo
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- CN219467833U CN219467833U CN202320193580.5U CN202320193580U CN219467833U CN 219467833 U CN219467833 U CN 219467833U CN 202320193580 U CN202320193580 U CN 202320193580U CN 219467833 U CN219467833 U CN 219467833U
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- wheel
- rotary encoder
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Abstract
The utility model relates to a self-adaptive differential mechanism module, which comprises a suspension bracket, a driving wheel mounting bracket, a rotary encoder and two groups of driving wheel groups, wherein the two groups of driving wheel groups are respectively arranged at the left side and the right side of the driving wheel mounting bracket, the driving wheel mounting bracket is arranged at the bottom of the suspension bracket, the driving wheel mounting bracket can rotate around the suspension bracket on a vertical plane so as to enable the two groups of driving wheel groups to swing left and right, the rotary encoder is arranged right in front of the suspension bracket, the input end of the rotary encoder is connected with the suspension bracket through a transmission mechanism, and the rotary encoder is used for detecting the rotation angle of the suspension bracket in a horizontal plane. The utility model has extremely small rotation space and fine angle control, and has the ground self-adaption capability.
Description
Technical Field
The utility model relates to the technical field of driving modules of wheeled mobile robots, in particular to a self-adaptive differential mechanism module.
Background
The wheeled mobile robot used in the logistics field comprises AGV (Automated Guided Vehicle) and AMR (Automatic Mobile Robot), and is applied to the logistics field, so that on one hand, a motor with large torque is required to provide enough driving force, and on the other hand, the multi-wheel driving is the best choice for achieving high-precision control of the robot and realizing omnidirectional movement of the robot. Limited by ground conditions in logistical scenarios, multi-wheel drive schemes need to take into account the adaptive functions of suspension, etc.
The current omni-directional mobile robot solution on the market mainly integrates two or more steering wheels, the steering wheels are integrated with walking, traction and steering functions, and the omni-directional mobile robot solution has the advantages that steering wheel module technology is mature and can meet larger load requirements, but because the wheels of the steering wheels are designed to be sleeved on the outer sides of motors, the minimum size of the wheels can be limited, so that the minimum size of the omni-directional mobile robot is increased, the omni-directional mobile robot cannot be suitable for a region with a small space, and the design requirements of the miniaturized and lightweight robot are hardly met.
Disclosure of Invention
The utility model aims to solve the technical problems and provide the self-adaptive differential mechanism module which has extremely small rotation space and fine angle control and has ground self-adaptive capability.
In order to solve the technical problems, the utility model adopts the following technical scheme:
the utility model provides a self-adaptation differential mechanism module, includes suspension support, drive wheel installing support, rotary encoder and two sets of drive wheelsets, and two sets of drive wheelsets set up respectively in the left and right sides of drive wheel installing support, drive wheel installing support sets up in the suspension support bottom, and drive wheel installing support can rotate at vertical plane around the suspension support to make two sets of drive wheelsets swing about, rotary encoder sets up in the dead ahead of suspension support, and rotary encoder's input passes through drive mechanism and suspension support connection, rotary encoder is used for detecting the rotation angle of suspension support in the horizontal plane.
Further, the transmission mechanism comprises a rotary shaft, a rotary synchronizing wheel and a synchronous belt, wherein the rotary shaft is arranged below the installation plane, the rotary synchronizing wheel is fixed at the top of the suspension bracket, the rotary synchronizing wheel is arranged on the outer side of the rotary shaft, the rotary synchronizing wheel and the rotary shaft are coaxially arranged, an encoder synchronizing wheel is arranged at the top input end of the rotary encoder, and the encoder synchronizing wheel is connected with the rotary synchronizing wheel through the synchronous belt.
Furthermore, a rotary bearing is arranged between the rotary shaft and the rotary synchronizing wheel, and the rotary synchronizing wheel is rotatably arranged on the outer side of the rotary shaft through the rotary bearing.
Further, the top of rotary encoder is provided with the encoder support, rotary encoder passes through the encoder support and sets up in the below of mounting plane.
