CN111114628A

CN111114628A - Multidirectional steering device and transfer car (buggy) that travel

Info

Publication number: CN111114628A
Application number: CN201911359432.0A
Authority: CN
Inventors: 王东升; 贺华; 黄春红
Original assignee: Hangzhou Kunge Zhizao Technology Co Ltd
Current assignee: Hangzhou Kunge Zhizao Technology Co Ltd
Priority date: 2019-12-25
Filing date: 2019-12-25
Publication date: 2020-05-08
Anticipated expiration: 2039-12-25
Also published as: CN111114628B

Abstract

The invention discloses a multi-directional driving steering device, comprising: the driving wheel mechanism comprises a driving wheel, a first driving mechanism and a second driving mechanism, wherein the first driving mechanism is used for controlling the driving wheel to roll, and the second driving mechanism is used for controlling the driving wheel to rotate circumferentially by taking a contact point between the driving wheel and the outside as a center; the universal wheel mechanism comprises a first universal wheel and a second universal wheel which are arranged on two sides of the driving wheel mechanism; and the bearing wheel mechanism comprises a first bearing wheel assembly and a second bearing wheel assembly, wherein the first bearing wheel assembly comprises a bearing wheel and a driving rod assembly which is used for pushing the bearing wheel to rotate circumferentially by taking a contact point between the bearing wheel and the outside as a center. The invention improves the accuracy and reliability of the steering device of the four-direction running vehicle and reduces the manufacturing and maintenance cost; the switching and positioning mode between longitudinal running and transverse running of the vehicle is accurate and reliable, and the requirement that wheels of the vehicle are in pure rolling motion during running is met; the vehicle adopts a five-fulcrum seven-wheel supporting mode, so that the stress of the wheels is uniform, and the running stability of the vehicle is improved.

Description

Multidirectional steering device and transfer car (buggy) that travel

Technical Field

The invention belongs to the technical field of large box transfer vehicles, and particularly relates to a multidirectional driving steering device and a transfer vehicle.

Background

The general vehicle can only run in two directions, namely, the vehicle can move forwards and backwards, and the four-wheel multi-direction running side forklift has the functions of longitudinal running and transverse running, has the functions of a balance weight type forklift, a side forklift, a forward moving type forklift and a fixed platform carrier, achieves the purpose of one machine with multiple purposes, can be suitable for material handling in various fields, and particularly has the advantages of running in a narrow passage and loading long materials.

However, the steering mechanism of a four-wheel four-direction running vehicle is different from the steering mechanism of a conventional four-wheel front and rear two-direction running vehicle, and when the four front wheels and the rear wheels are required to be steered left and right during longitudinal running of the four-wheel four-direction running vehicle, the axes of the four wheels are required to meet a point on the symmetrical center line of the front wheels and the rear wheels at each moment.

For the parallelogram steering mechanism, the requirement that the axes of the wheels intersect at a point on the central line cannot be met due to the equal rotation angles of the parallelogram steering mechanism, as shown in figures 1-1 and 1-2; for the single-trapezoid steering mechanism and the double-trapezoid steering mechanism, the requirement that the axes of the wheels intersect at one point on the central line can be met, but the requirement of 90-degree switching cannot be realized, as shown in figures 1-3, so the requirement of four-direction vehicle driving cannot be met.

Compared with a conventional steering mechanism of a four-pivot vehicle, the steering system of the four-wheel four-direction running vehicle has higher technical requirements and technical content, and at present, manufacturers capable of producing the four-wheel four-direction running vehicle at home and abroad are small. For the existing steering device of four-wheel four-direction running vehicle, manufacturers generally adopt a computer programming mode to control the steering of four motors, the parameter setting of the method depends on an ideal flat road surface, however, the actual road surface of the vehicle in the running process is far deviated from the ideal road surface requirement, the steering resistance of four wheels is greatly different, the load difference of the four steering motors is large, the stalling of individual motor is easily caused, the fault occurrence rate of the motors and electric control equipment is large, the angle deviation of a steering system is large, the reliability is poor, the steering system is easy to damage, meanwhile, the cost of using the four steering motors and four sets of steering electric control equipment is high, and the vehicle purchasing cost and the maintenance cost of the vehicle are greatly improved.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides the multidirectional driving steering device and the transfer trolley which have high reliability and low manufacturing cost, can drive in multiple directions and load and unload goods laterally.

The technical scheme adopted by the invention for solving the technical problems is as follows: a multi-directional travel steering apparatus comprising:

the driving wheel mechanism comprises a driving wheel, a first driving mechanism and a second driving mechanism, wherein the first driving mechanism is used for controlling the driving wheel to roll, and the second driving mechanism is used for controlling the driving wheel to rotate circumferentially by taking a contact point between the driving wheel and the outside as a center;

the universal wheel mechanism comprises a first universal wheel and a second universal wheel which are arranged on two sides of the driving wheel mechanism;

and the bearing wheel mechanism comprises a first bearing wheel assembly and a second bearing wheel assembly, wherein the first bearing wheel assembly comprises a bearing wheel and a driving rod assembly which is used for pushing the bearing wheel to rotate circumferentially by taking a contact point between the bearing wheel and the outside as a center.

