CN110077222A - Steering wheel device and carrier - Google Patents
Steering wheel device and carrier Download PDFInfo
- Publication number
- CN110077222A CN110077222A CN201910491527.1A CN201910491527A CN110077222A CN 110077222 A CN110077222 A CN 110077222A CN 201910491527 A CN201910491527 A CN 201910491527A CN 110077222 A CN110077222 A CN 110077222A
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- China
- Prior art keywords
- actuator
- support plate
- gear
- wheel shaft
- wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0015—Disposition of motor in, or adjacent to, traction wheel the motor being hydraulic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0023—Disposition of motor in, or adjacent to, traction wheel the motor being pneumatic
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
The present invention provides a kind of steering wheel device and carrier, steering wheel device includes: supporting element；Hub unit is rotationally connected with supporting element, has accommodating chamber on hub unit；Wheel shaft is located in accommodating chamber, and the both ends of wheel shaft are stretched out accommodating chamber and are fixed on supporting element, are provided with mounting hole on the position that wheel shaft is located in accommodating chamber；Actuator is mounted on wheel shaft, and at least part is located in mounting hole, and actuator is connected with hub unit, and is able to drive hub unit rotation.Steering wheel device provided by the invention, realizes built in actuator, can prevent the actuator in accommodating chamber from being damaged by collision, extends the service life of product；And, make the compact-sized of wheel shaft and actuator simultaneously, reduce the space inside wheel shaft and the occupied accommodating chamber of actuator and is conducive to the miniaturization of product to realize built in actuator in the case where not changing the size of steering wheel device in the related technology.
Description
Technical field
The present invention relates to materials-handling technology fields, in particular to a kind of steering wheel device and a kind of carrier.
Background technique
Steering wheel has a wide range of applications on motor dolly, be mainly used for providing for motor dolly driving force and
It turns to.But in construction place, road conditions are severe, the various barriers such as rubble are more, if motor dolly is using in this way
Steering wheel carry out operation in building site, be easy to cause exposed motor to be broken, propose a kind of motor is arranged in the related technology
Structure in the hub, to prevent motor from being damaged by collision, still, since the space of hub interior is limited, by actuator
It is mounted in wheel hub and may cause hub size increase, influence the structure of product.
Therefore, how designing a kind of installation for enabling to actuator can make full use of the space in wheel hub to become current
Urgent problem to be solved.
Summary of the invention
The present invention is directed at least solve one of the technical problems existing in the prior art.
For this purpose, first aspect present invention proposes a kind of steering wheel device.
Second aspect of the present invention proposes a kind of carrier.
To achieve the above object, the embodiment of first aspect present invention provides a kind of steering wheel device, comprising: supporting element；
Hub unit is rotationally connected with supporting element, has accommodating chamber on hub unit；Wheel shaft is located in accommodating chamber, and wheel shaft
Both ends stretch out and accommodating chamber and be fixed on supporting element, be provided with mounting hole on the position that wheel shaft is located in accommodating chamber；Actuator,
It is mounted on wheel shaft, and at least part is located in mounting hole, actuator is connected with hub unit, and is able to drive wheel hub set
Part rotation.
Steering wheel device provided by the invention, including supporting element, wheel shaft, hub unit and actuator, hub unit are rotatable
Ground is connected with supporting element, has accommodating chamber on hub unit, and at least part of actuator and wheel shaft is located in accommodating chamber, wheel
Hub assembly can play the role of components of the protection setting in accommodating chamber, and actuator is arranged in the accommodating chamber of hub unit
In, it can prevent the actuator in accommodating chamber from being damaged by collision, further, actuator is connected and drives with hub unit
Part is able to drive hub unit rotation.Wherein, wheel shaft is located in accommodating chamber, and the both ends of wheel shaft stretch out and accommodating chamber and be fixed on
On supporting element, i.e. wheel shaft and hub unit rotation connection, wheel shaft is used to support hub unit, allow hub unit relative to
Wheel shaft is rotated, so that hub unit is rotated also relative to supporting element, further, actuator is mounted on wheel shaft,
Wheel shaft can play the role of supporting actuator, realize the installation of actuator, also, since wheel shaft is fixed on supporting element, no
It can be rotated with hub unit, actuator is mounted on wheel shaft, can prevent actuator from rotating with hub unit, promoted and driven
The stability of moving part；Specifically, mounting hole, at least part of actuator are provided on the position that wheel shaft is located in accommodating chamber
In mounting hole, actuator is mounted in the mounting hole of wheel shaft to the fixed installation for being both convenient for actuator, simplify wheel shaft and
The connection structure of actuator, and actuator is overlapped with the part-structure of wheel shaft, so that wheel shaft and actuator is compact-sized,
Reduce the overall space of structure.Steering wheel device provided by the invention realizes built in actuator, can prevent the drive in accommodating chamber
Moving part is damaged by collision, extends the service life of product；Also, make compact-sized, the reduction of wheel shaft and actuator simultaneously
Space inside wheel shaft and the occupied accommodating chamber of actuator, thus in the size for not changing steering wheel device in the related technology
In the case where realize the built-in of actuator, be conducive to the miniaturization of product.
Further, actuator is preferably motor, hydraulic motor, air motor etc., so that actuator is individual part,
In the long-term use process of product, actuator occurs to be conducive to the replacement of actuator, maintenance when problem, and then can extend production
The service life of product.Preferably, actuator is hydraulic motor, and the driving of hydraulic motor is at low cost, can reduce use cost, have
Conducive to the popularization of product, the scope of application of product is promoted.
In addition, the steering wheel device provided according to that above embodiment of the present invention also has following additional technical feature:
In the above-mentioned technical solutions, it is preferable that mounting hole is arranged on the side wall of wheel shaft, and runs through wheel shaft, mounting hole
It is arranged between center line and the center line of wheel shaft in predetermined angle, predetermined angle is more than or equal to 80 ° and is less than or equal to 100 °；Its
In, actuator is mounted in mounting hole along the centerline direction of mounting hole.
