CN111152837B - Double-wheel steering driving wheel - Google Patents
Double-wheel steering driving wheel Download PDFInfo
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- CN111152837B CN111152837B CN202010188473.4A CN202010188473A CN111152837B CN 111152837 B CN111152837 B CN 111152837B CN 202010188473 A CN202010188473 A CN 202010188473A CN 111152837 B CN111152837 B CN 111152837B
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- 230000005540 biological transmission Effects 0.000 claims abstract description 180
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 65
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- 238000005859 coupling reaction Methods 0.000 claims abstract description 32
- 230000007935 neutral effect Effects 0.000 claims abstract description 20
- 230000007704 transition Effects 0.000 claims abstract description 15
- 239000003921 oil Substances 0.000 claims description 67
- 210000004907 gland Anatomy 0.000 claims description 41
- 208000032370 Secondary transmission Diseases 0.000 claims description 40
- 238000007789 sealing Methods 0.000 claims description 29
- 239000002131 composite material Substances 0.000 claims description 22
- 238000012423 maintenance Methods 0.000 claims description 20
- 230000001360 synchronised effect Effects 0.000 claims description 18
- 125000006850 spacer group Chemical group 0.000 claims description 15
- 230000009467 reduction Effects 0.000 claims description 13
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 238000005096 rolling process Methods 0.000 claims description 7
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- 238000011065 in-situ storage Methods 0.000 claims description 4
- 230000003321 amplification Effects 0.000 claims description 3
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 3
- 230000007613 environmental effect Effects 0.000 abstract 1
- 238000009434 installation Methods 0.000 description 33
- 238000005299 abrasion Methods 0.000 description 4
- 238000005192 partition Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
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- 235000009566 rice Nutrition 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0418—Electric motor acting on road wheel carriers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/06—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of change-speed gearing
- B60K17/08—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of change-speed gearing of mechanical type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/16—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of differential gearing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
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 application occasions with heavy loads and severe environmental road conditions, and is safe and reliable.
Description
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 is in a horizontal plane, can only steer and rotate in a limited angle, and has a small rotation angle range and a limited use range; 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 roll, the friction of the rubber wheel to the ground is mainly represented as twisting sliding friction, and the ground and the rubber wheel are obviously damaged; the friction of the rubber wheel to the ground is mainly represented as torsion 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 joint parts of the steering driving wheel do not adopt a rotating sealing device, so that the maintenance is difficult and needs high-frequency regular 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, bad road conditions and bad 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 this application is to solve the prior art problem: 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 is in a horizontal plane, can only steer and rotate in a limited angle, and has a small rotation angle range and a limited use range; 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, bad road conditions and bad 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 the internal tooth rotary supporting system, the rotary supporting mounting plate, the steering wheel steering driving device, the driving wheel steering encoder device, the connecting piece and the fastening piece form the steering rotary supporting system; the running system consists of a rotary supporting mounting plate, a steering wheel running power driving device, a steering wheel running power driving transition device, a third-stage transmission shaft device, a floating coupling power transmission device, a running driving fourth-stage transmission shaft device, a running power differential output device, a built-in planetary reducer hub, a swing balance support assembly, a driving wheel running position encoder device, a neutral gear clutch device, a rubber wheel, a connecting piece and a fastening piece.
Furthermore, the upper rotary support, the lower internal tooth rotary support, the upper sealing ring, the lower sealing ring, the positioning ring, the fastener and the 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 the rotary support mounting plate, the lower end surface of the internal tooth rotary support device is arranged in a positioning hole in the upper plane of the upper bracket of the swing balance bracket assembly, and the internal tooth rotary support device is fixed through the fastener and the connecting piece; the device is a supporting device for bearing a vehicle body and related vehicle-mounted equipment.
Furthermore, the rotary support mounting plate is a rotary support system mounting carrier; the device comprises a rotary driving motor, a brake, a rotary driving reducer mounting support, a driving internal spline bevel gear supporting bearing mounting base and a driving internal spline bevel gear supporting bearing cover; the steering driving device for the steering wheel is composed of a sealing ring, a driven spline bevel gear supporting bearing mounting seat, a driven spline bevel gear, an output external spline gear shaft, an output external spline shaft supporting bearing cover, a gear housing, a connecting piece and a fixing piece.
Furthermore, the rotary angle encoder device consists of a rotary encoder, an encoder coupler, an encoder gear, an encoder bracket, an upper and lower encoder gear bearings, a bearing end cover, a rotary sealing ring, a fastener and a connecting piece; the encoder gear is meshed with the inner teeth of the lower inner tooth rotary support, and the steering rotary position 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.
Furthermore, the rotary support mounting plate is a walking system mounting carrier; the steering wheel walking power driving device comprises a walking driving motor, a walking driving motor encoder, a walking driving motor brake, a driving motor position-adjustable mounting plate, a power input hollow shaft rotary supporting bearing seat, a power input hollow shaft rotary supporting bearing cap, a power input hollow shaft oil seal, a hollow shaft rotary supporting bearing cap, a power output synchronous wheel, a power output synchronous belt, a connecting piece and a fastener, and the driving motor position-adjustable mounting plate can realize tensioning of a driving 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.
Furthermore, a power input synchronizing wheel, a walking driving secondary transmission gear shaft rotating support bearing, a secondary transmission gear shaft rotating support bearing seat, a secondary transmission gear shaft rotating support shaft gland, a secondary transmission gear shaft rotating oil seal, a secondary transmission shaft power input synchronizing wheel, a connecting piece and a fastener form a steering wheel walking power driving transition device which is arranged on a power driving transition device mounting hole on a rotary support mounting plate and is matched and positioned; the power is input through the synchronous belt and the power input synchronous wheel and is transmitted to the next-stage device through the gear at the lower end of the secondary transmission gear shaft.
Furthermore, a third-stage transmission shaft device is formed by a third-stage transmission shaft power input internal spline gear, a power input internal spline gear spacer, a third-stage transmission spline hollow shaft rotary supporting bearing, a third-stage transmission bearing seat, a third-stage transmission shaft pressure bearing cover, a third-stage transmission shaft rotary oil seal, a connecting piece and a fastener, 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.
Furthermore, the floating coupling power transmission device is composed of an elastic pin spring of the axial displacement compensation device, a composite upper axial connector outer spline shaft, a middle cross axial groove connector, a lower axial inner spline connector, a connecting piece and a fastener, a guide spline of the composite upper axial connector outer spline shaft is inserted into the third-stage transmission spline hollow shaft, the middle cross axial groove connector is connected with the fourth-stage transmission shaft lower axial inner spline connector in a floating mode, and floating walking driving power transmission is achieved; 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.
Furthermore, the lower shaft is positioned and installed on the end face of the upper orifice of the lower bracket of the swing balance bracket assembly through the cylinder face and the flange end face of the fourth-stage external spline bevel gear transmission shaft driven by walking; the power of the device is provided by a driving floating coupling device, and the power is transmitted to a walking power output differential device.
