Heavy-load supporting mechanism of differential driving wheel

Abstract

The utility model provides a heavy load supporting mechanism of a differential driving wheel. The heavy load supporting mechanism comprises a wheel, two reduction gearboxes, two driving motors and a horizontal bearing part, the device further comprises a main shaft, a bearing and two vertical supporting plates. The two wheels are connected with the main shaft through bearings; the power output ends of the two planetary reduction gearboxes are fixedly connected with the two wheels respectively; the power output end of the driving motor is connected with the power input end of the reduction gearbox; one ends of the two vertical supports are fixedly connected to the main shaft, and the other ends of the two vertical supports are fixedly connected with the two ends of the horizontal bearing part so as to support the horizontal bearing part. According to the heavy-load supporting mechanism of the differential driving wheel, the heavy-load supporting capacity of the AGV and the adaptability and control precision of the AGV to the uneven ground are greatly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of steering wheel transmission, in particular to a heavy-load supporting mechanism of a differential drive wheel. Background Art

[0002] Automated Guided Vehicles (AGVs) are widely used in automated warehousing, cargo handling, and other fields. The differential drive wheel is one of the core components of an AGV. It generally consists of two wheels, a gearbox, and a drive motor that work with each wheel. The drive motor and gearbox independently drive each wheel forward or backward, and the speed difference between the two wheels is used to implement movement control commands such as turning, forward, and backward.

[0003] like Figure 1 and Figure 2 As shown, the structure of the differential drive wheel in the prior art generally includes a wheel 3, a gearbox 5, a drive motor 1, and a horizontal support plate 72; wherein the power output end of the gearbox 5 is connected to the wheel, and the power output end of the drive motor 1 is connected to the power input end of the gearbox 5 to drive the wheel to rotate. Due to structural limitations, the horizontal support plate 72 is fixedly overlapped on the upper end of the outer shell of the gearbox 5 to support the weight of the AGV trolley bottom plate and the cargo. In such a structure, the weight of the AGV trolley bottom plate and the cargo is all transferred to the outer shell of the gearbox 5 through the horizontal support plate 72. The reducer is a high-precision assembly with various bearings inside. The bearings have a certain axial clearance, which is prone to deformation when it bears a higher weight, causing the gear meshing clearance inside the reducer to also change, thereby affecting the torque output capacity of the reducer and even reducing the life of the reducer.

[0004] In addition, the differential drive wheel relies on the speed difference between the two wheels to achieve steering control. Figure 1 and Figure 2 In the differential drive wheel load-bearing structure shown, the horizontal load-bearing plate 72 is fixedly connected to the gearbox housing. When the differential drive wheel carries a heavy object and encounters an uneven ground environment, it may cause one wheel to leave the ground or there may be a gap between the wheel and the ground. This will not only affect the driving ability of the AGV, but also easily cause the wheel to idle and transmit erroneous control signals, thereby leading to misjudgment of the direction of travel and causing signal errors in automatic control.

[0005] In view of the above problems, there is an urgent need to provide a heavy-duty support mechanism that can improve the load-bearing capacity of the differential drive wheels and prevent one of the wheels from generating ground clearance on uneven roads, thereby affecting its driving ability and steering control accuracy. Utility Model Content

[0006] The purpose of the utility model is to provide a differential drive wheel heavy-load support mechanism which can improve the load-bearing capacity of the differential drive wheel.

[0007] Another object of the present invention is to provide a differential drive wheel heavy-load support mechanism that can improve adaptability on uneven roads and cornering control accuracy.

[0008] Another object of the present invention is to provide a differential drive wheel heavy-load support mechanism that is simple to assemble and has high component versatility.

[0009] To achieve the above-mentioned purpose, the heavy-load mechanism of the differential drive wheel provided by the utility model includes two wheels, two reduction gears, two drive motors, and a horizontal load-bearing part: it also includes a main shaft, bearings and two vertical support plates; the two wheels are connected to the main shaft through bearings; the power output ends of the two reduction gears are fixedly connected to the two wheels respectively; the power output ends of the two drive motors are connected to the power input ends of the two reduction gears to drive the wheels to rotate; one end of the two vertical support plates is fixedly connected to the main shaft, and the other end is fixedly connected to the two ends of the horizontal load-bearing part to support the horizontal load-bearing part.

