CN111377250A - Wheel driving device and intelligent guide transfer equipment - Google Patents

Abstract

The present disclosure relates to a wheel-side driving device and an intelligent guiding and transferring device. The wheel-side driving device comprises: a swing frame (1) with a hollow inner cavity (11); a wheel rim rotatably connected to at least one side of the swing frame (1); and a drive mechanism, at least partially arranged in the hollow space The inner cavity (11) is connected with the wheel rim for driving the wheel rim to rotate around its own axis. In the embodiment of the present disclosure, the driving mechanism is arranged in the hollow inner cavity of the swing frame connected to the rim, and the driving mechanism drives the rotation of the rim, so that the structure of the wheel side driving device is more compact, and the wheel side driving device is arranged on the equipment. It is more convenient to install.

Description

Wheel drive device and intelligent guide transfer equipment

technical field

The present disclosure relates to the field of power drive, and in particular, to a wheel-side drive device and an intelligent guide and transfer device.

Background technique

In 1993, the Port of Rotterdam in the Netherlands built the world's first automated container terminal. The Port of London in the United Kingdom, the Port of Kawasaki in Japan, the Port of Singapore, and the Port of Hamburg in Germany have successively undergone automation upgrades. After more than 20 years of development, the container terminal has developed to the fourth generation level. More than 30 intelligent automated terminals have been built.

The construction of automated container terminals started relatively late in China, and intelligent automated container terminals will surely become the key development direction in the future and the inevitable trend of technological development. As the front-end port of import and export trade, the process of intelligent automation construction must be accelerated. With the accelerated development of global integration, intelligent automated terminals can improve transshipment efficiency by 40% and meet the growing demand for container throughput. From 2016 to 2017, a total of 3 automated terminals were built in China, and the construction and development of China's intelligent automated container terminals entered the fast lane.

So far, there are two types of wheel drive systems for unmanned intelligent guided transfer equipment in port containers. A drive system mainly consists of a traditional steering drive through-axle, a transmission shaft, and an external drive motor. The power source of this wheel drive system transmits the power to the external drive motor through the cable, and the external drive motor transmits the power to the steering drive through axle through the transmission shaft, and the steering drive through bridge drives the tire rim to perform the driving function of the whole machine .

Another kind of drive system composed of a small amount of steering drive short axle, transmission shaft, and external drive motor. The power source of this wheel-side drive system transmits the power to the external drive motor through the cable, and the drive motor directly transmits the power to the steering drive short axle, and the steering drive short axle drives the tire rim to perform the driving function of the whole machine.

The above two kinds of unmanned intelligent guided transfer equipment drive systems have the problems of complex structure, many transmission components, disorderly arrangement, low transmission efficiency, and high failure rate in the middle and late stages, which restrict the development of intelligent automated container terminal construction.

SUMMARY OF THE INVENTION

In view of this, the embodiments of the present disclosure provide a wheel-side drive device with an optimized structure and an intelligent guiding and transporting device.

In one aspect of the present disclosure, a wheel drive device is provided, comprising:

A swinging frame with a hollow inner cavity;

a wheel rim rotatably connected to at least one side of the swing frame; and

A driving mechanism, at least partially disposed in the hollow inner cavity, is connected with the wheel rim, and is used for driving the wheel rim to rotate around its own axis.

In some embodiments, the driving mechanism comprises: a driving motor, the body of the driving motor is fixedly arranged in the hollow inner cavity, and the rim is connected with the output shaft of the driving motor.

In some embodiments, the drive mechanism includes: a drive motor and a reducer, the body of the drive motor is fixedly arranged in the hollow inner cavity, the reducer is fixedly arranged at the rotation center of the rim, and is connected with the rim. The output shaft of the drive motor is connected.

In some embodiments, the rotating part of the reducer is fixedly connected to the rim by a flange.

In some embodiments, the wheel side driving device further comprises: a transition flange plate, and the drive motor and the reducer are fixedly connected on both sides of the transition flange plate through flanges, respectively.