Further, the front end and the rear end of the suspension bracket are respectively provided with a suspension shaft, the suspension shafts are horizontally arranged and perpendicular to the front end face and the rear end face of the suspension bracket, the front end and the rear end of the driving wheel mounting bracket are hinged to the suspension bracket through the suspension shafts, and the driving wheel mounting bracket can rotate around the suspension shafts in a vertical plane.
Further, sliding bearings are arranged between the front end and the rear end of the driving wheel mounting bracket and the outer side of each suspension shaft.
Further, the driving wheel group comprises a driving wheel, a motor and a speed reducer, the motor is arranged on the inner side of the driving wheel mounting bracket, the speed reducer is arranged on the outer side of the driving wheel mounting bracket, the driving wheel is vertically arranged at the output end of the speed reducer, the output end of the motor is connected with the input end of the speed reducer, and the motor is used for driving the speed reducer to drive the driving wheel to rotate.
After the technical scheme is adopted, compared with the prior art, the utility model has the following advantages:
the differential driving module is provided with 2 DC48V 400W motors, so that the maximum driving capability of 600KG and the maximum driving speed of 0.8m/s can be integrally provided, the requirements of logistics transportation can be met, the overall mounting height is only 106mm, and the design requirements of a miniaturized and light robot can be met;
in the running or rotating process of the differential driving module, the whole driving wheel mounting bracket can rotate in a vertical plane around the suspension shaft so as to enable the two driving wheels to swing around the rotation shaft, so that the driving wheels can always keep good contact with the bottom surface, enough positive pressure is ensured, and the ground grabbing performance of the driving wheels is improved;
when the whole suspension bracket rotates, the encoder synchronous wheel is driven to rotate together through the rotary synchronous wheel, the angle in the rotating process is transmitted to the encoder through the synchronous belt, the encoder is used for measuring and converting to obtain the rotating angle, and specifically, the ratio of the rotating angle of the encoder to the rotating angle of the suspension bracket is the tooth ratio of the rotary synchronous wheel and the encoder synchronous wheel.
The utility model will now be described in detail with reference to the drawings and examples.
Drawings
FIG. 1 is a schematic perspective view of the present utility model;
FIG. 2 is a bottom view of the drive wheel mounting bracket of the present utility model;
FIG. 3 is a schematic cross-sectional view of the present utility model;
fig. 4 is a diagram illustrating a swing state of the present utility model.
In the drawings, the list of components represented by the various numbers is as follows:
1. a hanging bracket; 11. a suspension shaft; 2. a driving wheel mounting bracket; 21. a sliding bearing; 3. a driving wheel group; 31. a driving wheel; 32. a motor; 33. a speed reducer; 4. a rotary encoder; 41. an encoder synchronizing wheel; 42. an encoder support; 51. a rotating shaft; 52. a rotary synchronizing wheel; 53. a synchronous belt; 54. a slewing bearing; 6. and (3) a mounting plane.
Detailed Description
The principles and features of the present utility model are described below with reference to the drawings, the examples are illustrated for the purpose of illustrating the utility model and are not to be construed as limiting the scope of the utility model.
In the description of the present utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", "clockwise", "counterclockwise", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, merely to facilitate description of the present utility model and simplify description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.
As shown in fig. 1, 2 and 3, an adaptive differential module comprises a suspension bracket 1, a driving wheel mounting bracket 2, a rotary encoder 4 and two groups of driving wheel groups 3, wherein the two groups of driving wheel groups 3 are respectively arranged on the left side and the right side of the driving wheel mounting bracket 2, the driving wheel mounting bracket 2 is arranged at the bottom of the suspension bracket 1, and the driving wheel mounting bracket 2 can rotate around the suspension bracket 1 on a vertical plane so that the two groups of driving wheel groups 3 swing left and right, the rotary encoder 4 is arranged right in front of the suspension bracket 1, the input end of the rotary encoder 4 is connected with the suspension bracket 1 through a transmission mechanism, and the rotary encoder 4 is used for detecting the rotation angle of the suspension bracket 1 in a horizontal plane.