Furthermore, the bearing wheel comprises a left bearing wheel and a right bearing wheel which are symmetrically distributed at two sides of the swinging assembly, the swinging assembly comprises a bearing wheel swinging shaft, two ends of the bearing wheel swinging shaft transversely extend into the left bearing wheel and the right bearing wheel respectively, a bearing wheel frame movably connected with the bearing wheel swinging shaft through a rotating shaft, a bearing wheel rotating shaft connected with the bearing wheel frame, and a bearing wheel seat connected with the bearing wheel rotating shaft.

Furthermore, the actuating lever subassembly includes the electronic ejector pin that links to each other with electronic footstock, establishes the telescopic link of being connected with electronic ejector pin cover, and rotates the steering arm that links to each other with the telescopic link, the steering arm links to each other with bearing wheel seat.

Furthermore, the first driving mechanism comprises a wheel shaft connected to the center of the driving wheel, a driven bevel gear connected to the outside of the wheel shaft in a rotation stopping fit manner, a driving bevel gear meshed with the driven bevel gear, a second gear connected to the outside of the driving bevel gear in a rotation stopping fit manner, and a driving shaft connected with the walking motor, wherein the driving shaft is connected with the second gear in a matching manner and used for driving the gears to rotate in the circumferential direction.

Furthermore, the second driving mechanism comprises a steering motor, a first steering gear connected with an output shaft of the steering motor, a steering gear ring meshed with the first steering gear, a bearing seat connected with the steering gear ring, and a gear box body connected with the bearing seat, wherein the gear box body is connected with the driving wheel, and when the steering motor drives the first steering gear to rotate circumferentially, the gear box body drives the driving wheel to rotate circumferentially integrally.

Furthermore, the walking motor and the steering motor are connected to the horizontal mounting base, the driving shaft, the output shaft and the driving bevel gear are axially parallel to each other, and the central axis of the wheel shaft is perpendicular to the central axis of the driving bevel gear.

Furthermore, the walking motor is connected with the horizontal mounting seat through a bolt, a central shaft of the walking motor is in fit connection with an external spline on the driving shaft through an internal spline, the driving shaft is mounted on the horizontal mounting seat and the gearbox body through two deep groove bearings, and the hole is clamped on the end face of the outer ring of the deep groove bearing through an elastic retainer ring, so that the driving shaft is axially positioned, and the driving shaft is driven to synchronously rotate when the walking motor rotates; the driving shaft and the gear form high-speed gear transmission, the gear II is connected with the driving bevel gear through a flat key, the driving bevel gear is installed on the gearbox body through two tapered roller bearings, the axial clearance of the two tapered roller bearings is adjusted through adjusting a fastening nut and the two tapered roller bearings are axially fixed and positioned, and when the driving shaft rotates, the gear II is driven to rotate, so that the first-stage speed reduction of a high-speed stage is realized; the driving bevel gear and the driven bevel gear form a low-speed second-stage speed reduction, the driven bevel gear is connected with a wheel shaft through a flat key, the wheel shaft passes through two tapered roller bearings, a spacer bush, a fastening nut I, an adjusting spiral ring II and an adjusting spiral ring III, one end of the wheel shaft is installed on a gear box body, the other end of the wheel shaft is installed on a rear cover, a fit clearance between the driven bevel gear and the driving bevel gear can be adjusted through adjusting the adjusting spiral ring II and the adjusting spiral ring III, and the driven bevel gear is driven to rotate when the driving bevel gear rotates, so that the second-stage speed reduction; the driven bevel gear drives the wheel shaft to rotate through the flat key, the wheel shaft is connected with the driving wheel through a wheel hub bolt and a wheel hub nut, and meanwhile, the fastening screw is arranged on the wheel shaft to tightly press the driving wheel towards the direction of the wheel shaft, so that the driving wheel is not easy to loosen during rotation, and the wheel shaft rotates to drive the driving wheel to rotate; the bearing frame is connected with the horizontal mounting seat through the two tapered roller bearings, the clearance of the two tapered roller bearings can be adjusted through adjusting the adjusting helicoids, the bearing frame can rotate around the horizontal mounting seat, and the steering gear ring and the gearbox body are fixedly connected with the bearing frame through bolts.

Furthermore, the first universal wheel comprises a universal wheel body, a universal wheel frame rotationally connected with the universal wheel body, a universal wheel frame rotating shaft connected to the top of the universal wheel frame, an elastic part abutted against a boss of the universal wheel frame rotating shaft, a spring seat covered outside the elastic part, and a universal wheel bearing seat connected with the spring seat.

