CN111152837A

CN111152837A - Double-wheel steering driving wheel

Info

Publication number: CN111152837A
Application number: CN202010188473.4A
Authority: CN
Inventors: 不公告发明人
Original assignee: Jiangsu Guangjuan Electromechanical Equipment Co Ltd
Current assignee: Shanghai Mingjie Electromechanical Technology Co.,Ltd.
Priority date: 2020-03-18
Filing date: 2020-03-18
Publication date: 2020-05-15
Anticipated expiration: 2040-03-18
Also published as: CN111152837B

Abstract

The application relates to a double-wheel steering driving wheel, belonging to a driving wheel for an electric loading vehicle, the double-wheel steering driving wheel consists of a steering rotary supporting system and a traveling system; the steering slewing support system includes: the device comprises an internal tooth rotary support device and a rotary support mounting plate 200, a steering wheel steering drive device, a driving wheel steering encoder device, a connecting piece and a fastening piece, wherein the internal tooth rotary support device comprises a rotary support mounting plate, a steering wheel steering drive device, a driving wheel steering encoder device and a fastening piece; the walking system comprises: the device comprises a rotary supporting mounting plate, a steering wheel walking power driving device, a steering wheel walking power driving transition device, a third-stage transmission shaft device, a floating coupling power transmission device, a walking driving fourth-stage transmission shaft device, a walking power differential output device, a swinging balance support assembly, a driving wheel walking position encoder device, a neutral gear clutch device, a rubber wheel, a built-in planetary reducer hub, a connecting piece and a fastening piece; the double-wheel steering driving wheel is suitable for heavy load and application occasions with severe environmental road conditions, and is safe and reliable.

Description

Double-wheel steering driving wheel

Technical Field

The application relates to a double-wheel steering driving wheel, belonging to a double-wheel steering driving wheel.

Background

The existing steering driving wheel has the defects that: the steering driving wheel walking driving motor, the walking driving motor encoder and the walking driving motor brake rotate along with the steering driving wheel, the electric wire and the electric cable of the motor cannot be reliably fixed, the electric wire and the electric cable can be dragged and abraded, and the electric wire and the electric cable have electrical faults caused by dragging and abrasion; the steering driving wheel can only steer and rotate in a limited angle in a horizontal plane, the range of the rotating angle is small, and the application range is limited; the steering driving wheel walking driving motor, the walking driving motor encoder and the walking driving motor brake rotate along with the steering driving wheel, the steering driving wheel has large steering rotation radius, and the size of the vehicle is large; when the steering driving wheel rotates to rotate and rolls, the friction of the rubber wheel to the ground is mainly represented as twisted sliding friction, and the rubber wheel and the ground are obviously damaged; the friction of the rubber wheel to the ground is mainly represented by torsional sliding friction, the steering resistance is large, and the power consumption of a steering driving motor is high; when the load is heavy, the steering driving wheel is made wider, so that the rubber wheel cannot be effectively contacted with the ground, the stress of the rubber wheel is uneven, the rubber wheel cannot be suitable for the road surface with severe road conditions, and the rubber wheel cannot be effectively protected; at present, most exposed rotating combination parts of a steering driving wheel do not adopt a rotating sealing device, so that the maintenance is difficult and needs high-frequency periodic maintenance; the existing steering driving wheel adopts a pieced design, no overall design is carried out, all parts are difficult to disassemble and maintain, the maintenance is inconvenient, and the maintenance period is short; the existing steering driving wheel is not provided with a neutral clutch device, cannot be dragged to a specified address for maintenance when no power is supplied, is difficult to maintain and is inconvenient to maintain; the existing steering driving wheel cannot be suitable for application occasions with heavy load, severe road conditions and severe environment.

Disclosure of Invention

This application provides a neotype double round for solving above-mentioned prior art defect, turns to drive wheel device.

The present application mainly considers solving the above technical problems to a certain extent.

The primary objective of the present application is to solve the prior art problems: the steering driving wheel walking driving motor, the walking driving motor encoder and the walking driving motor brake rotate along with the steering driving wheel, the electric wire and the electric cable of the motor cannot be reliably fixed, the electric wire and the electric cable can be dragged and abraded, and the electric wire and the electric cable have electrical faults caused by dragging and abrasion; the steering driving wheel can only steer and rotate in a limited angle in a horizontal plane, the range of the rotating angle is small, and the application range is limited; the steering driving wheel walking driving motor, the walking driving motor encoder and the walking driving motor brake rotate along with the steering driving wheel, the steering driving wheel has large steering rotation radius, and the size of the vehicle is large; when the steering driving wheel rotates to rotate and rolls, the friction of the rubber wheel to the ground is mainly represented as twisted sliding friction, and the rubber wheel and the ground are obviously damaged; the friction of the rubber wheel to the ground is mainly represented by torsional sliding friction, the steering resistance is large, and the power consumption of a steering driving motor is high; when the load is heavy, the steering driving wheel is made wider, so that the rubber wheel cannot be effectively contacted with the ground, the stress of the rubber wheel is uneven, the rubber wheel cannot be suitable for the road surface with severe road conditions, and the rubber wheel cannot be effectively protected; at present, most exposed rotating combination parts of a steering driving wheel do not adopt a rotating sealing device, so that the maintenance is difficult and needs high-frequency periodic maintenance; the existing steering driving wheel adopts a pieced design, no overall design is carried out, all parts are difficult to disassemble and maintain, the maintenance is inconvenient, and the maintenance period is short; the existing steering driving wheel is not provided with a neutral clutch device and cannot be dragged to a specified address for maintenance when no power is supplied; the existing steering driving wheel cannot be suitable for application occasions with heavy load, severe road conditions and severe environment.

In order to solve the technical problem, the technical scheme of the application is as follows.

A two-wheeled steerable drive wheel comprising: the double-wheel steering driving wheel can be divided into a steering rotary supporting system and a traveling system, wherein 100 degrees of inner tooth rotary supporting devices, 200 degrees of rotary supporting mounting plates, 300 degrees of steering wheel steering driving devices, 1500 degrees of driving wheel steering encoder devices, 1600 degrees of connecting pieces and fasteners form the steering rotary supporting system; 200. the steering wheel running power driving device comprises a rotary supporting mounting plate, 400 steering wheel running power driving devices, 500 steering wheel running power driving transition devices, 600 third-stage transmission shaft devices, 700 floating coupling power transmission devices, 800 traveling driving fourth-stage transmission shaft devices, 900 traveling power differential output devices, 1400 built-in planetary reducer hubs, 1000 swing balance support assemblies, 1100 driving wheel running position encoder devices, 1200 neutral gear clutch devices, 1300 rubber wheels, 16 connecting pieces and fasteners to form a traveling system.

Furthermore, an inner tooth rotary supporting device is composed of an upper rotary support 101, a lower inner tooth rotary support 102, an upper sealing ring 103, a sealing ring 104, a positioning ring 105, a fastening piece and a connecting piece, the upper end of the inner tooth rotary supporting device is installed in a positioning hole below a rotary support installation plate, the lower end face of the inner tooth rotary supporting device is installed in a positioning hole on the upper plane of an upper support of a swing balance support assembly 1000, and the inner tooth rotary supporting device is fixed through the fastening piece and the connecting piece.

Further, 200. a rotary support mounting plate is a rotary support system mounting carrier 301. a rotary drive motor and brake 302. a rotary drive reducer 303. a rotary drive reducer mounting support 304. a driving internal spline bevel gear 305. a driving internal spline bevel gear support bearing 306. a driving internal spline bevel gear support bearing mounting seat 307. a driving internal spline bevel gear support bearing cover; 308. the steering wheel steering driving device comprises a sealing ring 309, a driven spline bevel gear supporting bearing mounting seat 310, a driven spline bevel gear 311, an output external spline gear shaft 312, an output external spline shaft supporting bearing 313, an output external spline shaft supporting bearing cap 314, an output external spline shaft supporting bearing cap oil seal tightly 315, a gear housing 316, a connecting piece and a fixing piece, wherein the driven spline bevel gear supporting bearing mounting seat 309 is mounted in a rotary input shaft hole of a rotary supporting mounting plate 303, a rotary driving reducer mounting seat is fixedly connected with the rotary supporting plate 311, a lower end gear of the output external spline gear shaft is meshed with a lower inner rotary supporting inner tooth 102, and the rotary function of the steering driving wheel is realized.

Furthermore, 1501, a steering encoder, 1502, an encoder coupler, 1503, an encoder gear, 1505, an encoder bracket, 1506, an encoder gear upper and lower bearing, 1506, a bearing end cover, 1507, a rotary sealing ring, 1500, a fastener and a connecting piece form a rotary angle encoder device, 1503, the encoder gear is meshed with 102, lower internal tooth rotary support internal teeth, and the rotary position of steering is fed back in real time.

Furthermore, a steering rotary brake is integrally installed on the steering rotary driving motor, so that the braking function of the steering rotary support system is realized.

Further, 200. the rotary support mounting plate is a walking system mounting carrier; 401. the device comprises a walking driving motor, a walking driving motor encoder, a walking driving motor brake, 402, a driving motor position adjustable mounting plate, 403, a power input hollow shaft, 404, a power input hollow shaft rotary supporting bearing, 405, a power input hollow shaft rotary supporting bearing seat, 406, a power input hollow shaft rotary supporting bearing cap, 407, a power input hollow shaft oil seal, 408, a hollow shaft rotary supporting bearing cap, 409, a power output synchronous wheel, 410, a power output synchronous belt, 411, a connecting piece and a fastener form a steering wheel walking power driving device, 402, and a driving motor position adjustable mounting plate can realize tensioning of a transmission chain belt; the mounting plate with the position adjustable driving motor is a mounting carrier of the walking driving motor, and the device is transmitted to a next-stage device through the input hollow shaft by the power of the driving motor through a connecting key.

Further, 501 power input synchronizing wheel, 502 traveling drive secondary transmission gear shaft, 503 traveling drive secondary transmission gear shaft rotation supporting bearing, 504 secondary transmission gear shaft rotation supporting bearing seat, 505 secondary transmission gear shaft rotation supporting shaft gland, 506 secondary transmission gear shaft rotation oil seal, 507 secondary transmission shaft power input synchronizing wheel, 508 connecting piece and fastening piece constitute steering wheel traveling power drive transition device, which is installed on the power drive transition device installation hole of the rotation supporting installation plate and is matched and positioned, and power is input through the synchronizing belt and the power input synchronizing wheel and is transmitted to the next stage device through the gear at the lower end of the secondary transmission gear shaft.

