CN207078227U - New low clearance steering wheel drive device - Google Patents
New low clearance steering wheel drive device Download PDFInfo
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- CN207078227U CN207078227U CN201720740625.0U CN201720740625U CN207078227U CN 207078227 U CN207078227 U CN 207078227U CN 201720740625 U CN201720740625 U CN 201720740625U CN 207078227 U CN207078227 U CN 207078227U
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Abstract
The utility model discloses a kind of new low clearance steering wheel drive device, it includes supporting plate, the drive assembly being arranged on below supporting plate, the steering mechanism being located above supporting plate, and planet speed reduction driving mechanism, drive assembly is used to drive steering wheel drive device to roll walking, steering mechanism is used to control drive assembly to carry out turning commutation, planet speed reduction driving mechanism is used to rotation torque being delivered to drive assembly with certain fast ratio, driving wheel mounting bracket is set on the supporting plate, driving wheel is installed in rotation in driving wheel mounting bracket by planet speed reduction driving mechanism, the bi-lateral support frame of driving wheel Design of mounting plate arm support structure in pairs, supporting plate is provided with the hole slot that can accommodate driving wheel, the top of driving wheel is placed in hole slot.The utility model effectively reduces steering wheel drive device whole height, and then reduces the height of AGV dollies, has widened the application field of AGV dollies, and the center of gravity of AGV dollies is reduced, and weight capacity is stronger, and operation is more steady.
Description
Technical field
A kind of drive device is the utility model is related to, it particularly relates to which a kind of be used to drive automatical pilot transportation vehicle
Low clearance steering wheel drive device.
Background technology
AGV dollies (Automated Guided Vehicle) are " automatical pilot transportation vehicle ", are commonly called as " unmanned to carry
Car ", it refers to magnetically or optically wait homing guidance device equipped with electricity, and can be travelled along guide path set in advance, has
Safeguard protection and the bearing type transport vehicle of various transfer functions.In industrial transport, AGV dollies are due to being it by battery
Power resources are used widely without driver.Especially in flexible manufacturing system and automated warehouse storage system, AGV
Dolly becomes effective automatic transportation instrument of logistics transportation.But in the prior art also there is following defect in AGV dollies：1)
AGV dollies are frequently subjected to the limitation of some material transportation site techniques and spatial altitude requirement, using with conventional height
AGV dollies inevitably highlight significant limitation, and the height of AGV dollies depends primarily on its steering wheel drive device
Highly, because the oneself height of the steering wheel drive device of routine is higher, there is spatial altitude will at some which limits AGV dollies
Seek the applications of limitation；2) the driving wheel mounting bracket of the steering wheel drive device of AGV dollies is using the unilateral cantilever branch supported
Strut configuration, the weight capacity of AGV dollies is not only limit, can also cause AGV dollies easily to go out during load-bearing is walked
Existing jiggly phenomenon；3) AGV dollies realize Turning travel using differential steering drive device, and differential steering drive device is profit
Turned to the differential of two motor speeds than realizing, differential steering drive device turning efficiency is poor, steering stability is poor, easily hair
Raw failure, cost is high, and it is cumbersome to change the process that hastens；4) AGV dollies；4) the steering wheel drive device generally use driving of AGV dollies
The drive mechanism of device+brush motor+fixed speed ratio decelerator, the reliability of wherein brush motor is relatively low, volume is larger, safeguard into
This height, the deceleration transmission effect of fixed speed ratio decelerator are bad.
Utility model content
Deficiency for more than, the purpose of this utility model, which is to provide one kind, can effectively reduce the overall height of steering wheel drive device
Degree, and then the overall height of AGV dollies is reduced, the application field of AGV dollies can be widened, and the center of gravity of AGV dollies is reduced,
Weight capacity is stronger, and the more stable new low clearance steering wheel drive device of operation, it includes supporting plate, is arranged under supporting plate
The drive assembly of side and the steering mechanism being arranged on above supporting plate, the drive assembly are used to drive steering wheel drive device
Rolling on ground is walked, and the steering mechanism is used to control drive assembly to carry out commutation walking of turning, the drive assembly bag
Driving wheel mounting bracket, driving wheel and motor are included, the driving wheel mounting bracket is fixedly installed in the supporting plate, institute
State driving wheel to be installed in rotation in the driving wheel mounting bracket, the motor is fixedly mounted on the driving wheel peace
Fill on support, and the output shaft of the motor is parallel with the supporting plate, the output shaft of the motor and the drive
Driving wheel connects, to drive the driving wheel to roll walking by the motor；The driving is corresponded in the supporting plate
The position of wheel is provided with hole slot, and the top of the driving wheel is placed in the hole slot.