Furthermore, the frame includes the horizontal frame strip and is located the left longitudinal frame strip and the right longitudinal frame strip of horizontal frame strip both sides, horizontal frame strip central point puts and is equipped with the drive wheel mechanism, and the both ends of left longitudinal frame strip are equipped with first universal wheel and first carrier wheel subassembly respectively, and the both ends of right longitudinal frame strip are equipped with second universal wheel and second carrier wheel subassembly respectively.

Furthermore, the frame is movably connected with a portal frame, the portal frame is connected with a side shifting roller which can roll relative to the left longitudinal frame strip or the right longitudinal frame strip, and one side of the portal frame, which is far away from the transverse frame strip, is connected with a fork.

The invention has the beneficial effects that: 1) the mode of adopting mechanical components to replace the mode of controlling the steering of four motors by computer programming improves the accuracy and reliability of the steering device of the four-direction running vehicle and reduces the manufacturing and maintenance cost; 2) the switching and positioning mode from longitudinal running to transverse running and from transverse running to longitudinal running of the vehicle is accurate and reliable, and the requirement that wheels of the vehicle are in pure rolling motion during running is met; 3) the vehicle adopts a five-fulcrum seven-wheel supporting mode, so that the stress of the wheels is uniform, and the running stability of the vehicle is greatly improved; 4) the electric push rod adopts a transmission mode of turbine worm transmission, has the characteristics of high transmission precision, stable transmission and good self-locking property, and is slightly influenced by climate environment; the hydraulic transmission, the oil cylinder and some valves which are conventionally adopted in the prior art are greatly influenced by the weather environment, the phenomenon of oil leakage and no pressure maintaining is easily generated, and the situations of shifting and asynchronization of two steering wheels are easily caused when the steering wheels steer.

Drawings

Fig. 1-1 is a schematic view of a parallelogram steering mechanism as mentioned in the background of the invention.

Fig. 1-2 are schematic views of a two-direction running vehicle as mentioned in the background of the invention.

Fig. 1 to 3 are schematic views of a four-wheel four-direction running vehicle mentioned in the background of the invention.

Fig. 2 is a first perspective view of the transfer vehicle of the present invention.

Fig. 3 is a second perspective view of the transfer vehicle of the present invention.

Fig. 4 is a bottom view of the transfer vehicle of the present invention.

Figure 5 is a side view of the transfer vehicle of the present invention.

FIG. 6 is a first side view of the drive wheel mechanism of the present invention.

FIG. 7 is a second side view of the drive wheel mechanism of the present invention.

FIG. 8 is a schematic view of the drive wheel mechanism of the present invention.

FIG. 9 is a cross-sectional view of the drive wheel mechanism of the present invention.

FIG. 10 is a perspective view of the load bearing wheel mechanism of the present invention.

FIG. 11 is an exploded view of the load bearing wheel mechanism of the present invention.

FIG. 12 is a cross-sectional view of the load bearing wheel mechanism of the present invention.

FIG. 13 is a top view of the load bearing wheel mechanism of the present invention.

FIG. 14 is a perspective view of the drive rod assembly of the present invention.

FIG. 15 is a top view of the drive rod assembly of the present invention.

FIG. 16 is a side view of the drive rod assembly of the present invention.

FIG. 17 is an exploded view of the first universal wheel of the present invention.

Fig. 18 is a schematic view of the present invention in a forward or reverse (longitudinal travel) left turn.

Fig. 19 is a schematic structural view of a five-pivot seven-wheel support system according to the present invention.

Fig. 20 is a schematic view of the construction of the present invention in a forward or reverse (longitudinal travel) right turn.

FIG. 21 is a schematic view of the pivot turning structure of the present invention.

Fig. 22 is a schematic configuration diagram of the present invention when switching from front-rear (longitudinal running) to left-right (lateral running).

Fig. 23 is a schematic configuration diagram when the present invention is driven right and left (lateral driving) and turns in the forward direction.

Fig. 24 is a schematic view showing the structure of the transfer vehicle of the present invention when it is driven right and left (lateral travel) and turned in the backward direction.

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 2-18, a multi-directional steering device comprises a driving wheel mechanism with a driving wheel 1, a universal wheel mechanism, and a bearing wheel mechanism, wherein the bearing wheel mechanism comprises a first bearing wheel assembly 31 and a second bearing wheel assembly 32, the driving wheel 1, the first bearing wheel assembly 31 and the second bearing wheel assembly 32 form an isosceles triangle structure, and the driving wheel 1 is located at the vertex of the isosceles triangle structure.

Specifically, the driving wheel mechanism comprises a driving wheel 1, a first driving mechanism 11 for controlling the driving wheel 1 to roll along the ground, and a second driving mechanism 12 for controlling the driving wheel 1 to rotate circumferentially on a horizontal plane by taking a contact point of the driving wheel 1 with the outside (such as the ground) as a center.