Further, 601, a third-stage transmission shaft system power input internal spline gear, 602, a power input internal spline gear spacer, 603, a third-stage transmission spline hollow shaft, 604, a third-stage transmission spline hollow shaft rotation supporting bearing, 605, a third-stage transmission bearing seat, 606, a third-stage transmission bearing cover, 607, a third-stage transmission shaft rotation oil seal, 608, a connecting piece and a fastening piece form a third-stage transmission shaft device which is arranged on a plane hole on an upper support of the swing balance support assembly and is matched and positioned; the power is output by the secondary driving transmission shaft system, is input into the internal spline gear through the power of the third-stage transmission shaft system, is transmitted to the third-stage transmission spline hollow shaft, and is transmitted to the next device through the internal spline.

Further, 704, an elastic pin spring of an axial displacement compensation device, 707, an outer spline shaft of a composite upper axial connector, 707, a middle cross axial groove connector, 801, a lower axial inner spline connector, 709, a connecting piece and a fastener form a floating coupling power transmission device, a guide spline of the outer spline shaft of the composite upper axial connector is inserted into a hollow shaft of a third-stage transmission spline, and the middle cross axial groove connector is in floating connection with the lower axial inner spline connector of a fourth-stage transmission shaft to realize the transmission of floating walking driving power; the power of the device is input by a walking driving third-stage transmission shafting, and is output by a walking driving floating coupling device, so that the axial, radial and full-dimensional swinging displacement and angular displacement within a certain range of the coupling are realized, the floating connection function of the floating coupling is realized, and the power is transmitted to the driving fourth-stage transmission shafting.

Further, 801, a lower axial inner spline connector, 802, a walking driving fourth-stage outer spline bevel gear transmission shaft seat, 803, a walking driving fourth-stage transmission shaft rotating support bearing, 804, a walking driving fourth-stage transmission shaft gear, 805, a fourth-stage transmission shaft rotating support bearing upper gland, 806, a fourth-stage transmission shaft rotating support bearing lower gland, 807, a fourth-stage transmission shaft upper rotating oil seal, 808, a fourth-stage transmission shaft lower rotating oil seal, 809, a connector and a fastener form a walking driving fourth-stage transmission shaft system, the fourth-stage transmission shaft system is positioned and installed on the end face of an upper hole opening of a lower support of a swing balance support assembly through 02, a fourth-stage outer spline bevel gear transmission shaft seat cylindrical surface and the end face of a flange, and power of the device is provided by a driving floating coupling device and is transmitted to a walking power output differential device.

Further, 901 differential power input bevel gears, 902 differential bevel gear planet carriers, 903 differential bevel gear planet carrier rotation support bearings, 904 planetary carrier rotation support bearing left gland, 905 planetary carrier rotation support bearing right gland, 906 planetary carrier rotation support bearing left gland rotation oil seal, 907 planetary carrier rotation support bearing left gland rotation oil seal, 908 differential planetary gear rotation support left hollow shaft, 909 differential planetary gear rotation right hollow shaft, 910 differential planetary gear rotation support left hollow shaft spindle, 911 differential left planetary bevel gear, 912 differential right planetary bevel gear, 913 differential left planetary gear rotation support bearings, 914 differential right planetary gear rotation support bearings, 915 differential left power output splined inner bevel gear, 916. Differential device right power output inner spline bevel gear, 917 differential device left power output inner spline bevel gear rotation supporting bearing, 918 differential device right power output inner spline bevel gear rotation supporting bearing, 919 differential device left power output sealing spacer, 920 differential device right power output sealing spacer, 921 differential device left power output rotation oil seal, 922 differential device right power output rotation oil seal, 923 differential device left power output inner spline bevel gear rotation supporting bearing cap, 924 differential device right power output inner spline bevel gear rotation supporting bearing cap, 925 differential device left power output shafting locking nut, 926 differential device right power output shafting locking nut to form walking power differential output device, the device is positioned in lower bracket horizontal mounting hole through 904 planetary bracket rotation supporting bearing left gland, the fourth-stage transmission shaft gear is driven by 804 to be meshed with the power input bevel gear of the differential device, and the power output of the internal spline bevel gear is realized by 916 left and right power output of the differential device through the device, so that the power differential output is realized;

0019 further, 1401 power input internal spline gear shaft, 1402 power input external spline gear shaft left and right support bearings, 1403, power input external spline gear shaft both ends rotation oil seal, 1404, planet carrier, 1405, planet carrier both ends support bearing, 1406, internal gear hub, 1407, planetary gear, 1408, planetary gear support bearing, 1409, planetary gear axial positioning spacer, 1410, planetary gear support bearing spindle, 1411, planet carrier both ends support bearing left gland, 1412, planet carrier both ends support bearing right gland, 1413, planet carrier both ends rotation oil seal, 1413, power input external spline gear shaft support bearing gland, 1415, connecting piece and fastening piece constitute the built-in planetary reducer hub; the walking power output differential device transmits power to the built-in speed reducer, and transmits the power to the rubber wheel hub through the built-in speed reducer, so that the rubber wheel differential walking rotation is realized.

Furthermore, 1001, 1002, 1003, a balance bridge pin shaft, 1004, a check ring, a connecting piece and a fastener form a swing balance bracket assembly, the upper bracket and the lower bracket are connected through the balance bridge pin shaft, and the check ring is limited, so that the two wheels of the two-wheel steering driving wheel are grounded and stressed in a balanced manner.

Further, 1201, a partition retainer ring, 1202, a partition, 1203, a return spring, 1204, a power transmission composite spline shaft, 1205, a clutch cylinder (or other similar functional devices), 1206, a rotatable spherical top head, 1207, a cylinder mounting seat, 1600, a connecting piece and a fixing piece form a neutral clutch device, an external spline at one end of the device is inserted into a power input external spline gear shaft and is inserted into 1401, power transmission and clutch are achieved in the power input internal spline gear shaft, and unpowered traction towing during failure or maintenance of the electric flat car is achieved.

Further, 1101, 1102, 1103, 1104, 1105, 1100, 1105 and 1100, a driving wheel walking position encoder device and a device for realizing real-time feedback of the position of the double-wheel steering drive; the system has the function of realizing the differential walking and walking position feedback of the double rollers.

Furthermore, the walking brake is integrally installed on the walking driving motor, so that the braking function of the walking system is realized.

Furthermore, 0013~0022 group becomes double round and turns to drive wheel traveling system, realizes multi-functional walking function.

Further, 100 the internal tooth rotary supporting device is supported, 200 the rotary supporting mounting plate, 300 the steering driving device of the steering wheel, 1100 the driving wheel walking position encoder device, 1500 the driving wheel steering encoder device, 400 the steering wheel walking power driving device, 500 the steering wheel walking power driving transition device is connected with the frame into a whole through a connecting piece and a fastening piece, and the rotary supporting mounting plate and the frame are connected and fixed to form a walking rotary power driving assembly; the assembly realizes the functions of walking power deceleration and the functions of deceleration and rotation of the rotating device.

Further, 100. the upper support and the lower support of the internal tooth rotary support device, 600. the third-stage transmission shaft device and 1000. the upper support of the swing balance support assembly are connected into a whole through a connecting piece and a fastening piece to form an upper support assembly; the assembly is a carrier of the walking and rotating power driving assembly and forms two-stage speed reduction transmission with the walking and rotating power driving assembly.

Further, 800, a fourth-stage transmission shaft device is driven in a walking mode, 1000, a lower support of a swing balance support assembly and 900, a walking power differential output device, 1200, a neutral clutch device and 1400, a hub of a built-in planetary reducer and 1300, rubber wheels are connected with fasteners into a whole through connecting pieces to form a differential walking assembly; the assembly realizes the functions of third-stage speed reduction of the walking drive and differential output of the walking drive.

Furthermore, the walking and rotating power driving assembly is in rotating connection with the upper bracket assembly through an inner gear rotating support; the upper bracket assembly is connected with the differential walking assembly through a power transmission device of the floating coupling 700, so that power transmission is realized.

Furthermore, the walking and turning power driving assembly is in a fixed state relative to the frame, an electric cable on the walking and turning power driving assembly is fixedly installed, no electric cable is arranged on the upper bracket assembly and the differential walking assembly, and the upper bracket assembly and the differential walking assembly turn at any angle in the horizontal plane, so that the function of turning at any angle of the double-wheel turning driving wheel is realized; the differential walking assembly floats in a limited range of angle relative to the upper bracket assembly through a double-built-in speed reducer hub rubber wheel balance bridge pin shaft, so that the landing state of double rubber wheels changes along with the change of the ground, and the rotation with a smaller radius is realized; the landing state of the double rubber wheels of the differential walking assembly changes along with the change of the ground, and the upper bracket assembly is connected with the differential walking assembly by adopting a walking driving floating coupling device, so that the reliable connection of power transmission between the upper bracket assembly and the differential walking assembly is realized.

0024-0027 form a functional module group, and the assembly, debugging and maintenance are convenient.

Further, 100 internal tooth rotary support devices, 200 rotary support mounting plates, 300 steering wheel steering driving devices, 1500 driving wheel steering encoder devices, 16 connecting pieces and fasteners; the walking system comprises: 200. the novel steering wheel type self-lubricating device comprises a rotary support mounting plate, 400 degrees of steering wheel traveling power driving devices, 500 degrees of steering wheel traveling power driving transition devices, 600 degrees of third-stage transmission shaft devices, 700 degrees of floating coupling power driving devices, 800 degrees of traveling driving fourth-stage transmission shaft devices, 900 degrees of traveling power differential output devices, 1000 degrees of swinging balance support assemblies, 1100 degrees of driving wheel traveling position encoder devices, 1200 degrees of neutral clutch devices, 1300 degrees of rubber wheels and 1400 degrees of built-in planetary reducer hub relative rotation parts all adopt rotary sealing devices, and long-period lubrication-free maintenance is achieved.

