A differential wheel arrangement

Abstract

The utility model discloses a differential gear device, include: the relative interval arrangement two speed reducer, their power input shaft staggered arrangement and their power output shaft coaxial arrangement, two drive motors, its parallel installation, two drive motors are connected with two speed reducer respectively, two wheels, they are connected with two speed reducer's power output shaft respectively, two connecting plates, they are connected between two speed reducer, and are arranged respectively in the length direction both ends of speed reducer, angle detection mechanism, it includes the magnetic piece of installation in two speed reducer top and the angle encoder of installation on the car body and with magnetic piece cooperation, bearing mechanism, it is installed in the outside of two connecting plates and with car body rolling cooperation, and the axial direction of bearing mechanism extends along the horizontal direction, limiting mechanism, it is installed in the outside of two speed reducer and with car body rolling cooperation, and the axial direction of limiting mechanism extends along the vertical direction, the differential gear device provided by the utility model, compact structure, and the space is small.

Description

Technical Field

[0001] This utility model belongs to the field of mobile robot technology, and specifically relates to a differential wheel device. Background Technology

[0002] AGVs are increasingly widely used in logistics handling, warehousing and many other fields. The walking mechanism of AGV plays a key role in its overall performance. Existing drive modules with steering are relatively large, such as the planetary differential wheel for high-speed heavy-duty AGV disclosed in Chinese patent CN 119928551A. These drive modules cannot be applied to some omnidirectional vehicle bodies with small space requirements. Utility Model Content

[0003] Based on the above problems, the purpose of this utility model is to provide a differential wheel device with a compact structure that meets the installation requirements of small spaces.

[0004] To overcome the shortcomings of the existing technology, the technical solution provided by this utility model is as follows:

[0005] A differential gear assembly, comprising:

[0006] Two speed reducers are arranged at a relative interval and a motor mounting space is formed between them. The power input shafts of the two speed reducers are arranged in an alternating manner and their power output shafts are arranged coaxially.

[0007] Two drive motors are installed in parallel within the motor mounting space, and the two drive motors are respectively connected to the two reducers;

[0008] Two wheels, each connected to the power output shaft of one of the two reducers;

[0009] Two connecting plates are connected between the two reducers and are respectively arranged at both ends of the reducer along its length.

[0010] An angle detection mechanism includes a magnetic component mounted above the two reducers and an angle encoder mounted on the vehicle body and cooperating with the magnetic component;

[0011] A load-bearing mechanism is installed on the outside of the two connecting plates and rolls with the vehicle body, the axial direction of the load-bearing mechanism extending horizontally.

[0012] A limiting mechanism is installed on the outside of the two reducers and rolls with the vehicle body, and the axial direction of the limiting mechanism extends vertically.

[0013] In some embodiments, the load-bearing mechanism includes two load-bearing components arranged opposite to each other, each load-bearing component including a load-bearing shaft fixedly connected to the connecting plate and a load-bearing bearing mounted on the load-bearing shaft.

[0014] In some embodiments, the limiting mechanism includes four limiting components arranged on both radial sides of the two wheels, each limiting component including a limiting shaft and a limiting bearing mounted on the limiting shaft.

[0015] In some embodiments, a connecting seat is fixed to the outside of the reducer, and the limiting shaft is mounted on the connecting seat.

[0016] In some embodiments, the connecting seat includes a first connecting plate fixedly connected to the reducer and a second connecting plate connected to the first connecting plate in an L-shape, and the limiting shaft is mounted on the second connecting plate.

[0017] In some embodiments, the two wheels, two connecting plates, angle detection mechanism, load-bearing mechanism, and limiting mechanism constitute a drive module, which also includes an annular outer shell covering the drive module. The outer shell is fixedly connected to the vehicle body and has an annular limiting end plate extending towards the center on its upper part. The load-bearing mechanism rolls with the limiting end plate, and the limiting mechanism rolls with the inner sidewall of the outer shell.

[0018] In some embodiments, one of the connecting plates is provided with an outwardly protruding steering limit block, and the inner wall of the outer shell is provided with symmetrically arranged limiting protrusions that cooperate with the steering limit block.

[0019] In some embodiments, a cover plate is connected between the upper ends of the two reducers, a support plate is fixed in the middle of the cover plate, and the magnetic component is mounted on the support plate.

[0020] In some embodiments, a fall arrestor block is fixed to the cover plate, and the fall arrestor block extends partially above the limiting end plate.

[0021] In some embodiments, the fall arrestor block includes a fixed base and a limiting plate extending from the fixed base to the upper part of the limiting end plate. The fixed base is fixedly connected to the cover plate, and the limiting plate is connected to the fixed base in an inverted L-shape.

[0022] Compared with the prior art, the advantages of this utility model are:

[0023] 1. The differential gear device has a compact arrangement of reducer and drive motor, which occupies little space, making the structure of the differential gear device meet the installation requirements of small spaces.

[0024] 2. A load-bearing mechanism is set on the connecting plate to achieve load-bearing connection with the vehicle body, and a limiting mechanism is set on the outside of the reducer to achieve centering movement of the overall structure and improve the stability of the differential wheel device.

