Miniaturized differential driving wheel

Abstract

The utility model provides a miniaturized differential driving wheel. The miniaturized differential driving wheel comprises two driving motors, two reduction gearboxes and two wheels, the two driving motors are connected with the two reduction gearboxes respectively, and the two reduction gearboxes are fixedly connected with the two wheels respectively so as to drive the two wheels to rotate independently. The device further comprises a fixed bearing device. The two wheels are adjacent and oppositely arranged in parallel, and the two reduction gearboxes are arranged on the outer side faces of the two wheels respectively. The length direction of the two driving motors is perpendicular to the length direction of the reduction gearbox, the two driving motors extend in the direction of the inner sides of the wheels, the two driving motors are fixed to the reduction gearbox, and the fixed bearing device is arranged above the wheels. According to the differential driving wheel, the turning radius of the wheel is shortened, the turning control response speed of the differential driving wheel is improved, and energy consumption is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of steering wheel transmission, in particular to a miniaturized 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 As shown, a differential drive wheel generally includes two wheels 4, two gearboxes 2, two drive motors 1, a fixed load-bearing device 5, and a slewing support 3. The two wheels 4 are arranged parallel and on the outermost sides; the power output of the gearbox 2 is fixedly connected to the two wheels 4 to drive the wheels 4 to rotate; the housing of the drive motor 1 is fixedly connected to the housing of the gearbox 2, and the power output of the drive motor 1 is fixedly connected to the power input of the gearbox 2; the fixed load-bearing device 5 is fixedly connected to the housing of the reduction gearbox 2, which supports the weight and forms a gravity-bearing mechanism with the two wheels 4 as support points. The slewing support 3 is mounted on the fixed load-bearing device 5 and connected to the AGV control system. The two drive motors 1 and gearbox 2 are arranged in a staggered manner relative to each other to facilitate the installation and fixation of these mechanisms in a small space. This differential drive wheel structure can achieve functions such as gravity load-bearing and traction, 360-degree turning, and various control functions of the AGV are achieved through control and feedback of the power output of the drive motors.

[0004] In the above mechanism, the two wheels are located at the outermost sides of the differential drive wheel structure, and the distance between the two wheels is the largest. This brings a series of disadvantages, including increasing the installation space limit of the slewing bearing. The larger the distance between the two wheels, the larger the turning radius, which is not conducive to improving the maneuverability of the AGV. In addition, the larger the distance between the two wheels, the slower the steering speed response of the differential drive wheel for the same angle, and the higher the power consumption required. In addition, the wheels are installed on both sides and mainly rely on the reduction gearbox to support gravity. The larger the distance between the two wheels, the smaller the shear force they can withstand. The reduction gearbox is a complex and high-precision precision component, which limits the load-bearing capacity of the differential drive wheel. Under the same load conditions, the reduction gearbox with this structure is more susceptible to damage.

[0005] In view of the above problems, it is urgent to provide a differential drive wheel structure that can avoid the above disadvantages. Utility Model Content

[0006] The purpose of the utility model is to provide a miniaturized differential drive wheel with a small turning radius and a smaller overall volume.

[0007] Another object of the present invention is to provide a miniaturized differential drive wheel with low energy consumption and higher load-bearing capacity.

[0008] Another object of the present invention is to provide a miniaturized differential drive wheel that is easy to assemble and control.

[0009] To achieve the above-mentioned purpose, the miniaturized differential drive wheel provided by the utility model includes two drive motors, two reduction gears, and two wheels; the power output ends of the two drive motors are respectively connected to the power input ends of the two reduction gears, and the power output ends of the two reduction gears are respectively fixedly connected to the power input ends of the two wheels to drive the two wheels to rotate independently; it also includes a fixed bearing device; the two wheels are adjacent and parallel to each other, the two reduction gears are respectively arranged on the outer side surfaces of the two wheels and the length direction of the reduction gears is parallel to the side surfaces of the wheels, the power output end of the reduction gears faces the side surfaces of the wheels and is connected to the wheels to drive the wheels to rotate; the length direction of the two drive motors is perpendicular to the length direction of the reduction gears and extends toward the inner side of the wheels, the housings of the power output end portions of the two drive motors are fixed on the housings of the power input end portions of the reduction gears, and the fixed bearing device is arranged above the wheels and uses the two wheels as support points to form a gravity bearing mechanism.

[0010] Preferably, the main body of the fixed bearing device is a horizontal bearing plate; both ends of the horizontal bearing plate are fixedly connected to the outer shells of the two reduction gearboxes respectively.

[0011] Preferably, the fixed bearing device includes a main shaft, at least two vertical support plates and a horizontal bearing plate; the two wheels are connected to the main shaft through bearings; the lower ends of the two vertical support plates are fixedly connected to the main shaft, and the upper ends are respectively connected to the two ends of the fixed horizontal bearing plate to form a gravity bearing mechanism.