In some embodiments, the wheel drive device further comprises:

The tire is sleeved on the outer circumference of the rim.

In some embodiments, the rocking frame is a welded structure.

In some embodiments, the rim includes: a first rim and a second rim, respectively rotatably connected to two sides of the swing frame.

In some embodiments, the drive mechanism is configured to drive the first rim or the second rim, or the first rim and the second rim independently.

In some embodiments, the drive mechanism includes:

The first speed reducer and the second speed reducer are respectively fixed on the rotation center of the first wheel rim and the second wheel rim;

The first drive motor and the second drive motor are fixedly arranged in the hollow inner cavity, and are respectively connected with the first reducer and the second reducer through their respective output shafts.

In some embodiments, the swinging frame is further provided with a swinging shaft or a shaft hole for installing the swinging shaft, and the swinging frame can swing relative to the swinging shaft.

In some embodiments, the swing frame is a symmetrical structure, and the axis of the swing shaft is located on the symmetry plane of the swing frame.

In some embodiments, the rim includes: a first rim and a second rim, symmetrically connected on both sides of the swing frame; the driving mechanism includes:

The first speed reducer and the second speed reducer are respectively fixed on the rotation center of the first wheel rim and the second wheel rim;

The first drive motor and the second drive motor are fixedly arranged in the hollow inner cavity, and are respectively connected with the first reducer and the second reducer through the output shaft, so as to drive the first rim respectively and the second rim rotates about its own axis.

In one aspect of the present disclosure, there is provided an intelligent guiding and transporting device comprising the aforementioned wheel-side drive device.

Therefore, according to the embodiment of the present disclosure, by arranging the driving mechanism in the hollow inner cavity of the swing frame connecting the wheel rim, and making the driving mechanism drive the rotation of the wheel rim, the structure of the wheel side driving device is more compact, and the equipment is more compact. It is more convenient when arranging the wheel drive.

Description of drawings

The accompanying drawings, which form a part of the specification, illustrate embodiments of the present disclosure and together with the description serve to explain the principles of the present disclosure.

The present disclosure may be more clearly understood from the following detailed description with reference to the accompanying drawings, wherein:

FIG. 1 is a schematic structural diagram of some embodiments of wheel drive devices according to the present disclosure.

It should be understood that the dimensions of the various parts shown in the drawings are not to actual scale. Furthermore, the same or similar reference numerals denote the same or similar components.

Detailed ways

Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is illustrative only, and in no way limits the disclosure, its application or uses in any way. The present disclosure may be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that unless specifically stated otherwise, the relative arrangements of parts and steps, compositions of materials, numerical expressions and numerical values set forth in these embodiments are to be interpreted as illustrative only and not as limiting.

As used in this disclosure, "first," "second," and similar words do not denote any order, quantity, or importance, but are merely used to distinguish the different parts. "Comprising" or "comprising" and similar words mean that the elements preceding the word cover the elements listed after the word, and do not exclude the possibility that other elements are also covered. "Up", "Down", "Left", "Right", etc. are only used to indicate the relative positional relationship. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

In this disclosure, when a particular device is described as being between a first device and a second device, there may or may not be an intervening device between the particular device and the first device or the second device. When it is described that a particular device is connected to other devices, the particular device may be directly connected to the other devices without intervening devices, or may not be directly connected to the other devices but have intervening devices.

All terms (including technical or scientific terms) used in this disclosure have the same meaning as understood by one of ordinary skill in the art to which this disclosure belongs, unless specifically defined otherwise. It should also be understood that terms defined in, for example, general-purpose dictionaries should be construed to have meanings consistent with their meanings in the context of the related art, and not to be construed in an idealized or highly formalized sense, unless explicitly stated herein. Defined like this.

Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods, and apparatus should be considered part of the specification.