[0025] 3. A steering limit block is set on the connecting plate, and a limit protrusion is set on the inner wall of the outer casing to realize the steering limit of the differential wheel device.

[0026] 4. Install anti-fall limit blocks on the cover plate to partially extend above the upper limit end plate of the outer shell to prevent the differential wheel device from falling when the vehicle body leaves the ground. Attached Figure Description

[0027] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is one of the structural schematic diagrams of an embodiment of the differential wheel device of this utility model;

[0029] Figure 2 This is a second structural schematic diagram of an embodiment of the present utility model;

[0030] Figure 3 This is a schematic diagram of the structure of this utility model without the outer shell;

[0031] Figure 4 This is one of the structural schematic diagrams of the speed reducer in the embodiments of this utility model;

[0032] Figure 5 This is the second schematic diagram of the reducer in this embodiment of the present invention;

[0033] in:

[0034] 1. Reducer; 1-1. Power input shaft; 1-2. Power output shaft;

[0035] 2. Drive motor;

[0036] 3. Wheels;

[0037] 4. Connecting plate;

[0038] 5. Angle encoder;

[0039] 6. Load-bearing components; 6-1. Load-bearing shaft; 6-2. Load-bearing bearing;

[0040] 7. Limiting assembly; 7-1. Limiting shaft; 7-2. Limiting bearing;

[0041] 8. Cover plate;

[0042] 9. Support plate;

[0043] 10. Connecting base; 10-1. First connecting plate; 10-2. Second connecting plate;

[0044] 11. Fall arrestor limit block; 11-1. Fixing base; 11-2. Limiting plate;

[0045] 12. Steering limit block;

[0046] 13. Outer shell; 13-1. Limiting end plate.

[0047] 14. Limiting protrusion. Detailed Implementation

[0048] The above solution will be further described below with reference to specific embodiments. It should be understood that these embodiments are for illustrating the present invention and are not intended to limit the scope of the present invention. The implementation conditions used in the embodiments can be further adjusted according to the conditions of specific manufacturers, and the implementation conditions not specified are usually the conditions in conventional experiments.

[0049] like Figures 1 to 3 The diagram shown is a structural schematic of an embodiment of the present invention. A differential wheel device is provided, including two reducers 1, two drive motors 2, two wheels 3, two connecting plates 4, an angle detection mechanism, a load-bearing mechanism, a limiting mechanism, and an annular housing 13. The two reducers 1, two drive motors 2, two wheels 3, two connecting plates 4, the angle detection mechanism, the load-bearing mechanism, and the limiting mechanism constitute a drive module. The annular housing 13 covers the outside of the entire drive module. The housing 13 is welded and fixed to the vehicle body and has an annular limiting end plate 13-1 extending towards the center on its upper part.

[0050] Two speed reducers 1 are arranged opposite each other, forming a space between them for motor installation. The power output shafts of the two speed reducers 2 are staggered and coaxial. Two wheels 3 are connected to the power output shafts of the two speed reducers 1 respectively. Specifically, the speed reducers 1 adopt the parallel shaft speed reducer technology in the prior art, such as... Figure 4 and Figure 5 As shown, the power input shaft 1-1 and power output shaft 1-2 of the reducer 1 are arranged in parallel and staggered order.

[0051] Two drive motors 2 are installed in parallel within the motor mounting space with their power output shafts arranged opposite each other. The two drive motors 2 are respectively connected to two reducers 1.

[0052] Two connecting plates 4 are connected between the two reducers 1 and are respectively arranged at both ends of the length direction of the reducers 1, thus connecting the two reducers 1 and the two drive motors 2 into a whole.

[0053] The angle detection mechanism includes a magnetic component mounted above the two reducers 1 and an angle encoder 5 mounted on the vehicle body and cooperating with the magnetic component. Specifically, a cover plate 8 is fixed at the upper end of the two reducers 1, and a support plate 9 is fixed in the middle of the cover plate 8. The magnetic component uses a magnet and is fixed on the support plate 9. The steering angle of the differential wheel device is detected by detecting changes in the magnetic field.

[0054] The load-bearing mechanism is installed on the outside of the two connecting plates 4 and rolls with the vehicle body. The axial direction of the load-bearing mechanism extends horizontally. Specifically, the load-bearing mechanism includes two load-bearing components 6 arranged opposite to each other. Each load-bearing component 6 includes a load-bearing shaft 6-1 fixedly connected to the connecting plate 4 and a load-bearing bearing 6-2 mounted on the load-bearing shaft 6-1. The load-bearing bearing 6-2 rolls with the limiting end plate 13-1 of the outer casing 13. The load-bearing shaft 6-1 is fixed to the connecting plate 4 by screws.

[0055] The limiting mechanism is installed on the outside of the two reducers 1 and rolls with the vehicle body. The axial direction of the limiting mechanism extends vertically. Specifically, the limiting mechanism includes four limiting components 7 arranged on the radial sides of the two wheels 3. Each limiting component 7 includes a limiting shaft 7-1 and a limiting bearing 7-2 installed on the limiting shaft 7-1. The limiting bearing 7-2 rolls with the inner wall of the housing 13.