[0010] In addition, the upper end surface of the horizontal load-bearing part is provided with a hinge mechanism, and the hinge mechanism provides a direction-variable upward supporting force to the vehicle floor.

[0011] In summary, the present invention utilizes wheels 3, spindle 4, and vertical supports 6 to provide upward support. This improves the differential drive wheels' heavy-load support capacity, freeing them from being limited by the mechanical strength of the gearbox housing. Furthermore, it prevents damage to the gearbox caused by heavy loads. The gearbox no longer bears the weight of the heavy cargo in addition to its own weight, significantly reducing the probability of damage and, under the same conditions, lowering manufacturing costs. Furthermore, when the AGV chassis supports a heavy object, the chassis can pivot along its axis because it is hingedly connected to the horizontal load-bearing portion. If the ground is uneven, the horizontal load-bearing portion's force direction is variable, and the angle between the horizontal load-bearing portion and the ground automatically changes depending on the terrain. Consequently, the two differential drive wheels ultimately bearing the pressure automatically maintain contact with the ground, preventing one of the differential drive wheels from spinning off the ground. This significantly improves the differential drive wheels' adaptability to uneven surfaces and enhances cornering accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a schematic diagram of the differential drive wheel support structure in the prior art;

[0013] Figure 2 It is a cross-sectional view of the differential drive wheel structure in the prior art;

[0014] Figure 3 A cross-sectional view of an embodiment of the present utility model;

[0015] Figure 4 This is a schematic diagram of the main structure of the load-bearing structure of the utility model.

[0016] Figure 5 This is a schematic diagram of the partial structure of the inverted triangle structure and the limiting portion of the load-bearing structure of this practical embodiment;

[0017] Explanation of symbols: 1 driving motor; 2 bearing; 3 wheel; 4 main shaft; 5 reduction gearbox; 6 vertical support plate; 61 third vertical support plate; 7 horizontal load-bearing part; 71 triangular structure; 72 horizontal load-bearing plate; 73 crossbeam; 9 limiting part; 10 inverted triangular structure; DETAILED DESCRIPTION

[0018] The following is a detailed description of a preferred embodiment of the present invention:

[0019] like Figures 3 to 5 The embodiment shown provides a heavy-duty support mechanism for differential drive wheels. Figure 3 A cross-sectional view of an embodiment of the present utility model; Figure 4 This is a schematic diagram of the main structure of the load-bearing structure of the utility model. Figure 3 and Figure 4 As shown, the heavy-load support mechanism of the differential drive wheel of the present invention includes two wheels 3, two reduction gearboxes 5, two drive motors 1, and a horizontal load-bearing part 7; the present invention also includes a main shaft 4, bearings 2 and two vertical support plates 6; the two wheels 3 are connected to the main shaft 4 through the bearings 2; the two wheels 3 are mounted on the main shaft 4 to support the main shaft 4 in the vertical direction.

[0020] The power output end of the driving motor 1 is connected to the power input end of the reduction gearbox 5; the power output end of the reduction gearbox 5 is fixedly connected to the wheel 3 to drive the wheel 3 to rotate.

[0021] One end of each of the two vertical support plates 6 is fixedly connected to the main shaft 4, and the other end is fixedly connected to both ends of the horizontal load-bearing portion 7 to support the horizontal load-bearing portion 7. The reduction gearbox 5 can be a parallel shaft reduction gearbox or a planetary reduction gearbox, or a combination of a parallel shaft reduction gearbox and a planetary reduction gearbox. The function of the reduction gearbox is to convert the high-speed rotation of the rotor in the drive motor into a controllable low-speed rotation and provide power output. The combination used can be based on the limitations of the differential drive wheel and other cooperating components and mechanisms.

