CN112677758A - Wheel edge driving system based on conical worm transmission - Google Patents
Wheel edge driving system based on conical worm transmission Download PDFInfo
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- CN112677758A CN112677758A CN202110018154.3A CN202110018154A CN112677758A CN 112677758 A CN112677758 A CN 112677758A CN 202110018154 A CN202110018154 A CN 202110018154A CN 112677758 A CN112677758 A CN 112677758A
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Abstract
The invention discloses a wheel edge driving system based on conical worm transmission, which comprises a driving mechanism, a transmission mechanism and an executing mechanism, wherein the driving mechanism is connected with the executing mechanism through the transmission mechanism, the driving mechanism is a low-voltage servo motor, the executing mechanism comprises replaceable wheels and gears, the transmission mechanism is a conical worm reduction box and comprises a box body, and a conical worm gear which are matched in the box body, the low-voltage servo motor is installed at one end of the box body, one end of the conical worm is fixedly connected at the output end of the low-voltage servo motor, the other end of the conical worm is matched on the inner side of a front end cover of the box body, one end of the conical worm gear is matched on the inner side of the front end cover, the other. The invention effectively solves the problems of insufficient output torque and insufficient climbing capability of various driving modules under the size limitation at present, and is suitable for light-load mobile equipment with various complex working conditions such as intelligent homes, industrial AGV trolleys, small special vehicles and the like.
Description
Technical Field
The invention belongs to the technical field of driving systems, and particularly relates to a wheel edge driving system based on conical worm transmission.
Background
The speed reducing motor is an integrated body of a speed reducer and a motor, and is widely applied to speed reducing transmission mechanisms of various general mechanical equipment such as metallurgy, transportation, intelligent home, medical appliances, office supplies and the like due to the characteristics of simplified design, space saving, high reliability, simple and convenient maintenance and the like. With the development of power electronic technology and the transition and upgrade of manufacturing industry, the speed reduction motor is developed towards miniaturization and light weight, and simultaneously higher reliability and stability are required. The prior market is more applied to a multi-stage gear transmission reducing motor, a planetary transmission reducing motor, a cycloid pin gear reducing motor, a harmonic reducing motor and the like.
Along with the development of science and technology and the promotion of demand, fields such as industry AGV, intelligent house, medical instrument, service robot have proposed requirements such as miniaturized lightweight, power density is big, compact structure, stability, multipurpose to actuating system.
Therefore, how to solve the above-mentioned drawbacks of the prior art becomes the direction of efforts of those skilled in the art.
Disclosure of Invention
The invention aims to provide a wheel edge driving system based on conical worm transmission, which can completely solve the defects of the prior art.
The purpose of the invention is realized by the following technical scheme:
the utility model provides a wheel limit actuating system based on awl worm drive, includes actuating mechanism, drive mechanism and actuating mechanism, and actuating mechanism passes through drive mechanism and is connected with actuating mechanism, actuating mechanism is low pressure servo motor, actuating mechanism is including replacing wheel and gear, and drive mechanism is awl worm reducing gear box, and it includes the box and cooperates awl worm and the worm wheel in the box, the front end of box is equipped with the front end housing, and low pressure servo motor installs the one end at the box, and the one end fixed connection of awl worm is at low pressure servo motor's output, and the other end cooperation is inboard at the front end housing, and the worm wheel one end cooperation is inboard at the front end housing, and the other end stretches out the box and is connected with the gear, can replace wheel and gear connection, and can replace the external diameter of wheel and be greater.
Furthermore, the inner side of the front end cover is provided with a protruding part, a first supporting hole for supporting the conical worm and a second supporting hole for supporting the conical worm wheel are formed in the protruding part, and the conical worm wheel are arranged in a crossed and staggered mode. The design is beneficial to shortening the length of the conical worm and the conical worm wheel.
Further, the end of the bevel worm is mounted in the first support hole through a needle bearing, and the end of the bevel worm wheel is mounted in the second support hole through a needle bearing. This design facilitates a reduction in installation size.
Furthermore, a deep groove ball bearing is installed on the conical worm, and a thrust bearing is installed on the conical worm wheel. The deep groove ball bearing is used for bearing the axial force borne by the conical worm, and the thrust bearing is used for bearing the axial force borne by the conical worm wheel.