Compared with the prior art, the technical scheme of the application has the following advantages: 1. the double-wheel steering driving wheel can steer and rotate at any angle in a horizontal plane, and has wide application range; 2. when the double-wheel steering driving wheel steers, the double wheels roll around the turning center to steer, the load is equal, the steering resistance is small, the power consumption of the steering driving motor is low, and the double-wheel steering driving wheel has no obvious damage to the ground and the rubber wheel within the pressure bearing range of the rubber wheel; 3. the steering and turning radius of the double-wheel steering driving wheel is small, and the size of the vehicle can be smaller under the same load; 4. the double-wheel steering driving wheel walking drive and rotation drive motor, the position and angle encoder do not rotate along with the double wheels, the wire and cable are reliably fixed, the condition of dragging abrasion of the wire and cable is avoided, and the wire and cable have electrical faults caused by dragging abrasion; 5. the double-wheel steering driving wheel adopts the double-rubber-wheel balancing device, so that the double rubber wheels can be effectively contacted with the ground, the double rubber wheels are uniformly stressed, the double-rubber-wheel steering driving wheel is suitable for the road surface with severe road conditions, and the rubber wheels are effectively protected; 6. the double-wheel steering driving wheel adopts the floating coupling power transmission device, and automatically adjusts the state of the coupling, so that the power transmission is simple and reliable when the balance axle device runs, and no coaxiality requirement exists when the balance axle device is started or stopped; 7. the double-wheel steering driving wheel adopts the neutral gear clutch device, can be towed in neutral gear without power, and is convenient to maintain; 8. the double-wheel steering driving wheel adopts a built-in planetary reducer hub, the structure is compact, and the bearing capacity of the driving wheel is high; 9. all exposed rotary joint parts of the double-wheel steering driving wheel adopt rotary sealing devices, so that the double-wheel steering driving wheel can be dustproof and waterproof, and can be free of lubrication and maintenance for a long time after once oil injection and lubrication; 10. the double-wheel steering driving wheel adopts a modular design, and each part can be detached and maintained independently, so that the maintenance is convenient, and the maintenance period is short; 11. the double-wheel steering driving wheel adopts a neutral clutch device, and can be dragged to a specified address for maintenance when no power is supplied; 12. therefore, the double-wheel steering driving wheel is suitable for application occasions with heavy load, severe road conditions and severe environment, and is safe and reliable.

Drawings

Fig. 1 is a schematic view of a two-wheel steering drive axle.

Fig. 2 is a front view schematically showing a two-wheel steering drive wheel.

Fig. 3 is a schematic main section view of a two-wheel steering driving wheel.

Fig. 4 is a side sectional view of a two-wheel steer-drive wheel.

Fig. 5 is a schematic view of a walking power driving device of a double-wheel steering driving wheel.

Fig. 6 is a schematic view of a double-wheel steering driving wheel walking power transition transmission device.

FIG. 7 is a schematic combination of a third stage transmission, a floating coupling power transmission, and a driving wheel traveling position encoder.

Fig. 8 is a schematic view of the walking power differential output device.

FIG. 9 is a schematic illustration of a neutral clutch arrangement.

Fig. 10 is a schematic view of a hub and a rubber wheel of the built-in speed reducer.

Fig. 11 is a schematic view of a steering wheel driving device.

FIG. 12 is a schematic view of a pendulum balance bracket assembly.

Fig. 13 shows a drive wheel steering encoder device.

The components: 100. the internal gear rotation supporting device comprises an internal gear rotation supporting device, 200 rotating supporting installation plates, 300 steering wheel rotation driving devices, 1500 driving wheel rotation encoder devices, 200 rotating supporting installation plates, 400 steering wheel walking power driving devices, 500 steering wheel walking power driving transition devices, 600 third-stage transmission shaft devices, 700 floating coupling power transmission devices, 800 walking driving fourth-stage transmission shaft devices, 900 walking power differential output devices, 1400 built-in planetary reducer hubs, 1000 swing balance support assemblies, 1100 driving wheel walking position encoder devices, 1200 neutral gear clutch devices, 1300 rubber wheels, 1600 connecting pieces and fasteners.

The components are as follows: 101 upper rotary support, 102 lower internal tooth rotary support, 103 upper seal ring, 104 seal ring, 105 positioning ring, 105 fastener and connecting piece, 200 rotary support mounting plate, 301 rotary driving motor and brake, 302 rotary driving reducer, 303 rotary driving reducer mounting base, 304 driving internal spline bevel gear, 305 driving internal spline bevel gear supporting bearing, 306 driving internal spline bevel gear supporting bearing mounting base, 307 driving internal spline bevel gear supporting bearing cap, 308 seal ring, 309 driven spline bevel gear supporting bearing mounting base, 310 driven spline bevel gear, 311 output external spline gear shaft, 312 output external spline shaft supporting bearing, 313 output external spline shaft supporting bearing cap, 314 output external spline shaft supporting bearing cap oil seal, 315 gear housing, 1501. The rotary encoder comprises a steering encoder, 1502 an encoder coupler, 1503 an encoder gear, 1505, an encoder bracket, 1506, an encoder gear upper and lower bearing, 1506, a bearing end cover, 1507, a rotary sealing ring, 401, a walking driving motor encoder, a walking driving motor brake, 402, a driving motor position adjustable mounting plate, 403, a power input hollow shaft, 404, a power input hollow shaft rotary supporting bearing, 405, a power input hollow shaft rotary supporting bearing seat, 406, a power input hollow shaft rotary supporting bearing cover, 407, a power input hollow shaft oil seal, 408, a hollow shaft rotary supporting bearing cover, 409, a power output synchronous pulley, 410, a power output synchronous pulley, 501, a power input synchronous pulley, 502, a walking driving secondary transmission gear shaft, 503, a walking driving secondary transmission gear shaft rotary supporting bearing, 504, a secondary transmission gear shaft rotary supporting bearing seat, 409, a secondary transmission gear shaft rotary supporting bearing cover, 505. two-stage transmission gear shaft rotation supporting shaft gland, 506, two-stage transmission gear shaft rotation oil seal, 507, second-stage transmission shaft power input synchronous wheel, 601, third-stage transmission shaft power input internal spline gear, 602, power input internal spline gear spacer, 603, third-stage transmission spline hollow shaft, 604, third-stage transmission spline hollow shaft rotation supporting bearing, 605, third-stage transmission bearing seat, 606, third-stage transmission shaft pressure bearing cap, 607, third-stage transmission shaft rotation oil seal, 704, axial displacement compensation device elastic pin spring, 707, composite upper axial connector external spline shaft, 707, middle cross axial groove connector, 801, lower axial internal spline connector, 802, fourth-stage external spline transmission shaft seat, 803, fourth-stage transmission shaft rotation supporting bearing, 803, walking driving fourth-stage transmission shaft rotation supporting bearing, 804. Traveling drives a fourth stage transmission shaft gear, 805, a fourth stage transmission shaft rotating support bearing upper gland, 806, a fourth stage transmission shaft rotating support bearing lower gland, 807, a fourth stage transmission shaft upper rotating oil seal, 808, a fourth stage transmission shaft lower rotating oil seal, 1901, a differential device power input bevel gear, 902, a differential device bevel gear planet support, 903, a differential device bevel gear planet support rotating support bearing, 904, a planet support rotating support bearing left gland, 905, a planet support rotating support bearing right gland, 906, a planet support rotating support bearing left gland rotating oil seal, 907, a planet support rotating support bearing left gland rotating oil seal, 908, a differential device planet gear rotating support left hollow shaft, 909, a differential device planet gear rotating right hollow shaft, 910, a differential device planet gear rotating support left hollow shaft mandrel, 911, a differential device left planet bevel gear, a differential device planet gear rotating support left hollow shaft mandrel, 911, a differential device left planet gear, a, 912. Differential right planetary bevel gear 913 differential left planetary gear rotation support bearing 914 differential right planetary gear rotation support bearing 915 differential left power take-off internally splined bevel gear 916 differential right power take-off internally splined bevel gear 917 differential left power take-off internally splined bevel gear rotation support bearing 918 differential right power take-off internally splined bevel gear rotation support bearing 919 differential left power take-off seal spacer 920 differential right power take-off seal spacer 921 differential left power take-off rotation oil seal 922 differential right power take-off rotation oil seal 923 differential left power take-off internally splined bevel gear rotation support bearing cap 924 differential right power take-off internally splined bevel gear rotation support bearing cap 925 differential left power take-off shaft lock nut 914 differential left power take-off shaft lock nut, 926. The differential device comprises a differential device right power output shafting locking device, 1401, a power input internal spline gear shaft, 1402, a power input external spline gear shaft left and right supporting bearing, 1403, a power input external spline gear shaft two-end rotating oil seal, 1404, a planet carrier, 1405, a planet carrier two-end supporting bearing, 1406, an internal gear hub, 1407, a planet gear, 1408, a planet gear supporting bearing, 1409, a planet gear axial positioning spacer, 1410, a planet gear supporting bearing mandrel, 1411, a planet carrier two-end supporting bearing left gland, 1412, a planet carrier two-end supporting bearing right gland, 1413, a planet carrier two-end rotating oil seal, 1413, a power input external spline gear shaft pressure bearing gland, 1201, a partition plate retainer ring, 1202, 1203, a reset spring, 1204, a power transmission composite spline shaft, 1205, a clutch cylinder (or other similar functional devices), 1206, a rotatable spherical top head, 1207. The device comprises an oil cylinder mounting seat, 1101, an encoder power transmission shaft, 1102, an encoder power transmission shaft retainer ring, 1103, an encoder coupler, 1104, an encoder mounting bracket and 1105, and an encoder assembly 1100, and a driving wheel walking position encoder device.

The drawings are for illustrative purposes only and are not to be construed as limiting the scope of the present patent; for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted; the same or similar reference numerals correspond to the same or similar parts; the terms describing positional relationships in the drawings are for illustrative purposes only and are not to be construed as limiting the patent.

Detailed Description

The technical solution of the present application is further described below with reference to the accompanying drawings and embodiments.

Example 1.