In the technical scheme, it specifically illustrates mounting hole and is arranged on the side wall of wheel shaft and runs through wheel shaft, mounting hole
Angle between center line and the center line of wheel shaft is more than or equal to 80 ° and less than or equal to 100 °, and actuator is along the center of mounting hole
Line direction is mounted in mounting hole, by limiting the angle between the center line of mounting hole and the center line of wheel shaft in above range
It is interior, it can be ensured that near vertical between the length direction of actuator and the length direction of wheel shaft, i.e., so that the length edge of actuator
Hub unit radial direction extend, so as to make full use of the radial space inside hub unit, and then improve wheel
The utilization rate of radial space inside hub assembly.
In any of the above-described technical solution, it is preferable that mounting hole runs through wheel shaft along the vertical direction, and actuator is along mounting hole
Centerline direction is fitted into mounting hole.
In the technical scheme, it specifically illustrates mounting hole and runs through wheel shaft along the vertical direction, actuator is along mounting hole
Heart line direction is fitted into mounting hole, i.e., the central axis of actuator is in the center line of wheel shaft, it is preferable that the length side of actuator
To consistent with the centerline direction of mounting hole, so that the length direction of actuator extends along the radial direction of hub unit, thus
It can make full use of the radial space inside hub unit, to improve the utilization rate of the radial space inside hub unit.
In any of the above-described technical solution, it is preferable that wheel shaft includes: mounting portion, and mounting hole is provided on mounting portion, installation
Mounting portion is run through in hole, and actuator is fitted into mounting hole；Interconnecting piece, the quantity of interconnecting piece are two, and two interconnecting pieces are respectively set
Mounting portion two sides and be connected with mounting portion, one end that interconnecting piece is connected with mounting portion be cylindrical section, interconnecting piece it is another
One end is connected with supporting element.
In the technical scheme, wheel shaft includes mounting portion and two interconnecting pieces, and mounting hole is arranged on mounting portion and runs through
Mounting portion, actuator are fitted into mounting hole, and two interconnecting pieces are separately positioned on the two sides of mounting portion and are connected with mounting portion, even
One end that socket part is connected with mounting portion is cylindrical section, and the other end of interconnecting piece is connected with supporting element, i.e., interconnecting piece is another
End is fixed on supporting element.
In any of the above-described technical solution, it is preferable that mounting portion glomeration；One end that interconnecting piece is connected with supporting element is
Polygon section, the both ends of supporting element correspond to polygon section and are respectively arranged with fit structure, and fit structure is adapted with polygon section,
Polygon section is inserted into fit structure.
In the technical scheme, mounting portion is in spherical, and spherical mounting portion is conducive to process, specifically, due to peace
Dress portion be located at mounting portion two sides and wheel shaft is collectively formed in the interconnecting piece that is connected with mounting portion, wheel shaft preferably passes through turnery processing
Molding, is designed as spherical mounting portion for mounting portion and is conducive to form by turnery processing, the production efficiency of wheel shaft can be improved；Into one
Step ground, one end that interconnecting piece is connected with supporting element are polygon section, and the both ends of supporting element correspond to polygon section and are respectively arranged with
Fit structure, fit structure are adapted with polygon section, and polygon section is inserted into fit structure, and polygon section is inserted into fit structure
In to realize connection between polygon section and supporting element so that stable connection between wheel shaft and supporting element, and can be to prevent
Only wheel shaft is rotated relative to supporting element, it is ensured that wheel shaft has supporting role for hub unit.
In any of the above-described technical solution, it is preferable that fit structure is card slot or card hole.
In the technical scheme, fit structure is card slot or card hole, and card slot or card hole are arranged on supporting element, card slot or card
The compatible polygonal-shaped openings of Kong Weiyu polygon section or polygonal through hole.
In any of the above-described technical solution, it is preferable that wheel shaft further include: the top of mounting portion is arranged in fixed part, fixed
Portion is disposed around the periphery of mounting hole, and actuator is fixed on fixed part；Reinforcement part, is arranged in the lower section of mounting portion, and reinforcement part encloses
It is located at the periphery of mounting hole.
In the technical scheme, wheel shaft further includes fixed part and reinforcement part, and the top of mounting portion is arranged in fixed part, is reinforced
The lower section of mounting portion is arranged in portion, and fixed part and reinforcement part are disposed around the periphery of mounting hole, i.e. fixed part and reinforcement part
Channel is collectively formed with mounting hole, actuator is located in the channel, wherein the upper end of actuator is fixed on fixed part, fixed
Portion can play the role of supporting actuator, since actuator is placed and the top of actuator is connected with fixed part vertically, make
It obtains actuator to be arranged in lifting, the contact area of actuator and wheel shaft is small, so as to reduce the vibration of actuator to wheel shaft
It influences, promotes the quality of product.The structural strength of wheel shaft can be improved in reinforcement part, prevents from being deformed at mounting hole.Preferably,
Fixed part is the first flange that the top of mounting portion is arranged in, and compatible with first flange second is provided with above actuator
Flange, is connected by screw to first flange and second flange realizes the installation of actuator.Preferably, fixed part and reinforcement part welding
On mounting portion.
In any of the above-described technical solution, it is preferable that supporting element includes: the first support plate；Second support plate, the first support
Plate is parallel with the second support plate, and the both ends of wheel shaft are separately fixed in the first support plate and the second support plate；Third support plate, the
Three support plates connect the first support plate and the second support plate, third support plate are located at the top of the first support plate and the second support plate
End；The notch of card slot is quadrangle, and card slot is arranged in the first support plate and the second support plate.
