Differential driving wheel with high trafficability

Abstract

The utility model provides a differential driving wheel with high trafficability. The differential driving wheel comprises two driving motors, two reduction gearboxes and two wheels, the power output ends of the two driving motors are connected with the power input ends of the two reduction gearboxes respectively, and the power output ends of the two reduction gearboxes are fixedly connected with the power input ends of the two wheels respectively so as to drive the two wheels to rotate independently. The power input end and the power output end of the reduction gearbox are not located on the same horizontal plane, and the position of the power input end in the vertical direction is higher than the position of the power output end in the vertical direction. A shell of the power output end of the driving motor is fixed to a shell of the power input end of the reduction gearbox, and the length direction of the driving motor is parallel to the axis of the two wheels. The differential driving wheel disclosed by the utility model has excellent trafficability under the same condition and can adapt to more ground environments.

Description

Technical Field

[0001] The utility model relates to the technical field of steering wheel transmission, in particular to a differential drive wheel with high passability. 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 3, two reduction gearboxes 2, two drive motors 1, a fixed support device 5, and a slewing bearing fixed to the support device 5. The two wheels 4 are arranged in parallel and located at the outermost sides of the differential drive wheel; the centerline of the reduction gearbox 2 is aligned with the center of the two wheels 3; one end of the reduction gearbox 2 is fixedly connected to the drive motor 1 to drive the wheels 3; the housing of the drive motor 1 is fixedly connected to the housing of the gearbox 2 and is parallel to the ground.

[0004] Differential drive wheels are typically fixed to the underside of the AGV's floor to support and traction the vehicle. Typically, considering technical considerations such as stability, support, and control flexibility, the differential drive wheel structure tends to be smaller. A significant drawback of the aforementioned differential drive wheel structure is poor ground clearance. In other words, even the slightest unevenness can cause the bottom of the reduction gearbox or drive motor to contact the ground, preventing it from moving.

[0005] In view of the above problems, it is urgent to provide a differential drive wheel structure with high passability. Utility Model Content

[0006] The purpose of the utility model is to provide a differential drive wheel with high passability.

[0007] To achieve the above-mentioned purpose, the high-passability 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; the power input end and the power output end of the reduction gear are not on the same horizontal plane and the position of the power input end in the vertical direction is higher than the position of the power output end in the vertical direction; the outer casing of the power output end of the drive motor is fixed on the outer casing of the power input end of the reduction gear, and the length direction of the drive motor is parallel to the axial center line of the two wheels.

[0008] Preferably, the two wheels of the differential drive wheel of the present invention are arranged side by side and adjacent to each other; the two reduction gearboxes are respectively arranged on the outside of the two wheels; and the power output ends of the two reduction gearboxes are respectively connected and fixed to the outer side surfaces of the two wheels.

[0009] Preferably, the length directions of the two reduction gearboxes of the differential drive wheel of the present invention are centered on the position of the central axes of the two wheels, and extend to the left and right respectively in the horizontal direction; the length directions of the two drive motors are perpendicular to the length direction of the reduction gearboxes, and extend toward the inner sides of the two wheels.

[0010] Preferably, the differential drive wheel of the present invention further includes a horizontal bearing plate; part or all of the upper portion of the outer shell of the power output end of the two reduction gearboxes is set as a horizontal end surface; and both ends of the horizontal bearing plate are respectively connected and fixed to the horizontal end surface.

[0011] Preferably, the upper portion of the outer shell of the power output end of the two reduction gearboxes of the differential drive wheels of the present invention is configured as a horizontal end surface including a groove, and the lower portion of the horizontal bearing plate is provided with a protrusion that cooperates with the groove; the protrusion is embedded in the groove.

[0012] Preferably, the differential drive wheel of the present invention also includes a horizontal bearing plate, a main shaft, and at least two vertical support plates; the two wheels are mounted on the main shaft through bearing sleeves; the lower ends of the two vertical support plates are fixedly connected to the main shaft, and the two ends of the horizontal bearing plate are respectively overlapped and fixed with the upper ends of the two vertical support plates.

[0013] Preferably, the center lines of the two reduction gearboxes of the differential drive wheels of the present invention in the length direction form an angle of 30 degrees to 60 degrees with the vertical direction.

[0014] In summary, the present invention elevates one end of the reduction gearbox and connects the other end to the center of the wheel. The drive motor is fixedly connected to the elevated end of the reduction gearbox. This structural arrangement significantly improves the differential drive wheel's maneuverability. Furthermore, the addition of a central shaft enhances the differential drive wheel's load-bearing capacity. Furthermore, in some embodiments, the two wheels are positioned side by side, with the reduction gearbox and vertical support plate positioned outside the two wheels. This shortens the distance between the two wheels, making the differential drive wheel more flexible and sensitive in turning, while also reducing energy consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A schematic diagram of a differential drive wheel mechanism in the prior art;

[0016] Figure 2 This is a schematic diagram of the mechanism of the first embodiment of the present utility model;

[0017] Figure 3 This is a schematic diagram of the mechanism of the second embodiment of the present utility model;

[0018] Figure 4 This is a schematic diagram of the mechanism of the third embodiment of the present utility model.