In order to further realize the present invention, the bi-lateral support of the driving wheel Design of mounting plate arm support structure in pairs
Frame.
In order to further realize the present invention, the steering wheel drive device also includes planet speed reduction driving mechanism, the planet
Reduction gearing mechanism is used for the rotation torque of motor output with certain speed than being delivered to the drive assembly, the drive
Driving wheel is installed in rotation in the driving wheel mounting bracket by the planet speed reduction driving mechanism.
In order to further realize the present invention, on the Left-side support frame of the driving wheel mounting bracket, Right side support frame respectively
Provided with mounting hole, the driving wheel is installed in rotation on the driving wheel mounting bracket by the planet speed reduction driving mechanism
Left-side support frame, on Right side support frame, the first installation end cap of the planet speed reduction driving mechanism, the second installation end cap difference
It is fixedly connected by mounting hole with Left-side support frame, the Right side support frame of the driving wheel mounting bracket.
In order to further realize the present invention, the planet speed reduction driving mechanism is included by primary planet pinion component, transmission
The inner planets round component of gear shaft, three-stage planetary gear component and secondary planetary gear component composition, the primary planet tooth
Wheel assembly, three-stage planetary gear component and secondary planetary gear component are arranged side by side successively, the three-stage planetary gear component
It is located between primary planet pinion component and secondary planetary gear component, the driving gearshaft is arranged in primary planet tooth successively
The middle position of wheel assembly, three-stage planetary gear component and secondary planetary gear component, with cause primary planet pinion component,
Three-stage planetary gear component and secondary planetary gear component keep coaxial rotating to rotate and transmit rotation torque successively；
The primary planet pinion component includes input central gear, at least three primary planet little gears, one-level row
Carrier and primary planet ring gear, the input central gear are fixedly connected with motor output shaft, each primary planet
Little gear is hubbed in the planetary gear shaft on primary planet carrier respectively, and the primary planet ring gear is set in each primary planet
The periphery of little gear and primary planet carrier, the input central gear are arranged in primary planet ring gear, the input
End central gear is engaged with each primary planet little gear, while each primary planet little gear is nibbled with primary planet ring gear
Close；The driving gearshaft is used to transmit rotation torque between multi-stage planetary gear, the right part of the driving gearshaft with
Primary planet carrier is fixedly connected, to cause driving gearshaft to follow primary planet carrier to keep synchronous rotary；
The three-stage planetary gear component includes three-level central gear, at least three third-level planetary little gears, third-level planetary
Frame and third-level planetary ring gear, the three-level central gear are pivotally connected with driving gearshaft, to cause three-level central gear and transmission
Gear shaft keeps coaxially being hubbed at the planet on third-level planetary frame respectively without synchronous rotary, each third-level planetary little gear
On gear shaft, the third-level planetary ring gear is set in the periphery of each third-level planetary little gear and third-level planetary frame, described
Three-level central gear is arranged in the sets of holes of third-level planetary ring gear, the three-level central gear and each third-level planetary little gear
Engagement, each third-level planetary little gear engage with third-level planetary ring gear, the side of the third-level planetary ring gear and one-level
Planetary annular is fixedly connected；
The secondary planetary gear component includes secondary sun gear, at least three secondary planet little gears, secondary planet
Frame and secondary planet ring gear, secondary sun gear are fixedly connected with driving gearshaft, to cause secondary sun gear to follow biography
Movable gear shaft keeps synchronous rotary, and each secondary planet little gear is hubbed at the planetary gear shaft on secondary planet frame respectively
On, the secondary planet frame is fixedly installed on three-level central gear, to cause three-level central gear to follow secondary planet frame to protect
Synchronous rotary is held, the secondary planet ring gear is set in the periphery of each secondary planet little gear and secondary planet frame, institute
State secondary sun gear to be arranged in secondary planet ring gear, the secondary sun gear is nibbled with each secondary planet little gear
Close, each secondary planet little gear engages with secondary planet ring gear, the opposite side and two level of the third-level planetary ring gear
Planetary annular is fixedly connected；The driving wheel is fixed and is set on the outer circumference surface of the third-level planetary ring gear, to cause
The driving wheel keeps coaxial synchronous rotary motion with the third-level planetary ring gear.