Further, a differential device power input bevel gear, a differential device bevel gear planetary carrier rotary support bearing, a planetary carrier rotary support bearing left gland, a planetary carrier rotary support bearing right gland, a planetary carrier rotary support bearing left gland rotary oil seal, a differential device planetary gear rotary support left hollow shaft, a differential device planetary gear rotary right hollow shaft, a differential device planetary gear rotary support left hollow shaft mandrel, a differential device left planetary bevel gear, a differential device right planetary bevel gear, a differential device left planetary gear rotary support bearing, a differential device right planetary gear rotary support bearing, a differential device left power output internal spline bevel gear, a differential device right power output internal spline bevel gear, a differential device left power output internal spline bevel gear rotary support bearing, a differential device left power output internal spline shaft bearing, a differential device left shaft bearing, a differential device right shaft bearing, a differential device left shaft bearing, a differential device right shaft bearing, a differential device left shaft bearing, a differential device right shaft bearing, a differential device shaft bearing, a differential device bearing, a differential device bearing, a device bearing, The device comprises a differential device right power output internal spline bevel gear rotating support bearing, a differential device left power output sealing spacer, a differential device right power output sealing spacer, a differential device left power output rotating oil seal, a differential device right power output rotating oil seal, a differential device left power output internal spline bevel gear rotating support bearing cover, a differential device right power output internal spline bevel gear rotating support bearing cover, a differential device left power output shafting locking nut and a differential device right power output shafting locking nut, wherein the device is positioned in a lower bracket horizontal mounting hole through a planet bracket rotating support bearing left gland, a fourth-stage transmission shaft gear is driven by walking to be meshed with the differential device power input bevel gear, and the differential device left and right power output internal spline power output of the internal spline bevel gear is realized through the device, thereby realizing power differential output;
further, a power input inner spline gear shaft, a power input outer spline gear shaft left and right support bearing, a power input outer spline gear shaft two-end rotating oil seal, a planet carrier two-end support bearing, an inner gear hub, a planet gear support bearing, a planet gear axial positioning spacer, a planet gear support bearing mandrel, a planet carrier two-end support bearing left gland, a planet carrier two-end support bearing right gland, a planet carrier two-end rotating oil seal, a power input outer spline gear shaft support bearing gland, a connecting piece and a fastener form a built-in planet 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, the upper support, the lower support, the balance axle pin shaft, the check ring, the connecting piece and the fastener form a swing balance support assembly, the upper support and the lower support are connected through the balance axle pin shaft, and the check ring is limited, so that the two-wheel landing stress balance of the two-wheel steering driving wheel is realized.
Furthermore, a neutral gear clutch device is composed of a baffle check ring, a baffle, a reset spring, a power transmission composite spline shaft, a clutch oil cylinder or other similar functional devices, a rotatable spherical top head, an oil cylinder mounting seat, a connecting piece and a fixing piece, an external spline at one end of the device is inserted into a power input external spline gear shaft and inserted into a power input internal spline gear shaft to realize power transmission and clutch, and unpowered traction and dragging during fault or maintenance of the electric flat car are realized.
Furthermore, the encoder power transmission shaft check ring, the encoder coupler, the encoder mounting bracket and the encoder form a driving wheel walking position encoder device which realizes 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.
Furthermore, an upper support of the internal tooth rotary support device, a rotary support mounting plate, a steering wheel steering drive device, a driving wheel walking position encoder device, a driving wheel steering encoder device, a steering wheel walking power drive transition device are connected into a whole through a connecting piece and a fastening piece, the rotary support mounting plate and the frame are connected and fixed to form a walking rotary power drive assembly, and the module does not steer, rotate and roll along with the double wheels and is fixed on the frame through the carrier rotary support mounting plate; the assembly realizes the functions of walking power deceleration and the functions of deceleration and rotation of the rotating device.
Furthermore, an upper support lower support of the internal tooth rotary support device, a third-stage transmission shaft device and an 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.
Furthermore, the traveling driving fourth-stage transmission shaft device, the swing balance support assembly lower support, the traveling power differential output device, the neutral gear clutch device, the built-in planetary reducer hub and the rubber wheel are connected with the fastener into a whole through the connecting piece to form a differential traveling 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 the pin shaft of the wheel hub rubber wheel balance bridge of the double built-in speed reducer in a limited range relative to the upper bracket assembly, so that the landing state of the double rubber wheels is changed along with the change of the ground, and the rotation with a smaller radius is realized; the double rubber wheels landing state 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.
Furthermore, the internal tooth rotary support device, the rotary support mounting plate, the steering wheel driving device, the driving wheel steering encoder device, the connecting piece and the fastening piece are arranged on the steering wheel; the walking system comprises: the rotary support mounting plate, the steering wheel traveling power driving device, the steering wheel traveling power driving transition device, the third-stage transmission shaft device, the floating coupling power transmission device, the traveling driving fourth-stage transmission shaft device, the traveling power differential output device, the swing balance support assembly, the driving wheel traveling position encoder device, the neutral gear clutch device, the rubber wheel and the hub relative rotation part of the built-in planetary reducer are all provided with 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, and the double-rubber-wheel steering driving wheel is suitable for roads with worse road conditions and can effectively protect the rubber wheels;
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 without power in the neutral gear, 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 gear 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 double-wheel steering driving wheel walking power driving device.
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.
In the figure: 100. the internal gear rotation supporting device comprises an internal gear rotation supporting device, 200 rotation supporting mounting plates, 300 steering wheel steering driving devices, 400 steering wheel traveling power driving devices, 500 steering wheel traveling 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, 1000 swing balance support assemblies, 1100 driving wheel traveling position encoder devices, 1200 neutral gear clutch devices, 1300 rubber wheels, 1400 built-in planetary reducer hubs and 1500 driving wheel steering encoder devices.
101, an upper internal tooth rotary support and 102, a lower internal tooth rotary support;
301. a rotation driving motor and brake 302, a rotation driving reducer 303, a rotation driving 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 base 307, a driving internal spline bevel gear support bearing cap 308, a seal ring 309, a driven spline bevel gear support bearing mounting base 310, a driven spline bevel gear 311, an output external spline gear shaft 312, an output external spline shaft support bearing 313, an output external spline shaft support bearing cap 314, an output external spline shaft support bearing cap oil seal 315, a gear housing;
401. 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 rotating support bearing, 405, a power input hollow shaft rotating support bearing seat, 406, a power input hollow shaft rotating support bearing cap, 407, a power input hollow shaft oil seal, 409, a power output synchronizing wheel, 410, a power output synchronizing belt;
501. the power input synchronizing wheel 502, the walking drive secondary transmission gear shaft 503, the walking drive secondary transmission gear shaft rotating support bearing 504, the secondary transmission gear shaft rotating support bearing seat 505, the secondary transmission gear shaft rotating support shaft gland 506, the secondary transmission gear shaft rotating oil seal 507, the secondary transmission shaft power input synchronizing wheel;
601. the third-stage transmission shaft comprises a 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 rotating support bearing 605, a third-stage transmission bearing seat 606, a third-stage transmission shaft pressure bearing cover 607 and a third-stage transmission shaft rotating oil seal;
704. axial displacement compensation device elastic pin spring 707, composite upper axial connector external spline shaft 708, middle cross axial groove connector;
801. the four-stage transmission shaft is provided with a lower axial inner spline connector, 802, a fourth-stage outer spline bevel gear transmission shaft seat, 803, 804, a fourth-stage transmission shaft rotating support bearing, 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 and 808, a fourth-stage transmission shaft lower rotating oil seal;
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 inner spline bevel gear rotation support bearing, 918 differential right power output inner spline bevel gear rotation support bearing, 919 differential left power output seal spacer, 920 differential right power output seal spacer, 921 differential left power output rotation oil seal, 922 differential right power output rotation oil seal, 923 differential left power output inner spline bevel gear rotation support bearing cover, 924 differential right power output inner spline bevel gear rotation support bearing cover, 925 differential left power output shafting lock nut, 926 differential right power output shafting lock;
1001. an upper bracket 1002, a lower bracket 1003, a balance bridge pin shaft 1003 and a check ring 1004;
1101. the device comprises an encoder power transmission shaft 1104, an encoder mounting bracket 1105, an encoder 1100, and a driving wheel walking position encoder device;
1201. the hydraulic clutch comprises a partition plate retainer ring, 1202, a partition plate, 1203, a return spring, 1204, a power transmission composite spline shaft, 1205, a clutch oil cylinder, 1206, a rotatable spherical top head, 1207 and an oil cylinder mounting seat;
1401. the power input inner spline gear shaft 1402, the power input outer spline gear shaft left and right support bearings 1403, the power input outer spline gear shaft two-end rotating oil seals 1404, a planet carrier 1405, the planet carrier two-end support bearings 1406, an inner gear hub 1407, a planetary gear 1408, a planetary gear support bearing 1409, a planetary gear axial positioning spacer 1410, a planetary gear support bearing mandrel 1411, the planet carrier two-end support bearing left gland 1412, the planet carrier two-end support bearing right gland 1413, the planet carrier two-end rotating oil seals 1414 and the power input outer spline gear shaft support bearing pressure covers;
1501. the rotary encoder comprises a rotary encoder 1502, an encoder coupling 1503, an encoder gear 1505, an encoder bracket 1506, a bearing end cover 1507 and a rotary sealing ring.