As an embodiment, the transmission mechanism comprises a revolving shaft 51, a revolving synchronizing wheel 52 and a synchronous belt 53, the revolving shaft 51 is arranged below the installation plane, the revolving synchronizing wheel 52 is fixed at the top of the suspension bracket 1, the revolving synchronizing wheel 52 is rotatably arranged at the outer side of the revolving shaft 51, the revolving synchronizing wheel 52 and the revolving shaft 51 are coaxially arranged, the encoder synchronizing wheel 41 is arranged at the top input end of the rotary encoder 4, and the encoder synchronizing wheel 41 and the revolving synchronizing wheel 52 are connected through the synchronous belt 53.
As an embodiment, a swivel bearing 54 is provided between the swivel shaft 51 and the swivel synchronizing wheel 52, and the swivel synchronizing wheel 52 is rotatably provided outside the swivel shaft 51 by the swivel bearing 54.
As an embodiment, the top of the rotary encoder 4 is provided with an encoder bracket 42, and the rotary encoder 4 is disposed below the installation plane by the encoder bracket 42.
As an implementation manner, the front end and the rear end of the suspension bracket 1 are respectively provided with a suspension shaft 11, the suspension shafts 11 are horizontally arranged and perpendicular to the front end face and the rear end face of the suspension bracket 1, the front end and the rear end of the driving wheel mounting bracket 2 are hinged on the suspension bracket 1 through the suspension shafts 11, and the driving wheel mounting bracket 2 can rotate around the suspension shafts 11 in a vertical plane.
As an embodiment, a sliding bearing 21 is provided between the front and rear ends of the drive wheel mounting bracket 2 and the outer side of each suspension shaft 11.
As an embodiment, the driving wheel set 3 includes a driving wheel 31, a motor 32 and a speed reducer 33, the motor 32 is disposed on the inner side of the driving wheel mounting bracket 2, the speed reducer 33 is disposed on the outer side of the driving wheel mounting bracket 2, the driving wheel 31 is vertically disposed at an output end of the speed reducer 33, the output end of the motor 32 is connected with an input end of the speed reducer 33, and the motor 32 is used for driving the speed reducer 33 to drive the driving wheel 31 to rotate;
specifically, as shown in fig. 2, two sets of driving wheel sets 3 are staggered.
In this embodiment, the motor 32 is a DC48V 400W motor, which can provide a maximum driving capability of 600KG and a maximum driving speed of 0.8 m/s; the rotary encoder 4 is an absolute value type encoder.
The mounting height of the differential module is only 106mm.
The working principle of the utility model is as follows:
the driving wheel mounting bracket 2 is fixed below the suspension bracket 1 in a hinged manner through the suspension shaft 11, and in order to ensure flexible suspension and reduce abrasion, a sliding bearing 21 is additionally arranged at the joint of the suspension shaft 11 and the driving wheel mounting bracket 2, and the fixing manner of the suspension structure can enable the driving wheel set 3 to adapt to the ground within a certain angle range (as shown in fig. 4, the adaptation angle alpha=5°) in the embodiment;
the inner ring of the rotary bearing 54 is arranged on the rotary shaft 51, the outer ring of the rotary bearing 54 is simultaneously connected with the rotary synchronizing wheel 52 and the suspension bracket 1 (as shown in fig. 1 and 3), when the rotary shaft 51 and the encoder bracket 42 provided with the rotary encoder 4 are fixed below the installation plane 6, the rotary synchronizing wheel 52 and the encoder synchronizing wheel 41 are driven by the synchronous belt 53, and when the differential driving module is used, the rotation angle of the driving module can be accurately converted by the transmission ratio of the rotary synchronizing wheel 104 and the encoder synchronizing wheel 102;
when in driving, the motor 32 drives the driving wheel 31 to rotate through the speed reducer 33 so as to drive the whole module and the robot to move forwards or backwards.