Referring to the attached drawings, the double-wheel steering driving wheel comprises 100 internal tooth rotation supporting devices, 200 rotation supporting mounting plates, 300 steering wheel steering driving devices, 1500 driving wheel steering encoder devices, 200 rotation supporting mounting plates, 400 walking power driving devices, 500 walking power driving transition devices, 600 third-stage transmission shaft devices, 700 floating shaft coupling power transmission devices, 800 walking driving fourth-stage transmission shaft devices, 900 walking power differential output devices, 1400 built-in planetary reducer hubs, 1000 swing balance support assemblies, 1100 driving wheel walking position encoder devices, 1200 neutral gear clutch devices, 1300 rubber wheels, 1600 connecting pieces and fastening pieces.

Explanation of the installation relationship of the components of the two-wheel steering drive wheel: the carrier of the device is an upper support of a swing balance support assembly, an inner gear rotary support lower support is arranged in a step hole above the upper support, and the lower end outer circle of the inner gear rotary support lower support is matched and positioned, and the lower end part is limited; a rotary support mounting plate is arranged above the upper support of the internal gear rotary support and is positioned on the rotary support mounting plate in a matching way by a positioning ring; a rotary driving device, a walking driving device, a synchronous belt, a walking driving secondary transmission shaft system, a walking driving floating coupling displacement compensation device, a driving wheel steering encoder device and a driving wheel walking position encoder device are respectively arranged above the rotary supporting installation plate; a walking driving third-stage transmission shaft system is arranged in a middle hole above the upper support, and a floating coupling power transmission device and a driving wheel walking position encoder device are arranged in a spline hole in the walking driving third-stage transmission shaft system; a lower bracket is arranged below the upper bracket, a balance bridge pin shaft is arranged in the longitudinal holes of the upper bracket and the lower bracket, a check ring for a shaft is arranged on the pin shaft, and the balance bridge pin shaft and the check ring form a swinging balance bracket assembly with the upper bracket and the lower bracket; a fourth-stage transmission shaft system of a walking drive is arranged in a vertical central hole above the lower support; a walking power output differential device is arranged in a transverse central hole of the lower bracket; the two built-in speed reducer rubber wheel hub planet carriers are connected with outer flanges at two ends of the lower support, and rubber wheels are respectively arranged on the built-in speed reducer rubber wheel hubs at two sides of the lower support; the upper parts are connected and fastened with the fasteners through all the connecting pieces; the walking driving motor brake is arranged on the walking driving motor, and the rotary driving motor brake is arranged on the rotary driving motor and is connected and fastened through a connecting piece and a fastening piece; a spline shaft of the driving wheel walking position encoder device is inserted into a hollow shaft of the third-stage transmission spline, and a driving wheel walking position encoder bracket is arranged on the rotary support mounting plate; the bracket of the driving wheel steering encoder device is arranged on the rotary support mounting plate, and an encoder gear is meshed with the inner teeth of the inner-tooth rotary support device; the neutral clutch device clutch oil cylinder mounting seat is arranged on the outer side of a hub planet support of the built-in planetary reducer, and the composite spline shaft penetrates through the central gear internal spline hollow shaft and is inserted into left and right power output internal spline bevel gear internalization pieces of the walking power differential output device.

The following is a detailed description of the mounting relationship of the components of the dual-wheel steering driving wheel.

The installation relationship of the internal tooth rotary support device of the double-wheel steering driving wheel is explained in detail as follows: a lower internal tooth rotary support is arranged in a step hole on the upper bracket, the outer circle of the lower end of the lower internal tooth rotary support is matched and positioned, and the lower end surface of the lower internal tooth rotary support is used as a support limiting surface; the upper rotary support is connected with the lower internal tooth rotary support through an internal rolling body, and a sealing ring is arranged at the exposed part of the combination of the upper rotary support and the lower internal tooth rotary support; and a positioning ring is arranged above the upper slewing support, the excircle of the positioning ring is used as a matching positioning surface, the upper end of the positioning ring is arranged on the slewing support mounting plate, the upper slewing support is positioned on the slewing support mounting plate, and the upper plane of the upper slewing support is arranged on the slewing support mounting plate and is fixedly connected with the connecting piece through a fastening piece.

The installation relationship of the steering driving device of the steering wheel is explained in detail as follows: the installation support of the rotary driving speed reducer is installed on the rotary supporting installation plate, the driven spline bevel gear supporting bearing installation base is inserted into the vertical face hole of the rotary driving speed reducer installation support and is inserted into the installation hole of the rotary supporting installation plate, and the rotary driving speed reducer installation support and the driven spline bevel gear supporting bearing base are installed and positioned in a matched mode through the installation excircle of the movable spline bevel gear supporting bearing base; the output external spline gear shaft supporting bearings are arranged in the driven spline bevel gear supporting bearing mounting seat holes and are positioned in a matching way by bearing excircle, the output external spline gear shaft is arranged between the output external spline shaft supporting bearings and is positioned in a matching way by the excircles at two ends of the spline shaft, and the shaft is limited by the shaft at two end faces of the shaft shoulder; one end of the output external spline shaft is inserted into the internal tooth lower rotary support and is meshed with the internal gear of the internal tooth lower rotary support, a driven spline bevel gear is mounted at the upper part of the output external spline shaft, and the driven spline bevel gear is positioned in a matched manner by an internal spline and transmits power; an output external spline shaft supporting bearing gland is arranged above the driven spline bevel gear supporting bearing mounting seat, the gland is positioned by a step excircle, and an inner end face is used as a mounting limiting face; a rotary sealing ring is arranged in the gland, and the inner ring and the outer ring of the rotary sealing ring are used as sealing surfaces; a driving inner spline bevel gear supporting bearing mounting seat is mounted in a horizontal inner hole of a slewing drive reducer mounting support, the inner end face of a flange of the inner spline bevel gear supporting bearing mounting seat is used as a mounting limiting face, and a small outer circular face is used as a matching positioning face; a driving internal spline bevel gear supporting bearing is arranged in the driving internal spline bevel gear supporting bearing mounting seat, the outer surface of the bearing is used as a matching positioning surface, and the end surface of the bearing is used as an axial limiting surface; a driving internal spline bevel gear is arranged in the driving internal spline bevel gear supporting bearing, the outer cylindrical surface of the bevel gear is used as a matching positioning surface, and the rear end surface of the bevel gear is used as a limiting surface; a driving internal spline bevel gear supporting bearing cover is arranged on the power input side of the mounting support of the rotary drive speed reducer, the inner end face of the bearing cover is used as an axial limiting face, and the excircle of the circular truncated cone is used as a matching positioning face; a rotary sealing oil seal is arranged in the gland, and the inner circle, the outer circle and the orifice end face of the oil seal are respectively used as a matched positioning surface, a limiting surface and a sealing surface; a rotary oil seal is arranged between the driving inner spline bevel gear and the driving inner spline bevel gear support bearing mounting seat, and the inner circle, the outer circle and the orifice end face of the oil seal are respectively used as a matched positioning surface, a limiting surface and a sealing surface; the rotary driving speed reducer is arranged on the vertical surface of the rotary driving speed reducer mounting support, the mounting end surface of the speed reducer is used as a limiting surface, and the excircle of the end surface circular truncated cone is used as a matching positioning surface; the power output shaft of the rotation driving speed reducer is inserted into the internal spline hole of the driving internal spline bevel gear to transmit power; a rotary driving servo motor is arranged on the vertical surface of the power input end of the rotary driving speed reducer, the end surface of the servo motor is used as an installation limiting surface, and the excircle of the end surface circular truncated cone is used as a positioning matching surface; the position encoder and the brake are integrated on the rotary driving servo motor, and all parts of the rotary driving device of the double-wheel steering driving wheel are fastened through connecting pieces and fastening pieces.

The installation relationship of the rotary angle encoder device of the double-wheel steering driving wheel is explained as follows: the encoder gear upper and lower bearing is installed respectively in gyration backup pad and upper bracket encoder gear hole, two bearings support the encoder gear, the encoding gear passes through the encoder shaft joint and is connected with gyration angle encoder, the encoder gear supports the meshing with internal tooth gyration of internal tooth down, the end cover is installed to the upper bearing upper end, install rotary seal in the bearing end, gyration angle encoder installs on the encoder support, the encoder support mounting is on the gyration backup pad, all spare parts of this double round steering drive wheel rotary driving device pass through connecting piece and fastener fastening.

The installation relationship of the walking power driving device of the double-wheel steering driving wheel is explained in detail as follows: the driving motor mounting plate is arranged in the position adjusting groove of the rotary support mounting plate, the side surface of the driving motor mounting plate is used as a guide surface, and the lower surface of the driving motor mounting plate is used as a support surface; a power input hollow shaft rotary supporting bearing seat is arranged above the mounting plate with the position adjustable of the driving motor, the inner surface of a flange of the bearing seat is used as mounting limit, and the mounting excircle is used as a matching positioning surface; a power input hollow shaft oil seal is arranged below a rotary supporting bearing seat of the power input hollow shaft, the power input hollow shaft oil seal is sealed by rice flour surfaces on the inner circle and the outer circle of the oil seal, and the end surface of the opening is used as an installation limiting surface; two power input hollow shaft rotary supporting bearings are arranged in the power input hollow shaft rotary supporting bearing seat, the bearing takes the excircle as a positioning matching surface, and the end surface as an installation limiting surface; the power input hollow shafts are arranged in the bearing holes of the rotary supports of the two power input hollow shafts, the power input hollow shaft shoulder is arranged between the two bearings, the power output synchronizing wheel is arranged above the power input hollow shaft, the inner hole of the synchronizing wheel is used as a matching positioning surface, and the end surface is used as an installation limiting surface; a flat key is arranged in a key groove at the upper end of the power input hollow shaft, and one side of the flat key is inserted into the power output synchronous wheel; a walking driving motor is installed below the mounting plate with the position adjustable driving motor, an output shaft of the walking driving motor is inserted into the power input hollow shaft, a connecting flat key is installed in an output key slot of the walking driving motor, one side of the connecting flat key is inserted into a key slot of the power input hollow shaft, and all parts of the walking driving device are connected and fastened through connecting pieces and fasteners.