In order to further realize the present invention, the planet speed reduction driving mechanism also includes two spring bearings, the support
Bearing is used for the stability when bearing capacity for improving third-level planetary ring gear and the ring gear operation of lifting third-level planetary, described
Two spring bearings be separately positioned between primary planet ring gear and third-level planetary ring gear and secondary planet ring gear and
Between third-level planetary ring gear, described two spring bearings are set in primary planet ring gear and secondary planet ring gear
On, the madial walls of two spring bearing inner rings lateral wall with primary planet ring gear, the outside of secondary planet ring gear respectively
Wall is fixedly connected, and the madial wall of the lateral walls of two spring bearing outer rings respectively with third-level planetary ring gear is fixedly connected.
In order to further realize the present invention, the planet speed reduction driving mechanism also includes two installation end caps, described two
End cap includes the first installation end cap and the second installation end cap, and the first installation end cap is fixedly installed on primary planet ring gear
On, the first installation end cap center is provided with the first through hole for coordinating motor output shaft to stretch into, and the second installation end cap is fixed
It is arranged on secondary planet ring gear, the second installation end cap center is provided with the second through hole for coordinating driving gearshaft to stretch out.
In order to further realize the present invention, the steering mechanism includes rotating disk, turntable bearing and turns to external tooth wheel rim, turns to
Little gear and steering motor, the rotating disk are fixedly installed on the upper surface of supporting plate, and the inner ring of the turntable bearing, which is set in, to be turned
On the excircle of disk, the steering external tooth wheel rim fixed cover is located on the outer ring of the turntable bearing, the steering external tooth wheel rim
Engaged with the steering little gear, on the supporting plate, the output shaft of the steering motor is simultaneously for the steering motor fixed setting
Vertical with the output shaft of the supporting plate and the motor, the output shaft of the steering motor turns to small tooth with described
Wheel is fixedly connected.
In order to further realize the present invention, the steering mechanism also includes rotation angle sensor and rudder angle gear, the rudder angle
Sensor is used for the monitoring and collection for detecting drive assembly steering angle, and the rotation angle sensor is fixedly installed on the supporting plate,
The rotation angle sensor is connected by the rudder angle gear with the steering external tooth wheel rim, outside the rudder angle gear and the steering
Gear ring engagement coordinates.
In order to further realize the present invention, the hole slot is located at the middle position of the supporting plate.
The beneficial effects of the utility model：
1st, new low clearance steering wheel drive device of the present utility model, is provided with supporting plate, and use will be provided with driving wheel
Drive assembly be located at the lower section of supporting plate, steering mechanism is arranged on supporting plate top layout type, and in supporting plate
The upper position corresponding to driving wheel is provided with hole slot, and the top of driving wheel is placed in hole slot, effectively reduces driving wheel pair
The demand of height space size.This mode that supporting plate design hollow out is sunk, and the top of driving wheel is placed in support
In the hollow out hole slot of plate, steering wheel drive device whole height is effectively reduced, and then reduces the overall height of AGV dollies, it is real
Show the low clearance AGV dollies with all-around mobile function, not only cause AGV dollies to have space requirement for height limitation at some
Occasion can also apply, widened the application field of AGV dollies, also caused the center of gravity of AGV dollies to reduce so that AGV dollies
More stable state is kept during load-bearing high-speed cruising.
