Differential driving mechanism of independent suspension

Abstract

The utility model discloses a differential driving mechanism of an independent suspension, which comprises a fixed support, a floating support, a spring, a spring adjusting rod, a motor and a driving wheel, and the floating support is mounted on the lower side of the fixed support through the spring and the spring adjusting rod and can slide up and down relative to the fixed support; the driving wheel is installed on the floating support, the motor is also fixed to the floating support, and the output end of the motor is connected with the driving wheel through the speed reducer to provide kinetic energy for the driving wheel. When in use, every two motors form one group, and turning and turning actions are realized by means of the speed difference between the two motors. The differential driving device is simple in overall structure and convenient to install, only corresponding installation hole positions need to be provided when the differential driving device is used, the problem that a differential wheel drives a carrier to slip when the carrier runs can be effectively solved, the requirement of differential driving for road conditions is lowered, and the applicability of differential driving is improved; and the problem that the walking precision is lost due to the fact that the wheel body cannot be in close contact with the ground due to the uneven ground is effectively solved.

Description

Technical Field

[0001] The utility model relates to the technical field of equipment automation drive mechanisms, in particular to a differential drive mechanism of an independent suspension. Background Art

[0002] In the existing spinning workshop, the sliver storage and turnover tooling of the carding machine → first drawing frame → second drawing frame → ... → final drawing frame → roving frame all adopts the form of sliver tube storage and turnover; with the development of the textile industry, intelligent equipment has emerged and developed rapidly, and turnover handling robots or turnover vehicles are widely used. There is often an uneven ground problem during their movement, causing shaking during operation. The existing floating differential drive is mostly integrated, which cannot drive the robot vehicle to change its posture and direction during operation, and the wheelbase is small, which is not suitable for large chassis vehicles; the rotation load is low, the applicable scene is small, and the requirements for the ground are high. When the road surface is uneven, it is easy to slip and lose the walking path accuracy, and the integrated type is not convenient for its vehicle design. Utility Model Content

[0003] The purpose of the utility model is to solve the deficiencies of the above-mentioned prior art, overcome the problems of low applicability of differential drive and easy loss of walking accuracy, and provide a differential drive mechanism for an independent suspension.

[0004] In order to solve the above technical problems, the technical solution adopted by the utility model is:

[0005] A differential drive mechanism of an independent suspension comprises a fixed bracket, a floating bracket, a spring and a spring adjustment rod, a motor, and a driving wheel, wherein the floating bracket is installed on the lower side of the fixed bracket through the spring and the spring adjustment rod and can slide up and down relative to the fixed bracket; the driving wheel is installed on the floating bracket, and the motor is also fixed on the floating bracket, and its output end is connected to the driving wheel through a reducer to provide kinetic energy for the driving wheel.

[0006] Furthermore, the fixing bracket is arranged in an inverted L-shaped structure, and a mounting through hole is provided on its transverse wall, which is fixed to the bottom of the vehicle by bolts; the vertical wall in the fixing bracket is arranged in an inverted U-shape, and two parallel vertical guide rail sliders are fixedly installed on its inner side.

[0007] Furthermore, the floating bracket is arranged in an H shape, and two parallel guide rails compatible with the guide rail slider are provided on the side facing the guide rail slider, and the floating bracket is installed on the inner lower part of the fixed bracket through the cooperation between the guide rail and the guide rail slider; the floating bracket is on the upper part of the side facing away from the guide rail slider, and a horizontal mounting platform and an adjustment block are fixed in sequence from top to bottom, and there are two adjustment blocks, which are respectively fixed on the back sides of the corresponding guide rails, and two spring through holes are provided on the mounting platform; the above-mentioned driving wheel is installed on the lower surface of the mounting platform through a seat bearing.

[0008] Furthermore, two of the above-mentioned springs and spring adjustment rods are provided, and the springs are mounted on the corresponding spring adjustment rods. The spring adjustment rods pass through the adjustment block and the mounting platform from bottom to top, and their upper ends are fixed to the transverse wall of the fixed bracket, and their lower ends are fixed by fastening nuts, which are located below the adjustment block; the upper end of the spring abuts against the lower surface of the transverse wall of the fixed bracket, and the lower end abuts against the upper end surface of the adjustment block.

[0009] Furthermore, a reinforcing rib plate is provided on the outer side of the vertical wall in the fixing bracket.

[0010] Furthermore, limit blocks are fixedly installed at both upper and lower ends of the guide rail.

[0011] Furthermore, the driving wheel is a rubber wheel.

[0012] Furthermore, two accommodating cavities are provided on the transverse wall of the fixing bracket, respectively corresponding to the positions directly above the two guide rails, and the width of the accommodating cavities is greater than the width of the guide rails.

[0013] Furthermore, when used in groups of two, turning and changing direction can be achieved by relying on the speed difference between the two motors.