[0012] Preferably, the connection parts between the two vertical support plates and the main shaft are located on the outsides of the two wheels.

[0013] In summary, the present invention positions the two wheels at the center of the differential drive system, minimizing the distance between them. This shortens the differential drive's rotation radius and reduces the vehicle's bulk. For the same steering angle, the differential drive wheels require a smaller rolling distance, resulting in faster steering response and lower energy consumption. Furthermore, the two-wheel-centered mechanism provides a more balanced and stable load on the differential drive, significantly reducing the effects of inertia and making it easier to control the steering and stability of the differential drive. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the differential drive wheel support structure in the prior art;

[0015] Figure 2 This is a top view of the structure of the first embodiment of the present utility model;

[0016] Figure 3 This is a schematic diagram of the partial assembly structure of the second embodiment of the present utility model;

[0017] Figure 4 Schematic diagram of the fixed supporting device in the second embodiment of the present invention.

[0018] Explanation of symbols: 1 driving motor; 2 reduction gearbox; 4 wheels; 5 fixed bearing device; 21 power input end of reduction gearbox; 22 power output end of reduction gearbox; 11 power output end of driving motor; 51 main shaft; 52 vertical support plate; 53 horizontal bearing plate; DETAILED DESCRIPTION

[0019] The following is a detailed description of the preferred embodiment of the present invention. In order to more clearly and concisely explain the technical solution of the present invention, we first define the terms used in the following description. Figure 2 As shown, the two wheels are adjacent and parallel to each other, with the middle position C of the center line AA between the two wheels as the reference point. The direction close to the reference point C is called the inner side of the wheel, and the direction away from the reference point C is called the outer side of the wheel. In addition, the surface perpendicular to the forward or backward direction BB of the wheel is the front face of the wheel, and the two surfaces parallel to the forward or backward direction BB of the wheel are the side faces of the wheel. Figure 2 In the embodiment, the side surfaces of the two wheels 4 correspond to each other.

[0020] Figure 2 This is a top view of the structure of the first embodiment of the present utility model. Figure 2 As shown, the miniaturized differential drive wheel mechanism of the present invention includes two drive motors 1, two reduction gearboxes 2, and two wheels 4; the power output ends 11 of the two drive motors 1 are respectively connected to the power input ends 21 of the two reduction gearboxes, and the power output ends 22 of the two reduction gearboxes 2 are respectively fixedly connected to the power input ends of the two wheels 1 to drive the two wheels 4 to rotate independently; and also includes a fixed bearing device 5 ( Figure 2 Not shown, please refer to Figure 1The two wheels 4 are adjacent and parallel to each other, the two reduction gears 2 are respectively arranged on the outer side surfaces of the two wheels 4 and the length direction of the reduction gears (i.e., the BB direction) is parallel to the side surfaces of the wheels, the power output end 22 of the reduction gear 2 is facing the side surfaces of the wheels and is connected to the wheels 4 to drive the wheels 4 to rotate; the length directions of the two drive motors 1 are perpendicular to the length direction of the reduction gear 2 and extend toward the inner side of the wheels 4, the housings of the power output ends 11 of the two drive motors 1 are fixed to the housings of the power input ends 21 of the reduction gear 2, the fixed bearing device 5 is arranged above the wheels and uses the two wheels 4 as support points to form a gravity bearing mechanism.

[0021] It is understandable that the reduction box (also known as the gearbox) is used to convert the high speed of the drive motor rotor into a low-speed power output that can be precisely controlled. At present, there are generally two types of reduction box structures, including planetary reduction boxes and parallel shaft reduction boxes. Both can be used alone or in combination (taking into account the specific mechanism limitations of use), and most of them have a rectangular or cube structure. The present invention is described using a roughly rectangular drive motor and a gearbox as an example. The focus of the present invention is not on the specific shape or structure of the reduction box or the drive motor. The length direction of the drive motor and the length direction of the reduction box described in the above description are intended to illustrate that the drive motor and the reduction box are both set and arranged around the two wheels as the center to maximize the use of space. The core is that the two wheels are arranged adjacent to each other in parallel and relative to each other, and the space is effectively used to make the overall volume of the differential drive wheel smaller.

[0022] Furthermore, the fixed support device 5 is positioned above the wheels, with the two wheels 4 serving as support points to form a gravity-supporting mechanism. The fixed support device 5 can be directly or indirectly connected to the wheels or to related accessories. The two wheels provide support and are driven by a drive motor to power the AGV. As described in the following embodiments, the fixed support device 5 can take various structural forms.