The installation relationship of the double-wheel steering driving wheel walking power driving transition device is explained in detail as follows: the rotary supporting bearing seat of the secondary transmission gear shaft is arranged above the rotary supporting mounting plate, the inner side of a flange of the bearing mounting seat is used as a mounting limiting surface, and a positioning excircle at the lower part of the rotary supporting bearing seat is inserted into a mounting hole of the rotary supporting mounting plate to be used as a positioning matching surface; a walking driving secondary transmission gear shaft rotary supporting bearing is arranged in a rotary supporting bearing seat hole, the excircle of the bearing is used as a positioning matching surface, and the end surface is used as an installation limiting surface; a secondary transmission gear shaft rotary supporting shaft gland is arranged above the rotary supporting bearing seat, an installation limiting surface is arranged below a gland flange, and a positioning excircle is used as a positioning matching surface; a rotary oil seal is arranged in an oil seal mounting hole of a gland of a rotary supporting shaft of the secondary transmission gear shaft, the inner circle and the outer circle of the oil seal are used as sealing surfaces, and the end surface of an opening is used as a mounting limiting surface; a secondary transmission gear shaft is arranged in a rotary supporting bearing hole of the two secondary transmission gear shafts, the upper outer circle and the lower outer circle of the secondary transmission gear shaft are used as matching positioning surfaces, and the end surface of a circular table in the middle of the secondary transmission gear shaft is used as an installation limiting surface; a gear at the lower end of a secondary transmission gear shaft is meshed with a power input internal spline gear of a third-stage transmission shaft system, a power input synchronizing wheel of a secondary transmission shaft is arranged on a shaft neck at the upper end of the secondary transmission gear shaft, an inner hole of the synchronizing wheel is used as a positioning matching surface, and the end surface of the synchronizing wheel is used as an installation limiting surface; a common connecting flat key is arranged between the secondary transmission gear shaft and the power input synchronizing wheel of the secondary transmission shaft and is used for transmitting power; a power transmission synchronous belt is arranged between the power input synchronous wheel of the second-stage transmission shaft and the power output synchronous wheel of the walking driving device and is used for transmitting power; all parts of the second-stage transmission shaft system of the double-wheel steering driving wheel are connected and fastened through connecting pieces and fastening pieces.

The installation relationship of the third-stage transmission shaft device of the double-wheel steering driving wheel is explained in detail as follows: the third-stage transmission bearing seat is arranged on the inner end face of the central hole in the upper support component, is inserted into the central hole of the upper support component, takes the lower surface of a flange of the bearing seat as an installation limiting surface and takes the lower excircle as a positioning matching surface; two third-stage transmission spline hollow shaft rotary supporting bearings are arranged in the third-stage transmission bearing seat hole, the outer circle of each bearing is used as a positioning matching surface, and the end surface is used as an installation limiting surface; a third-stage transmission spline hollow shaft is arranged in the two rotary supporting bearing holes, the outer circular surfaces at the two ends of the hollow shaft are used as positioning matching surfaces, the end surface of a third-stage transmission spline hollow circular truncated cone is arranged between the two rotary supporting bearings, and the end surface of the circular truncated cone is used as an installation limiting surface; a third-stage transmission bearing seat is provided with a third-stage transmission bearing cover, a gland flange is provided with a limiting surface, and the outer circle of the step is used as a positioning matching surface; a third-stage transmission shaft rotating oil seal is arranged in the bearing end cover oil seal hole; a third-stage transmission shaft rotating oil seal is arranged in an oil seal hole below the third-stage transmission bearing seat; a third-stage transmission shaft power input internal spline gear is arranged above the third-stage transmission spline hollow shaft, the end face is used as an installation limiting face, an external spline of the third-stage transmission shaft is inserted into an internal spline hole of the third-stage transmission shaft power input internal spline gear, and an internal spline of the internal spline gear is in positioning fit and transmits power; all parts of the third-stage transmission shafting of the double-wheel steering driving wheel are connected and fastened through connecting pieces and fastening pieces.

The installation relationship of the power transmission device of the floating coupling of the double-wheel steering driving wheel is explained in detail as follows: an encoder power transmission shaft is arranged in the third-stage transmission spline internal spline hole, and the composite axial connector external spline shaft is arranged in the third-stage transmission spline hollow shaft hole and is matched and positioned with the internalization spline; an axial displacement compensation device spring is arranged in an inner hole of the power transmission shaft of the encoder, and one end of the spring is inserted into the inner hole of the composite axial connector; the lower axial internal spline connector is arranged on the fourth-stage transmission shaft system of the walking drive and is fixed by a connecting piece and a fastening piece; a middle cross axial groove connector is arranged between the outer spline shaft and the lower axial inner spline connector of the composite axial connector and is in a relative axial and radial floating state.

The installation relationship of the fourth-stage transmission shaft device driven by the double-wheel steering driving wheel in a walking way is explained in detail as follows: the walking driving fourth-stage transmission shaft rotary supporting bearing seat is arranged on a flange at the upper end of the lower supporting component and is inserted into a central hole at the upper end of the lower supporting component, the inner end surface of the flange of the fourth-stage transmission shaft rotary supporting bearing seat is used as an installation limiting surface, and the excircle of the rotary supporting bearing seat of the fourth-stage transmission shaft is used as a positioning matching surface; a walking drive fourth-stage transmission shaft rotary supporting bearing is arranged in a fourth-stage transmission shaft rotary supporting bearing seat hole, the outer circle of the selected supporting bearing is used as a positioning matching surface, and the end surface of the bearing is used as an installation limiting surface; an upper pressing cover and a lower pressing cover of a fourth-stage transmission shaft rotary supporting bearing are respectively arranged above and below the fourth-stage transmission shaft rotary supporting bearing seat, the inner end surface of a pressing cover flange is used as an installation limiting surface, and the outer circle of a pressing cover circular truncated cone is used as a positioning matching surface; the fourth-stage transmission shaft upper and lower rotary oil seals are respectively arranged in the oil seal holes of the upper and lower end covers of the rotary support bearing of the fourth-stage transmission shaft; a fourth-stage external spline bevel gear transmission shaft driven by walking is arranged in the rotary supporting bearing holes of the two fourth-stage external spline bevel gear transmission shafts driven by walking, the excircle of the fourth-stage external spline bevel gear transmission shaft is taken as a positioning matching surface, and the rear shoulder of the fourth-stage external spline bevel gear transmission shaft is taken as an installation limiting surface; the upper part of the walking driving fourth-stage external spline bevel gear transmission shaft is provided with a lower axial internal spline connector which is fixed through a connecting piece and a fastening piece.

The installation relationship of the walking power differential output device of the double-wheel steering driving wheel is explained in detail as follows: a differential bevel gear planetary support is arranged in a transverse central hole of a lower support part, a differential power input bevel gear is arranged on an excircle on one side of the differential bevel gear planetary support and is limited and is positioned on the end surface of a round platform on one side of the differential bevel gear planetary support, the differential power input bevel gear is meshed with a bevel gear of a fourth-stage externally splined bevel gear transmission shaft, bevel gear planetary support rotating support bearings are respectively arranged at two ends of the differential bevel gear planetary support, a bearing inner ring at one end is abutted against the back shoulder of the differential power input bevel gear and is limited, a bearing inner ring at the other end is abutted against the end surface of the round platform of the differential bevel gear planetary support and is limited, a left gland and a right gland of a planetary support rotating support bearing are respectively arranged on excircle of the two bevel gear planetary, The bottom surface of a right gland bearing hole is abutted against and limited, a left gland flange and a right gland flange of a planet support rotary supporting bearing are fixed on two end surfaces of a transverse central hole of a lower support part through fasteners, rotary oil seals are respectively arranged in a left end cover oil seal hole and a right end cover oil seal hole of the planet support rotary supporting bearing, a left hollow shaft and a right hollow shaft of a differential gear rotary supporting are arranged in two symmetrical concentric holes of the excircle of a differential gear bevel gear planet support, the flange surfaces of the left hollow shaft and the right hollow shaft are attached to and limited by the outer end surfaces of the two symmetrical concentric holes of the excircle of the differential gear planet support, a left planetary bevel gear and a right planetary bevel gear of the differential gear are respectively arranged on the left hollow shaft and the right hollow shaft, a right planetary gear rotary supporting bearing of the differential gear is arranged at two ends of the left planetary bevel gear of the differential gear and is fixed on the left hollow, the mandrel is fixed by a hole retainer ring, left and right planet gear rotating support bearings of the differential device are arranged in a horizontal hole of a bevel gear planet support of the differential device, the end surface of an outer ring of the planet gear rotating support bearing is respectively abutted against and limited by the end surfaces of circular truncated cones of inner holes at two ends of the bevel gear planet support, left and right power output internal spline bevel gears of the differential device are respectively arranged in the left and right planet gear rotating support bearing holes of the differential device, the end surface of an inner ring of the planet gear rotating support bearing is respectively abutted against and limited by the end surfaces of the circular truncated cones on the excircle of the left and right power output internal spline gears of the differential device, a bearing cover of the left and right power output internal spline gears of the differential device is arranged at two ends of the bevel gear planet support of the differential device, the bearing cover, the left and right power output sealing spacers are respectively arranged on the left and right power output internal spline bevel gears of the differential device, the left and right power output internal spline bevel gear rotating support shafts, the left and right power output internal spline bevel gears of the differential device and the left and right power output sealing spacers of the differential device are axially fixed through double round nuts, the left power output rotating oil seals of the differential device are respectively arranged on the oil seal holes of the left and right power output internal spline bevel gear rotating support bearing end covers, and all parts of the double-wheel steering driving wheel walking power output differential device are connected and fastened through connecting pieces and fasteners.