2nd, new low clearance steering wheel drive device of the present utility model, relative to the steering wheel of AGV dollies of the prior art
The driving wheel mounting bracket of drive device is using the Cantilever structure of unilateral support, and improvement and design is into being designed to both arms
The bi-lateral support frame of supporting construction, traditional AGV dollies weight capacity is overcome by larger limitation and AGV dollies in load-bearing
Easily there is jiggly defect during walking at a high speed, steering wheel drive device of the present utility model uses both arms supporting construction
Bi-lateral support frame, the driving wheel of drive assembly is supported instead of tradition unilateral cantilevered support structure, can be by AGV dollies
Weight capacity brings up to more than one times, substantially increases the load capacity of AGV dollies, and can ensure that AGV dollies are being held
It is again more steady during high speed walking or during Turning travel.
3rd, new low clearance steering wheel drive device of the present utility model, the driving wheel of drive assembly is controlled using steering mechanism
Commutation of turning travels, and overcomes AGV dollies and realizes that the turning efficiency of Turning travel is poor, it is steady to turn to using differential steering drive device
Qualitative difference, easily breaks down, and cost is high, changes the defects of process that hastens is cumbersome so that the turning commutation of AGV dollies is more steady
Fixed, flexible, accurate, manipulation is easy, and design science is simple in construction, and cost is cheap.
4th, new low clearance steering wheel drive device of the present utility model, planet speed reduction driving mechanism and driving wheel are integrated in
One, the inner space of driving wheel will be arranged on the good parallel planet speed reduction driving mechanism for slowing down transmission function, then
Coordinated by the work of brake and motor, reach the purpose of compressible reduction reduction box axial length dimension, so as to have
Effect solves conventional multi-level planet-gear speed reducer and causes reductor in the case where axial length dimension or space limit
Speed reducing ratio is by planetary gear speed-reduction series restricted problem.In addition, new low clearance steering wheel drive device of the present utility model is led to
Crossing parallel planet speed reduction driving mechanism realizes stable mildly retarding braking, reduces the moment of torsion of brake, so that
The driving wheel of drive assembly is more prone to brake, and effectively increases the security and braking ability of the braking of AGV dollies.
Brief description of the drawings
Fig. 1 is three dimensional structure diagram of the present utility model；
Fig. 2 is the three dimensional structure diagram of steering mechanism's installation site of the present utility model；
Fig. 3 is the structural representation of supporting plate of the present utility model；
Fig. 4 is the decomposition texture schematic diagram of drive assembly of the present utility model；
Fig. 5 is the three dimensional structure diagram of drive assembly installation site of the present utility model；
Fig. 6 is the Structure explosion diagram of planetary gear speed reducer of the present utility model；
Fig. 7 is the assembling figure of planetary gear speed reducer of the present utility model；
Fig. 8 is the inner planets round component and three of the three-level drive mechanism of planetary gear speed reducer of the present utility model
The exploded view of level planetary annular；
Fig. 9 is on the left of the inner planets round component of the three-level drive mechanism of planetary gear speed reducer of the present utility model
The dimensional structure diagram in face；
Figure 10 is that the inner planets round component of the three-level drive mechanism of planetary gear speed reducer of the present utility model is right
The dimensional structure diagram of side；
Figure 11 is the inner planets round component of the three-level drive mechanism of planetary gear speed reducer of the present utility model
Explosive view；
Figure 12 is that the stereochemical structure of the three-stage planetary gear component of planetary gear speed reducer of the present utility model is shown
It is intended to；
Figure 13 is one-level, three-level and the secondary planetary gear component of planetary gear speed reducer of the present utility model
Assembly structure diagram；
Figure 14 is that the third-level planetary of the three-stage planetary gear component of planetary gear speed reducer of the present utility model is small
The installation diagram of gear and third-level planetary frame；
Figure 15 be planetary gear speed reducer of the present utility model three-level central gear with secondary planet is rack-mounted matches somebody with somebody
Dimensional structure diagram；
Figure 16 is point of the three-level central gear with secondary planet frame of planetary gear speed reducer of the present utility model
Xie Tu；
Figure 17 is expert of the spring bearing with three-level drive mechanism of planetary gear speed reducer of the present utility model
The installation diagram of star wheel component；
Figure 18 is expert of the spring bearing with three-level drive mechanism of planetary gear speed reducer of the present utility model
The exploded view of star wheel component；
Figure 19 is the operation principle structural representation of the parallel multi-stage planetary gear reduction gearing mechanism of the present invention.