[0019] Explanation of symbols: 1 driving motor; 2 reduction gearbox; 3 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; 4 main shaft; 6 vertical support plate; 5 horizontal bearing plate; DETAILED DESCRIPTION

[0020] 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 center point o between the two wheels 3 is the coordinate origin. The OA direction is parallel to the center axis of the two wheels 3, the OC direction is perpendicular to the OA direction, and the plane of the COA is parallel to the ground. The direction OB, perpendicular to the COA plane, is the vertical direction. Along the OA direction, the side away from the origin O is the outer side of the wheel 3, and the side closer to the origin O is the inner side of the wheel 3. Viewing the wheel 3 from the OC direction is the front side of the wheel 3, and viewing the wheel 3 from the OA direction is the side side of the wheel 3. The following description uses this coordinate system as a reference standard for orientation and relative position.

[0021] like Figure 2As shown, the high-passability differential drive wheel of the present invention includes two drive motors 1, two reduction gearboxes 2, and two wheels 3; 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 2, 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 3 to drive the two wheels 3 to rotate independently; the power input end 21 and the power output end 22 of the reduction gearbox 2 are not on the same horizontal plane, and the power input end 21 is higher than the power output end 22 in the vertical direction; the vertical direction is the OB direction. The housing of the power output end of the drive motor 1 is fixed to the housing of the power input end 21 of the reduction gearbox 2, and the length direction of the drive motor 1 is parallel to the axis of the two wheels 3.

[0022] It should be understood that the reduction gearbox (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 gearbox structures, including planetary reduction gearboxes and parallel shaft reduction gearboxes. 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 utility model is described using a roughly rectangular drive motor and a gearbox as an example. The focus of the present utility model is not on the specific shape or structure of the reduction gearbox or the drive motor. The length direction of the drive motor and the length direction of the reduction gearbox described in the above description are to illustrate the setting orientation of the reduction gearbox in space and the connection structure of other related components. The core is to raise the ground clearance of components other than wheels, effectively utilize space, and improve the passability of differential drive wheels.

[0023] It should also be noted that in Figure 2 In the illustrated mechanism, the power output end 22 of the reduction gearbox 2 is connected to the outer sides of the wheels 3, placing the two wheels 3 adjacent and side by side. This is a preferred mechanism. This minimizes the spacing between the two wheels 3, resulting in a smaller turning radius. For the same turning angle, the two wheels 3 travel a shorter distance, making control more flexible. Furthermore, the smaller span between the two wheels provides greater support, improving the load-bearing capacity of the differential drive wheels. It is understood that, as an adjustable embodiment, the power output end 22 of the reduction gearbox 2 can also be connected to the inner sides of the wheels 3, similarly improving the differential drive wheels' maneuverability.

[0024] exist Figure 2 The mechanism shown also includes a main shaft 4 and a horizontal bearing plate 5. The vertical support plate 6 connected between the horizontal bearing plate 5 and the main shaft 4 is not shown in order to clearly show the connection relationship and position relationship between the reduction box 2, the drive motor 1 and the wheel 3. It should also be understood that the embodiment of the invention is Figure 2 The main shaft 4 and the vertical support plate 6 ( Figure 2The components (not shown) are not essential to this embodiment. Of course, the mechanism using the main shaft 4, vertical support plate 6, and horizontal bearing plate 5 in conjunction can significantly increase the load-bearing capacity of the differential drive wheels. The specific mechanism will be described in Example 3, and only a brief description is provided here.

[0025] like Figure 2 As shown, the lengths of the two reduction gearboxes 2 are centered on the central axes of the two wheels 3 and extend horizontally to the left and right, respectively. The lengths of the two drive motors 1 are perpendicular to the lengths of the reduction gearboxes 2 and extend inwardly of the two wheels 3. This structure effectively utilizes space, making the overall volume of the differential drive wheel smaller and meeting miniaturization requirements.

[0026] The high-passability differential drive wheel of this utility model raises one end of the reduction gearbox and the drive motor connected to it, thereby increasing ground clearance. Thus, when encountering uneven ground conditions, as long as the wheel can pass, all other components will be raised along with the wheel as it moves, and other components will not conflict or interfere with the ground in the horizontal direction, thereby improving the passability of the differential drive wheel.

[0027] Figure 3 The second embodiment of the present invention is shown. The present invention provides a high-passage differential drive wheel, further comprising a horizontal bearing plate 5; a portion or all of the upper portion of the housing of the power output end 22 of the two reduction gearboxes 2 is configured as a horizontal end surface; and both ends of the horizontal bearing plate 5 are respectively connected and fixed to the horizontal end surface. Figure 3 In the embodiment, the housing of the power output end 22 of the reduction gearbox 2 extends upward by a distance to better support the horizontal load plate 5 and avoid mechanical interference. In this embodiment, the housing of the reduction gearbox 2 participates in the load-bearing process, which can make the differential drive wheel more compact, with fewer components, thus reducing costs and making the operation more flexible.