The detailed description of the installation relationship of the rubber wheel hub of the built-in planetary reducer of the double-wheel steering driving wheel is as follows: the planet carrier is symmetrically arranged on the outer flange surfaces at two ends of the lower bracket component, the inner outer edge of the planet carrier is tightly fastened with the outer flange surfaces at two ends of the lower bracket component by a fastener, the mounting inner hole of the planet carrier is matched and positioned with the round table excircle at two ends of the lower bracket component, the two end supporting bearings of the planet carrier are respectively arranged on the excircle at two sides between the planets and are matched and positioned, the inner gear wheel hub is arranged on the two end supporting bearings, the left and right gland covers of the support bearing at two ends of the inner gear wheel hub are respectively arranged at two ends of the planet carrier and are connected with the fastener and are fixed at two ends of the planet carrier, the two end rotating oil seals of the planet carrier are arranged in the oil seal holes of the left and right end covers of the two end supporting bearings at two ends, the planet gear is arranged in the planet gear groove of the planet carrier, planetary gear axial positioning spacers are arranged on two sides of the planetary gear and are abutted against and limited by the inner ring of the planetary gear supporting bearing, a planetary gear supporting bearing mandrel is fixed by retaining rings through holes at two ends of the mandrel, a planetary gear supporting bearing mandrel is arranged in the hole of the planetary carrier and is limited by the retaining rings through holes at two ends, a power input external spline gear shaft is arranged in the central hole of the planetary carrier, left and right supporting bearings of the power input external spline gear shaft are respectively arranged at two ends of the power input external spline gear shaft, a power input external spline gear shaft supporting bearing cover is arranged on the end surface of the central hole at one side of the planetary carrier, the power input external spline gear shaft bearing is limited by the supporting bearing covers of the planetary carrier hole and the power input external spline gear shaft, the power input external spline gear shaft is inserted into the left supporting bearing cover of the traveling power output differential device, The spline hole of the right power output internal spline bevel gear is used for power transmission; all parts of the rubber wheel hub of the planetary reducer built in the double-wheel steering driving wheel are connected and fixed through connecting pieces and fasteners.

The installation relationship of the encoder device for the walking position of the double-wheel steering driving wheel is explained in detail as follows: the encoder power transmission shaft is inserted into a spline hole of the third-stage transmission spline shaft and is limited by an upper hole and a lower hole, the upper thin shaft is connected with the encoder in a matched mode, the other end of the encoder is connected with a rotating shaft of the encoder, the encoder is fixed on an encoder frame, and the encoder frame is fixed on the rotary supporting plate and is fixed through a fixing piece and a connecting piece.

The installation relationship of the neutral gear clutch device of the double-wheel steering driving wheel is explained in detail, wherein a clapboard is arranged on a power input external spline gear shaft, and a hole block is used for limiting; one end of the power transmission composite spline shaft is inserted into a power input external spline gear shaft hole of the power output differential device, and the other end of the power transmission composite spline shaft is inserted into a power input internal spline gear shaft hole; one end of a return spring is inserted into the power input internal spline gear shaft hole, and the other end of the return spring is inserted into a partition plate in the power input external spline gear shaft hole of the power output differential device for limiting; the clutch oil cylinder is arranged in an oil cylinder mounting seat hole, and an oil cylinder seat is fixed on a planetary support of the power input differential device; the rotatable spherical top head is connected with a piston rod of the oil cylinder, and the ball head is propped against the end face of the power transmission composite spline shaft.

This double round turns to drive wheel swing balance support assembly installation relation specification: the upper support and the lower support are connected through a balance bridge pin shaft, the upper end of the upper support is limited by the retainer ring, the upper end of the upper support is matched and positioned with the outer circle of the lower internal tooth rotating support and the lower plane, the third-stage transmission shaft device is installed in the center hole of the upper plane of the upper support, the walking driving fourth-stage transmission shaft device is installed on the upper end face of the center hole of the upper plane of the lower support, the walking power differential output device is installed in the horizontal hole of the lower support, the built-in speed reducer hub is installed on the end face of the lower support, and.

The double-wheel steering driving wheel consists of a walking and rotating power assembly, a driving assembly upper bracket assembly, a differential walking assembly, a floating coupling and a balance bridge device.

The double-wheel steering driving wheel is in rotary connection with a driving assembly upper support assembly through an internal gear rotary support by walking rotary power; the upper bracket assembly of the driving assembly is connected with the differential walking assembly through a double built-in speed reducer hub rubber wheel balance bridge pin shaft; the upper bracket assembly of the assembly driving assembly is connected with the differential walking assembly through a walking driving floating coupling device; the upper bracket assembly and the differential walking assembly of the assembly driving assembly can rotate at any angle in a horizontal plane to realize the steering function at any angle, and the electric cable of the walking and turning power assembly can be permanently fixed because the walking and turning power assembly is in a fixed state relative to the frame; because the differential walking assembly floats in angle in a limited range around the pin shaft of the wheel hub rubber wheel balance bridge of the double built-in speed reducer relative to the upper bracket assembly of the driving assembly, the landing state of the double rubber wheels can be changed along with the change of the ground, and the rotation with smaller radius can be realized; because the landing state of the double rubber wheels of the differential walking assembly changes along with the change of the ground, the upper bracket assembly of the driving assembly and the differential walking assembly are connected by adopting a walking driving floating coupling device, so that the reliable connection of the upper bracket assembly of the driving assembly and the differential walking assembly is realized, and the double-wheel steering driving wheel can be used in occasions with bad road conditions.

The double-wheel steering driving wheel can be divided into a steering rotation system and a walking system.

The working principle of the double-wheel steering driving wheel is that a steering and rotating system works.

The programmable controller controls the start, stop and speed of the rotary servo motor, the rotary servo motor provides power, the power is transmitted to the rotary driving reducer through a common flat key, the power is transmitted to the driven spline gear through the reducer spline output shaft after being reduced by the reducer and torque is amplified, the power is transmitted to the output external spline gear shaft through the driven spline gear, the power is transmitted to the output external spline gear shaft through the driving internal spline bevel gear and the output external spline shaft gear, the power is transmitted to the lower rotary supporting inner gear through the output external spline shaft gear, the rotary power is transmitted to the driving assembly upper bracket assembly and the differential walking assembly through the internal tooth rotary support after the torque is reduced and amplified through the transmission of the level, and the rotary power is transmitted to the driving assembly upper bracket assembly and the differential walking assembly to realize the arbitrary angle rotation of the driving assembly.

The real-time steering and rotating angle position of the driving wheel is fed back to the driver and the controller by the rotary driving motor encoder, and the steering and rotating states of the upper bracket assembly and the differential walking assembly of the driving assembly are controlled in real time.

The double-wheel steering driving wheel adopts a steering and rotating system braking device as an electromagnetic braking device, and the starting state of the braking device is controlled by a programmable controller, so that the instant corresponding state of starting and stopping of the steering and rotating is achieved.

The working principle of the double-wheel steering driving wheel traveling system.

The programmable controller controls the starting, stopping and speed of the rotary servo motor, the walking motor provides power, the power is transmitted to the power input hollow shaft of the walking driving device, the power is transmitted to the power output synchronizing wheel through the flat key of the power input hollow shaft, the power is transmitted to the synchronous belt through the power output synchronizing wheel, the power is transmitted to the power input synchronizing wheel of the walking driving secondary transmission shafting through the synchronous belt, primary speed reduction is formed, and output torque is amplified.

And then the power is transmitted to a walking driving secondary transmission gear shaft through a power input synchronizing wheel and a flat key, and the secondary transmission gear shaft is meshed with a power input internal spline gear of a walking driving third-stage transmission shaft system to form secondary speed reduction and torque amplification.

The amplified torque is transmitted to a walking drive floating coupling device through a third-stage transmission spline hollow shaft, power is transmitted to an axial inner spline connector below a walking drive fourth-stage transmission shaft through the walking drive floating coupling device, the power is transmitted to a walking drive fourth-stage outer spline bevel gear transmission shaft through an inner spline of the inner spline connector, the bevel gear of the walking drive fourth-stage outer spline bevel gear transmission shaft is meshed with a power input bevel gear of a differential device to form three-stage speed reduction, and the torque is further amplified.

The power input bevel gear of the differential device transmits power to the bevel gear planetary support of the differential device through the connecting piece, the bevel gear planetary support of the differential device transmits power to the left and right bevel gears of the differential device through the rotation of the planetary gear of the differential device, the power is transmitted to the left and right bevel gears of the differential device through the central spindle, the power is transmitted to the left and right bevel gears of the differential device through the left and right power output internal spline bevel gears, the power is transmitted to the rubber wheel hub of the built-in planetary reducer through the internal spline by the left and right power output internal spline bevel gears, the power input external spline gear shaft gear is meshed with the planetary gear to form four-stage speed reduction, torque amplification is carried out, the planetary gear is meshed with the internal gear hub to form five-stage speed reduction torque which is further increased, and the internal gear hub drives to rotate in a back mode due, the double-wheel steering driving wheel is rotated, so that the electric loading flat car is driven to run.

The encoder of the rotary driving motor feeds back the real-time walking position of the driving wheel to the walking driver and the controller in real time, and the walking position of the electric loading flat car is controlled in real time.

The double-wheel steering driving wheel adopts a traveling system braking device as an electromagnetic braking device, and the starting state of the braking device is controlled by a programmable controller, so that the real-time corresponding state of starting and stopping traveling is achieved.

The principle of the differential device of the double-wheel steering driving wheel is as follows: when one rubber wheel is limited to rotate, the corresponding rubber wheel hub power input external spline gear shaft of the built-in planetary reducer is limited to rotate, the external spline gear shaft is inserted into an internal spline hole of a differential device right power output internal spline bevel gear connected to the corresponding side through a spline, so that the differential device right power output internal spline bevel gear on the corresponding side is limited to rotate, a differential device bevel gear planet support does not have circumferential rotation limitation relative to the bevel gear axis of the differential device right power output internal spline, the differential device bevel gear planet support rotatably supports a left hollow shaft through a differential device planet gear, the differential device planet gear rotatably supports a hollow shaft mandrel to transmit power to a differential device planet left bevel gear and a differential device planet right bevel gear, the differential device planet left bevel gear and the differential device planet right bevel gear are meshed with the differential device left power output internal spline gear and the differential device planet right bevel gear, and the differential, One of the right bevel gears rotates around the power output internal spline bevel gear of the limited side differential device in a meshing way, and the other differential device planet bevel gear rotates around the power output internal spline bevel gear of the differential device in a meshing way, so as to drive the power output internal spline bevel gear of the unlimited side differential device to rotate.