Further, the low-voltage servo motor is arranged along the axial direction of the conical worm. This design is advantageous for shortening the axial dimension of the drive mechanism.
Further, the awl worm includes worm and worm axle, worm and worm axle integrated into one piece, and the worm axle is the ladder axle. The design is beneficial to batch production.
Further, the bevel worm wheel comprises a worm wheel and a worm wheel shaft, the worm wheel and the worm wheel shaft are integrally formed, and the worm wheel shaft is a stepped shaft. The design is beneficial to batch production.
Furthermore, the input end of the conical worm is provided with a lip-shaped sealing ring, the output end of the conical worm wheel is provided with a lip-shaped sealing ring, and the front end cover and the top cover are provided with O-shaped sealing rings. The adoption of the sealing system enables the sealing performance of the whole structure to be more excellent.
Further, the replaceable wheels are rail wheels, anti-skid wheels or Mecanum wheels.
Furthermore, the front end cover is provided with a pin hole, and the front end cover and the box body are positioned through a pin; the top cover is provided with air holes. The design simplifies the structure and is easy to assemble.
Compared with the prior art, the invention has the beneficial effects that:
1. the driving mechanism, the transmission mechanism and the actuating mechanism are designed in an integrated manner, so that the miniaturization of the whole structure is facilitated, and the model selection burden is reduced;
2. the transmission mechanism adopts a conical worm transmission pair, not only has the advantages of large transmission ratio, stable transmission, self-locking property and the like of a common worm transmission pair, but also has smaller center distance and can be suitable for a smaller space structure;
3. the supporting structure of the conical worm and the conical worm wheel is improved, the rigidity of the whole structure is improved by shortening the length of the supporting shaft, and the vibration noise is reduced;
4. the automatic control system has the advantages that the execution mechanism is improved, a replaceable wheel and gear dual-output mode is adopted, the operation on the ground with a larger gradient or a vertical wall surface can be realized through the engagement of the gear and a rack rail, the application on various occasions on a common road surface is realized through the replaceable wheel, the problems of insufficient output torque and insufficient climbing capacity of various driving modules under the size limitation at present are effectively solved, and the automatic control system is suitable for light-load mobile equipment with various complex working conditions such as intelligent homes, industrial AGV trolleys, small special vehicles and the like.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic partial cross-sectional view of the present invention with the top cover removed;
FIG. 3 is a schematic view of the present invention with the housing removed;
FIG. 4 is a schematic view of the construction of the conical worm of the present invention;
FIG. 5 is a diagram of the fitting relationship between the bevel worm and the low-voltage servo motor;
FIG. 6 is a view of the mating relationship of the bevel gear wheel and the front end cap;
FIG. 7 is a schematic structural view of a front end cap according to the present invention;
FIG. 8 is a schematic structural diagram of a box body of the bevel worm reduction gearbox in the invention;
fig. 9 is a state diagram of the use of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
As shown in fig. 1 to 9, a wheel-side driving system based on bevel worm transmission includes a driving mechanism, a transmission mechanism and an execution mechanism, wherein the driving mechanism is connected with the execution mechanism through the transmission mechanism.
The driving mechanism comprises a low-voltage servo motor 1, a motor driver (not shown in the figure, belonging to the prior art and not described herein) and an encoder 14, and in order to shorten the axial size of the driving mechanism, the driving mechanism is different from the traditional axial wiring along a worm wheel, and the low-voltage servo motor 1 is axially wired along a conical worm.
The actuating mechanism comprises a replaceable wheel 2 and a gear 3, the replaceable wheel 3 comprises a hub inner ring and a hard rubber outer ring, and can be replaced by special wheels such as a rail wheel, an anti-skid wheel and a Mecanum wheel according to requirements without changing the connection mode.