In the technical scheme, supporting element includes the first support plate, the second support plate and third support plate, wherein first
Support plate is arranged in parallel with the second support plate, and the both ends of wheel shaft are separately fixed in the first support plate and the second support plate, card slot
Notch be quadrangle, card slot is arranged in the first support plate and the second support plate, and it is quadrangle that card slot, which is designed as notch,
Structure, on the one hand, quadrangle is conducive to processing, can reduce the processing cost of product, also, polygon section is preferably processed as four sides
The convex block of shape, the card slot of quadrangle is convenient to be matched with the convex block of quadrangle, to be conducive to the group between wheel shaft and supporting element
Dress；On the other hand, the stabilized structure of quadrangle, the polygon section of wheel shaft, which is inserted into the card slot of quadrangle, will not generate rotation, shake
It moves, so that the stable connection between wheel shaft and supporting element.Further, third support plate connects the first support plate and second
Fagging and third support plate are located at the top of the first support plate and the second support plate.
In any of the above-described technical solution, it is preferable that hub unit includes: wheel hub, and accommodating chamber is arranged on wheel hub, wheel hub
For hollow cylinder；Wheel hub cover is connected with wheel hub, and wheel hub cover lid is located at one end of accommodating chamber, and it is logical that wheel hub cover is equipped with first
Hole；Support plate, wheel hub cover are rotationally connected with support plate, and support plate is adapted with first through hole, and support plate is mounted on
In one through-hole；Sealing element is arranged between support plate and wheel hub cover.
In the technical scheme, hub unit includes wheel hub, wheel hub cover, support plate and sealing element, wherein accommodating chamber setting
On wheel hub, and wheel hub is hollow cylinder, and wheel hub is used for external contact to provide support force, and can play protection
The effect of components in the accommodating chamber of wheel hub is set, the components in accommodating chamber is prevented to be damaged, further, in wheel hub
One end be provided with sealing element and support plate, wheel hub cover is connected with wheel hub, and wheel hub cover and support plate are kept away for sealing accommodating chamber
Exempt from water to enter in accommodating chamber, to improve the waterproof performance of hub unit；Specifically, wheel hub cover lid be located at accommodating chamber one end and
Wheel hub cover is equipped with first through hole, and wheel hub cover can be with the rotation of wheel hub and common rotation, support plate are mounted on wheel hub cover
In first through hole, wheel hub cover is rotationally connected with support plate, and support plate is preferably adapted with first through hole, sealing element setting
Between support plate and wheel hub cover, the sealing waterproof of accommodating chamber is further realized.
In any of the above-described technical solution, it is preferable that be provided with the second through-hole in support plate, one end of wheel shaft is pierced by second
Through-hole is fixed on supporting element；Wheel hub away from support plate one end have end cap, end cap be equipped with third through-hole, wheel shaft it is another
End is pierced by third through-hole and is fixed on supporting element.
In the technical scheme, the support plate positioned at one end of wheel hub is equipped with the second through-hole, positioned at the other end of wheel hub
End cap be equipped with third through-hole, the both ends of wheel shaft are each passed through the second through-hole and third through-hole is fixed on supporting element, that is, take turns
Axis is fixed on supporting element, so that wheel shaft supports steering wheel and rotates steering wheel relative to wheel shaft.Further
At least part on ground, the cylindrical section of wheel shaft is located in third through-hole, it is preferable that is connected between cylindrical section and wheel hub by bearing
It connects, consequently facilitating wheel hub is rotated relative to wheel shaft.
In any of the above-described technical solution, it is preferable that steering wheel device further include: transmission component, transmission component connection driving
Part and wheel hub, actuator drive hub rotation by transmission component.
In the technical scheme, steering wheel device further includes transmission component and sealing element, wherein transmission component drives for connecting
Moving part and wheel hub, so that actuator can drive hub rotation by transmission component；Actuator is preferably motor, hydraulic horse
It reaches, air motor etc..
In any of the above-described technical solution, it is preferable that transmission component includes: first gear, is connected with actuator, driving
Part is able to drive first gear rotation；Second gear, connection is engaged with first gear, and first gear is able to drive second gear and turns
Dynamic, second gear is fixedly connected with wheel hub.
In the technical scheme, transmission component includes first gear and second gear, and first gear is connected with actuator,
Actuator is able to drive first gear rotation；Second gear engages connection with first gear, and first gear is able to drive the second tooth
Wheel rotation, second gear are fixedly connected with wheel hub, to can drive hub rotation by actuator.
In any of the above-described technical solution, it is preferable that first gear is bevel gear, and the setting of first gear level is driving
On part；Second gear is bevel gear, and second gear is equipped with mounting hole, and second gear is set on wheel shaft by mounting hole, the
Two gears and first gear are arranged in accommodating chamber mutual vertically.
In the technical scheme, first gear is preferably bevel gear, and first gear is connected with actuator and first gear
Horizontal setting is on actuator；Second gear is bevel gear, and second gear is equipped with mounting hole, and second gear passes through mounting hole
It being set on wheel shaft, second gear and first gear are arranged in accommodating chamber mutual vertically, specifically, the drive shaft of actuator
Horizontally disposed first gear is driven to rotate when rotation, first gear drives the second gear rotation for engaging connection, in turn
The hub rotation being connected with second gear is driven, so that hub rotation can be driven by actuator by realizing.
In any of the above-described technical solution, it is preferable that steering wheel device further include: connecting shaft is arranged in third support plate；
Driving wheel is connected with connecting shaft.
In the technical scheme, steering wheel device further includes connecting shaft and driving wheel, and driving wheel is connected with connecting shaft, specifically
Ground, connecting shaft are to be fixedly connected with supporting element, driving wheel, and connecting shaft is mainly used for being connected with the vehicle body of carrier by bearing
It connects, so that entirely steering wheel device between vehicle body with that can rotate, the steering for steering wheel device.Driving wheel can be gear, chain
Wheel, synchronizing wheel and belt wheel etc., driving wheel and connecting shaft are to be fixedly connected, and driving wheel is mainly used for the steering actuator with carrier
Connection drives steering wheel device to be turned to.
Second aspect of the present invention proposes a kind of carrier, comprising: such as the steering wheel device of any one of first aspect present invention.