The working principle of the neutral gear clutch device of the traveling system is as follows: the built-in hydraulic oil circuit of the built-in planetary reducer hub planet carrier is connected with the built-in hydraulic oil circuit of the oil cylinder mounting seat, power hydraulic oil is transmitted to the clutch oil cylinder to push the rotatable spherical ejector head to act to push the power transmission composite spline shaft to move in the internal spline hole of the power output internal spline bevel gear on the left side and the right side of the differential device, after the power transmission composite spline shaft moves for a certain position, one end of the power transmission composite spline shaft is separated from the internal spline of the power input internal spline shaft of the built-in reducer hub to enable the built-in reducer hub to lose power, after the clutch oil cylinder resets, the reset spring pushes the power transmission composite spline shaft to move to the initial position, the power connection between the walking power differential output device and the built-in reducer hub is recovered.

This balanced theory of operation of double round steering drive wheel swing balance support assembly: the upper support and the lower support are connected through a balance bridge pin shaft, the upper end of the upper support is limited by the retainer ring, the upper end of the upper support is matched and positioned with the outer circle of the lower internal tooth rotating support and the lower plane, the third-stage transmission shaft device is installed in the center hole of the upper plane of the upper support, the fourth-stage transmission shaft device is installed on the upper end face of the center hole of the upper plane of the lower support, the walking power differential output device is installed in the horizontal hole of the lower support, the wheel hub of the built-in speed reducer is installed on the end face of the lower support, the double-wheel landing stress balance of the double.

The internal gear rotary support, the rotary drive device, the walking drive second-stage transmission shafting, the walking drive third-stage transmission shafting, the walking drive floating coupling device, the walking drive fourth-stage transmission shafting, the walking power output differential device, the upper bracket part, the lower bracket part, the double built-in speed reducer wheel hub rubber wheel balance bridge pin shaft, the rubber wheel, the built-in speed reducer rubber wheel hub, the walking drive motor encoder, the walking drive motor brake, the rotary drive motor encoder, the rotary drive motor brake, the drive motor mounting plate, the rotary sealing device is adopted at the relative rotating part outside the connecting piece and the fastener, and all exposed motion assembly parts can be dustproof and waterproof.

The above embodiments of the present application are merely examples for clearly illustrating the present application, and do not limit the embodiments of the present application. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the claims of the present application.

Claims

1. A two-wheeled steerable drive wheel characterized by comprising: the double-wheel steering driving wheel can be divided into a steering rotary supporting system and a traveling system, wherein 100 degrees of inner tooth rotary supporting devices, 200 degrees of rotary supporting mounting plates, 300 degrees of steering wheel steering driving devices, 1500 degrees of driving wheel steering encoder devices, 1600 degrees of connecting pieces and fasteners form the steering rotary supporting system; 200, a rotary supporting mounting plate, 400, a steering wheel walking power driving device, 500, a steering wheel walking power driving transition device, 600, a third-stage transmission shaft device, 700, a floating coupling power driving device, 800, a walking driving fourth-stage transmission shaft device, 900, a walking power differential output device, 1400, a built-in planetary reducer hub, 1000, a swing balance support assembly, 1100, a driving wheel walking position encoder device, 1200, a neutral clutch device, 1300, a rubber wheel, 1600, a connecting piece and a fastening piece form a walking system.

2. A two-wheeled steerable drive wheel, as claimed in claim 1, wherein the rotational support system is comprised and functional in that: 101, an upper rotary support, 102, a lower internal tooth rotary support, 103, an upper seal ring, 104 a seal ring, 105, a positioning ring, 105, a fastener and a connecting piece form an internal tooth rotary support device, the upper end of the internal tooth rotary support device is arranged in a positioning hole below a rotary support mounting plate, the lower end surface of the internal tooth rotary support device is arranged in 1000, an upper plane positioning hole of a swing balance support assembly upper support is fixed by the fastener and the connecting piece, 200, the rotary support mounting plate is a rotary support system mounting carrier, 301, a rotary drive motor and a brake, 302, a rotary drive reducer, 303, a rotary drive reducer mounting support, 304, a driving internal spline bevel gear, 305, a driving internal spline bevel gear support bearing, 306, a driving internal spline bevel gear support bearing mounting seat, 307 and a driving internal spline bevel gear; 308. the steering driving device comprises a sealing ring, 309, a driven spline bevel gear supporting bearing mounting seat, 310, a driven spline bevel gear, 311, an output external spline gear shaft, 312, an output external spline shaft supporting bearing, 313, an output external spline shaft supporting bearing cap, 314, an output external spline shaft supporting bearing cap oil seal, 315, a gear housing, 316, a connecting piece and a fixing piece, wherein the steering driving device comprises 309, the driven spline bevel gear supporting bearing mounting seat is mounted in a rotary input shaft hole of a rotary supporting mounting plate, 303, a rotary driving reducer mounting support is fixedly connected with the rotary supporting plate, 311, a lower end gear of the output external spline gear shaft is meshed with 102 and inner teeth of a lower inner tooth rotary support; 1501. the system comprises a steering encoder, 1502 an encoder coupler, 1503 an encoder gear, 1505 an encoder bracket, 1506 an encoder gear upper and lower bearing, 1506 a bearing end cover, 1507 a rotary sealing ring, 1500 a fastener and a connecting piece to form a rotary angle encoder device, 1503 an encoder gear is meshed with 102 lower internal tooth rotary support internal teeth, and the system realizes the steering rotation of the double-wheel steering driving wheel and feeds back the steering rotation position in real time.

3. The double-wheel steering driving wheel as claimed in claim 1, wherein the walking system of the double-wheel steering driving wheel is composed of a 200-degree rotary supporting mounting plate as a walking system mounting carrier, 401-degree walking driving motor, walking driving motor encoder, walking driving motor brake, 402-degree driving motor position adjustable mounting plate, 403-degree power input hollow shaft, 404-degree power input hollow shaft rotary supporting bearing, 405-degree power input hollow shaft rotary supporting bearing seat, 406-degree power input hollow shaft rotary supporting bearing cap, 407-degree power input hollow shaft oil seal, 408-degree hollow shaft rotary supporting bearing cap, 409-degree power output synchronizing wheel, 410-degree power output synchronizing belt, 411-degree connecting piece and fastener to form a steering wheel walking power driving device, and the double-wheel steering driving wheel is characterized in that the rotary supporting mounting plate is a walking systemProviding walking power, 402, realizing tensioning of a transmission chain belt by a mounting plate with an adjustable driving motor position, 501, a power input synchronous wheel, 502, a walking drive secondary transmission gear shaft, 503, a walking drive secondary transmission gear shaft rotating support bearing, 504, a secondary transmission gear shaft rotating support bearing seat, 505, a secondary transmission gear shaft rotating support shaft gland, 506, a secondary transmission gear shaft rotating oil seal, 507, a secondary transmission shaft power input synchronous wheel, 508, a steering wheel walking power drive transition device formed by a connecting piece and a fastening piece, wherein the steering wheel walking power drive transition device is arranged on a power drive transition device mounting hole on a rotating support mounting plate in a matching and positioning manner, 601, a third transmission shaft power input internal spline gear, 602, a power input internal spline gear spacer, 603, a third transmission spline hollow shaft, 604, a third transmission spline hollow shaft rotating support bearing, a third transmission spline hollow shaft rotating support, 605. A third-stage transmission bearing seat 606, a third-stage transmission shaft bearing cover 607, a third-stage transmission shaft rotating oil seal 608, a third-stage transmission shaft device formed by a connecting piece and a fastening piece, and the third-stage transmission shaft device is installed on a plane hole on an upper support of the swing balance support assembly and is matched and positioned; 704. the axial displacement compensation device comprises an elastic pin spring 707, a composite upper axial connector external spline shaft 707, a middle crossed axial groove connector 801, a lower axial internal spline connector 709, a connecting piece and a fastener to form a floating coupling power transmission device, a composite upper axial connector external spline shaft guide spline is inserted into a third-stage transmission spline hollow shaft, and the middle crossed axial groove connector is connected with a fourth-stage transmission shaft lower axial internal spline connector in a floating manner to realize the power transmission of floating walking drive; 801. the four-stage transmission shaft assembly comprises a lower axial inner spline connector, 802, a fourth-stage outer spline bevel gear transmission shaft seat, 803, a fourth-stage transmission shaft rotating support bearing, 804, a fourth-stage transmission shaft gear, 805, a fourth-stage transmission shaft rotating support bearing upper gland, 806, a fourth-stage transmission shaft rotating support bearing lower gland, 807, a fourth-stage transmission shaft upper rotating oil seal, 808, a fourth-stage transmission shaft lower rotating oil seal, 809, a connector and a fastener, wherein the fourth-stage transmission shaft is installed on the end face of an upper orifice of a lower support of a swing balance support assembly through 02, a fourth-stage outer spline bevel gear transmission shaft seat cylindrical surface and a flange end face in a positioning mode, and 901.Differential power input bevel gear, 902 differential bevel gear planet carrier, 903 differential bevel gear planet carrier rotation support bearing, 904 planetary carrier rotation support bearing left gland, 905 planetary carrier rotation support bearing right gland, 906 planetary carrier rotation support bearing left gland rotation oil seal, 907 planetary carrier rotation support bearing left gland rotation oil seal, 908 differential planetary gear rotation support left hollow shaft, 909 differential planetary gear rotation right hollow shaft, 910 differential planetary gear rotation support left hollow shaft spindle, 911 differential left planetary bevel gear, 912 differential right planetary bevel gear, 913 differential left planetary gear rotation support bearing, 914 differential right planetary gear rotation support bearing, 915 differential left power output internal spline bevel gear, 916 differential right power output internal spline bevel gear, 903 differential right power output internal spline bevel gear, 917. Differential left power output internal spline bevel gear rotation supporting bearing, 918 differential right power output internal spline bevel gear rotation supporting bearing, 919 differential left power output sealing spacer, 920 differential right power output sealing spacer, 921 differential left power output rotation oil seal, 922 differential right power output rotation oil seal, 923 differential left power output internal spline bevel gear rotation supporting bearing cover, 924 differential right power output internal spline bevel gear rotation supporting bearing cover, 925 differential left power output shafting lock nut, 926 differential right power output shafting lock nut to form a walking power differential output device, which is positioned in the lower bracket horizontal mounting hole through 904 planetary bracket rotation supporting bearing left gland, and is engaged with the differential power input bevel gear by 804 walking drive fourth stage transmission shaft gear, the power output of the internal spline bevel gear internal spline is realized by the device 916. the differential device outputs the power of the internal spline bevel gear internal spline from left to right, thereby realizing the power differential output; 1401. the power input internal spline gear shaft 1402, the power input external spline gear shaft left and right support bearings 1403, the power input external spline gear shaft two-end rotating oil seals 1404, a planet carrier 1405, the planet carrier two-end support bearings 1406, an internal gear hub 1407, a planetary gear 1408, a planetary gear support bearing 1409, a planetary gear axial positioning spacer 1410, a planetary gear support shaftThe hub comprises a bearing shaft 1411, a left bearing gland and a right bearing gland which are supported by two ends of a planet carrier 1412, a right bearing gland and a rotary oil seal which are supported by two ends of the planet carrier 1413, a power input external spline gear shaft supporting bearing gland and a power input external spline gear shaft 1415, and a connecting piece and a fastener, wherein the hub of the built-in planetary speed reducer is formed by the connecting piece and the fastener; 1201. the partition retainer ring, 1202, the partition, 1203, a return spring, 1204, a power transmission composite spline shaft, 1205, a clutch cylinder (or other similar functional devices), 1206, a rotatable spherical top head, 1207, a cylinder mounting seat, 1600, a connecting piece and a fixing piece form a neutral clutch device,theThe external spline at one end of the device is inserted into the power input external spline gear shaft and is inserted into 1401, and power transmission and clutch are realized in the power input internal spline gear shaft; 1001. 1101, an encoder power transmission shaft, 1102, an encoder power transmission shaft retainer ring, 1103, an encoder coupler, 1104, an encoder mounting bracket and 1105, 1100, an encoder device for a driving wheel walking position and a device for feeding back the position of the double-wheel steering driving in real time; the system has the function of realizing the differential walking and walking position feedback of the double rollers.

