The invention provides a controllable differential omnidirectional wheel set which solves the technical problems that an automatic guided vehicle in the prior art is not provided with suspension damping and is weak in adaptability to ground flatness. The wheel set comprises a wheel carrier (1), differential wheel assemblies, a guide rod (10), an actuating cylinder (5), a sensor assembly and a turntable bearing (9). The two ends of the wheel carrier (1) are connected with the differential wheel assemblies, the guide rod (10) and the actuating cylinder (5) are integrated in the center of the wheel carrier (1), each differential wheel assembly comprises a differential wheel (4), a motor speed reducer (3) and an independent chain transmission system (2), the differential wheels (4) are connected to the wheel carrier (1), the motor speed reducers (3) are fixed to the wheel carrier (1), and the motor speed reducers (3) are connected with the differential wheels (4) through the chain transmission system (2). Steering is achieved through the differential wheel assemblies, and the rotating angle of the wheel set and uneven ground self-adaption are controlled through the sensor assembly.

    本发明提供了一种可控差速全向轮组,解决了现有技术中无人搬运车无悬挂减震,对地面平整度适应能力弱的技术问题。它包括轮架(1)、差速轮组件、导向杆(10)、作动筒(5)、传感器组件和转盘轴承(9),轮架(1)两端均连接有差速轮组件,导向杆(10)和作动筒(5)集成在轮架(1)的中心位置,差速轮组件包括差速轮(4)、电机减速器(3)和独立的链传动系统(2),差速轮(4)连接在轮架(1)上,电机减速器(3)固定在轮架(1),电机减速器(3)通过链传动系统(2)与差速轮(4)连接。本发明通过差速轮组件实现转向,通过传感器组件对轮组的转动角度以及不平整地面自适应进行控制。


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    Title :

    Controllable differential omnidirectional wheel set


    Additional title:

    一种可控差速全向轮组


    Contributors:
    BAI GUO (author) / LI JUN (author) / ZHU QINGWU (author) / ZENG QINGYUAN (author) / WU JINGFENG (author) / XIA YUNJIAN (author)

    Publication date :

    2021-08-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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