The running and steering of the transfer trolley are driven by a servo motor, and the running of the transfer trolley takes a storage battery as a power source, takes a servo running motor as power, and drives wheels to rotate through gear transmission, so that the vehicle runs. The driving mechanism is in two-stage gear transmission, and the first driving mechanism 11 is in a vertical arrangement structure. The forward and backward traveling of the vehicle is realized by changing the rotational direction of the drive shaft 26 of the servo motor 25. The driving mechanism does not rotate along with the driving wheel 1 when the vehicle turns, and the gear box 36 drives the gear to transmit through the servo steering motor 31, so that the driving wheel 1 rotates in a steering manner, and the left and right steering of the vehicle is realized.

As shown in fig. 7 to 10, the first driving mechanism 11 includes a wheel shaft 21 connected to the center of the driving wheel 1, a driven bevel gear 22 fittingly connected to the outside of the wheel shaft 21 in a rotation-stopping manner, a drive bevel gear 23 engaged with the driven bevel gear 22, a second gear 24 fittingly connected to the outside of the drive bevel gear 23 in a rotation-stopping manner, and a driving shaft 26 connected to a traveling motor 25, the driving shaft 26 fittingly connected to the second gear 24 for driving the second gear 24 to rotate circumferentially.

The second drive mechanism 3 includes a steering motor 31, a first steering gear 33 connected to an output shaft 32 of the steering motor 31, a first steering ring gear 34 meshed with the first steering gear 33, a bearing housing 35 connected to the first steering ring gear 34, and a gear housing 36 connected to the bearing housing 35. The gear box body 36 is partially connected with the driving wheel 1, and when the steering motor 31 drives the steering gear wheel 33 to rotate in the circumferential direction, the gear box body 36 drives the driving wheel 1 to rotate in the circumferential direction integrally.

Regarding the layout of the first driving mechanism 11 and the second driving mechanism 3, the traveling motor 25 and the steering motor 31 are located at the topmost part, both of which are connected to the horizontal mount 11, the driving shaft 26, the output shaft 32, and the bevel gear pinion 23 are axially parallel to each other, and the bevel gear pinion 23 is located between the driving shaft 26 and the output shaft 32 as viewed in projection. And the central axis of the hub 21 is perpendicular to the central axis of the drive bevel gear 23. That is, the gear housing 36 has a substantially 7-shaped cross section, and the driving wheel 1 is enclosed in the 7-shaped cross section.

The walking motor 25 is connected with the horizontal mounting base 11 through a bolt, a central shaft of the walking motor 25 is in fit connection with an external spline on the driving shaft 26 through an internal spline, the driving shaft 26 is mounted on the horizontal mounting base 11 and the gear box body 36 through two deep groove bearings, and a hole is clamped on the end face of the outer ring of the deep groove bearing through an elastic retainer ring, so that the driving shaft 26 is positioned in the axial direction, and the driving shaft 26 is driven to rotate synchronously when the walking motor 25 rotates; the driving shaft 26 and the second gear 24 form high-speed gear transmission, the second gear 24 is connected with the driving bevel gear 23 through a flat key, the driving bevel gear 23 is installed on the gear box 36 through two tapered roller bearings 27, the axial clearance of the two tapered roller bearings 27 is adjusted through adjusting a fastening nut and the two tapered roller bearings are axially fixed and positioned, and when the driving shaft 26 rotates, the second gear 24 is driven to rotate, so that the first-stage speed reduction of a high-speed stage is realized; the driving bevel gear 23 and the driven bevel gear 22 form a second-stage low-speed reduction, the driven bevel gear 22 is connected with the wheel shaft 21 through a flat key 28, the wheel shaft 21 is installed on the gear box 36 through two tapered roller bearings 27, a spacer 29, a first fastening nut 201, a second adjusting spiral ring 202 and a third adjusting spiral ring 203, one end of the wheel shaft is installed on the rear cover 37, the matching clearance between the driven bevel gear 22 and the driving bevel gear 23 can be adjusted through adjusting the second adjusting spiral ring 202 and the third adjusting spiral ring 203, and the driven bevel gear 22 is driven to rotate when the driving bevel gear 23 rotates, so that the second-stage speed reduction is realized; the driven bevel gear 22 drives the wheel shaft 21 to rotate through a flat key, the wheel shaft 21 is connected with the driving wheel 1 through a wheel hub bolt and a wheel hub nut, meanwhile, a fastening screw is arranged on the wheel shaft 21 to tightly press the driving wheel 1 towards the direction of the wheel shaft 21, so that the driving wheel 1 is not easy to loosen during rotation, and the wheel shaft 21 drives the driving wheel 1 to rotate. Since the driving wheel 1 is fixedly connected with the wheel shaft 21, the wheel shaft 21 rotates to drive the driving wheel 1 to rotate, so as to drive the vehicle to run. The bearing seat 35 is connected with the horizontal mounting seat 11 through two tapered roller bearings, the clearance of the two tapered roller bearings can be adjusted through adjusting the adjusting helicoids, the bearing seat can rotate around the horizontal mounting seat 11, and the steering gear ring 34 and the gear box 36 are fixedly connected with the bearing seat 35 through bolts. The driving wheel 1 is connected with the frame 6 through a horizontal mounting seat 11, the horizontal mounting seat 11 and the walking motor 25 are relatively fixed on the vehicle, when the driving wheel 1 turns, the walking motor 25 rotates to drive the driven bevel gear 22 to rotate, and the turning of the driving wheel 1 is realized.