4. A two-wheeled steerable drive wheel according to claims 1, 2 and 3, wherein the modular connection and mechanism function is characterized in that: 100. the internal tooth rotary support device is supported on the frame, 200, 300, 1100, a steering wheel steering driving device, 1100, a driving wheel walking position encoder device, 1500, a driving wheel steering encoder device, 400, a steering wheel walking power driving device and 500, the steering wheel walking power driving transition device is connected with a fastener into a whole through a connecting piece, and the rotary support mounting plate and the frame are connected and fixed to form a walking rotary power driving assembly; 100. the internal gear rotary supporting device comprises an upper supporting lower support, 600, a third-stage transmission shaft device, 1001, an upper support of a swing balance support assembly, 800, a fourth-stage transmission shaft device, 1002, a lower support of the swing balance support assembly, 900, a walking power differential output device, 1200, a neutral clutch device, 1400, a hub of a built-in planetary reducer, 1300 and a rubber wheel, wherein the rubber wheel is connected with the fastener into a whole through a connecting piece to form a differential walking assembly; the power transmission between the upper bracket assembly and the differential walking assembly is through 700. the floating coupling power transmission device is connected; the walking and turning power driving assembly is in a fixed state relative to the frame, an electric cable on the walking and turning power driving assembly is fixedly installed, no electric cable is arranged on the upper bracket assembly and the differential walking assembly, and the upper bracket assembly and the differential walking assembly turn at any angle in a horizontal plane, so that the function of turning at any angle of the double-wheel turning driving wheel is realized; the differential walking assembly floats in a limited range of angle of a 1003 balance bridge pin shaft relative to the upper bracket assembly, so that the landing state of the double rubber wheels changes along with the change of the ground, and the rotation with a smaller radius is realized; the landing state of the double rubber wheels of the differential walking assembly changes along with the change of the ground, and the upper bracket assembly is connected with the differential walking assembly by adopting a walking driving floating coupling device, so that the reliable connection of power transmission between the upper bracket assembly and the differential walking assembly is realized.

5. The two-wheeled steering drive wheel according to claim 1, 2, 3 or 4, wherein the power transmission process of the steering rotary support system is characterized in that: the rotary driving motor provides power, the power is transmitted to the rotary driving speed reducer through a common flat key, the speed is reduced through the speed reducer and torque is amplified, the power is transmitted to the driven spline gear through the speed reducer spline output shaft, the power is transmitted to the output external spline gear shaft through the driven spline gear, the power is transmitted to the output external spline gear shaft through the driving internal spline bevel gear, the power is transmitted to the lower internal tooth rotary support through the output external spline gear shaft, the amplification torque is reduced through the transmission, the rotary power is transmitted to the assembly upper bracket assembly and the differential walking assembly through the internal tooth rotary support, and the arbitrary angle rotation of the assembly upper bracket assembly and the differential walking assembly is realized.

6. The two-wheeled steering drive wheel according to claim 1, 2, 3, 4, 5, wherein the power transmission process of the walking system is characterized in that: the driving motor provides power to transmit the power to the power input hollow shaft of the walking driving device, the power is transmitted to the power output synchronous wheel through a flat key of the power input hollow shaft, the power is transmitted to the synchronous belt through the power output synchronous wheel, then the power is transmitted to the power input synchronous wheel of the walking driving secondary transmission shaft system through the synchronous belt, primary speed reduction is formed, output torque is amplified, the power is transmitted to the walking driving secondary transmission gear shaft through the power input synchronous wheel through the flat key, the secondary transmission gear shaft is meshed with a power input internal spline gear of the walking driving tertiary transmission shaft system, secondary speed reduction is formed, torque is amplified, the amplified torque is transmitted to the walking driving floating coupling device through the third transmission spline hollow shaft, and then the power is transmitted to an axial internal spline connector below the walking driving quaternary transmission shaft system through the walking driving floating coupling device, the power is transmitted to a fourth-stage external spline bevel gear transmission shaft through an internal spline of an internal spline connector, the bevel gear of the fourth-stage external spline bevel gear transmission shaft is meshed with a power input bevel gear of a differential device to form three-stage speed reduction, the torque is further amplified, the power input bevel gear of the differential device transmits the power to a bevel gear planet support of the differential device through a connecting piece, the bevel gear planet support of the differential device rotatably supports a left hollow shaft through a planetary gear of the differential device, the power is transmitted to a left bevel gear and a right bevel gear of the differential device through a planetary gear rotary supporting hollow shaft of the differential device, the power is transmitted to the left bevel gear and the right bevel gear of the differential device planet and then transmitted to the left power output internal spline bevel gear and the right power output internal spline bevel gear of the differential device, the power is transmitted to a rubber wheel hub power input external gear, the power input external spline gear shaft gear is meshed with the planetary gear to form four-stage speed reduction, the torque is amplified, the planetary gear is meshed with the internal gear hub to form five-stage speed reduction torque, and the five-stage speed reduction torque is further amplified; the third-stage transmission spline hollow shaft internal spline transmits the rotary power to the encoder power transmission shaft, and is connected with the encoder through the encoder coupler to form 1100. the driving wheel walking position encoder device realizes real-time feedback of the position of the double-wheel steering drive.

7. A two-wheeled steerable drive wheel according to claims 1, 3, 4, 6, whose differential power output principle is characterized in that: when one rubber wheel is limited to rotate, the corresponding rubber wheel hub power input external spline gear shaft of the built-in planetary reducer is limited to rotate, the gear shaft spline is inserted into the internal spline hole of the differential device right power output internal spline bevel gear connected to the corresponding side, so that the differential device right power output internal spline bevel gear on the corresponding side is limited to rotate, the differential device bevel gear planet support does not have circumferential rotation limitation relative to the axis of the differential device right power output internal spline bevel gear, the differential device bevel gear planet support further supports the left hollow shaft through the differential device planet rotation, the differential device planet rotation support hollow shaft mandrel transmits power to the differential device planet left and right bevel gears, the differential device planet left and right bevel gears are meshed with the differential device left and right power output internal spline bevel gears, and the differential device planet left and right bevel gears are meshed with the differential device planet left and right power output, One of the right bevel gears rotates around the power output internal spline bevel gear of the limited side differential device in a meshing way, and the other differential device planet bevel gear rotates around the power output internal spline bevel gear of the differential device in a meshing way, so as to drive the power output internal spline bevel gear of the unlimited side differential device to rotate.

8. A two-wheeled steering drive wheel according to claim 1 or 3, wherein the neutral clutch device of the traveling system is characterized in that: the internal planetary reducer hub 1404, the internal hydraulic oil path of the planet carrier and 1207, the internal hydraulic oil path of the cylinder mounting seat are connected, power hydraulic oil is transmitted to the clutch cylinder 1205, the clutch cylinder is pushed 1206 to rotate the spherical top head to act, 1204 is pushed, the power transmission composite spline shaft moves in the spline holes of the left and right power output internal spline bevel gears of the differential device, 1204, the power transmission composite spline shaft moves for positioning, one end of the power transmission composite spline shaft is separated from the hub 1401 of the built-in speed reducer, the power is input into the internal spline gear shaft and the internal spline is separated, so that the hub of the built-in speed reducer loses power, when 1205 the clutch oil cylinder is reset, 1203 the reset spring pushes 1204 the power transmission composite spline shaft to move to the initial position, the power connection between the walking power differential output device and the hub of the built-in speed reducer is restored, and unpowered traction and dragging during the fault or maintenance of the electric flat car are realized.

9. A two-wheeled steerable drive wheel according to claims 1, 2, 3, 4, 5, 6, 7, characterized in that: 100, an internal tooth rotary support device, 200, a rotary support mounting plate, 300, a steering wheel steering driving device, 1500, a driving wheel steering encoder device, 16 connecting pieces and fastening pieces; the walking system comprises: 200. the novel steering wheel type self-lubricating device comprises a rotary support mounting plate, 400 degrees of steering wheel traveling power driving devices, 500 degrees of steering wheel traveling power driving transition devices, 600 degrees of third-stage transmission shaft devices, 700 degrees of floating coupling power driving devices, 800 degrees of traveling driving fourth-stage transmission shaft devices, 900 degrees of traveling power differential output devices, 1000 degrees of swinging balance support assemblies, 1100 degrees of driving wheel traveling position encoder devices, 1200 degrees of neutral clutch devices, 1300 degrees of rubber wheels and 1400 degrees of built-in planetary reducer hub relative rotation parts all adopt rotary sealing devices, and long-period lubrication-free maintenance is achieved.