Therefore carrier proposed by the present invention, has upper because including the steering wheel device such as any one of first aspect present invention
The whole beneficial effects for stating steering wheel device, are no longer stated one by one herein.
Additional aspect and advantage of the invention will become obviously in following description section, or practice through the invention
Recognize.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1 shows the explosive view of the steering wheel device provided according to one embodiment of present invention；
Fig. 2 shows the structural schematic diagrams of the wheel shaft of steering wheel device according to an embodiment of the invention；
Fig. 3 shows the structural schematic diagram of the steering wheel device provided according to one embodiment of present invention；
Fig. 4 shows another structural schematic diagram of the steering wheel device provided according to one embodiment of present invention；
Fig. 5 shows another partial structure diagram of steering wheel device according to an embodiment of the invention；
Fig. 6 shows another partial structure diagram of steering wheel device according to an embodiment of the invention；
Fig. 7 shows another partial structure diagram of steering wheel device according to an embodiment of the invention；
Fig. 8 shows another partial structure diagram of steering wheel device according to an embodiment of the invention.
Wherein, corresponding relationship of the Fig. 1 into Fig. 8 between appended drawing reference and component names are as follows:
1 steering wheel device, 10 supporting elements, 102 card slots, 104 first support plates, 106 second support plates, 108 third support plates,
20 hub units, 21 wheel hubs, 22 wheel shafts, 222 mounting portions, 223 mounting holes, 224 cylindrical sections, 226 polygon sections, 228 fixed parts,
229 reinforcement parts, 23 wheel hub covers, 232 first through hole, 24 support plates, 242 second through-holes, 25 first gears, 26 second gears, 30
Actuator, 40 connecting shafts, 50 driving wheels.
Specific embodiment
To better understand the objects, features and advantages of the present invention, with reference to the accompanying drawing and specific real
Applying mode, the present invention is further described in detail.It should be noted that in the absence of conflict, the implementation of the application
Feature in example and embodiment can be combined with each other.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, still, the present invention may be used also
Implement in a manner of using other than the one described here, therefore, protection scope of the present invention is not by following public tool
The limitation of body embodiment.
The steering wheel device 1 and carrier of embodiment according to the present invention offer are described referring to Fig. 1 to Fig. 8.
As shown in Figure 1, Figure 2 and shown in Fig. 5 to Fig. 8, the embodiment of first aspect present invention provides a kind of steering wheel device 1, packet
It includes: supporting element 10；Hub unit 20 is rotationally connected with supporting element 10, has accommodating chamber on hub unit 20；Wheel shaft
22, it is located in accommodating chamber, and the both ends of wheel shaft 22 are stretched out accommodating chamber and are fixed on supporting element 10, wheel shaft 22 is located in accommodating chamber
Position on be provided with mounting hole 223；Actuator 30 is mounted on wheel shaft 22, and at least part is located in mounting hole 223,
Actuator 30 is connected with hub unit 20, and is able to drive the rotation of hub unit 20.
Steering wheel device 1 provided by the invention, including supporting element 10, wheel shaft 22, hub unit 20 and actuator 30, wheel hub set
Part 20 is rotationally connected with supporting element 10, on hub unit 20 have accommodating chamber, at least the one of actuator 30 and wheel shaft 22
Part is located in accommodating chamber, and hub unit 20 can play the role of components of the protection setting in accommodating chamber, by actuator
30 are arranged in the accommodating chamber of hub unit 20, can prevent the actuator 30 in accommodating chamber from being damaged by collision, further,
Actuator 30 is connected with hub unit 20 and actuator 30 is able to drive the rotation of hub unit 20.Wherein, wheel shaft 22 is located at
In accommodating chamber, and the both ends of wheel shaft 22 are stretched out accommodating chamber and are fixed on supporting element 10, i.e., wheel shaft 22 and hub unit 20 rotate
Connection, wheel shaft 22 is used to support hub unit 20, hub unit 20 is rotated relative to wheel shaft 22, thus wheel hub
Component 20 is rotated also relative to supporting element 10, and further, actuator 30 is mounted on wheel shaft 22, and wheel shaft 22 can play
The effect of actuator 30 is supported, realizes the installation of actuator 30, also, since wheel shaft 22 is fixed on supporting element 10, Bu Huisui
Hub unit 20 rotate, actuator 30 is mounted on wheel shaft 22, can prevent actuator 30 with hub unit 20 rotate,
Promote the stability of actuator 30；Specifically, it is provided with mounting hole 223 on the position that wheel shaft 22 is located in accommodating chamber, drives
At least part of part 30 is located in mounting hole 223, and actuator 30 is mounted in the mounting hole 223 of wheel shaft 22 both convenient for driving
The fixed installation of part 30, simplifies the connection structure of wheel shaft 22 and actuator 30, and makes the part of actuator 30 Yu wheel shaft 22
Structure is overlapped, so that wheel shaft 22 and actuator 30 is compact-sized, reduces the overall space of structure.Steering wheel dress provided by the invention
Setting 1 realizes built in actuator 30, can prevent the actuator 30 in accommodating chamber from being damaged by collision, and extend product uses the longevity
Life；Also, makes the compact-sized of wheel shaft 22 and actuator 30 simultaneously, reduce wheel shaft 22 and the occupied receiving of actuator 30
The space in intracavitary portion, to realize actuator 30 in the case where not changing the size of steering wheel device 1 in the related technology
It is built-in, be conducive to the miniaturization of product.
Further, actuator 30 is preferably motor, hydraulic motor, air motor etc., so that actuator 30 is individual
Part, in the long-term use process of product, actuator 30 occurs to be conducive to the replacement of actuator 30, maintenance when problem, in turn
The service life of product can be extended.Preferably, actuator 30 is hydraulic motor, and the driving of hydraulic motor is at low cost, can drop
Low use cost is conducive to the popularization of product, promotes the scope of application of product.