As shown in FIG. 1 , it is a schematic structural diagram of some embodiments of the wheel drive device according to the present disclosure. Referring to Fig. 1, in some embodiments, the wheel drive device includes: a swing frame 1 having a hollow inner cavity 11, a wheel rim and a drive mechanism. The pendulum frame 1 is preferably a welded structure, making it lighter and easier to machine. Compared with the axle in the prior art, the production cycle of the swing frame 1 is shorter and the cost is lower. The swing frame 1 can also adopt other processing techniques, such as casting.

A wheel rim is rotatably connected to at least one side of the swing frame 1 . A tire 5 can be set around the outer circumference of the rim. A driving mechanism is at least partially arranged in the hollow inner cavity 11 and connected with the rim for driving the rim to rotate around its own axis. Compared with the existing way of transmitting the power of the external drive motor to the rim through the steering drive through bridge or the short bridge, in this embodiment, the drive mechanism is arranged in the hollow inner cavity of the swing frame connected to the rim, which can effectively reduce the drive mechanism. It takes up less space, simplifies the connection structure, and makes the overall structure more compact, so that it is more convenient and orderly to arrange the wheel drive device on the equipment. In addition, the driving mechanism of this embodiment drives the rim inside the swing frame, which not only shortens the driving distance, but also improves the reliability of the driving system and reduces the possibility of failure.

In order to make the size of the drive mechanism meet the built-in requirements, it is preferable that the drive mechanism includes a drive motor which can realize a smaller size. The drive motor is also more convenient to control. The body of the driving motor can be fixedly arranged in the hollow inner cavity 11, and the rim is connected with the output shaft of the driving motor. In this way, when the driving motor is running, the output shaft of the driving motor can drive the wheel rim to rotate on the swing frame 1 around the axis of the wheel rim itself. Here, the output shaft of the drive motor can be directly connected with the rim to improve the power transmission efficiency, for example, the output shaft can be fixedly connected with the mounting plate at the rotational center of the rim. In other embodiments, the output shaft of the drive motor and the rim can also be powered by some intermediate components, such as a reducer or a shorter connecting shaft.

Referring to FIG. 1 , in some embodiments, the drive mechanism includes a drive motor and a reducer. The body of the drive motor is fixedly arranged in the hollow inner cavity 11, the reducer is fixedly arranged at the rotation center of the rim, and is connected with the output shaft of the drive motor, for example, the output shaft of the drive motor adopts a spline The type is inserted into the input end of the reducer to ensure more reliable torque transmission. The reducer can be connected to the drive motor through a connecting piece (such as a bolt), or it can be connected to the wheel rim through a connecting piece (such as a bolt). The reducer can convert the higher speed output of the drive motor into a lower speed and higher torque output to meet the operating speed and load requirements of the wheel drive device.

Referring to Figure 1, in some embodiments, the rotating portion of the reducer may be fixedly connected to the rim via a flange. The wheel-side drive device may also include a transition flange plate 6, and the drive motor and the reducer are fixedly connected on both sides of the transition flange plate 6 through flanges, respectively. In this way, in order to ensure that the relatively heavy motor and the reducer are coaxial, the coaxiality of the two sides of the transition flange plate 6 can be used to solve the problem of the coaxiality of the motor and the reducer.

For the swing frame 1, a rim and a drive mechanism for driving the rim may be provided on only one side thereof. In order to improve the stability of the wheel drive device, it is preferable to provide wheel rims on both sides of the swing frame 1 . The rims on both sides can be driven by the driving mechanism uniformly or separately by the driving mechanism.

Referring to Fig. 1 , in some embodiments, the wheel rim includes: a first wheel rim 21 and a second wheel rim 22, which are respectively rotatably connected to two sides of the swing frame 1. The driving mechanism can drive the first rim 21 and the second rim 22 independently. That is to say, through the driving action of the driving mechanism, the first wheel rim 21 and the second wheel rim 22 can have different rotation speeds and/or rotation directions, so that the wheel side driving device can meet more complex motion requirements. In other embodiments, the first rim 21 or the second rim 22 on one side can also be driven by the driving mechanism, and the other side that is not driven is used as the driven side.