Embodiment
The utility model is further elaborated below in conjunction with the accompanying drawings, wherein, direction of the present utility model is using Fig. 1 as mark
It is accurate.
As shown in Fig. 1 to Figure 19, new low clearance steering wheel drive device of the present utility model, it includes supporting plate 100, driven
Dynamic assembly 200, steering mechanism 300 and planet speed reduction driving mechanism 400, drive assembly 200 are arranged on the lower section of supporting plate 100,
Steering mechanism 300 is arranged on the top of supporting plate 100, wherein：
Supporting plate 100 in laterally setting (supporting plate and plane-parallel), the upper surface of supporting plate 100 by bolt with from
Dynamic guide transport lorry is fixedly connected, and the middle position of the upper surface of supporting plate 100 offers the hole slot 101 of up/down perforation.
Drive assembly 200 is used to drive rolling of the steering wheel drive device on ground to walk, and drive assembly 200 includes driving wheel
Mounting bracket 201, driving wheel 202, motor 203 and brake 204, driving wheel mounting bracket 201 are designed to that both arms support
The bi-lateral support frame (Left-side support frame and Right side support frame) of structure, driving wheel mounting bracket 201 is in longitudinally disposed, driving wheel peace
Dress support 201 is arranged on the lower section of supporting plate 100 and corresponding to the position of the hole slot 101 of supporting plate 100, driving wheel mounting bracket 201
Top be fixedly connected with or be designed as integrated formed structure with the lower surface of supporting plate 100；Driving wheel 202 is in longitudinally disposed
(axis and plane-parallel of driving wheel 202), driving wheel 202 is installed in rotation on by planet speed reduction driving mechanism 400
In driving wheel mounting bracket 201, the position in supporting plate 100 corresponding to driving wheel 202 is provided with hole slot 101, and driving wheel 202
Top is placed in the hole slot 101 of supporting plate 100, in order that hole can either be contained in as much as possible by obtaining the top of driving wheel 202
In groove 101, enable to driving wheel 202 to keep more flexibly being freely rotatable again, the design of the length and width dimensions of hole slot 101 with driving
The size of wheel 202 is adapted；Motor 203 is arranged on the lower section of supporting plate 100, and motor 203 is bolted peace
On the Left-side support frame of driving wheel mounting bracket 201, and the output shaft of motor 203 is parallel with supporting plate 100, driving
The output shaft of motor 203 is connected by planet speed reduction driving mechanism 400 with driving wheel 202, to cause planet speed reduction driving mechanism
The rotation torque of the output shaft of motor 203 is delivered to driving wheel 202 by 400 with certain fast ratio, and drives driving wheel 202 to roll
Dynamic walking, i.e., realize the automatic running of automatical pilot transportation vehicle to drive driving wheel 202 to walk by motor 203.