The universal wheel mechanism includes a first universal wheel 41 and a second universal wheel 42 disposed on both sides of the driving wheel mechanism, as shown in fig. 18, the first universal wheel 41 includes a universal wheel body 411 at the bottom, a universal wheel frame 412 rotatably connected to the universal wheel body 411 through a universal wheel shaft 418, a universal wheel frame rotating shaft 413 fixedly connected to the top of the universal wheel frame 412, a boss 414 protruding from the outer wall of the universal wheel frame rotating shaft 413 along a radial portion, an elastic member 415 having one end abutting against the upper surface of the boss 414, a spring seat 416 covering the elastic member 415 to prevent the elastic member from deviating, and a universal wheel bearing seat 417 connected to the spring seat 416. The top end of the elastic member 415 abuts against a spring seat 416, and the spring seat 416 is connected to a universal wheel bearing seat 417 through two tapered roller bearings 419.

The first universal wheel 41 is of a floating structure, and the universal wheel body 411 can float up and down under the action of the elastic piece 415, so that the wheels can be grounded when a vehicle runs on an uneven road surface, and an effective supporting effect is achieved.

The structure of the second universal wheel 42 is the same as that of the first universal wheel 41, and is not described in detail.

The bearing wheel mechanism comprises a first bearing wheel assembly 51 and a second bearing wheel assembly 52, the first bearing wheel assembly 51 comprises a bearing wheel 53, and a driving rod assembly 54 for pushing the bearing wheel 53 to rotate circumferentially around the contact point of the bearing wheel with the ground (or the outside).

As shown in fig. 11-14, the bearing wheel 53 is a double-wheel swing structure, and includes a left bearing wheel 531 and a right bearing wheel 532 symmetrically distributed on two sides of the swing assembly 55, that is, the left bearing wheel 531 and the right bearing wheel 532 are symmetrically arranged on the swing assembly 55, so as to ensure that the wheels can simultaneously contact the ground and be uniformly stressed when the road surface is uneven. And the left and

right carrier wheels

531 and 532 are highly elastic solid wheels.

The swing assembly 55 includes a bearing wheel swing shaft 551 with two ends extending into the center of the left bearing wheel 531 and the right bearing wheel 532, respectively, and connected with the bearing wheel swing shaft 551 through a bearing, a bearing wheel frame 553 vertically and movably connected with the bearing wheel swing shaft 551 through a T-shaped rotating shaft 552, a bearing wheel rotating shaft 554 fixedly connected with the top of the bearing wheel frame 553, and a bearing wheel seat 555 connected with the bearing wheel rotating shaft 554 through a bearing 556.

The center section of the bearing wheel swing shaft 551 is symmetrically provided with clamping grooves 558 along two sides of the length direction, the bottom of the bearing wheel frame 553 is provided with a U-shaped notch groove 557 with a downward opening, the side walls on two sides of the notch groove 557 are respectively clamped in the clamping grooves 558 on two sides, and then the T-shaped rotating shaft 552 transversely passes through the side walls on two sides of the notch groove 557 and the bearing wheel swing shaft 551.

As shown in fig. 15-17, the driving rod assembly 54 includes an electric push rod 542 connected to the electric push rod 541, an expansion rod 543 sleeved on the electric push rod 542, and a turning arm 544 rotatably connected to the expansion rod 543, wherein the turning arm 544 is connected to a carrying wheel seat 555 on the carrying wheel 53.

The electric top seat 541 is connected to the frame 6, and the electric top rod 542 is hinged to the steering arm 544, so that the electric top rod 542 can push the carrier 553 to steer.

The structure of the second carrier wheel assembly 52 is the same as that of the first carrier wheel assembly 51 and will not be described again.

The control of the driving wheel mechanism, the universal wheel mechanism and the bearing wheel mechanism is uniformly controlled by the control unit, and the control function is realized in the prior art and is not described any more.

The multi-directional driving steering device is mounted on the frame 6, and specifically, the transfer vehicle comprises the frame 6, wherein the frame 6 comprises a cross frame strip 61, a left longitudinal frame strip 62 and a right longitudinal frame strip 63 which are positioned at two sides of the cross frame strip 61, the driving wheel mechanism is mounted at the central position of the cross frame strip, two ends of the left longitudinal frame strip 62 are respectively provided with a first universal wheel 41 and a first bearing wheel assembly 51, and two ends of the right longitudinal frame strip 63 are respectively provided with a second universal wheel 42 and a second bearing wheel assembly 52.