In FIG. 1 , the driving mechanism may include: a first speed reducer 41 , a second speed reducer 42 , a first drive motor 31 and a second drive motor 32 . The first reducer 41 and the second reducer 42 are fixedly arranged at the rotation centers of the first rim 21 and the second rim 22 respectively. The first drive motor 31 and the second drive motor 32 are fixedly arranged in the hollow inner cavity 11, and are respectively connected with the first reducer 41 and the second reducer 42 through their respective output shafts. The first drive motor 31 and the second drive motor 32 can be controlled by separate controllers, and the differential speed of the wheels on both sides can be realized by changing the relationship between the rotational speed and output torque between the two, thereby realizing the wheel-side drive device. 's turning.

The first drive motor 31 and the second drive motor 32 may have the same specifications or different specifications. The first reducer 41 and the second reducer 42 may have the same specifications or different specifications.

Referring to Fig. 1 , in some embodiments, the swing frame 1 may also be provided with a swing shaft or a shaft hole 12 for installing the swing shaft. By arranging the swinging shaft or the shaft hole 12, the swinging frame 1 can swing relative to the swinging shaft, so that the equipment using the wheel-side drive device can be turned by the swinging of the swinging frame 1. The swing shaft or shaft hole 12 can be perpendicular to the ground to make steering smoother. The swing frame 1 is preferably a symmetrical structure, and the axis of the swing shaft is located on the symmetry plane of the swing frame 1, so that the wheel drive device can be steered only through the motor differential speed without relying on an external steering device. In other embodiments, the swing frame 1 can also be an asymmetric structure.

In FIG. 1 , the first rim 21 and the second rim 22 are symmetrically connected on both sides of the swing frame 1 . The first reducer 41 and the second reducer 42 are fixedly arranged at the rotation centers of the first rim 21 and the second rim 22, respectively. The first drive motor 31 and the second drive motor 32 are fixedly arranged in the hollow inner cavity 11, and are respectively connected with the first reducer 41 and the second reducer 42 through the output shaft, for respectively driving the The first rim 21 and the second rim 22 rotate around their own axes.

Through the arrangement structure of the above wheel side drive device embodiment, the wheel base of the axle can be reduced (for example, less than 0.9m), thereby helping to reduce the overall width of the equipment using the wheel side drive device. In addition, there are few components involved in the wheel side drive device, and the motor and reducer are mature components, which can be completed by simple assembly, convenient and fast maintenance, and reduce the failure rate of the drive system and increase the reliability of the whole machine. sex. In addition, with the advantages of lower component cost and lower energy consumption, the overall economy of the embodiment of the present disclosure is higher than that of the traditional vehicle axle. In some embodiments, the structure of the motor direct drive reducer is adopted, and there are no other transmission or coupling components in the middle, so that the energy loss is low. Compared with the transmission efficiency and energy utilization rate of traditional axles, the embodiment of the present disclosure selects a reducer with a suitable reduction ratio and controls the motor speed and torque, so that the drive motor and the reducer can be in a high-efficiency working area of ≥98% for a long time. , the energy utilization rate of the whole system is greater than 96%, and the energy consumption is smaller.

The above-mentioned embodiment of the wheel drive device is suitable for various types of vehicles or movable equipment chassis due to its simpler and more compact structure, good reliability, easy layout and other advantages, and is especially suitable for operation in smart ports and for transportation. Smart guided transfer equipment for containers or other cargo. Therefore, the present disclosure also provides an intelligent guiding and transporting device, including any of the aforementioned wheel drive devices.

So far, the various embodiments of the present disclosure have been described in detail. Some details that are well known in the art are not described in order to avoid obscuring the concept of the present disclosure. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein according to the above description.