As depicted in figs. 1 and 2, in one embodiment of the invention, it is preferable that wheel shaft 22 is arranged in mounting hole 223
On side wall, and run through wheel shaft 22, be arranged between the center line of mounting hole 223 and the center line of wheel shaft 22 in predetermined angle, presets
Angle is more than or equal to 80 ° and is less than or equal to 100 °；Wherein, actuator 30 is mounted on installation along the centerline direction of mounting hole 223
In hole 223.
In this embodiment, mounting hole 223 is specifically illustrated to be arranged on the side wall of wheel shaft 22 and through wheel shaft 22, installation
Angle between the center line in hole 223 and the center line of wheel shaft 22 is more than or equal to 80 ° and less than or equal to 100 °, and actuator 30 is along peace
The centerline direction in dress hole 223 is mounted in mounting hole 223, by limiting the center line of mounting hole 223 and the center of wheel shaft 22
Angle between line is within the above range, it can be ensured that between the length direction of actuator 30 and the length direction of wheel shaft 22 almost
Vertically, i.e., so that the length of actuator 30 extends along the radial direction of hub unit 20, so as to make full use of wheel hub set
Radial space inside part 20, and then improve the utilization rate of the radial space inside hub unit 20.
As depicted in figs. 1 and 2, in one embodiment of the invention, it is preferable that mounting hole 223 runs through along the vertical direction
Wheel shaft 22, actuator 30 are fitted into mounting hole 223 along the centerline direction of mounting hole 223.
In this embodiment, mounting hole 223 is specifically illustrated along the vertical direction through wheel shaft 22, and actuator 30 is along mounting hole
223 centerline direction is fitted into mounting hole 223, i.e., the central axis of actuator 30 is in the center line of wheel shaft 22, it is preferable that
The length direction of actuator 30 is consistent with the centerline direction of mounting hole 223, so that the length direction of actuator 30 is along wheel hub set
The radial direction of part 20 extends, so as to make full use of the radial space inside hub unit 20, to improve wheel hub set
The utilization rate of radial space inside part 20.
As depicted in figs. 1 and 2, in one embodiment of the invention, it is preferable that wheel shaft 22 includes: mounting portion 222, peace
Mounting hole 223 is provided in dress portion 222, mounting hole 223 runs through mounting portion 222, and actuator 30 is fitted into mounting hole 223；Connection
Portion, the quantity of interconnecting piece are two, and two interconnecting pieces are separately positioned on the two sides of mounting portion 222 and are connected with mounting portion 222,
One end that interconnecting piece is connected with mounting portion 222 is cylindrical section 224, and the other end of interconnecting piece is connected with supporting element 10.
In this embodiment, wheel shaft 22 includes mounting portion 222 and two interconnecting pieces, and mounting hole 223 is arranged in mounting portion 222
Mounting portion 222 is gone up and runs through, actuator 30 is fitted into mounting hole 223, and two interconnecting pieces are separately positioned on the two sides of mounting portion 222
And be connected with mounting portion 222, one end that interconnecting piece is connected with mounting portion 222 be cylindrical section 224, the other end of interconnecting piece with
Supporting element 10 is connected, i.e. the other end of interconnecting piece is fixed on supporting element 10.
As shown in Figures 1 to 7, in one embodiment of the invention, it is preferable that 222 glomeration of mounting portion；Interconnecting piece with
One end that supporting element 10 is connected is polygon section 226, and the both ends of supporting element 10 correspond to polygon section 226 and are respectively arranged with cooperation
Structure, fit structure are adapted with polygon section 226, and polygon section 226 is inserted into fit structure.
In this embodiment, mounting portion 222 is in spherical, and spherical mounting portion 222 is conducive to process, specifically, by
In mounting portion 222 be located at 222 two sides of mounting portion and wheel shaft 22, wheel shaft is collectively formed in the interconnecting piece that is connected with mounting portion 222
22 are preferably formed by turnery processing, and mounting portion 222 is designed as spherical mounting portion 222 and is conducive to form by turnery processing,
The production efficiency of wheel shaft 22 can be improved；Further, one end that interconnecting piece is connected with supporting element 10 is polygon section 226, branch
The both ends of support member 10 correspond to polygon section 226 and are respectively arranged with fit structure, and fit structure is adapted with polygon section 226, more
Side shape section 226 is inserted into fit structure, and polygon section 226 is inserted into fit structure to realize polygon section 226 and supporting element
Connection between 10, so that stable connection between wheel shaft 22 and supporting element 10, and wheel shaft 22 can be prevented relative to supporting element
10 are rotated, it is ensured that wheel shaft 22 has supporting role for hub unit 20.
As shown in Figure 1, in one embodiment of the invention, it is preferable that fit structure is card slot 102 or card hole.
In this embodiment, fit structure is card slot 102 or card hole, and card slot 102 or card hole are arranged on supporting element 10, card
Slot 102 or card hole are polygonal-shaped openings compatible with polygon section 226 or polygonal through hole.
As depicted in figs. 1 and 2, in one embodiment of the invention, it is preferable that wheel shaft 22 further include: fixed part 228,
The top of mounting portion 222 is set, and fixed part 228 is disposed around the periphery of mounting hole 223, and actuator 30 is fixed on fixed part 228
On；Reinforcement part 229, is arranged in the lower section of mounting portion 222, and reinforcement part 229 is disposed around the periphery of mounting hole 223.