[0014] Compared with the prior art, the utility model has the following beneficial effects: the utility model has a simple overall structure and is easy to install. When in use, it only needs to provide corresponding installation holes. It can effectively solve the problem of slipping when the differential wheel drive vehicle is driving, reduce the requirements of the differential drive on road conditions, and improve the applicability of the differential drive; it also effectively solves the problem of loss of walking accuracy due to uneven ground, which causes the wheel body to be unable to make close contact with the ground. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0016] Figure 2 for Figure 1 Isometric view of the mid-structure;

[0017] Figure 3 It is a structural schematic diagram of the fixing bracket in the utility model;

[0018] Figure 4 for Figure 3 Left view of the middle structure;

[0019] Figure 5 This is a schematic diagram of the structure of the floating bracket in the utility model;

[0020] Figure 6 for Figure 5 Northwest axis side view of the middle structure;

[0021] In the figure: 1. fixed bracket, 2. floating bracket, 3. motor, 4. reducer, 5. driving wheel, 6. spring adjustment rod, 7. spring, 8. guide rail slider, 9. guide rail, 10. limit block, 11. horizontal wall, 12. vertical wall, 13. reinforcing rib plate, 14. accommodating cavity, 21. mounting table, 22. adjustment block, 23. spring through hole. DETAILED DESCRIPTION

[0022] It should be noted that, in the description of the present invention, terms such as "upper", "lower", "left", "right", "front", "back", "inside", "outside", "top", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are relational words determined only for the convenience of describing the structural relationships of the various components in the present invention, and do not specifically mean that any component in the present invention must have a specific direction, be constructed and operated in a specific direction, and should not be understood as a limitation on the present invention.

[0023] In addition, in the description of the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "set", etc. should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] The specific implementation of the utility model is further described in detail below with reference to the accompanying drawings:

[0025] An independent suspension differential drive mechanism, mainly used in new handling AGVs commonly used in textile enterprises. It is fixed to the bottom of the handling AGV by bolts and is usually used in groups of two. Figures 1 to 6As shown, the differential drive mechanism of the independent suspension includes a fixed bracket 1, a floating bracket 2, a spring 7 and a spring adjustment rod 6, a motor 3, and a driving wheel 5, wherein the fixed bracket 1 is arranged in an inverted L-shaped structure, including a relatively vertically fixed transverse wall 11 and a vertical wall 12, which can be integrally formed, and at the same time, a plurality of reinforcing rib plates 13 are fixed on the back side where the vertical wall 12 and the transverse wall 11 intersect to increase the strength of the fixed bracket 1; the transverse wall 11 is provided with a plurality of mounting through holes for bolts to pass through and be fixed to the bottom of a transport robot or a vehicle; the vertical wall 12 is arranged in an inverted U-shaped structure, and the inner sides of its two arms are respectively fixed with a vertical guide rail slider 8, which are parallel to each other. The floating bracket 2 is arranged in an H-shaped structure, which is shorter at the top and longer at the bottom. Two guide rails 9 compatible with the guide rail slider 8 are fixedly installed on the side facing the guide rail slider 8. Limit blocks 10 are fixedly arranged at the upper and lower ends of each guide rail 9 to prevent the guide rail slider 8 from detaching from the corresponding guide rail 9; the floating bracket 2 is slidably installed on the fixed bracket 1 through the cooperation between the guide rail 9 and the guide rail slider 8, and is located below the transverse wall 11 in the fixed bracket 1; the floating bracket 2 is fixedly arranged with a transverse mounting platform 21 and an adjustment block 22 on the upper part of one side facing away from the guide rail slider 8, from top to bottom, wherein the width of the mounting platform 21 is the same as that of the floating bracket 2, and two adjustment blocks 22 are provided, which are fixedly installed on the back sides of the two guide rails 9 respectively, each adjustment block 22 is provided with an adjustment rod through hole, and a spring through hole 23 is provided on the mounting platform 21 above each adjustment block 22, and the spring through hole 23 on the same vertical axis is concentric with the adjustment rod through hole. The above-mentioned spring adjustment rod 6 and spring 7 are each provided with two, and the spring adjustment rod 6 passes through the corresponding adjustment rod through hole on the adjustment block 22 and the spring through hole 23 on the mounting platform 21 from bottom to top, and its upper end is fixedly connected to the transverse wall 11 of the fixed bracket 1, and the lower end of the spring adjustment rod 6 is provided with an external thread, which is fixed and adjusted by a fastening nut, and the fastening nut is located at the lower end of the adjustment block 22. The compression degree of the spring 7 can be adjusted by adjusting the fastening nut to adjust the upper and lower amplitudes of the shock absorption, so that the driving wheel 5 ignores the ups and downs of the ground and always rotates in close contact with the ground; the spring 7 is sleeved on the spring adjustment rod 6 on the corresponding side, passes through the spring through hole 23 on the mounting platform 21, and its upper end abuts against the lower end surface of the transverse wall 11 in the fixed bracket 1, and its lower end abuts against the upper end of the adjustment block 22. The output end of the motor 3 is fixedly connected with a reducer 4, which is fixed to the lower end surface of the mounting platform 21, and its output end is coaxially connected to the axle of the driving wheel 5, and the driving wheel 5 is rotatably mounted on the mounting platform 21 through a seat bearing, so that the motor 3, the reducer 4 and the driving wheel 5 can slide up and down with the floating bracket 2, and the upper width of the U-shaped groove on the vertical wall 12 in the fixed bracket 1 is greater than the up and down floating amplitude of the motor 3. The driving wheel 5 uses a driving rubber wheel, and its inner side protrudes from the fixed bracket 1 to ensure that its rotation is not hindered.