[0023] The miniaturized differential drive wheel of this utility model positions two wheels at the center of the differential drive wheel assembly, minimizing the distance between the two wheels. This shortens the differential drive wheel's rotation radius and reduces the vehicle's body size. For the same steering angle, the differential drive wheel requires a smaller rolling distance, resulting in faster steering response and lower energy consumption. Furthermore, the two-wheel-centered mechanism ensures a more balanced and stable load on the differential drive wheel, effectively overcoming the effects of inertia and making it easier to control the steering and stability of the differential drive wheel.

[0024] Figure 2Another embodiment of the present invention is also shown. The main body of the fixed bearing device 5 is a horizontal bearing plate; the two ends of the horizontal bearing plate are fixedly connected to the outer shells of the two reduction gearboxes 2 respectively. Figure 2 In the embodiment, the ends of the power output ends 21 of the two reduction gearboxes 2 are provided with screw holes 23, and the ends of the horizontal bearing plates are provided with matching screw holes, and the horizontal bearing plates ( Figure 2 The two ends of the horizontal bearing plate (not shown) are connected and fixed to the outer shell of the power output end of the two reduction gearboxes 2 to form a gravity bearing mechanism.

[0025] The above embodiment utilizes the outer shell of the reduction gearbox as a support, thereby simplifying and minimizing the structure of the differential drive wheel, thereby reducing the manufacturing cost of the differential drive wheel. The differential drive wheel is particularly suitable for differential drive wheels that have low load requirements but high requirements for miniaturization and flexible control, such as automated sorting and transportation equipment used in automated warehousing of small items.

[0026] Figure 3 and Figure 4 The second embodiment of the present invention is shown. In this embodiment, the fixed bearing device 5 of the differential drive wheel includes a main shaft 51, at least two vertical support plates 52 and a horizontal bearing plate 53; the two wheels 4 are connected to the main shaft 51 through bearings (bearings not shown in the figure); the lower ends of the two vertical support plates 52 are fixedly connected to the main shaft 51, and the upper ends are respectively connected to the two ends of the fixed horizontal bearing plate 53 to form a gravity bearing mechanism. The connection between the two vertical support plates 52 and the main shaft (51) is located on the outside of the two wheels 4. In this structure, the housing and power output end of the reduction gearbox are also mounted on the main shaft through bearing sleeves, but the power output end of the reduction gearbox is fixed to the wheels and rotates relative to the main shaft.

[0027] In this structure, the weight of the heavy load is directly transferred to the wheels via the main shaft, freeing the gearbox from external forces. This significantly improves the load capacity of the differential drive wheels, making them particularly suitable for AGVs with demanding load capacities. On the one hand, the small distance between the two wheels results in a smaller turning radius, greater flexibility, and easier control. On the other hand, driving or towing heavy loads consumes more energy. The differential drive wheels of this utility model, with their smaller wheelbase, facilitate steering. For the same steering angle, they travel a shorter distance, requiring less energy.

[0028] 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 miniaturized differential drive wheel, comprising two drive motors (1), two reduction gearboxes (2), and two wheels (4); the power output ends (11) of the two drive motors (1) are respectively connected to the power input ends (21) of the two reduction gearboxes, and the power output ends (22) of the two reduction gearboxes (2) are respectively fixedly connected to the power input ends of the two wheels (4) to drive the two wheels (4) to rotate independently; characterized in that The invention also includes a fixed bearing device (5); the two wheels (4) are adjacent and parallel to each other, the two reduction gearboxes (2) are respectively arranged on the outer side surfaces of the two wheels (4) and the length direction of the reduction gearboxes is parallel to the side surfaces of the wheels, the power output end (22) of the reduction gearbox (2) faces the side surfaces of the wheels and is connected to the wheels (4) to drive the wheels (4) to rotate; the length directions of the two driving motors (1) are perpendicular to the length direction of the reduction gearbox (2) and extend toward the inner side of the wheels (4), the housings of the power output end (11) of the two driving motors (1) are fixed to the housing of the power input end (21) of the reduction gearbox (2), and the fixed bearing device (5) is arranged above the wheels and uses the two wheels (4) as support points to form a gravity bearing mechanism.

2. The miniaturized differential drive wheel according to claim 1, characterized in that: The main body of the fixed bearing device (5) is a horizontal bearing plate; the two ends of the horizontal bearing plate are respectively fixedly connected to the outer shells of the two reduction gearboxes (2).

3. The miniaturized differential drive wheel according to claim 1, characterized in that: The fixed bearing device (5) comprises a main shaft (51), at least two vertical support plates (52) and a horizontal bearing plate (53); the two wheels (4) are connected to the main shaft (51) through bearings; the lower ends of the two vertical support plates (52) are fixedly connected to the main shaft (51), and the upper ends are respectively connected to the two ends of the fixed horizontal bearing plate (53) to form a gravity bearing mechanism.

4. The miniaturized differential drive wheel according to claim 3, characterized in that: The connection parts between the two vertical support plates (52) and the main shaft (51) are located outside the two wheels (4).

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