In this embodiment, wheel shaft 22 further includes fixed part 228 and reinforcement part 229, and fixed part 228 is arranged in mounting portion
222 top, the lower section of mounting portion 222 is arranged in reinforcement part 229, and fixed part 228 and reinforcement part 229 are disposed around installation
Channel is collectively formed in the periphery in hole 223, i.e. fixed part 228 and reinforcement part 229 and mounting hole 223, and actuator 30 is located at the channel
In, wherein the upper end of actuator 30 is fixed on fixed part 228, and fixed part 228 can play the role of supporting actuator 30,
Since the top of placement and actuator 30 is connected actuator 30 with fixed part 228 vertically, so that actuator 30 is arranged in lifting,
Actuator 30 and the contact area of wheel shaft 22 are small, so as to reduce influence of the vibration of actuator 30 to wheel shaft 22, are promoted and are produced
The quality of product.The structural strength of wheel shaft 22 can be improved in reinforcement part 229, prevents from being deformed at mounting hole 223.Preferably, Gu
Determining portion 228 is the first flange that the top of mounting portion 222 is arranged in, and the top of actuator 30 is provided with to be adapted with first flange
Second flange, be connected by screw to the installation that first flange and second flange realize actuator 30.Preferably, fixed part 228
It is welded on mounting portion 222 with reinforcement part 229.
As shown in Figure 1 and Figure 5, in one embodiment of the invention, it is preferable that supporting element 10 includes: the first support plate
104；Second support plate 106, the first support plate 104 is parallel with the second support plate 106, and the both ends of wheel shaft 22 are separately fixed at first
In support plate 104 and the second support plate 106；Third support plate 108, third support plate 108 connect the first support plate 104 and second
Support plate 106, third support plate 108 are located at the top of the first support plate 104 and the second support plate 106；The notch of card slot 102 is
Quadrangle, card slot 102 are arranged in the first support plate 104 and the second support plate 106.
In this embodiment, supporting element 10 includes the first support plate 104, the second support plate 106 and third support plate 108,
Wherein, the first support plate 104 is arranged in parallel with the second support plate 106, and the both ends of wheel shaft 22 are separately fixed at the first support plate 104
In the second support plate 106, the notch of card slot 102 is quadrangle, and the setting of card slot 102 is in the first support plate 104 and the second support
On plate 106, card slot 102 is designed as the structure that notch is quadrangle, on the one hand, quadrangle is conducive to processing, can reduce product
Processing cost, also, polygon section 226 is preferably processed as to the convex block of quadrangle, the convenience of card slot 102 and quadrangle of quadrangle
Convex block match, to be conducive to the assembling between wheel shaft 22 and supporting element 10；On the other hand, the stabilized structure of quadrangle,
The polygon section 226 of wheel shaft 22, which is inserted into the card slot 102 of quadrangle, will not generate rotation, shaking etc., so that wheel shaft 22 and support
Stable connection between part 10.Further, third support plate 108 connects the first support plate 104 and the second support plate 106 and the
Three support plates 108 are located at the top of the first support plate 104 and the second support plate 106.
As shown in Figures 1 to 4, in one embodiment of the invention, it is preferable that hub unit 20 includes: wheel hub 21, is held
Chamber of receiving is arranged on wheel hub 21, and wheel hub 21 is hollow cylinder；Wheel hub cover 23 is connected with wheel hub 21, and the lid of wheel hub cover 23 is located at
One end of accommodating chamber, wheel hub cover 23 are equipped with first through hole 232；Support plate 24, wheel hub cover 23 rotationally with 24 phase of support plate
Connection, support plate 24 are adapted with first through hole 232, and support plate 24 is mounted in first through hole 232；Sealing element, setting are being propped up
Between support plate 24 and wheel hub cover 23.
In this embodiment, hub unit 20 includes wheel hub 21, wheel hub cover 23, support plate 24 and sealing element, wherein is accommodated
Chamber is arranged on wheel hub 21, and wheel hub 21 is hollow cylinder, and wheel hub 21 is used for external contact to provide support force, and
It can play the role of components of the protection setting in the accommodating chamber of wheel hub 21, the components in accommodating chamber is prevented to be damaged,
Further, one end of wheel hub 21 is provided with sealing element and support plate 24, wheel hub cover 23 is connected with wheel hub 21, wheel hub cover 23
With support plate 24 for sealing accommodating chamber, water is avoided to enter in accommodating chamber, to improve the waterproof performance of hub unit 20；Specifically
Ground, wheel hub cover 23 covers the one end for being located at accommodating chamber and wheel hub cover 23 is equipped with first through hole 232, and wheel hub cover 23 can be with wheel hub
21 rotation and common rotation, support plate 24 are mounted in the first through hole 232 of wheel hub cover 23, wheel hub cover 23 rotationally with branch
Support plate 24 is connected, and support plate 24 is preferably adapted with first through hole 232, sealing element setting support plate 24 and wheel hub cover 23 it
Between, further realize the sealing waterproof of accommodating chamber.
As shown in Figures 1 to 4, in one embodiment of the invention, it is preferable that the second through-hole is provided in support plate 24
242, one end of wheel shaft 22 is pierced by the second through-hole 242 and is fixed on supporting element 10；Wheel hub 21 has away from one end of support plate 24
End cap, end cap are equipped with third through-hole, and the other end of wheel shaft 22 is pierced by third through-hole and is fixed on supporting element 10.
In this embodiment, the support plate 24 positioned at one end of wheel hub 21 is equipped with the second through-hole 242, positioned at wheel hub 21
The end cap of the other end is equipped with third through-hole, and the both ends of wheel shaft 22 are each passed through the second through-hole 242 and third through-hole is fixed on branch
In support member 10, i.e., wheel shaft 22 is fixed on supporting element 10, so that wheel shaft 22 supports steering wheel and allows steering wheel phase
Wheel shaft 22 is rotated.Further, at least part of the cylindrical section 224 of wheel shaft 22 is located in third through-hole, it is preferable that circle
It is connected between shell of column 224 and wheel hub 21 by bearing, consequently facilitating wheel hub 21 is rotated relative to wheel shaft 22.
As shown in Fig. 5 to Fig. 8, in one embodiment of the invention, it is preferable that steering wheel device 1 further include: transmission group
Part, transmission component connect actuator 30 and wheel hub 21, and actuator 30 is rotated by transmission component band runner hub 21.