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.
Referring to fig. 1-13, the dual-wheel steering driving wheel comprises an internal tooth rotary supporting device 100, a rotary supporting mounting plate 200, a steering wheel steering driving device 300, a driving wheel steering encoder device 1500, a connecting piece and a fastening piece to form a steering rotary supporting system 1600; the device comprises a rotary supporting mounting plate 200, a steering wheel walking power driving device 400, a steering wheel walking power driving transition device 500, a third-stage transmission shaft device 600, a floating coupling power transmission device 700, a walking driving fourth-stage transmission shaft device 800, a walking power differential output device 900, a built-in planetary reducer hub 1400, a swing balance support assembly 1000, a driving wheel walking position encoder device 1100, a neutral gear clutch device 1200, a rubber wheel 1300, a connecting piece and a fastening piece.
Explanation of the installation relationship of the components of the two-wheel steering drive wheel: the carrier of the device is an upper bracket 1001 of a swing balance bracket assembly 1000, a lower internal gear rotary support 102 is arranged in a step hole above the upper bracket 1001, the lower end excircle of the lower internal gear rotary support 102 is matched and positioned, and the lower end part is limited; a rotary support mounting plate 200 is arranged above the upper inner gear rotary support 101 and is matched and positioned on the rotary support mounting plate 200 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 1500 and a driving wheel walking position encoder device 1100 are respectively arranged above the rotary supporting installation plate 200; a walking driving third-stage transmission shaft system is arranged in a middle hole above the upper support 1001, and a floating coupling power transmission device 700700 and a driving wheel walking position encoder device 1100 are arranged in a spline hole in the walking driving third-stage transmission shaft system; a lower bracket 1002 is arranged below the upper bracket 1001, a balance bridge pin shaft is arranged in longitudinal holes of the upper bracket 1001 and the lower bracket 1002, a check ring for a shaft is arranged on the pin shaft, and the balance bridge pin shaft and the check ring form a swing balance bracket assembly 1000 by the upper bracket 1001 and the lower bracket 1002; a fourth-stage transmission shafting 800 for walking driving is arranged in a vertical central hole above the lower support 1002; a walking power output differential device is arranged in a transverse central hole of the lower bracket; the planet carrier of the hubs 1400 of the two built-in speed reducer rubber wheels 1300 is connected with the outer flanges at the two ends of the lower bracket 1002, and the rubber wheels 1300 are respectively arranged on the hubs of the built-in speed reducer rubber wheels 1300 at the two sides of the lower bracket 1002; 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 rotation driving motor brake is arranged on the rotation driving motor and is connected and fastened through a connecting piece and a fastening piece; a spline shaft of a driving wheel walking position encoder device 1100 is inserted into a hollow shaft of a third-stage transmission spline, and a driving wheel walking position encoder bracket is arranged on the rotary support mounting plate 200; the driving wheel steering encoder device 1500 is mounted on the rotary support mounting plate 200 by a bracket, and an encoder gear is engaged with the inner teeth of the inner-tooth rotary support device 100; the neutral clutch device 1200 clutch oil cylinder mounting base is installed outside the built-in planetary reducer hub 1400 planetary support, the power transmission composite spline shaft 1204 penetrates through the central gear internal spline hollow shaft, and the left and right power output internal spline bevel gear internalization pieces of the walking power differential output device 900 are inserted.
The following is a detailed description of the mounting relationship of the components of the dual-wheel steering driving wheel.
The present internal tooth rotary support device 100 for a two-wheeled steering drive wheel has a detailed installation relationship: a lower internal tooth rotary support 102 is installed in a step hole on an upper bracket 1001, the outer circle of the lower end of the lower internal tooth rotary support 102 is matched and positioned, and the lower end face of the lower internal tooth rotary support 102 serves as a support limiting face; the upper internal tooth rotary support 101 is connected with the lower internal tooth rotary support 102 through an internal rolling body, and a sealing ring is arranged at the joint exposed part of the upper internal tooth rotary support 101 and the lower internal tooth rotary support 102; 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 200, the upper slewing support is positioned on the slewing support mounting plate 200, and the upper plane of the upper slewing support is arranged on the slewing support mounting plate 200 and is fixedly connected with a connecting piece through a fastening piece.
The present steering wheel driving device 300 will be explained in detail with respect to the installation relationship: a rotary driving speed reducer mounting support is mounted on the rotary supporting mounting plate 200, a driven spline bevel gear 310 supporting bearing mounting base 309 is inserted into a rotary driving speed reducer mounting support vertical surface hole and is inserted into a mounting hole on the rotary supporting mounting plate 200, and the rotary driving speed reducer mounting support and the driven spline bevel gear 310 supporting bearing base are mounted and positioned in a matching way through a movable spline bevel gear supporting bearing base mounting excircle; the output external spline gear shaft 311 supporting bearings are arranged in the holes of the driven spline bevel gear 310 supporting bearing mounting seats 309 and are positioned in a matched mode through bearing excircle, the output external spline gear shaft 311 is arranged between the output external spline shaft supporting bearings 312 and is positioned in a matched mode through excircle at two ends of a spline shaft, and shaft limiting is carried out on the two end faces of a 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 310 is installed at the upper part of the output external spline shaft 311, and the driven spline bevel gear 310 is positioned in an internal spline fit mode and transmits power; an output external spline shaft supporting bearing 312 gland is arranged above the driven spline bevel gear 310 supporting bearing mounting seat 309, the gland is positioned by a step excircle, and an inner end face is used as an installation limiting face; a rotary sealing ring 1507308 is arranged in the gland, and the inner ring and the outer ring of the rotary sealing ring 1507308 are used as sealing surfaces; a driving inner spline bevel gear supporting bearing 305 mounting seat 306 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; the driving inner spline bevel gear supporting bearing 305 is arranged in a mounting seat 306 of the driving inner spline bevel gear supporting bearing 305, 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 305, 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 inner spline bevel gear supporting bearing 305 gland is arranged on the power input side of the mounting support of the rotary drive speed reducer, the inner end face of the gland 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 matching positioning surface, a limiting surface and a sealing surface; a rotary oil seal is arranged between the driving inner spline bevel gear and the mounting seat 306 of the driving inner spline bevel gear supporting bearing 305, and the inner circle, the outer circle and the orifice end surface of the oil seal are respectively used as a matching 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 1105 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.
Explanation of the installation relationship of the rotary angle encoder 1105 device for two-wheeled steering drive wheel: encoder gear 1503 upper and lower bearings are respectively installed in the hole of rotary support plate and upper bracket 1001 encoder gear 1503, two bearings support encoder gear 1503, the encoding gear is connected with rotary angle encoder 1105 through encoder shaft connector 1502, encoder gear 1503 and lower internal tooth rotary support internal tooth meshing, the bearing end cover is installed to the upper bearing upper end, install rotary seal ring 1507308 in the bearing end, rotary angle encoder 1105 is installed on encoder bracket 1505, encoder bracket 1505 is installed on the rotary support plate, all spare parts of this double-wheel steering drive wheel rotary drive device are fastened through connecting piece and fastener.