While some specific embodiments of the present disclosure have been described in detail by way of examples, those skilled in the art will appreciate that the above examples are for illustration only and not for the purpose of limiting the scope of the present disclosure. It should be understood by those skilled in the art that, without departing from the scope and spirit of the present disclosure, the above embodiments may be modified or some technical features may be equivalently replaced. The scope of the present disclosure is defined by the appended claims.

Claims (14)

1. a wheel drive device, is characterized in that, comprises: A swinging frame (1) with a hollow inner cavity (11); a wheel rim, rotatably connected to at least one side of the swing frame (1); and A driving mechanism is at least partially arranged in the hollow inner cavity (11) and connected with the wheel rim for driving the wheel rim to rotate around its own axis. 2 . The wheel side driving device according to claim 1 , wherein the driving mechanism comprises: a driving motor, the body of the driving motor is fixedly arranged in the hollow inner cavity ( 11 ), and the wheel rim and the The output shaft of the drive motor is connected. 3. The wheel side driving device according to claim 1, wherein the driving mechanism comprises: a driving motor and a reducer, and the body of the driving motor is fixedly arranged in the hollow inner cavity (11), so The speed reducer is fixedly arranged at the rotation center of the wheel rim, and is connected with the output shaft of the drive motor. 4 . The wheel side drive device according to claim 3 , wherein the rotating part of the reducer is fixedly connected to the wheel rim through a flange. 5 . 5 . The wheel side drive device according to claim 3 , further comprising: a transition flange plate ( 6 ), the drive motor and the reducer are respectively fixedly connected to the transition flange through flanges. 6 . Both sides of the plate (6). 6. The wheel drive device according to claim 1, characterized in that, further comprising: A tire (5) is sleeved on the outer circumference of the wheel rim. 7. The wheel-side drive device according to claim 1, wherein the swing frame (1) is a welded structure. 8. The wheel side driving device according to claim 1, wherein the wheel rim comprises: a first wheel rim (21) and a second wheel rim (22), which are respectively rotatably connected to the swing frame (1) on both sides. 9. The wheel side driving device according to claim 8, wherein the driving mechanism is configured to drive the first wheel rim (21) or the second wheel rim (22), or independently drive the first wheel rim (21) or the second wheel rim (22) A rim (21) and the second rim (22). 10. The wheel side driving device according to claim 8, wherein the driving mechanism comprises: The first reducer (41) and the second reducer (42) are respectively fixed and arranged at the rotation centers of the first wheel rim (21) and the second wheel rim (22); The first drive motor (31) and the second drive motor (32) are fixedly arranged in the hollow inner cavity (11), and are respectively connected with the first reducer (41) and the first reducer (41) and the The second reducer (42) is connected. 11. The wheel side drive device according to claim 1, characterized in that, the swing frame (1) is further provided with a swing shaft or a shaft hole (12) for installing the swing shaft, and the swing frame (1) It can swing with respect to the swing shaft. 12 . The wheel side drive device according to claim 11 , wherein the swing frame ( 1 ) is a symmetrical structure, and the axis of the swing shaft is located on the symmetry plane of the swing frame ( 1 ). 13 . 13. The wheel side driving device according to claim 12, wherein the wheel rim comprises: a first wheel rim (21) and a second wheel rim (22), which are symmetrically connected to two parts of the swing frame (1). side; the drive mechanism includes: The first reducer (41) and the second reducer (42) are respectively fixed and arranged at the rotation centers of the first wheel rim (21) and the second wheel rim (22); A first drive motor (31) and a second drive motor (32) are fixedly arranged in the hollow inner cavity (11), and are respectively connected with the first reducer (41) and the second reducer through an output shaft A machine (42) is connected to drive the first wheel rim (21) and the second wheel rim (22) to rotate around their own axes respectively. 14 . An intelligent guiding and transporting device, characterized in that , comprising: the wheel side drive device according to any one of claims 1 to 13 . 15 .

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