[0056] To facilitate the installation of the limiting mechanism, a connecting seat 10 is fixed on the outside of the reducer 1, and the limiting shaft 7-1 is installed on the connecting seat 10. Preferably, the connecting seat 10 includes a first connecting plate 10-1 fixedly connected to the reducer 1 and a second connecting plate 10-2 connected to the first connecting plate 10-1 in an L-shape. The limiting shaft 7-1 is fixedly installed on the second connecting plate 10-2 by screws.

[0057] To facilitate steering limit of the drive module, a steering limit block 12 protruding outward is provided on one of the connecting plates 4, and a limiting protrusion 14 symmetrically arranged and cooperating with the steering limit block 12 is provided on the inner wall of the outer shell 13. Steering limit can be achieved when the steering limit block 12 abuts against the limiting protrusion 14.

[0058] When the vehicle body leaves the ground, in order to prevent the drive module from falling, a fall-prevention block 11 is fixed on the cover plate 8. The fall-prevention block 11 extends to the upper part of the limit end plate 13-1. When the vehicle body leaves the ground, the fall-prevention block 11 is locked on the limit end plate 13-1 of the outer shell 13 to prevent the drive module from falling.

[0059] Specifically, the fall arrestor block 11 includes a fixed base 11-1 and a limiting plate 11-2 extending from the fixed base 11-1 to the upper part of the limiting end plate 13-1. The fixed base 11-1 is fixedly connected to the cover plate 8, and the limiting plate 11-2 is connected to the fixed base 11-1 in an inverted L-shape.

[0060] In summary, this differential gear device has a compact structure, occupies little space, and is suitable for installation in confined spaces.

[0061] The above examples are only for illustrating the technical concept and features of this utility model, and are intended to enable those skilled in the art to understand the content of this utility model and implement it accordingly. They should not be used to limit the scope of protection of this utility model. All equivalent changes or modifications made in accordance with the spirit and essence of this utility model should be included within the scope of protection of this utility model.

Claims

1. A differential gear device, characterized in that, include: Two speed reducers are arranged at a relative interval and a motor mounting space is formed between them. The power input shafts of the two speed reducers are arranged in an alternating manner and their power output shafts are arranged coaxially. Two drive motors are installed in parallel within the motor mounting space, and the two drive motors are respectively connected to the two reducers; Two wheels, each connected to the power output shaft of one of the two reducers; Two connecting plates are connected between the two reducers and are respectively arranged at both ends of the reducer along its length. An angle detection mechanism includes a magnetic component mounted above the two reducers and an angle encoder mounted on the vehicle body and cooperating with the magnetic component; A load-bearing mechanism is installed on the outside of the two connecting plates and rolls with the vehicle body, the axial direction of the load-bearing mechanism extending horizontally. A limiting mechanism is installed on the outside of the two reducers and rolls with the vehicle body, and the axial direction of the limiting mechanism extends vertically.

2. The differential gear device according to claim 1, characterized in that: The load-bearing mechanism includes two load-bearing components arranged opposite to each other. Each load-bearing component includes a load-bearing shaft fixedly connected to the connecting plate and a load-bearing bearing installed on the load-bearing shaft.

3. The differential gear device according to claim 2, characterized in that: The limiting mechanism includes four limiting components arranged on both radial sides of the two wheels, and each limiting component includes a limiting shaft and a limiting bearing mounted on the limiting shaft.

4. The differential gear device according to claim 3, characterized in that: A connecting seat is fixed to the outside of the reducer, and the limiting shaft is mounted on the connecting seat.

5. The differential gear device according to claim 4, characterized in that: The connecting seat includes a first connecting plate fixedly connected to the reducer and a second connecting plate connected to the first connecting plate in an L-shape, and the limiting shaft is mounted on the second connecting plate.

6. The differential gear device according to claim 1, characterized in that: The two wheels, two connecting plates, angle detection mechanism, load-bearing mechanism, and limiting mechanism constitute a drive module. It also includes an annular shell covering the drive module. The shell is fixedly connected to the vehicle body and has an annular limiting end plate extending towards the center on its upper part. The load-bearing mechanism rolls with the limiting end plate, and the limiting mechanism rolls with the inner wall of the shell.

7. The differential gear device according to claim 6, characterized in that: One of the connecting plates is provided with an outwardly protruding steering limit block, and the inner wall of the outer shell is provided with symmetrically arranged limit protrusions that cooperate with the steering limit block.

8. The differential gear device according to claim 6, characterized in that: A cover plate is connected between the upper ends of the two reducers, and a support plate is fixed in the middle of the cover plate. The magnetic component is installed on the support plate.

9. The differential gear device according to claim 8, characterized in that: A fall-prevention limiting block is fixed on the cover plate, and part of the fall-prevention limiting block extends above the limiting end plate.

10. The differential gear device according to claim 9, characterized in that: The fall arrestor includes a fixed base and a limiting plate extending from the fixed base to the upper part of the limiting end plate. The fixed base is fixedly connected to the cover plate, and the limiting plate is connected to the fixed base in an inverted L-shape.

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