[0022] In the present invention, upward support is provided by wheels 3, spindle 4, and vertical support plates 8. This, on the one hand, improves the differential drive wheel's heavy-load bearing capacity. The differential drive wheel's load-bearing capacity is no longer limited by the mechanical strength of the gearbox housing and the precision control of the gearbox itself. Furthermore, the gearbox no longer bears heavy loads other than its own weight, significantly reducing the probability of gearbox damage and, under the same conditions, lowering manufacturing costs.

[0023] In addition, if Figure 4 As shown, the heavy-load support mechanism for the differential drive wheel of the present invention can be provided with a groove at the upper end of the vertical support plate 6, and the end surface of the horizontal load-bearing portion 7 is configured in a T-shape. The T-shaped protrusion of the horizontal load-bearing portion 7 forms a beam 73, which is embedded in the groove. This structure is very simple to assemble, and the presence of beam 73 greatly increases the shear force that the horizontal load-bearing portion can withstand in the vertical direction, significantly improving the load-bearing capacity of the horizontal load-bearing portion 7 and the differential drive wheel as a whole.

[0024] like Figure 4 As shown, the heavy-load support mechanism for the differential drive wheel of the present invention further includes a third vertical support plate 61; the third vertical support plate 61 is disposed between the two vertical support plates 6. Preferably, the two vertical support plates 6 can be disposed at both ends of the main shaft 4, and the third vertical support plate 61 is disposed in the middle of the main shaft 4. This structure shortens the horizontal span of the support mechanism and can improve the heavy-load support capacity of the differential drive wheel.

[0025] In addition, if Figure 4 As shown, a through hole can be provided at the lower end of the vertical support plate 6; the lower end of the vertical support plate 6 is sleeved onto the main shaft 4 through the through hole; the lower end of the vertical support plate 6 is arc-shaped. This structure not only strengthens the connection between the vertical support plate 6 and the main shaft, but also simplifies assembly. In addition, the arc-shaped lower end of the vertical support plate 6 avoids mechanical interference, improves the passability of AGVs of the same size, and is more beneficial to improving the overall performance of the AGV.

[0026] In addition, a through hole with a rectangular cross-section can be opened at the lower end of the vertical support plate 6. Correspondingly, the corresponding position on the main shaft 4 can be set to a rectangular cross-section shape so that the main shaft can be sleeved in the through hole. The structure is more stable, and relative rotation is not likely to occur between the two, making it easier to assemble.

[0027] like Figure 3 or Figure 4As shown, the upper end surface of the horizontal load-bearing portion 7 is provided with an articulated mechanism, which provides a variable upward support force to the AGV vehicle floor through the articulated mechanism. In this embodiment, the articulated structure is embodied in the horizontal load-bearing portion 7 as a through-hole. This through-hole is part of the hinge, and the other part is the shaft that runs through the through-hole and is connected to the upper load-bearing mechanism (for example, the AGV vehicle floor) (not shown in the figure).

[0028] In addition, if Figure 3 and Figure 4 As shown, the upper end surface of the horizontal load-bearing portion 7 protrudes upward, forming a triangular structure 71 with its base positioned downward. A hinge hole is provided at the top of the triangular structure 71. This upwardly protruding triangular structure provides a more stable support structure for the differential drive wheel and avoids mechanical interference during assembly, making assembly easier.

[0029] It can be understood that when the AGV trolley bottom plate bears heavy objects, since the AGV trolley bottom plate is connected to the horizontal load-bearing part 7 by a hinged manner, the AGV trolley bottom plate can rotate along the axis. If the ground is uneven, at this time, since the force direction of the horizontal load-bearing part 7 is variable, the angle between the horizontal load-bearing part 7 and the ground will automatically change due to the terrain. Therefore, the two differential drive wheels that ultimately bear the pressure will automatically maintain contact with the ground, thereby avoiding one of the differential drive wheels from spinning off the ground, greatly improving the adaptability of the differential drive wheels to uneven ground and the accuracy of turning control.

[0030] like Figure 5 As shown, the heavy-load support mechanism for the differential drive wheels of the present invention further comprises an AGV chassis hinge portion, which engages with the hinge hole on the upper portion of the horizontal load-bearing portion 7 and is formed into an inverted triangular structure 10 with the bottom edge positioned upward. This structure allows the AGV chassis to have a greater swing amplitude under the same conditions, thereby improving the support performance of the differential drive wheels.