In this embodiment, steering wheel device 1 further includes transmission component and sealing element, wherein transmission component drives for connecting
Moving part 30 and wheel hub 21, so that actuator 30 can be rotated by transmission component band runner hub 21；Actuator 30 is preferably
Motor, hydraulic motor, air motor etc..
As shown in Fig. 5 to Fig. 8, in one embodiment of the invention, it is preferable that transmission component includes: first gear 25,
It is connected with actuator 30, actuator 30 is able to drive the rotation of first gear 25；Second gear 26, with 25 company of engagement of first gear
It connects, first gear 25 is able to drive the rotation of second gear 26, and second gear 26 is fixedly connected with wheel hub 21.
In this embodiment, transmission component includes first gear 25 and second gear 26, first gear 25 and actuator 30
It is connected, actuator 30 is able to drive the rotation of first gear 25；Second gear 26 engages connection, first gear with first gear 25
25 are able to drive the rotation of second gear 26, and second gear 26 is fixedly connected with wheel hub 21, to can be driven by actuator 30
Wheel hub 21 rotates.
As shown in Fig. 5 to Fig. 8, in one embodiment of the invention, it is preferable that first gear 25 be bevel gear, first
The horizontal setting of gear 25 is on actuator 30；Second gear 26 is bevel gear, and second gear 26 is equipped with mounting hole 223, the
Two gears 26 are set on wheel shaft 22 by mounting hole 223, and second gear 26 is arranged in mutual vertically with first gear 25 to be held
It receives in chamber.
In this embodiment, first gear 25 is preferably bevel gear, and first gear 25 is connected and first with actuator 30
The horizontal setting of gear 25 is on actuator 30；Second gear 26 is bevel gear, and second gear 26 is equipped with mounting hole 223, the
Two gears 26 are set on wheel shaft 22 by mounting hole 223, and second gear 26 is arranged in mutual vertically with first gear 25 to be held
It receives in chamber, specifically, whens drive shaft turns of actuator 30 drives horizontally disposed first gear 25 to rotate, 25 band of first gear
The dynamic second gear 26 for engaging connection rotates, and then the wheel hub 21 being connected with second gear 26 is driven to rotate, thus real
It can now be rotated with runner hub 21 by actuator 30.
As shown in Figures 1 to 8, in one embodiment of the invention, it is preferable that steering wheel device 1 further include: connecting shaft
40, it is arranged in third support plate 108；Driving wheel 50 is connected with connecting shaft 40.
In this embodiment, steering wheel device 1 further includes connecting shaft 40 and driving wheel 50, and driving wheel 50 is connected with connecting shaft 40
It connects, specifically, connecting shaft 40 is to be fixedly connected with supporting element 10, driving wheel 50, and connecting shaft 40 is mainly used for the vehicle with carrier
Body is attached by bearing, so that entirely steering wheel device 1 between vehicle body with that can rotate, the steering for steering wheel device 1.It passes
Driving wheel 50 can be gear, sprocket wheel, synchronizing wheel and belt wheel etc., and driving wheel 50 is to be fixedly connected with connecting shaft 40, and driving wheel 50 is main
It is used to connect with the steering actuator 30 of carrier, steering wheel device 1 is driven to be turned to.
Second aspect of the present invention proposes a kind of carrier, comprising: such as the steering wheel device of any one of first aspect present invention
1。
Carrier proposed by the present invention, because including therefore the steering wheel device 1 of any one of first aspect present invention such as has
Whole beneficial effects of above-mentioned steering wheel device 1, are no longer stated one by one herein.
It should be noted that the steering wheel device 1 that any one of first aspect present invention proposes, can apply in automatic transporting
Above the equipment such as vehicle, wallboard installation vehicle, aluminum dipping form installation vehicle, all equipment for needing to use steering wheel device can be used, application
Scene is extensive.
In the description of this specification, term " connection ", " installation ", " fixation " etc. shall be understood in a broad sense, for example, " even
Connect " it may be fixed connection or may be dismantle connection, or integral connection；It can be directly connected, it can also be in
Between medium be indirectly connected.For the ordinary skill in the art, above-mentioned term can be understood at this as the case may be
Concrete meaning in invention.
In the description of this specification, the description of term " one embodiment ", " some embodiments ", " specific embodiment " etc.
Mean that particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least one reality of the invention
It applies in example or example.In the present specification, schematic expression of the above terms are not necessarily referring to identical embodiment or reality
Example.Moreover, description particular features, structures, materials, or characteristics can in any one or more of the embodiments or examples with
Suitable mode combines.
These are only the preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is made it is any modification,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (14)
1. a kind of steering wheel device (1) characterized by comprising
Supporting element (10)；
Hub unit (20) is rotationally connected with the supporting element (10), has accommodating chamber on the hub unit (20)；
Wheel shaft (22) is located in the accommodating chamber, and the both ends of the wheel shaft (22) are stretched out the accommodating chamber and are fixed on described
On supporting element (10), mounting hole (223) are provided on the position that the wheel shaft (22) is located in the accommodating chamber；
Actuator (30) is mounted on the wheel shaft (22), and at least part is located in the mounting hole (223), the drive
Moving part (30) is connected with the hub unit (20), and is able to drive the hub unit (20) rotation.
2. steering wheel device (1) according to claim 1, which is characterized in that
The mounting hole (223) is arranged on the side wall of the wheel shaft (22), and runs through the wheel shaft (22), the mounting hole
(223) it is arranged between the center line of center line and the wheel shaft (22) in predetermined angle, the predetermined angle is more than or equal to 80 °
And it is less than or equal to 100 °；
Wherein, the actuator (30) is mounted in the mounting hole (223) along the centerline direction of the mounting hole (223).
3. steering wheel device (1) according to claim 2, which is characterized in that
The mounting hole (223) runs through the wheel shaft (22) along the vertical direction, and the actuator (30) is along the mounting hole (223)
Centerline direction be fitted into the mounting hole (223).