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 200, the side surface is used as a guide surface, and the lower surface is used as a support surface; a power input hollow shaft rotary supporting bearing 404 seat is arranged above the driving motor position adjustable mounting plate 402, the inner surface of a bearing seat flange is used as mounting limit, and the mounting excircle is used as a matching positioning surface; a power input hollow shaft oil seal 407 is arranged below a base of a power input hollow shaft rotary support bearing 404 and is sealed by rice flour surfaces on the inner circle and the outer circle of the oil seal, and the end surface of an opening is used as a mounting limiting surface; two power input hollow shaft rotary supporting bearings 404 are arranged in the power input hollow shaft rotary supporting bearing 404 seats, the outer circle of each bearing serves as a positioning matching surface, and the end surface of each bearing serves as an installation limiting surface; the power input hollow shaft 403 is arranged in the holes of the two power input hollow shaft rotating support bearings 404, the power input hollow shaft shoulder is arranged between the two bearings, the power output synchronizing wheel 409 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 synchronizing wheel 409; a walking driving motor is installed below the driving motor position adjustable installation plate 402, 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: a secondary transmission gear shaft rotary supporting bearing seat 504 is arranged above the rotary supporting mounting plate 200, 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 200 and used as a positioning matching surface; a walking driving secondary transmission gear shaft 502 rotating support bearing is arranged in a rotating support bearing seat hole, the outer circle 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 rotating support shaft gland 505 is arranged above the rotating support shaft 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 rotary supporting shaft gland 505 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; two secondary transmission gear shafts are arranged in two secondary transmission gear shaft rotating support bearing holes, the upper outer circle and the lower outer circle of each secondary transmission gear shaft are used as matching positioning surfaces, and the end surface of a circular table in the middle of each 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 601 of a third-stage transmission shaft system, a power input synchronizing wheel 501 of a secondary transmission shaft is installed 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 501 of the secondary transmission shaft for transmitting power; a power transmission synchronous belt is arranged between the power input synchronous wheel 501 of the secondary transmission shaft and the power output synchronous wheel 409 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 600 for the two-wheel steering driving wheel is explained in detail: the third-stage transmission bearing seat 605 is arranged on the inner end surface of the central hole on the upper surface of the upper bracket 1001 component, is inserted into the central hole of the upper bracket 1001 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 shafts 603 are arranged in the third-stage transmission bearing seat 605 hole to rotatably support the bearing, the excircle of the 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 603 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 cover 606 is arranged above the third-stage transmission bearing seat 605, a limiting surface is arranged on a cover flange, and the outer circle of the step is used as a positioning matching surface; a third-stage transmission shaft rotating oil seal 607 is arranged in the bearing end cover oil seal hole; a third-stage transmission shaft rotating oil seal 607 is arranged in an oil seal hole below the third-stage transmission bearing seat 605; a third-stage transmission shafting power input internal spline gear 601 is arranged above the third-stage transmission spline hollow shaft 603, the end surface is used as an installation limiting surface, an external spline of the third-stage transmission shaft is inserted into an internal spline hole of the third-stage transmission shafting power input internal spline gear 601, 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 700 of the floating coupling for the two-wheel steering driving wheel is explained in detail: an encoder 1105 power transmission shaft is arranged in the inner spline hole of the third stage transmission spline, and the outer spline shaft of the composite axial connector is arranged in the hole of the third stage transmission spline hollow shaft 603 and is matched and positioned with the internalized spline; an axial displacement compensation device spring is arranged in an inner hole of a power transmission shaft of an encoder 1105, and one end of the spring is inserted into the inner hole of the composite axial connector; the lower axial internal spline connector 801 is arranged on the fourth-stage transmission shaft system of the walking drive and is fixed by a connecting piece and a fastening piece; an intermediate cruciform axial groove connector 708 is mounted between the composite axial connector male spline shaft and the lower axial female spline connector 801 and is in a relatively axially and radially floating state.
The installation relationship of the fourth transmission shaft device 800 driven by the double-wheel steering driving wheel in a walking way is explained in detail as follows: a rotary support bearing 803 seat of the fourth-stage transmission shaft driven by walking is arranged on a flange at the upper end of the lower support component and is inserted into a central hole at the upper end of the lower support component, the inner end surface of the flange of the rotary support bearing seat of the fourth-stage transmission shaft is used as an installation limiting surface, and the excircle of the rotary support bearing seat of the fourth-stage transmission shaft is used as a positioning matching surface; a walking drive fourth-stage transmission shaft rotary support bearing 803 is arranged in the fourth-stage transmission shaft rotary support bearing seat hole, the outer circle of the selected support 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 the 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 face of a pressing cover flange is used as an installation limiting face, and the outer circle of a pressing cover circular truncated cone is used as a positioning matching face; 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 holes of the rotary supporting bearing 803 of the two-row fourth-stage transmission shaft 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 801 which is fixed through a connecting piece and a fastening piece.
The installation relationship of the present two-wheel steering drive wheel walking power differential output device 900 is explained in detail: a differential bevel gear planet support 902 is arranged in a transverse central hole of a lower support 1002 part, a differential power input bevel gear 901 is arranged on the excircle on one side of the differential bevel gear planet support 902 and is limited on the end surface of a circular truncated cone on one side of the differential bevel gear planet support 902, the differential power input bevel gear 901 is meshed with a bevel gear of a fourth-stage externally splined bevel gear transmission shaft, bevel gear planet support rotating support bearings are respectively arranged at two ends of the differential bevel gear planet support 902, a bearing inner ring at one end is abutted against the back shoulder of the differential power input bevel gear 901 for limiting, a bearing inner ring at the other end is abutted against the end surface of the circular truncated cone of the differential bevel gear planet support 902, a planet support rotating support bearing left gland and a planet support rotating support bearing right gland are respectively arranged on the excircle of the two bevel gear planet support rotating support bearings, the outer edge of the bearing and the planet support rotating support bearing left, right, left, right, left, right, left, right and left, right, and left, right, and left, right, of the outer edges of the rotating support, of the outer edges of the rotating support, the outer edges of the outer surfaces of the outer edges of the outer surfaces of the outer edges of the inner side of the outer edges of the outer surfaces of the inner side of the outer surfaces of the inner rings of, 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 1002 part through fasteners, rotary oil seals are respectively arranged in the left end cover oil seal hole and the 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 902, 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 bevel gear planet support 902, 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 and the right bevel gear of the differential gear and is fixed on the left hollow shaft and the right hollow shaft through double round nuts, a planetary gear rotary supporting hollow shaft of the differential gear is arranged in the central holes of the left hollow shaft and the right hollow shaft, the mandrel is fixed by a hole retainer ring 1004, a left planetary gear 1407 and a right planetary gear 1407 rotating support bearing of the differential device are arranged in a horizontal hole of a bevel gear planet support 902 of the differential device, the outer ring end surface of the rotating support bearing of the planetary gear 1407 respectively abuts against and is limited by the circular truncated cone end surfaces of inner holes at two ends of the bevel gear planet support, a left power output internal spline bevel gear of the differential device and a right power output internal spline bevel gear are respectively arranged in the rotating support bearing hole of the left planetary gear 1407 and the right planetary gear 1407 rotating support bearing, the inner ring end surface of the rotating support bearing of the planetary gear 1407 respectively abuts against and is limited by the circular truncated cone end surfaces at the