[0028] As a more optimal design, the upper portion of the housing of the power output end 22 of the two reduction gearboxes 2 is configured as a horizontal end surface including a groove, and the lower portion of the horizontal support plate 5 is provided with a protrusion that mates with the groove; the protrusion is embedded in the groove. This structure can minimize the compression deformation of the reduction gearbox 2 caused by the load, preventing damage to the reduction gearbox 2 components due to pressure deformation.

[0029] The above embodiment utilizes the housing of the reduction gearbox as a support, thereby improving the passability of the differential drive wheel while 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.

[0030] Figure 4 FIG3 shows a third embodiment of the present invention. In order to clearly illustrate the relevant structure, one of the drive motors 1 is omitted. Figure 4 As shown, the high-passability differential drive wheel of the utility model further includes a horizontal bearing plate 5, a main shaft 4, and at least two vertical support plates 6; the two wheels 3 are mounted on the main shaft 4 via bearing sleeves; the lower ends of the two vertical support plates 6 are fixedly connected to the main shaft 4, and the two ends of the horizontal bearing plate 5 are respectively overlapped and fixed to the upper ends of the two vertical support plates 6. The upper portion of the vertical support plate 6 can also be configured to have a groove structure similar to the power output end 22 of the reduction gearbox 2 in the second embodiment. The differential drive wheel of this embodiment, while improving the passing capacity of the differential drive wheel, can also improve the load-bearing capacity of the differential drive wheel due to the structure of the main shaft 4 and the vertical support plates 6 jointly supporting the horizontal bearing plate 5.

[0031] In addition, as a preferred embodiment, the longitudinal centerlines of the two reduction gearboxes 2 form an angle of 30 to 60 degrees with the vertical. This arrangement improves the balance of the differential drive wheels and makes them easier to control. More preferably, the longitudinal centerlines of the two reduction gearboxes 2 form an angle of 30 degrees with the vertical.

[0032] 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.

[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 high-passability differential drive wheel, comprising two drive motors (1), two reduction gearboxes (2), and two wheels (3); 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 (2), 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 (3) to drive the two wheels (3) to rotate independently; characterized in that The power input end (21) and the power output end (22) of the reduction box (2) are not on the same horizontal plane, and the position of the power input end (21) in the vertical direction is higher than the position of the power output end (22) in the vertical direction; the housing of the power output end of the drive motor (1) is fixed to the housing of the power input end (21) of the reduction box (2), and the length direction of the drive motor (1) is parallel to the axis of the two wheels (3).

2. The high-passability differential drive wheel according to claim 1, characterized in that: The two wheels (3) are arranged adjacent to each other in parallel; the two reduction gearboxes (2) are respectively arranged on the outsides of the two wheels (3); and the power output ends (22) of the two reduction gearboxes (2) are respectively connected and fixed to the outer side surfaces of the two wheels (3).

3. The high-passability differential drive wheel according to claim 2, characterized in that: The length directions of the two reduction gearboxes (2) are centered at the positions of the central axes of the two wheels (3) and extend to the left and right in the horizontal direction respectively; the length directions of the two drive motors (1) are perpendicular to the length direction of the reduction gearboxes (2) and extend toward the inner sides of the two wheels (3).

4. A high-travel differential drive wheel according to any one of claims 1 to 3, characterized in that: It also includes a horizontal bearing plate (5); part or all of the upper portion of the outer shell of the power output end (22) of the two reduction gearboxes (2) is set as a horizontal end surface (23); and both ends of the horizontal bearing plate (5) are respectively connected and fixed to the horizontal end surface (23).

5. The high-passability differential drive wheel according to claim 4, characterized in that: The upper portion of the outer shell of the power output end (22) of the two reduction gearboxes (2) is configured as a horizontal end surface including a groove, and the lower portion of the horizontal bearing plate (5) is provided with a protrusion that cooperates with the groove; the protrusion is embedded in the groove.

6. A high-travel differential drive wheel according to any one of claims 1 to 3, characterized in that: The invention also comprises a horizontal bearing plate (5), a main shaft (4), and at least two vertical support plates (6); the two wheels (3) are mounted on the main shaft (4) via bearing sleeves; the lower ends of the two vertical support plates (6) are fixedly connected to the main shaft (4), and the two ends of the horizontal bearing plate (5) are respectively overlapped and fixed to the upper ends of the two vertical support plates (6).

7. A high-travel differential drive wheel according to any one of claims 1 to 3, characterized in that: The center lines of the two reduction gear boxes (2) in the length direction form an angle of 30 to 60 degrees with the vertical direction.

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