4. steering wheel device (1) according to claim 3, which is characterized in that the wheel shaft (22) includes:
Mounting portion (222) is provided with the mounting hole (223) on the mounting portion (222), and the mounting hole (223) runs through institute
It states mounting portion (222), the actuator (30) is fitted into the mounting hole (223)；
Interconnecting piece, the quantity of the interconnecting piece are two, and two interconnecting pieces are separately positioned on the two sides of mounting portion (222) simultaneously
It is connected with the mounting portion (222), one end that the interconnecting piece is connected with mounting portion (222) is cylindrical section (224), described
The other end of interconnecting piece is connected with the supporting element (10).
5. steering wheel device (1) according to claim 4, which is characterized in that
Mounting portion (222) glomeration；
One end that the interconnecting piece is connected with the supporting element (10) be polygon section (226), the two of the supporting element (10)
The corresponding polygon section (226) in end is respectively arranged with fit structure, the fit structure and polygon section (226) Xiang Shi
Match, the polygon section (226) is inserted into the fit structure.
6. steering wheel device (1) according to claim 5, which is characterized in that
The fit structure is card slot (102) or card hole.
7. steering wheel device (1) according to claim 4, which is characterized in that the wheel shaft (22) further include:
Fixed part (228) is arranged in the top of the mounting portion (222), and the fixed part (228) is disposed around the mounting hole
(223) periphery, the actuator (30) are fixed on the fixed part (228)；
Reinforcement part (229) is arranged in the lower section of the mounting portion (222), and the reinforcement part (229) is disposed around the mounting hole
(223) periphery.
8. steering wheel device (1) according to claim 6, which is characterized in that the supporting element (10) includes:
First support plate (104)；
Second support plate (106), first support plate (104) is parallel with the second support plate (106), the wheel shaft (22)
Both ends be separately fixed in first support plate (104) and second support plate (106)；
Third support plate (108), the third support plate (108) connect first support plate (104) and second support
Plate (106), the third support plate (108) are located at the top of first support plate (104) and second support plate (106)
End；
The notch of the card slot (102) is quadrangle, and the card slot (102) setting is in first support plate (104) and described
In second support plate (106).
9. steering wheel device (1) according to any one of claim 1 to 5, which is characterized in that
The hub unit (20) includes:
Wheel hub (21), the accommodating chamber are arranged on the wheel hub (21), and the wheel hub (21) is hollow cylinder；
Wheel hub cover (23) is connected with the wheel hub (21), and wheel hub cover (23) lid is located at one end of the accommodating chamber, described
Wheel hub cover (23) is equipped with first through hole (232)；
Support plate (24), the wheel hub cover (23) are rotationally connected with the support plate (24), the support plate (24) with
The first through hole (232) is adapted, and the support plate (24) is mounted in the first through hole (232)；
Sealing element is arranged between the support plate (24) and the wheel hub cover (23).
10. steering wheel device (1) according to claim 9, which is characterized in that
It is provided with the second through-hole (242) on the support plate (24), one end of the wheel shaft (22) is pierced by second through-hole
(242) it is fixed on the supporting element (10)；
The wheel hub (21) has end cap away from the one end of the support plate (24), and the end cap is equipped with third through-hole, described
The other end of wheel shaft (22) is pierced by the third through-hole and is fixed on the supporting element (10).
11. steering wheel device (1) according to any one of claim 1 to 5, which is characterized in that the steering wheel device (1) is also
Include:
Transmission component, the transmission component connects the actuator (30) and the wheel hub (21), the actuator (30) pass through
The transmission component drives wheel hub (21) rotation.
12. steering wheel device (1) according to claim 11, which is characterized in that
The transmission component includes:
First gear (25) is connected with the actuator (30), and the actuator (30) is able to drive the first gear
(25) it rotates；
Second gear (26), connection is engaged with the first gear (25), and the first gear (25) is able to drive described second
Gear (26) rotation, the second gear (26) are fixedly connected with the wheel hub (21).
13. steering wheel device (1) according to claim 12, which is characterized in that
The first gear (25) is bevel gear, and the first gear (25) is connected with the actuator (30), described first
The setting of gear (25) level is on the actuator (30)；
The second gear (26) is bevel gear, and the second gear (26) is equipped with mounting hole (223), the second gear
(26) it is set on the wheel shaft (22) by the mounting hole (223), the second gear (26) and the first gear
(25) it is arranged in the accommodating chamber mutual vertically.
14. a kind of carrier characterized by comprising
Steering wheel device (1) as described in any one of claims 1 to 13.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910491527.1A CN110077222B (en) | 2019-06-06 | 2019-06-06 | Steering wheel device and carrier |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910491527.1A CN110077222B (en) | 2019-06-06 | 2019-06-06 | Steering wheel device and carrier |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110077222A true CN110077222A (en) | 2019-08-02 |
| CN110077222B CN110077222B (en) | 2020-07-14 |
Family
ID=67423794
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910491527.1A Active CN110077222B (en) | 2019-06-06 | 2019-06-06 | Steering wheel device and carrier |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110077222B (en) |
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| CN108422809A (en) * | 2018-04-08 | 2018-08-21 | 高亚贵 | A kind of universal wheel unit for carrier |
| CN207889812U (en) * | 2018-02-01 | 2018-09-21 | 广州智轮科技有限公司 | The novel steering wheel driving device of double-wheel differential type driving |
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|---|---|---|---|---|
| US20100181136A1 (en) * | 2009-01-17 | 2010-07-22 | Boomerang Systems, Inc. | Omnidirectional drive and steering unit |
| CN201665157U (en) * | 2010-02-03 | 2010-12-08 | 邬振华 | Gearbox and motor integral rotating device of electric motor tricycle |
| CN102774268A (en) * | 2012-07-14 | 2012-11-14 | 盐城工学院 | Equal-length double-crossarm suspension wheel rim driving device capable of realizing large-angel steering |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN110077222B (en) | 2020-07-14 |
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