outer circles of the left power output internal spline bevel gear and the right power output internal spline bevel gear of the differential device, a left power output internal spline bevel gear rotating support bearing cover and a right power output internal spline bevel gear rotating support bearing cover are arranged at two ends of the bevel gear planet support 902 of the differential device and are matched with the end surface holes of the bevel gear planet support 902 of the differential device, and are fastened on the end surface of the bevel gear planet support 902 of the differential device 902 by fasteners, 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 wheel hub of the rubber wheel 1300 of the planetary reducer with the built-in double-wheel steering driving wheel is as follows: the planet carrier 1404 is symmetrically installed on the outer flange surfaces at two ends of the lower bracket 1002 component, the inner outer edge of the planet carrier 1404 is tightly abutted against and limited by the outer flange surfaces at two ends of the lower bracket 1002 component and is fastened by a fastening piece, the installation inner hole of the planet carrier 1404 is matched and positioned with the outer circles of the circular truncated cones at two ends of the lower bracket 1002 component, the outer circles at two sides between the planets are respectively installed with the support bearings 1405 at two ends of the planet carrier and are matched and positioned, the support bearings 1405 at two ends of the planet carrier are installed with the internal gear hubs 1406, the left and right pressing covers of the planet carrier are respectively installed at two ends of the internal gear hubs 1406 and are connected and fixed at two ends of the planet carrier 1404 by a connecting piece and a fastening piece, the rotating oil seals at two ends of the planet carrier 1404 are installed in the oil seal holes of the left and right end covers of the support bearings, the planet carrier 1404 is installed with the planet gear 1407 in the planet hole of the planet carrier 1404, and the planet gear 1407 is meshed with the internal gear 1406, planetary gear supporting bearings 1408 are mounted on two sides of a planetary gear 1407 and are limited and positioned by an end surface of an inner circular truncated cone, planetary gear axial positioning spacers 1409 are mounted on two sides of the planetary gear 1407 and are abutted and limited with an inner ring of the planetary gear supporting bearings 1408, a mandrel of the planetary gear supporting bearings 1408 is fixed by retaining rings 1004 through holes at two ends of the mandrel, a mandrel of the planetary gear supporting bearings 1408 is mounted in the hole of the planetary gear supporting bearings 1408, the mandrel of the planetary gear supporting bearings 1408 is mounted in a planetary hole of a planet carrier 1404 and is limited by the retaining rings 1004 at two end holes, a power input external spline gear shaft is mounted in a central hole of the planet carrier 1404, left and right supporting bearings of the power input external spline gear shaft are mounted at two ends of the power input external spline gear shaft respectively, a power input external spline bearing supporting shaft cover 1414 is mounted on an end surface of a central hole at one side of the planet carrier 1404, and a power input external spline shaft supporting shaft cover is mounted on an end surface of the planet carrier 1404 1414 limit, inserting the power input external spline gear shaft into the spline holes of the left and right power output internal spline bevel gears of the walking power output differential gear for power transmission; all parts of the hub of the rubber wheel 1300 of the planetary speed reducer built in the double-wheel steering driving wheel are connected and fixed through connecting pieces and fastening pieces.
The installation relationship of the device 1100 of the encoder 1105 for the traveling position of the two-wheel steering driving wheel will be described in detail: encoder 1105 power transmission axle 1101 inserts in third level transmission integral key shaft spline hole, keeps off spacingly through last lower hole, and the upper end thin axle links with the cooperation of encoder 1105, and the encoder 1105 other end links to each other with encoder 1105 pivot, and the code is fixed on encoder 1105 frame, and encoder 1105 frame is fixed in the gyration backup pad to it is fixed through mounting and connecting piece.
The installation relationship of the dual-wheel steering driving wheel neutral gear clutch device 1200 is explained in detail, namely, a power input external spline gear shaft is provided with a clapboard 1202, and a hole stop is used for limiting; one end of the power transmission composite spline shaft 1204 is externally splined and inserted into the power input external spline gear shaft hole of the power output differential gear, and the other end is inserted into the power input internal spline gear shaft 1401 hole; one end of a return spring 1203 is inserted into a hole of a power input internal spline gear shaft 1401, and the other end of the return spring 1203 is inserted into a middle partition plate 1202 in a power input external spline gear shaft hole of a power output differential device for limiting; the clutch oil cylinder 1205 is arranged in an oil cylinder mounting base 1207 hole, and an oil cylinder base is fixed on a planetary support of the power input and output differential device; the rotatable spherical top head 1206 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 1204.
The installation relationship of the double-wheel steering driving wheel swing balance support assembly 1000 is explained in detail: the upper bracket 1001 and the lower bracket 1002 are connected through a balance bridge pin shaft 1003, the upper end of the upper bracket 1001 is limited by a retainer ring 1004 to be matched and positioned with the outer circle of the lower internal tooth rotary support and the lower plane, a third-stage transmission shaft device 600 is installed in the center hole of the upper plane of the upper bracket 1001, a fourth-stage transmission shaft device 800 for walking drive is installed on the upper end face of the center hole of the upper plane of the lower bracket 1002, a differential output device 900 for walking power is installed in the horizontal hole of the lower bracket 1002, and a hub with a built-in speed reducer is installed on the end face of the lower bracket 1002, so that the double wheels of the double-wheel steering drive wheel are grounded and balanced in stress.
The double-wheel steering driving wheel consists of a walking and rotating power assembly, a driving assembly upper bracket 1001 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 bracket 1001 assembly on a driving assembly through an internal gear rotary support by walking rotary power; the driving assembly upper bracket 1001 assembly is connected with the differential walking assembly through a double built-in speed reducer hub rubber wheel 1300 balance bridge pin shaft 1003; the assembly driving assembly upper bracket 1001 assembly is connected with the differential walking assembly through a walking driving floating coupling device in a power transmission way; because the assembly driving assembly upper bracket 1001 assembly and the differential walking assembly do not have electric cables, the assembly driving assembly upper bracket 1001 assembly and the differential walking assembly can rotate at any angle in a horizontal plane, the steering function at any angle is realized, and because the walking and rotating power assembly is in a fixed state relative to the frame, the electric cables of the walking and rotating power assembly can be permanently fixed; because the differential motion assembly floats in a limited range of angle around the balance bridge pin shaft 1003 of the hub rubber wheel 1300 balance bridge of the double built-in speed reducer relative to the upper bracket 1001 assembly of the driving assembly, the landing state of the double rubber wheels 1300 can be changed along with the change of the ground, and the rotation with a smaller radius can be realized; because the landing state of the double rubber wheels 1300 of the differential walking assembly changes along with the change of the ground, the upper bracket 1001 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 1001 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 311 through the driven spline gear, the power is transmitted to the output external spline gear shaft 311 through the driving internal spline bevel gear and the driving internal spline bevel gear, the power is transmitted to the lower rotary supporting internal gear through the output external spline shaft gear, the rotary power is transmitted to the upper bracket 1001 assembly and the differential walking assembly through the internal tooth rotary supporting device 100 after the torque is reduced and amplified through the transmission, and the rotary power is transmitted to the upper bracket 1001 assembly and the differential walking assembly of the driving assembly to realize the arbitrary angle rotation of the upper bracket 1001 assembly and the differential walking assembly 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 1105, and the steering and rotating states of the bracket 1001 assembly on the driving assembly and the differential walking 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 is as follows:
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 409 through a flat key of the power input hollow shaft, the power is transmitted to the synchronous belt through the power output synchronizing wheel 409, the power is transmitted to the power input synchronizing wheel 507501 of the walking driving secondary transmission shafting through the synchronous belt, primary speed reduction is formed, and output torque is amplified.
And then power is transmitted to a walking driving secondary transmission gear shaft 502 through a power input synchronizing wheel 501 through a flat key, and the secondary transmission gear shaft is meshed with a walking driving tertiary transmission shaft system power input internal spline gear 601 to form secondary speed reduction and torque amplification.