Steering mechanism 300 is used to control drive assembly to carry out commutation walking of turning, and steering mechanism 300 includes rotating disk 301, turned
Dish axle is held and turned to external tooth wheel rim 302, turns to little gear 303, steering motor 304, rotation angle sensor 305 and rudder angle gear 306,
For rotating disk 301 in laterally (disc face and plane-parallel of rotating disk 301) is set, rotating disk 301, which is bolted, is arranged on support
The upper surface of plate 100, the inner ring of turntable bearing are set on the excircle of rotating disk 301, the outer circumference surface and turntable shaft of rotating disk 301
The inner ring held is fixedly connected, and is turned to external tooth wheel rim 302 and is set on the outer ring of turntable bearing, and the outer ring of turntable bearing is outer with turning to
The inner peripheral surface of gear ring 302 is fixedly connected, and is turned to external tooth wheel rim 302 and is fixedly connected with automatical pilot transportation vehicle, rotating disk 301,
The axle center of turntable bearing and steering external tooth wheel rim 302 is in same axis；It is fixedly installed on the rotating disk of the upper surface of supporting plate 100
301 connect steering external tooth wheel rim 302 by turntable bearing, can be occurred relatively with supporting plate 100 with to turn to external tooth wheel rim 302
Rotate；The outer circumference surface for turning to external tooth wheel rim 302 is provided with the gear teeth being meshed with turning to the gear teeth of little gear 303, turns to external tooth
Wheel rim 302 engages with turning to little gear 303；Steering motor 304 is arranged on the lower section of supporting plate 100, the output of steering motor 304
Axle is simultaneously vertical with the output shaft of supporting plate 100, motor 203；The steering motor 304 of the present embodiment is fixedly mounted on support
The lower surface of plate 100, the perforation for the up/down perforation that the output shaft of steering motor 304 is provided with through supporting plate 100 is with turning to small tooth
Wheel 303 is fixedly connected, and the output shaft of steering motor 304 is rotatably connected by bearing and the perforation of supporting plate 100, is turned with improving
Flexibility and stationarity to the output shaft rotation of motor 304；Rotation angle sensor 305 turns to for detecting drive assembly 200
The monitoring and collection of angle, rotation angle sensor 305 are fixedly installed in supporting plate 100, and rotation angle sensor 305 passes through rudder angle gear
306 are connected with turning to external tooth wheel rim 302, and rudder angle gear 306 engages cooperation with turning to external tooth wheel rim 302.
Planet speed reduction driving mechanism 400 is used for the rotation torque of motor output is more described than being delivered to certain speed
The driving wheel 202 of drive assembly 200, planet speed reduction driving mechanism 400 are included by primary planet pinion component 1, driving gearshaft
2nd, the inner planets round component 10, two for the three-level drive mechanism that three-stage planetary gear component 3 and secondary planetary gear component 4 form
Individual spring bearing 5 and two installation end caps, primary planet pinion component 1, three-stage planetary gear component 3 and secondary planetary gear
Component 4 is arranged side by side successively from right to left, and three-stage planetary gear component 3 is arranged on primary planet pinion component 1 and two level row
Position between star gear assembly 4, driving gearshaft 2 are arranged in primary planet pinion component 1, third-level planetary successively from right to left
The middle position of gear assembly 3 and secondary planetary gear component 4, to cause primary planet pinion component 1, three-stage planetary gear
Component 3 and secondary planetary gear component 4 keep coaxial rotating to rotate and transmit rotation torque.
Primary planet pinion component 1 includes a primary planet little gear 12, one one of input central gear 11, three
Level planet carrier 13 and a primary planet ring gear 14, input central gear 11 are used for multi-stage planetary gear gear reduction mechanism
The input of rotation torque, the center of input central gear 11 are provided with the splined shaft external spline teeth with the output shaft of motor 203
The the first centre bore (not shown) with inner spline gear being engaged, input central gear 11 by the first centre bore with
The splined shaft of motor output shaft is fixedly connected, to cause input central gear 11 to follow motor output shaft to keep synchronous rotary,
And the external spline teeth on the splined shaft of motor output shaft and the inner spline gear of the first centre bore are involute spline tooth；Three one
Level planet pinion 12 is rotatably hubbed at by bearing in the planetary gear shaft on primary planet carrier 13, primary planet carrier 13
It is being set in longitudinal direction (axially to left and right direction, radially towards above-below direction) and can be around the disk of axial-rotation, primary planet for one
The center of frame 13 offers the second centre bore 131 of left and right insertion, and the second centre bore is provided with inner spline gear；Three primary planets are small
Gear 12 is uniformly distributed on the right side of primary planet carrier 13, and the angle between two neighboring primary planet little gear 12
For 120 °；Primary planet ring gear 14 is set in the periphery of three primary planet little gears 12 and primary planet carrier 13, input
End central gear 11 is arranged in primary planet ring gear 14 and positioned at the right side of primary planet carrier 13, input central gear 11
Engaged with three primary planet little gears 12, while three primary planet little gears 12 engage with primary planet ring gear 14,
Area of contact is increased, improves bearing capacity.