The frame 6 is of a box type structure, two groups of four bearing wheels and two universal wheels are symmetrically arranged in the front and back direction of the frame 6, and the driving wheel mechanisms are arranged on symmetrical shafts in the front and back direction of the frame 6; the bearing wheel mechanism comprises a first bearing wheel assembly 51 and a second bearing wheel assembly 52, is of a double-wheel swing type structure, and is symmetrically arranged in the front-back direction; two sets of left and right bearing wheels, respectively mounted on the two swing assemblies 55; two steering arms 544 mounted on the front and rear carrier frames 553 and arranged symmetrically in the front and rear direction; two sets of driving rod assemblies 54 are respectively hinged with the front steering arm 544 and the rear steering arm 544; the first universal wheel 41 and the second universal wheel 42 are symmetrically arranged in front and back; two universal wheel bodies 411 arranged on the universal wheel frame 412; the set of the front and rear wheels is arranged on a symmetrical shaft of the front and rear directions of the frame 6; the driving wheels 1 are arranged on a vertical driving wheel mechanism. In the above general arrangement support mode, we define a five-pivot seven-wheel support mode.

The frame 6 is movably connected with a portal 63, the portal 63 is a single-stage portal, so that full-automatic intelligent control is realized conveniently, lifting and side moving of the portal 63 are driven by an electric push rod 64, and compared with conventional hydraulic driving, the automatic lifting and side moving device has the advantages of high movement precision, good self-locking performance, no oil leakage phenomenon and higher reliability.

The door 63 is connected with a side shift roller 631 capable of rolling relative to the left vertical frame strip 62 or the right vertical frame strip 63, and one side of the door 63 far away from the horizontal frame strip 61 is connected with a fork 632.

As shown in fig. 19, when the vehicle goes forward or backward (travels longitudinally) to turn left, the two electric carrier rods simultaneously extend to push the steering arm and drive the carrier wheel frame to rotate, so as to steer the carrier wheel. The transmission mode of the electric push rod is turbine worm transmission, the turbine worm has the characteristics of high transmission precision, stable transmission and good self-locking performance, so that the steering angles of the front bearing wheel and the rear bearing wheel can be ensured to be equal at any time, and the axes of the front bearing wheel and the rear bearing wheel are ensured to be intersected on the symmetrical axis of the frame at any time of steering.

When the vertical driving wheel mechanism drives a vehicle to run, the servo driving motor drives the driving wheel to rotate through gear transmission, so that the vehicle runs, at the moment, the servo steering motor which is installed together with the vertical driving wheel mechanism is locked at a zero position, the servo steering motor drives the vertical driving wheel mechanism to steer through the gear transmission, and at the moment, the servo steering motor is locked at the zero position, so that the axis of the driving wheel is fixed and is superposed with a symmetrical shaft in the front-back direction of the vehicle frame.

The universal wheel frame and the universal wheels are set as auxiliary supports, the follow-up performance is good, and at the moment, the axes of the front universal wheel and the rear universal wheel can automatically intersect with the axes of the four bearing wheels at one point.

As shown in fig. 21, when the vehicle goes forward or backward (travels longitudinally) to turn right, the two electric carrier rods simultaneously stretch and retract, and when stretching and retracting, the two electric carrier rods drive the steering arms to rotate, so as to drive the carrier wheel frame to rotate, and thus the carrier wheel is steered. The others are as above.

In summary, when the vehicle moves forwards or backwards (travels longitudinally), the axes of all the wheels intersect with the symmetry line of the frame in the front-back direction when the vehicle turns left and right, so that the wheels do pure rolling motion when the vehicle turns, and the motion requirements of the vehicle are met.

As shown in fig. 22, when the vehicle turns on site, the steering mechanism must be switched, at this time, the vertical driving wheel mechanism and the driving wheel are locked and fixed in the front and rear directions, the front and rear two electric plungers extend synchronously to push the steering arm and drive the carrier wheel frame to rotate, so as to realize 90-degree steering switching of the carrier wheel, and the position of the 90-degree steering switching of the carrier wheel is precisely controlled by the micro switch. After 90-degree steering switching, a steering motor of the second driving mechanism drives the driving wheel to rotate through gear transmission, so that the vehicle can rotate in situ around the intersection point of the central line of the driving wheel and the central connecting line of the front bearing wheel and the rear bearing wheel as the circle center.

The universal wheel frame and the universal wheels are set as auxiliary supports, the follow-up performance is good, and at the moment, the axes of the front and rear universal wheels can automatically intersect with the axes of the four bearing wheels at one point of the front and rear symmetrical centers.