The amplified torque is transmitted to the walking drive floating coupling device through the third-stage transmission spline hollow shaft 603, then the walking drive floating coupling device transmits power to the lower axial inner spline connector 801 of the fourth-stage transmission shaft, the power is transmitted to the walking drive fourth-stage outer spline bevel gear transmission shaft through the 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 the power input bevel gear 901 of the 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 planet support 902 of the differential device through the connecting piece, the bevel gear planet support 902 of the differential device transmits power to the left and right planetary bevel gears of the differential device through the differential device planetary gear rotation support left hollow shaft 908 and the mandrel, and transmits the power to the left and right planetary bevel gears of the differential device through the differential device, the left and right power output internal spline bevel gears transmit the power to the power input external spline gear shaft of the hub of the rubber wheel 1300 with the built-in planetary reducer through the internal spline, the power input external spline gear shaft gear is meshed with the planetary gear 1407 to form four-stage speed reduction and torque amplification, the planetary gear 1407 is meshed with the internal gear hub 1406 to form five-stage speed reduction torque to be further amplified, and the internal gear hub 1406 rotates in a back driving way because the planet carrier 1404 is fixed, finally, the rubber wheel 1300 is driven to rotate, so that the double-wheel steering driving wheel rotates, and the electric loading flat car is driven to walk.
The rotary driving motor encoder 1105 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 walking system braking device as an electromagnetic braking device, and the opening state of the braking device is controlled by a programmable controller, so that the instant corresponding state of starting and stopping the walking is achieved.
The principle of the differential device of the double-wheel steering driving wheel is as follows: when one of the rubber wheels 1300 is restricted from rotating, the corresponding internal planetary reducer rubber wheel 1300 hub power input external spline gear shaft is restricted from rotating, the external spline gear shaft is inserted into the internal spline hole of the 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 restricted from rotating, because the differential device bevel gear planet support 902 has no circumferential rotation restriction relative to the bevel tooth axis of the differential device right power output internal spline, the differential device bevel gear planet support 902 further rotatably supports the left hollow shaft 908 through the differential device planet gear, the differential device planet gear rotary support hollow shaft spindle transmits power to the differential device left and right planet bevel gears, the differential device left and right planet bevel gears are meshed with the differential device left and right power output internal spline bevel gears, one bevel gear of the left and right planetary bevel gears of the differential device rotates around the power output internal spline bevel gear of the limited side differential device in a meshing way, the other planetary bevel gear of the differential device is meshed with the power output internal spline bevel gear of the non-limited side differential device to drive the power output internal spline bevel gear of the non-limited side differential device to rotate, the power of the hub of the rubber wheel 1300 of the built-in planetary reducer is input into the external spline gear shaft, so that the hub of the rubber wheel 1300 of the built-in planetary reducer rotates, and finally the rubber wheel 1300 is driven to rotate in a differential way, thereby realizing the in-situ rolling rotation of the double rubber wheels 1300, the differential rolling rotation turning of the walking of the whole vehicle and the in-situ differential rolling rotation walking of the whole vehicle.
The working principle of the neutral clutch device 1200 of the traveling system is as follows: the built-in hydraulic oil circuit of the built-in planetary reducer hub planet carrier 1404 is connected with the built-in hydraulic oil circuit of the cylinder mounting base 1207, power hydraulic oil is transmitted to the clutch cylinder 1205, the rotatable spherical top 1206 is pushed to act, the power transmission composite spline shaft 1204 is pushed to move in the spline holes 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 1204 moves for a certain position, one end of the power transmission composite spline shaft 1204 is separated from the internal spline of the power input internal spline shaft 1401 of the built-in reducer hub, the power of the built-in reducer hub is lost, after the clutch cylinder 1205 is reset, the reset spring 1203 pushes the power transmission composite spline shaft 1204 to move to the initial position, the power connection between the walking power differential output device 900 and the built-in reducer hub is recovered, and unpowered traction dragging in the fault or maintenance of the electric flat car is realized.
The balance working principle of the double-wheel steering driving wheel swing balance support assembly 1000 is as follows: the upper bracket 1001 and the lower bracket 1002 are connected through a balance bridge pin shaft 1003, the upper end of the upper bracket 1001 is limited by the retainer ring 1004 to be matched and positioned with the outer circle of the lower internal tooth rotary support and the lower plane, the third transmission shaft device 600 is installed in the center hole of the upper plane of the upper bracket 1001, the fourth transmission shaft device 800 for walking drive is installed on the upper end face of the center hole of the upper plane of the lower bracket 1002, the differential output device 900 for walking power is installed in the horizontal hole of the lower bracket 1002, the hub of the built-in speed reducer is installed on the end face of the lower bracket 1002, the double wheels of the double-wheel steering driving wheel are grounded and balanced in stress, and the double-wheel steering driving wheel can operate reliably.
The internal gear rotary support 100, a rotary driving device, a walking driving secondary transmission shaft system, a walking driving tertiary transmission shaft system, a walking driving floating coupling device, a walking driving quaternary transmission shaft system, a walking power output differential device, an upper support 10011001 component, a lower support 10021002 component, a double built-in speed reducer hub rubber wheel 1300 balance bridge pin shaft 1003, a rubber wheel 13001300, a built-in speed reducer rubber wheel 1300 hub 1400, a walking driving motor encoder, a walking driving motor brake 401, a rotary driving motor encoder 1105, a rotary driving motor brake, a driving motor mounting plate, a connecting piece and a fastener external relative rotation part adopt a rotary sealing device, 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. This need not be, nor should it be 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 (7)
1. A double-wheel steering driving wheel is characterized in that: the steering rotary support system comprises a steering rotary support system and a walking system, wherein the steering rotary support system (1600) consists of an internal tooth rotary support device (100), a rotary support mounting plate (200), a steering wheel steering drive device (300), a driving wheel steering encoder device (1500), a connecting piece and a fastening piece; the steering wheel running power drive transition device (500), a third-stage transmission shaft device (600), a floating coupling power transmission device (700), a running drive fourth-stage transmission shaft device (800), a running power differential output device (900), a built-in planetary reducer hub (1400), a swing balance support assembly (1000), a driving wheel running position encoder device (1100), a neutral gear clutch device (1200), a rubber wheel (1300), a connecting piece and a fastener form a running system;