The foregoing is illustrative of the best mode of carrying out the utility model, and is not presented in any detail as is known to those of ordinary skill in the art. The protection scope of the utility model is defined by the claims, and any equivalent transformation based on the technical teaching of the utility model is also within the protection scope of the utility model.
Claims (7)
1. The utility model provides a self-adaptation differential mechanism module, its characterized in that, including suspension support (1), drive wheel installing support (2), rotary encoder (4) and two sets of drive wheelset (3), two sets of drive wheelset (3) set up respectively in the left and right sides of drive wheel installing support (2), drive wheel installing support (2) set up in suspension support (1) bottom, and drive wheel installing support (2) can rotate at vertical plane around suspension support (1) to make two sets of drive wheelset (3) swing about, rotary encoder (4) set up in suspension support (1) in front of, and rotary encoder (4) input is connected with suspension support (1) through drive mechanism, rotary encoder (4) are used for detecting the rotation angle of suspension support (1) in the horizontal plane.
2. The self-adaptive differential module according to claim 1, wherein the transmission mechanism comprises a revolving shaft (51), a revolving synchronizing wheel (52) and a synchronous belt (53), the revolving shaft (51) is arranged below the installation plane, the revolving synchronizing wheel (52) is fixed at the top of the suspension bracket (1), the revolving synchronizing wheel (52) is rotatably arranged at the outer side of the revolving shaft (51), the revolving synchronizing wheel (52) and the revolving shaft (51) are coaxially arranged, the encoder synchronizing wheel (41) is arranged at the top input end of the rotary encoder (4), and the encoder synchronizing wheel (41) and the revolving synchronizing wheel (52) are connected through the synchronous belt (53).
3. The adaptive differential module according to claim 2, characterized in that a swivel bearing (54) is arranged between the swivel shaft (51) and a swivel synchronizing wheel (52), the swivel synchronizing wheel (52) being rotatably arranged outside the swivel shaft (51) by means of the swivel bearing (54).
4. The adaptive differential module according to claim 2, characterized in that the top of the rotary encoder (4) is provided with an encoder bracket (42), the rotary encoder (4) being arranged below the mounting plane by means of the encoder bracket (42).
5. The self-adaptive differential module according to claim 1, wherein the front end and the rear end of the suspension bracket (1) are respectively provided with a suspension shaft (11), the suspension shafts (11) are horizontally arranged and are perpendicular to the front end face and the rear end face of the suspension bracket (1), the front end and the rear end of the driving wheel mounting bracket (2) are hinged on the suspension bracket (1) through the suspension shafts (11), and the driving wheel mounting bracket (2) can rotate around the suspension shafts (11) in a vertical plane.
6. The adaptive differential module according to claim 5, characterized in that sliding bearings (21) are provided between the front and rear ends of the drive wheel mounting bracket (2) and the outer side of each suspension shaft (11).
7. The self-adaptive differential module according to claim 1, wherein the driving wheel set (3) comprises a driving wheel (31), a motor (32) and a speed reducer (33), the motor (32) is arranged on the inner side of the driving wheel mounting bracket (2), the speed reducer (33) is arranged on the outer side of the driving wheel mounting bracket (2), the driving wheel (31) is vertically arranged at the output end of the speed reducer (33), the output end of the motor (32) is connected with the input end of the speed reducer (33), and the motor (32) is used for driving the speed reducer (33) to drive the driving wheel (31) to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320193580.5U CN219467833U (en) | 2023-02-13 | 2023-02-13 | Self-adaptive differential mechanism module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320193580.5U CN219467833U (en) | 2023-02-13 | 2023-02-13 | Self-adaptive differential mechanism module |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219467833U true CN219467833U (en) | 2023-08-04 |
Family
ID=87465184
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320193580.5U Active CN219467833U (en) | 2023-02-13 | 2023-02-13 | Self-adaptive differential mechanism module |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219467833U (en) |
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2023
- 2023-02-13 CN CN202320193580.5U patent/CN219467833U/en active Active
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