The transmission mechanism is a conical worm reduction box, the conical worm reduction box comprises a box body 4, a conical worm 5 and a conical worm wheel 6, the conical worm 5 and the conical worm wheel 6 are matched in the box body 4, a top cover 7 is installed at the opening of the top end of the box body 4, an O-shaped sealing ring and an air hole 8 are arranged on the top cover 7, and an oil seal groove 9 is arranged at the opening of the top end corresponding to the O-shaped sealing ring. A front end cover 10 is installed at the opening of the front end, two pin holes are formed in the front end cover 10, the front end cover 10 and the box body 4 are located through pins 11, and an O-shaped sealing ring 12 is arranged on the front end cover 11 and used for sealing with the box body 4. The right side of the box body 4 is provided with a motor mounting hole 13, the output end of the low-voltage servo motor 1 is fixed in the motor mounting hole 13 through a bolt, and the tail end of the low-voltage servo motor 1 is provided with an encoder 14. The inner side of the front end cover 10 is provided with a protruding part 15, the protruding part 15 is provided with a first supporting hole 16 for supporting the conical worm 5 and a second supporting hole 17 for supporting the conical worm wheel 6, and the conical worm 5 and the conical worm wheel 6 are arranged in a crisscross manner.
The bevel worm 5 comprises a worm 501 and a worm shaft 502, the worm 501 and the worm shaft 502 are integrally formed, and the worm shaft 501 is a stepped shaft. The input end of the worm shaft 501 is provided with a hole, the hole is connected with the output end of the low-voltage servo motor 1 through a key or interference fit, and the other end of the worm shaft is matched in the first support hole 16 through a needle bearing 18. The input end of the worm shaft 501 is provided with a deep groove ball bearing 19 which is matched with a motor mounting hole 13 on the box body and is used for bearing the axial force borne by the worm shaft 502, the axial force is positioned by a shaft shoulder and a hole through a circlip 20, and the worm shaft 502 and the box body 4 are sealed by a lip-shaped seal ring 21.
The bevel worm wheel 6 comprises a worm wheel 601 and a worm wheel shaft 602, the worm wheel 601 and the worm wheel shaft 602 are integrally formed, the worm wheel shaft 602 is a stepped shaft, one end of the worm wheel shaft 602 is matched in the second support hole 17 through a needle bearing 18, the other end of the worm wheel shaft extends out of the box body to be connected with the gear 3, the replaceable wheel 2 is connected with the gear 3, and the outer diameter of the replaceable wheel 2 is larger than that of the gear 3. Specifically, the gear 3 is connected with the worm wheel shaft 602 through a key or interference fit, the replaceable wheel 2 is connected with the gear 3 through a bolt, a fixed end disc 21 is arranged on the outer side of the replaceable wheel 2, and the fixed end disc 21 is fixedly connected with the replaceable wheel 2 and the worm wheel shaft 602 through bolts. A thrust bearing 22, a needle bearing 18 and a lip-shaped sealing ring 21 are sequentially arranged on a worm wheel shaft 602 at the rear end of the worm wheel 601, the thrust bearing 22 is used for bearing the axial force borne by the worm wheel shaft, the needle bearing 18 is used for being matched with the box body 4, and the lip-shaped sealing ring 21 is used for sealing between the box body 4 and the worm wheel shaft.
When the vehicle runs, the low-voltage servo motor 1 drives the bevel worm 5 to rotate, and then drives the bevel worm wheel 6 to rotate, and the bevel worm wheel 6 drives the gear 3 and the replaceable wheel 2 to rotate. According to different working conditions, the replaceable wheels 3 can be replaced by special wheels such as track wheels, anti-skid wheels and Mecanum wheels according to requirements, and the gears 3 are used for running on the ground with larger gradient or rack tracks vertical to the wall surface; meanwhile, the mechanical self-locking of the driving system is realized by utilizing the characteristics of the conical worm pair, and the safety and the reliability are ensured.
The invention integrates the low-voltage servo motor, the conical worm reduction gearbox, the replaceable wheel and the gear into a whole, thereby reducing the model selection burden. The transmission mechanism adopts a conical worm transmission pair, has the advantages of large transmission ratio, stable transmission, self-locking property and the like of a common worm transmission pair, and has smaller center distance, so that the transmission mechanism can be suitable for a smaller space structure. The invention can realize large torque output by adopting a motor with smaller power. The invention optimizes the support structure of the conical worm shaft and the conical worm wheel shaft, increases the rigidity of the whole structure by shortening the length of the support shaft and reduces the vibration noise. The sealing performance of the reduction box body is ensured through the reasonable arrangement of the O-shaped sealing ring and the lip-shaped sealing ring.