[0031] Furthermore, two limiters 9 can be provided on the end surface of the horizontal load-bearing portion 7, located on either side of the hinge mechanism's rotatable direction. This can limit the swing amplitude of the AGV's floor, preventing the impact of the heavy load's excessive inertia on the AGV's structure and reducing the probability of heavy loads toppling over due to severely uneven ground.

[0032] Furthermore, the sides of the two limiting portions 9 facing the inverted triangle are inclined surfaces; these inclined surfaces are configured so that when the inverted triangle structure 10 is swung to its maximum angle, they are substantially parallel to one side of the inverted triangle structure 10. The use of an inclined surface structure can reduce pressure per unit area, improve the blocking effect, and alleviate the pressure shock to the AGV components caused by the tilting of heavy loads.

[0033] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications or equivalent substitutions made within the spirit and principles of the present invention shall be included in the scope of protection of the present invention.

Claims

1. A heavy-load support mechanism for a differential drive wheel, comprising two wheels (3), two reduction gearboxes (5), two drive motors (1), and a horizontal load-bearing portion (7), characterized in that: The invention also includes a main shaft (4), a bearing (2) and two vertical support plates (6); the two wheels (3) are connected to the main shaft (4) through the bearing (2); the power output ends of the two reduction gearboxes (5) are fixedly connected to the two wheels (3) respectively; the power output ends of the two drive motors (1) are connected to the power input ends of the two reduction gearboxes (5) to drive the wheels (3) to rotate; one end of the two vertical support plates (6) is fixedly connected to the main shaft (4), and the other end is fixedly connected to the two ends of the horizontal load-bearing part (7) to support the horizontal load-bearing part (7).

2. The heavy-load support mechanism for the differential drive wheel according to claim 1, characterized in that: A groove is provided at the upper end of the vertical support plate (6), and the end surface of the horizontal load-bearing portion (7) is T-shaped; the T-shaped protruding portion of the horizontal load-bearing portion (7) is embedded in the groove.

3. The heavy-load support mechanism for the differential drive wheel according to claim 2, characterized in that: It comprises a third vertical support plate (61); the third vertical support plate (61) is arranged in the middle of the two vertical support plates (6).

4. The heavy-load support mechanism for the differential drive wheel according to claim 1, characterized in that: The lower end of the vertical support plate (6) is provided with a through hole; the lower end of the vertical support plate (6) is sleeved on the main shaft (4) through the through hole; the lower end of the vertical support plate (6) is in an arc shape.

5. The heavy-load support mechanism for the differential drive wheel according to claim 4, characterized in that: The through hole is a rectangular hole; the cross section at the position corresponding to the main axis is a rectangle matching the through hole.

6. The heavy-load support mechanism for the differential drive wheel according to claim 1, characterized in that: The upper end surface of the horizontal load-bearing part (7) is provided with a hinge mechanism, and the hinge mechanism provides a direction-variable upward supporting force to the vehicle floor.

7. The heavy-load support mechanism for the differential drive wheel according to claim 6, characterized in that: The upper end surface of the horizontal load-bearing portion (7) protrudes upward to form a triangular structure (71) with its base located below, and a hinge hole is provided at the top of the triangular structure (71).

8. The heavy-load support mechanism for the differential drive wheel according to claim 7, characterized in that: The vehicle floor hinge portion matched with the hinge hole is an inverted triangle structure (10) with the bottom edge located at the top.

9. The heavy-load support mechanism for the differential drive wheel according to claim 8, characterized in that: Two limiting portions (9) are provided on the end surface of the horizontal load-bearing portion (7), and the limiting portions (9) are located on both sides of the rotatable direction of the hinge mechanism.

10. The heavy-load support mechanism for the differential drive wheel according to claim 9, characterized in that: The side surfaces of the two limiting portions (9) facing the inverted triangle structure (10) are inclined surfaces; when the inverted triangle structure (10) swings to a maximum angle, the inclined surfaces are substantially parallel to one side surface of the inverted triangle structure (10).

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