the steering rotary support system assembly comprises an internal tooth rotary support device (100) consisting of an upper internal tooth rotary support (101), a lower internal tooth rotary support (102), an upper sealing ring, a lower sealing ring, a positioning ring, a fastener and a connecting piece, wherein the upper end of the internal tooth rotary support device is arranged in a positioning hole below a rotary support mounting plate, and the lower end surface of the internal tooth rotary support device is arranged in a positioning hole on the upper plane of an upper support of the swing balance support assembly (1000) and is fixed by the fastener and the connecting piece; the rotary support mounting plate (200) is a rotary support system mounting carrier; the steering wheel steering driving device is composed of a rotary driving motor, a brake (301), a rotary driving reducer (302), a rotary driving reducer mounting support (303), a driving inner spline bevel gear (304), a driving inner spline bevel gear supporting bearing (305), a driving inner spline bevel gear supporting bearing mounting base (306), a driving inner spline bevel gear supporting bearing cap (307), a sealing ring (308), a driven spline bevel gear supporting bearing mounting base (309), a driven spline bevel gear (310), an output outer spline gear shaft (311), an output outer spline shaft supporting bearing (312), an output outer spline shaft supporting bearing cap (313), an output outer spline shaft supporting bearing cap oil seal (314), a gear housing (315), a second fastener and a connecting piece; a driven spline bevel gear support bearing mounting seat (309) is mounted in a rotary input shaft hole of a rotary support mounting plate, a rotary drive reducer mounting support (303) is fixedly connected with the rotary support mounting plate (200), and a gear at the lower end of an output external spline gear shaft (311) is meshed with the inner teeth of a lower internal tooth rotary support (102); the driving wheel steering encoder device (1500) consists of a steering encoder (1501), an encoder coupler (1502), an encoder gear (1503), an encoder bracket (1505), an encoder gear upper bearing, an encoder gear lower bearing, a bearing end cover (1506), a rotary sealing ring (1507), a fastener and a connecting piece; the encoder gear (1503) is meshed with the inner teeth of the lower inner-tooth rotary support (102); the system realizes the steering and rotation of the double-wheel steering driving wheel and feeds back the steering and rotation position in real time;
in the walking system assembly, a rotary support mounting plate (200) is a walking system mounting carrier; the steering wheel walking power driving device is composed of a walking driving motor (401), a walking driving motor encoder, a walking driving motor brake, a driving motor position-adjustable mounting plate (402), a power input hollow shaft (403), a power input hollow shaft rotary supporting bearing (404), a power input hollow shaft rotary supporting bearing seat (405), a power input hollow shaft rotary supporting bearing cap (406), a power input hollow shaft oil seal (407), a hollow shaft rotary supporting bearing cap, a power output synchronous wheel (409), a power output synchronous belt (410), a connecting piece and a fastener, walking power is provided for the driving wheel, and the driving motor position-adjustable mounting plate (402) can realize tensioning of a transmission chain belt; the steering wheel walking power driving transition device consists of a power input synchronizing wheel (501), a walking driving secondary transmission gear shaft (502), a walking driving secondary transmission gear shaft rotating support bearing (503), a secondary transmission gear shaft rotating support bearing seat (504), a secondary transmission gear shaft rotating support shaft gland (505), a secondary transmission gear shaft rotating oil seal (506), a secondary transmission shaft power input synchronizing wheel (507), a connecting piece and a fastening piece, and is arranged on a power driving transition device mounting hole on a rotary support mounting plate and is matched for positioning; the third-stage transmission shaft device is composed of a third-stage transmission shaft power input internal spline gear (601), a power input internal spline gear spacer (602), a third-stage transmission spline hollow shaft (603), a third-stage transmission spline hollow shaft rotary supporting bearing (604), a third-stage transmission bearing seat (605), a third-stage transmission shaft pressure bearing cover (606), a third-stage transmission shaft rotary oil seal (607), a connecting piece and a fastening piece, is arranged on a plane hole on an upper support of the swing balance support assembly and is matched and positioned; the floating coupling power transmission device is composed of an axial displacement compensation device elastic pin spring (704), a composite upper axial connector outer spline shaft (707), a middle crossed axial groove connector (708), a lower axial inner spline connector (801), a connecting piece and a fastener, a guide spline of the composite upper axial connector outer spline shaft (707) is inserted into a third-stage transmission spline hollow shaft (603), the middle crossed axial groove connector (708) is connected with a fourth-stage transmission shaft lower axial inner spline connector (801) in a floating mode, and floating walking driving power transmission is achieved; the fourth-stage transmission shaft system is formed by a lower axial inner spline connector (801), a walking driving fourth-stage outer spline bevel gear transmission shaft seat (802), a walking driving fourth-stage transmission shaft rotary supporting bearing (803), a walking driving fourth-stage transmission shaft gear (804), a fourth-stage transmission shaft rotary supporting bearing upper gland (805), a fourth-stage transmission shaft rotary supporting bearing lower gland (806), a fourth-stage transmission shaft upper rotary oil seal (807), a fourth-stage transmission shaft lower rotary oil seal (808), a connecting piece and a fastening piece, and is positioned and installed on the end face of an upper orifice of a lower bracket of the swing balance bracket assembly through a walking driving fourth-stage outer spline bevel gear transmission shaft seat cylindrical surface and a flange end face; the device is composed of a differential device power input bevel gear (901), a differential device bevel gear planet support (902) rotation supporting bearing (903), a planet support rotation supporting bearing left gland (904), a planet support rotation supporting bearing right gland (905), a planet support rotation supporting bearing left gland rotation oil seal (906), a planet support rotation supporting bearing right gland rotation oil seal (907), a differential device planetary gear rotation supporting left hollow shaft (908), a differential device planetary gear rotation right hollow shaft (909), a differential device left planetary bevel gear (911), a differential device right planetary bevel gear (912), a differential device left planetary gear rotation supporting bearing (913), a differential device right planetary gear rotation supporting bearing (914), a differential device left power output inner bevel gear (915), a differential device right power output inner spline bevel gear (916), A traveling power differential output device is composed of a differential device left power output internal spline bevel gear rotating supporting bearing (917), a differential device right power output internal spline bevel gear rotating supporting bearing (918), a differential device left power output sealing spacer (919), a differential device right power output sealing spacer (920), a differential device left power output rotating oil seal (921), a differential device right power output rotating oil seal (922), a differential device left power output internal spline bevel gear rotating supporting bearing cover (923), a differential device right power output internal spline bevel gear rotating supporting bearing cover (924), a differential device left power output shafting locking nut (925) and a differential device right power output shafting locking nut (926), is positioned in a lower support horizontal mounting hole through a planet support rotating supporting bearing left gland (904), and is engaged with a differential device power input bevel gear (901) through a traveling driving fourth-stage transmission shaft gear (804) The power output of the internal spline bevel gear internal spline is output by the left power output and the right power output of the differential device, so that the power differential output is realized; the power input inner spline gear shaft (1401), the power input outer spline gear shaft left and right support bearings (1402), the power input outer spline gear shaft two-end rotating oil seals (1403), a planet carrier (1404), the planet carrier two-end support bearings (1405), an inner gear hub (1406), a planetary gear (1407), a planetary gear support bearing (1408), a planetary gear axial positioning spacer (1409), a planetary gear support bearing mandrel (1410), a planet carrier two-end support bearing left gland (1411), a planet carrier two-end support bearing right gland (1412), a planet carrier two-end rotating oil seal (1413), a power input outer spline gear shaft support bearing pressure cap (1414), a connecting piece and a fastening piece form a built-in planetary reducer hub; the neutral gear clutch device is composed of a baffle retainer ring (1201), a baffle (1202), a reset spring (1203), a power transmission composite spline shaft (1204), a clutch oil cylinder (1205), a rotatable spherical top head (1206), an oil cylinder mounting seat (1207), a connecting piece and a fixing piece, and an external spline at one end of the device is inserted into a power input internal spline gear shaft (1401) to realize power transmission and clutch; the swinging balance bracket assembly is composed of an upper bracket (1001), a lower bracket (1002), a balance bridge pin shaft (1003), a check ring (1004), a connecting piece and a fastening piece, so that the two wheels of the double-wheel steering driving wheel are grounded and stressed in balance; the driving wheel walking position encoder device (1100) is composed of an encoder power transmission shaft (1101), an encoder power transmission shaft retainer ring, an encoder coupler, an encoder mounting bracket (1104) and an encoder (1105), and the device realizes real-time feedback of the position of the double-wheel steering drive; the system has the functions of realizing the differential walking and walking position feedback of the double rollers.