As shown in fig. 23, when the vehicle is switched from front and back (longitudinal driving) to left and right (transverse driving), the vertical driving wheel mechanism and the driving wheel drive the gear transmission through the steering motor, so that the driving wheel is switched by 90 degrees (longitudinal switching to transverse), and simultaneously, the front and back two electric plungers extend synchronously to push the steering arm and drive the carrier wheel frame to rotate, so that 90-degree steering switching (transverse switching) of the carrier wheel is realized, and the position of 90-degree steering switching (transverse switching) of the carrier wheel is accurately controlled by the micro switch and is mechanically positioned and locked.

As shown in fig. 24, when the vehicle is traveling left and right (traveling in a transverse direction) and turns in a forward direction, the electric carrier rod and the mechanical positioning device fix the carrier wheel, the vertical driving mechanism drives the driving wheel to rotate clockwise through the steering motor and the gear transmission mechanism, and the center line of the driving wheel intersects with the upper end extension line of the center connecting line of the front carrier wheel and the rear carrier wheel at a point.

The universal wheel frame and the universal wheel are set as auxiliary bearings, the follow-up performance is good, at the moment, the axes of the front and rear universal wheels can automatically rotate, and the axes are intersected with the upper end extension lines of the central connecting lines of the front and rear bearing wheels at the same point. Therefore, the axes of the front and rear bearing wheels, the universal wheels and the driving wheels are intersected at one point, and the requirement that all wheels roll only is met.

When the vehicle runs left and right (runs transversely) and turns backwards, the electric carrier rod and the mechanical positioning device fix the carrier wheel, the vertical driving wheel mechanism drives the driving wheel to rotate anticlockwise through the steering motor and the gear transmission mechanism, and the central line of the driving wheel is intersected with the lower end extension line of the central connecting line of the front carrier wheel and the rear carrier wheel at one point.

The universal wheel frame and the universal wheel are set as auxiliary bearings, the follow-up performance is good, at the moment, the axes of the front and rear universal wheels can automatically rotate, and the axes are intersected with the lower end extension lines of the central connecting lines of the front and rear bearing wheels at the same point. Therefore, the axes of the front and rear bearing wheels, the universal wheels and the driving wheels are intersected at one point, and the requirement that all wheels roll only is met.

The foregoing detailed description is intended to illustrate and not limit the invention, which is intended to be within the spirit and scope of the appended claims, and any changes and modifications that fall within the true spirit and scope of the invention are intended to be covered by the following claims.

Claims

1. A multidirectional running steering apparatus characterized by comprising:

the driving wheel mechanism comprises a driving wheel (1), a first driving mechanism (2) for controlling the driving wheel (1) to roll, and a second driving mechanism (3) for controlling the driving wheel (1) to rotate circumferentially by taking a contact point between the driving wheel and the outside as a center;

the universal wheel mechanism comprises a first universal wheel (41) and a second universal wheel (42) which are arranged on two sides of the driving wheel mechanism;

the bearing wheel mechanism comprises a first bearing wheel assembly (51) and a second bearing wheel assembly (52), wherein the first bearing wheel assembly (51) comprises a bearing wheel (53), and a driving rod assembly (54) for pushing the bearing wheel (53) to rotate circumferentially by taking a contact point of the bearing wheel with the outside as a center.

2. The multidirectional driving steering device according to claim 1, wherein: the bearing wheel (53) comprises a left bearing wheel (531) and a right bearing wheel (532) which are symmetrically distributed at two sides of the swinging assembly (55), the swinging assembly (55) comprises a bearing wheel swinging shaft (551) with two ends respectively extending into the left bearing wheel (531) and the right bearing wheel (532), a bearing wheel frame (553) movably connected with the bearing wheel swinging shaft (551) through a rotating shaft (552), a bearing wheel rotating shaft (554) connected with the bearing wheel frame (553), and a bearing wheel seat (invention) connected with the bearing wheel rotating shaft (554).

3. The multidirectional driving steering device according to claim 2, wherein: the driving rod assembly (54) comprises an electric ejector rod (542) connected with the electric ejector seat (541), an expansion rod (543) sleeved with the electric ejector rod (542), and a steering arm (544) rotatably connected with the expansion rod (543), wherein the steering arm (544) is connected with the bearing wheel seat (555).

4. The multidirectional driving steering device according to claim 1, wherein: the first driving mechanism (2) comprises a wheel shaft (21) connected to the center of the driving wheel (1), a driven bevel gear (22) connected to the outside of the wheel shaft (21) in a rotation-stopping fit manner, a driving bevel gear (23) meshed with the driven bevel gear (22), a second gear (24) connected to the outside of the driving bevel gear (23) in a rotation-stopping fit manner, and a driving shaft (26) connected with a walking motor (25), wherein the driving shaft (26) is connected with the second gear (24) in a fit manner and used for driving the second gear (24) to rotate circumferentially.