[0026] A further optimized technical solution is that two accommodating cavities 14 are provided on the transverse wall 11 in the fixed bracket 1. The accommodating cavities 14 are arranged directly above the corresponding guide rails 9. Their width is greater than the width of the guide rails 9, so that the upper end of the floating bracket 2 can move in the accommodating cavity 14, which not only plays a certain guiding role, but also avoids the limitation of the floating bracket 2 floating up and down.

[0027] When in use, the differential drive mechanisms are arranged in pairs, and rely on the speed difference between the two motors 3 to achieve actions such as turning and changing direction.

[0028] The driving wheel 5 can be replaced with other different types of wheels according to actual usage scenarios.

[0029] The differential drive mechanism of the above-mentioned independent suspension is an important component of the differential drive vehicle and an important technical support for the differential drive vehicle to realize automated operation. The split design is simpler and easier to install and use, which improves the stability and accuracy of can handling and provides a stable and reliable driving mode for the differential drive vehicle to realize automated operation.

[0030] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by technicians in this technical field within the essential scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. A differential drive mechanism for an independent suspension, characterized in that: It includes a fixed bracket, a floating bracket, a spring and a spring adjustment rod, a motor, and a driving wheel, wherein the floating bracket is installed on the lower side of the fixed bracket through a spring and a spring adjustment rod and can slide up and down relative to the fixed bracket; the driving wheel is installed on the floating bracket, and the motor is also fixed on the floating bracket, and its output end is connected to the driving wheel through a reducer to provide kinetic energy for the driving wheel.

2. The differential drive mechanism of an independent suspension according to claim 1, characterized in that: The fixing bracket is arranged in an inverted L-shaped structure, and a mounting through hole is provided on its transverse wall, and is fixed to the bottom of the vehicle by bolts; the vertical wall in the fixing bracket is arranged in an inverted U-shape, and two mutually parallel vertical guide rail sliders are fixedly installed on its inner side surface.

3. The differential drive mechanism of an independent suspension according to claim 2, characterized in that: The floating bracket is arranged in an H shape, and two parallel guide rails matched with the guide rail slider are provided on the side facing the guide rail slider. The floating bracket is installed on the inner lower part of the fixed bracket through the cooperation between the guide rail and the guide rail slider; the floating bracket is facing away from the upper part of one side of the guide rail slider, and a horizontal mounting platform and an adjustment block are fixedly provided in sequence from top to bottom, and there are two adjustment blocks, which are respectively fixedly installed on the back sides of the corresponding guide rails, and two spring through holes are provided on the mounting platform; the above-mentioned driving wheel is installed on the lower surface of the mounting platform through a seat bearing.

4. The differential drive mechanism of an independent suspension according to claim 3, characterized in that: The above-mentioned springs and spring adjustment rods are each provided with two, and the springs are sleeved on the corresponding spring adjustment rods. The spring adjustment rods pass through the adjustment block and the mounting platform from bottom to top, and the upper ends thereof are fixed to the transverse walls of the fixed bracket, and the lower ends thereof are fixed by fastening nuts, and the fastening nuts are located below the adjustment block; the upper ends of the springs abut against the lower surface of the transverse walls of the fixed bracket, and the lower ends thereof abut against the upper end surface of the adjustment block.

5. The differential drive mechanism of an independent suspension according to claim 2, characterized in that: A reinforcing rib plate is provided on the outer side of the vertical wall in the fixing bracket.

6. The differential drive mechanism of an independent suspension according to claim 3, characterized in that: Limit blocks are fixedly installed at both upper and lower ends of the guide rail.

7. The differential drive mechanism of an independent suspension according to claim 1, characterized in that: The driving wheel is a rubber wheel.

8. The differential drive mechanism of an independent suspension according to claim 3, characterized in that: Two accommodating cavities are provided on the transverse wall of the fixing bracket, respectively corresponding to the positions directly above the two guide rails, and the width of the accommodating cavities is greater than the width of the guide rails.

9. A differential drive mechanism for an independent suspension according to any one of claims 1 to 8, characterized in that: When used, they are grouped in pairs, relying on the speed difference between the two motors to achieve turning and changing direction.

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