In conclusion, different execution mechanisms can be selected according to different application scenes, various occasions with high requirements on space structures, power density and reliability are accurately matched, and the system and the method are suitable for small and light mobile equipment such as industrial AGV, smart homes, service robots and medical instruments.
Although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. The utility model provides a wheel limit actuating system based on awl worm drive, includes actuating mechanism, drive mechanism and actuating mechanism, and actuating mechanism passes through drive mechanism and is connected its characterized in that with actuating mechanism: the driving mechanism is a low-voltage servo motor, the executing mechanism comprises replaceable wheels and gears, the transmission mechanism is a conical worm reduction gearbox and comprises a box body, and a conical worm wheel which are matched in the box body, a front end cover is arranged at the front end of the box body, the low-voltage servo motor is installed at one end of the box body, one end of the conical worm is fixedly connected at the output end of the low-voltage servo motor, the other end of the conical worm is matched on the inner side of the front end cover, one end of the conical worm wheel is matched on the inner side of the front end cover, the other end of the conical worm wheel extends out of the box body to.
2. The bevel worm drive-based wheel-edge drive system of claim 1, wherein: the inner side of the front end cover is provided with a protruding part, a first supporting hole for supporting the conical worm and a second supporting hole for supporting the conical worm wheel are formed in the protruding part, and the conical worm wheel are arranged in a crossed and staggered mode.
3. The bevel worm drive-based wheel-edge drive system of claim 2, wherein: the end of the conical worm is installed in the first supporting hole through a needle bearing, and the end of the conical worm wheel is installed in the second supporting hole through a needle bearing.
4. The bevel worm drive-based wheel-edge drive system of claim 3, wherein: the deep groove ball bearing is installed on the conical worm, and the thrust bearing is installed on the conical worm wheel.
5. The bevel worm drive-based wheel-edge drive system of claim 3, wherein: the low-voltage servo motor is arranged along the axial direction of the conical worm.
6. The bevel worm drive-based wheel-edge drive system of claim 3, wherein: the conical worm comprises a worm and a worm shaft, the worm and the worm shaft are integrally formed, and the worm shaft is a stepped shaft.
7. The bevel worm drive-based wheel-edge drive system of claim 3, wherein: the bevel worm wheel comprises a worm wheel and a worm wheel shaft, the worm wheel and the worm wheel shaft are integrally formed, and the worm wheel shaft is a stepped shaft.
8. The bevel worm drive-based wheel-edge drive system of claim 3, wherein: the input end of the conical worm is provided with a lip-shaped sealing ring, the output end of the conical worm wheel is provided with a lip-shaped sealing ring, and the front end cover and the top cover are provided with O-shaped sealing rings.
9. The bevel worm drive-based wheel-edge drive system of claim 3, wherein: the replaceable wheels are rail wheels, anti-skid wheels or Mecanum wheels.
10. The bevel worm drive-based wheel-edge drive system of claim 3, wherein: the front end cover is provided with a pin hole, and the front end cover and the box body are positioned through the pin; the top cover is provided with air holes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110018154.3A CN112677758A (en) | 2021-01-07 | 2021-01-07 | Wheel edge driving system based on conical worm transmission |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110018154.3A CN112677758A (en) | 2021-01-07 | 2021-01-07 | Wheel edge driving system based on conical worm transmission |
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| Publication Number | Publication Date |
|---|---|
| CN112677758A true CN112677758A (en) | 2021-04-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110018154.3A Pending CN112677758A (en) | 2021-01-07 | 2021-01-07 | Wheel edge driving system based on conical worm transmission |
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| CN (1) | CN112677758A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113443587A (en) * | 2021-07-19 | 2021-09-28 | 淄博纽氏达特行星减速机有限公司 | Electric forklift driving integrated wheel |
-
2021
- 2021-01-07 CN CN202110018154.3A patent/CN112677758A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113443587A (en) * | 2021-07-19 | 2021-09-28 | 淄博纽氏达特行星减速机有限公司 | Electric forklift driving integrated wheel |
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