Driving gearshaft 2 is used for rotation torque is transmitted between multi-stage planetary gear, and the right part of driving gearshaft 2 is provided with
The external spline teeth being engaged with the inner spline gear of the second centre bore 131 of primary planet carrier 13, primary planet carrier 13 pass through second
Centre bore 131 is set on the right part of driving gearshaft 2, and passes through the inner spline gear and travelling gear of the second centre bore 131
The external spline teeth of axle 2 is fixedly connected, to cause driving gearshaft 2 to follow primary planet carrier 13 to keep synchronous rotary；In addition it is driven
The output end (left part of driving gearshaft 2) of gear shaft 2 is provided with brake 204.
Three-stage planetary gear component 3 includes a three-level of third-level planetary little gear 32, one of three-level central gear 31, three
Planet carrier 33 and a third-level planetary ring gear 34, the center of three-level central gear 31 are provided with the 3rd centre bore 311 of left and right insertion,
Three-level central gear 31 is pivotally connected by the bearing set in its 3rd centre bore 311 with driving gearshaft 2, to cause the three-level sun
Gear 31 can carry out coaxial and nonsynchronous rotary motion relative to driving gearshaft 2, the left side of three-level central gear 31 along its
Radially extending for 3rd centre bore is provided with flange collar portion 312；Three third-level planetary little gears 32 are rotatably pivoted by bearing
In in the planetary gear shaft on third-level planetary frame 33, third-level planetary frame 33 is one in longitudinally (axially to left and right direction, radially towards upper
Lower direction) set and the support of the sets of holes of left and right insertion is offered in the middle part of it, three third-level planetary little gears 32 are equably arranged
On third-level planetary frame 33, and the angle between two neighboring three-stage planetary gear 32 is 120 °；34 sets of third-level planetary ring gear
The periphery of three third-level planetary little gears 32 and third-level planetary frame 33 is located at, three-level central gear 31 is arranged in third-level planetary
Nibbled in the sets of holes of gear ring 34 and positioned at the left side of primary planet carrier 13, three-level central gear 31 with three third-level planetary little gears 32
Close, while three third-level planetary little gears 32 engage with third-level planetary ring gear 34, increase area of contact, improve carrying
Ability.In addition, the right flank of third-level planetary ring gear 34 is fixedly connected with primary planet ring gear 14 by screw, to cause three
Rotation can not be rotated against between level planetary annular 34 and primary planet ring gear 14.
Secondary planetary gear component 4 includes a two level of secondary planet little gear 42, one of secondary sun gear 41, three
Planet carrier 43 and a secondary planet ring gear 44, the center of secondary sun gear 41 are provided with the external spline teeth with driving gearshaft 2
The 4th centre bore (not shown) with inner spline gear being engaged, secondary sun gear 41 pass through the 4th centre bore and biography
Movable gear shaft 2 is fixedly connected, to cause secondary sun gear 41 to follow driving gearshaft 2 to keep synchronous rotary, and travelling gear
The external spline teeth of axle 2 and the inner spline gear of the 4th centre bore are involute spline tooth；Three secondary planet little gears 42 pass through
Bearing is rotatably hubbed in the planetary gear shaft on secondary planet frame 43, and secondary planet frame 43 is one in longitudinal direction (axial court
Left and right directions, radially towards above-below direction) set and can be offered around the disk of its axial-rotation, the center of secondary planet frame 43
5th centre bore 431 of the left and right insertion being engaged with the flange collar portion 312 of three-level central gear 31, secondary planet frame 43 pass through the
Five centre bores 431 merge the left part for being fixedly installed on three-level central gear 31 with matching somebody with somebody for flange collar portion 312, to cause the three-level sun
Gear 31 follows secondary planet frame 43 to keep synchronous rotary；Three secondary planet little gears 42 are uniformly distributed in secondary planet frame
On 43 left side, and the angle between two neighboring secondary planet little gear 42 is 120 °；Secondary planet ring gear 44 is arranged
Secondary planet internal tooth is arranged in three secondary planet little gears 42 and the periphery of secondary planet frame 43, secondary sun gear 41
Engaged in circle 44 and positioned at the left side of secondary planet frame 43, secondary sun gear 41 with three secondary planet little gears 42, simultaneously
Three secondary planet little gears 42 engage with secondary planet ring gear 44, increase area of contact, improve bearing capacity.This
Outside, the left surface of third-level planetary ring gear 34 is fixedly connected with secondary planet ring gear 44 by screw, to cause third-level planetary
Rotation can not be rotated against between ring gear 34 and secondary planet ring gear 44.