5. The multidirectional driving steering device according to claim 4, wherein: the second driving mechanism (3) comprises a steering motor (31), a first steering gear (33) connected with an output shaft (32) of the steering motor (31), a first steering gear ring (34) meshed with the first steering gear (33), a bearing seat (35) connected with the first steering gear ring (34), and a gear box body (36) connected with the bearing seat (35), wherein the gear box body (36) is partially connected with the driving wheel (1), and when the first steering gear (33) is driven by the steering motor (31) to rotate in the circumferential direction, the gear box body (36) drives the driving wheel (1) to rotate in the circumferential direction integrally.

6. The multidirectional driving steering device according to claim 5, wherein: the walking motor (25) and the steering motor (31) are connected to the horizontal mounting base (11), the driving shaft (26), the output shaft (32) and the driving bevel gear (23) are axially parallel to each other, and the central axis of the wheel shaft (21) is perpendicular to the central axis of the driving bevel gear (23).

7. The multidirectional driving steering device according to claim 6, wherein: the walking motor (25) is connected with the horizontal mounting base (11) through a bolt, a central shaft of the walking motor (25) is in fit connection with an external spline on the driving shaft (26) through an internal spline, the driving shaft (26) is mounted on the horizontal mounting base (11) and the gear box body (36) through two deep groove bearings, and a hole is clamped on the end face of the outer ring of each deep groove bearing through an elastic check ring, so that the driving shaft (26) is axially positioned, and the driving shaft (26) is driven to synchronously rotate when the walking motor (25) rotates; the driving shaft (26) and the second gear (24) form high-speed gear transmission, the second gear (24) is connected with the driving bevel gear (23) through a flat key, the driving bevel gear (23) is installed on the gear box body (36) through two tapered roller bearings (27), the axial clearance of the two tapered roller bearings (27) is adjusted through adjusting a fastening nut and the two tapered roller bearings are axially fixed and positioned, and when the driving shaft (26) rotates, the second gear (24) is driven to rotate, so that the first-stage speed reduction of a high-speed stage is realized; the driving bevel gear (23) and the driven bevel gear (22) form a second-stage low-speed reduction, the driven bevel gear (22) is connected with a wheel shaft (21) through a flat key (28), the wheel shaft (21) is installed on a gear box body (36) through two conical roller bearings (27), a spacer bush (29), a fastening nut I (201), an adjusting spiral ring II (202) and an adjusting spiral ring III (203), one end of the adjusting spiral ring III is installed on a rear cover (37), a fit clearance between the driven bevel gear (22) and the driving bevel gear (23) can be adjusted through adjusting the adjusting spiral ring II (202) and the adjusting spiral ring III (203), and the driving bevel gear (23) drives the driven bevel gear (22) to rotate when rotating to realize the second-stage speed reduction; the driven bevel gear (22) drives the wheel shaft (21) to rotate through a flat key, the wheel shaft (21) is connected with the driving wheel (1) through a wheel hub bolt and a wheel hub nut, meanwhile, a fastening screw is arranged on the wheel shaft (21) to tightly press the driving wheel (1) towards the direction of the wheel shaft (21), so that the driving wheel (1) is not easy to loosen during rotation, and the wheel shaft (21) rotates to drive the driving wheel (1) to rotate; bearing frame (35) link to each other with horizontal installation seat (11) through two tapered roller bearings, through the adjustable play of two tapered roller bearings of adjustment adjusting helicoidal, the bearing frame can rotate around horizontal installation seat (11), turns to ring gear (34) and gearbox casing (36) and all links to each other with bearing frame (35) are fixed through the bolt.

8. The multidirectional driving steering device according to claim 1, wherein: the first universal wheel (41) comprises a universal wheel body (411), a universal wheel frame (412) rotatably connected with the universal wheel body (411), a universal wheel frame rotating shaft (413) connected to the top of the universal wheel frame (412), an elastic part (415) abutted against a boss (414) of the universal wheel frame rotating shaft (413), a spring seat (416) covering the elastic part (415), and a universal wheel bearing seat (417) connected with the spring seat (416).

9. A transfer trolley comprising a frame (6), characterized in that: the frame (6) comprises a transverse frame strip (61), a left longitudinal frame strip (62) and a right longitudinal frame strip (63) which are positioned on two sides of the transverse frame strip (61), a driving wheel mechanism is arranged at the center of the transverse frame strip (61), a first universal wheel (41) and a first bearing wheel assembly (51) are arranged at two ends of the left longitudinal frame strip (62), and a second universal wheel (42) and a second bearing wheel assembly (52) are arranged at two ends of the right longitudinal frame strip (63).

10. The transfer car (buggy) of claim 9, wherein: the frame is characterized in that a door frame (63) is movably connected to the frame (6), a side-shifting roller (631) which can roll relative to the left longitudinal frame strip (62) or the right longitudinal frame strip (63) is connected to the door frame (63), and a fork (632) is connected to one side, far away from the transverse frame strip (61), of the door frame (63).