2. A two-wheeled steerable drive wheel, as defined in claim 1, wherein: the internal tooth rotary support device (100) is supported, a rotary support mounting plate (200), a steering wheel steering driving device (300), a driving wheel walking position encoder device (1100), a driving wheel steering encoder device (1500), a steering wheel walking power driving device (400) and a steering wheel walking power driving transition device (500) are connected into a whole through a connecting piece and a fastening piece, and the rotary support mounting plate and the frame are connected and fixed to form a walking rotary power driving assembly; the lower support of the internal tooth rotary supporting device (100), the third-stage transmission shaft device (600) and the upper support (1001) 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 walking driving fourth-stage transmission shaft device (800), the swing balance bracket assembly lower bracket (1002), the walking power differential output device (900), the neutral clutch device (1200), the built-in planetary reducer hub (1400) and the rubber wheel (1300) are connected with the fastener into a whole through the connecting piece to form a differential walking assembly; the walking rotary power driving assembly is in rotary connection with the upper bracket assembly through an internal gear rotary support; the power transmission between the upper bracket assembly and the differential walking assembly is connected through a floating coupling power transmission device (700); 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 angle range relative to the upper bracket assembly by taking a balance bridge pin shaft (1003) as a center, 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.
3. A two-wheeled steerable drive wheel according to claim 1 or 2, 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 power is transmitted to the driving inner spline bevel gear through the speed reducer spline output shaft after being reduced by the speed reducer and torque is amplified, the power is transmitted to the driven spline bevel gear through the driving inner spline bevel gear, the power is transmitted to the output outer spline gear shaft through the driven spline bevel gear, the power is transmitted to the lower inner tooth rotary support through the output outer spline gear shaft, the amplification torque is reduced through the transmission at this stage, the rotary power is transmitted to the upper support assembly and the differential walking assembly through the inner tooth rotary support device, and the upper support assembly and the differential walking assembly can rotate at any angle.
4. A two-wheeled steerable drive wheel according to claim 1 or 2, 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 a walking driving third-stage 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-stage transmission spline hollow shaft, and then the power is transmitted to an axial internal spline connector (801) below the fourth-stage transmission shaft 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 (902) of the differential device through a connecting piece, the bevel gear planet support (902) of the differential device further rotatably supports a left hollow shaft through a planetary gear of the differential device, rotatably supports a right hollow shaft through the planetary gear of the differential device to transmit the power to a left planetary bevel gear and a right planetary bevel gear of the differential device, and transmits the power to a left planetary bevel gear and a right planetary bevel gear of the differential device to transmit the power to a left power output internal spline bevel gear and a right power output internal spline bevel gear through the internal spline, the power is transmitted to a hub power input external spline shaft of a built-in planetary rubber wheel reducer, 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 the encoder power transmission shaft is connected with the encoder through the encoder coupler to form a driving wheel walking position encoder device (1100), and the device realizes real-time feedback of the position of the double-wheel steering drive.
5. A two-wheeled steerable drive wheel according to claim 1 or 2, 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 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, because a differential device bevel gear planet support (902) has no 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 (902) supports a left hollow shaft through the rotation of a differential device planetary gear, the differential device bevel gear planet support supports a right hollow shaft through the rotation of the differential device planetary gear to transmit power to the differential device left and right planetary bevel gears, and the differential device left and right planetary bevel gears are meshed with the differential device left and right power output internal spline gears, one of the left and right planetary bevel gears of the differential device rotates around the internal spline bevel gear of the power output of the differential device on the limited side, the planetary bevel gear of the other differential device is meshed with the internal spline bevel gear of the power output of the differential device on the non-limited side to drive the internal spline bevel gear of the power output of the differential device on the non-limited side to rotate, and the power is input into the external spline gear shaft through the rubber wheel hub of the built-in planetary reducer to rotate the rubber wheel hub of the built-in planetary reducer and finally drive the rubber wheel to rotate differentially, so that the in-situ rolling revolution of the double rubber wheels is realized, the running differential rolling revolution of the whole vehicle turns, and the in-situ differential rolling revolution of the whole vehicle runs.
6. A two-wheeled steerable drive wheel according to claim 1 or 2, characterized in that: the built-in hydraulic oil circuit of the built-in planetary reducer hub planet carrier (1404) is connected with the built-in hydraulic oil circuit of the cylinder mounting seat (1207), power hydraulic oil is transmitted to the clutch cylinder (1205), the rotatable spherical top head (1206) is pushed to act, the power transmission composite spline shaft (1204) is pushed to move in the internal spline holes 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 (1204) moves for a certain distance, one end of the power transmission composite spline shaft is separated from the internal spline of the internal spline gear shaft (1401) of the power input of the hub of the built-in speed reducer, so that the hub of the built-in speed reducer loses power, when the clutch oil cylinder (1205) is reset, the reset spring (1203) pushes the power transmission composite spline shaft (1204) 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 recovered, and unpowered traction and dragging during the fault or maintenance of the electric flat car are realized.
7. A two-wheeled steerable drive wheel according to claim 1 or 2, characterized in that: the running system comprises a rotary supporting mounting plate, a steering wheel running power driving device (400), a steering wheel running power driving transition device (500), a third-stage transmission shaft device (600), a floating coupling power transmission device (700), a running driving fourth-stage transmission shaft device (800), a running power differential output device (900), a swing balance support assembly (1000), a driving wheel running position encoder device (1100), a neutral gear clutch device (1200), a rubber wheel (1300) and a built-in planetary reducer hub (1400), wherein rotary sealing devices are adopted at the relative rotating parts, so that long-period lubrication-free maintenance is realized.
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| CN111924752B (en) * | 2020-08-12 | 2022-04-01 | 深圳市佳顺智能机器人股份有限公司 | Fork truck formula automated guided transporting vehicle |
| CN112265594B (en) * | 2020-10-23 | 2022-03-04 | 广东博智林机器人有限公司 | Driving wheel set, trolley chassis and trolley |
| CN112793657B (en) * | 2021-02-02 | 2022-06-14 | 广东博智林机器人有限公司 | Steering mechanism and mobile device |
| CN113081797B (en) * | 2021-03-27 | 2023-08-29 | 上海工程技术大学 | Multifunctional leg beating device |
| CN113650700A (en) * | 2021-08-04 | 2021-11-16 | 广东嘉腾机器人自动化有限公司 | Omnidirectional driving mechanism, mobile robot and working method |
| CN114687659B (en) * | 2022-03-29 | 2024-01-30 | 中源宏宇建设集团有限公司 | Mobile ascending device for building engineering construction |
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| NL8902771A (en) * | 1989-11-08 | 1991-06-03 | Skf Ind Trading & Dev | DIFFERENTIAL. |
| CN105751892B (en) * | 2016-04-08 | 2017-12-22 | 浙江同筑科技有限公司 | Compact AGV drives steering integrated device |
| CN105857387B (en) * | 2016-05-11 | 2019-01-22 | 姚连涛 | A kind of variable-angle transmission device, vehicle chassis and its control method |
| BR102016029398B1 (en) * | 2016-12-14 | 2021-03-16 | Cnh Industrial America Llc | wheel hub for combined axles and vehicle |
| CN108081946A (en) * | 2017-11-13 | 2018-05-29 | 深圳先进技术研究院 | The electronic directive wheel of omnidirectional and robot, vehicle with the electronic directive wheel of the omnidirectional |
| CN207579997U (en) * | 2017-11-30 | 2018-07-06 | 中国重汽集团大同齿轮有限公司 | A kind of AGV vehicles drive leveling unit |
| CN108725193A (en) * | 2018-07-26 | 2018-11-02 | 费先江 | For marsh, the spiral twin shaft offroad vehicle of ice face complicated landform |
| CN110316279A (en) * | 2019-05-24 | 2019-10-11 | 广州市中立智能装备科技有限公司 | A kind of omnidirectional's differential driving steering wheel |
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Application publication date: 20200515 Assignee: YANCHENG FUDA NEW ENERGY Co.,Ltd. Assignor: Shanghai Mingjie Electromechanical Technology Co.,Ltd. Contract record no.: X2024980012185 Denomination of invention: A dual wheel steering drive wheel Granted publication date: 20220826 License type: Exclusive License Record date: 20240815 |
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