Two spring bearings 5 are separately positioned between inner planets round component 10 and third-level planetary ring gear 34, i.e. two branch
Support bearing 5 is separately positioned between primary planet ring gear 14 and third-level planetary ring gear 34 and the He of secondary planet ring gear 44
Between third-level planetary ring gear 34, using two spring bearings 5 on the interior outer circumference surface of planetary wheeling assembly 10 in third-level planetary
Gear ring 34 carries out rolling support, is transported with improving the bearing capacity of third-level planetary ring gear 34 and lifting third-level planetary ring gear 34
Stability during row, two spring bearings 5 are set on primary planet ring gear 14 and secondary planet ring gear 44, and two
The madial wall of the individual inner ring of spring bearing 5 lateral wall with primary planet ring gear 14, the outside of secondary planet ring gear 44 respectively
Wall is fixedly connected, and the madial wall of the lateral walls of two outer rings of spring bearing 5 respectively with third-level planetary ring gear 34 is fixedly connected；Two
Individual installation end cap includes the first installation end cap 61 and second and installs end cap 62, and the first installation end cap 61 is arranged on primary planet internal tooth
The right side of circle 14, the first installation end cap 61 are fixedly connected by screw with primary planet ring gear 14, and the first installation end cap 61
Center is provided with the first through hole 611 for coordinating motor output shaft to stretch into, and the second installation end cap 62 is arranged on secondary planet ring gear 44
Left side, the second installation end cap 62 is fixedly connected by screw with secondary planet ring gear 44, and the second installation end cap 62 is central
Provided with the second through hole 621 for coordinating driving gearshaft 2 to stretch out.
The driving wheel 202 of drive assembly 200 is fixed and is set on the outer circumference surface of third-level planetary ring gear 34, to cause
State driving wheel and keep coaxial synchronous rotary motion with the third-level planetary ring gear.The Left-side support of driving wheel mounting bracket 201
The mounting hole of the left and right insertion of installation planet speed reduction driving mechanism 400 is respectively equipped with frame and Right side support frame, planetary reduction gear passes
First installation end cap 61, second of motivation structure 400 installs end cap 62 and passes through corresponding mounting hole and driving wheel mounting bracket respectively
201 Left-side support frame, Right side support frame are fixedly connected, and such a scientific structure design is reasonable, can not only pass planetary reduction gear
Motivation structure 400 is integrated in one with driving wheel 202, will transmit the parallel planet speed reduction driving mechanism of function with good slow down
400 are arranged on the inner space of driving wheel 202, only need to match a motor 203, and planet is driven using motor 203
Reduction gearing mechanism 400, then driving force is passed through into certain speed by the excellent transmission parallel planet speed reduction driving mechanism 400 that slows down
Than passing to driving wheel 202, conventional rudder wheel drive unit is not only overcome by being set between travel driving motor and driving wheel
External reduction box and the defects of reach the purpose of deceleration transmission and cause steering wheel drive device volume excessive, also overcome conventional rudder
The driving wheel of wheel drive unit needs configuration driven motor and reducing motor to cause steering wheel driving device structure complexity, cost higher
The defects of.Therefore, new low clearance steering wheel drive device of the present utility model is by planet speed reduction driving mechanism 400 and driving wheel
202 are integrated in one, i.e., parallel planet speed reduction driving mechanism 400 is arranged on to the inner space of driving wheel 202, optimizes rudder
The internal structure of wheel drive unit, the space-consuming and overall dimension of steering wheel drive device are totally reduced, has simplified steering wheel
The outfit of the drive mechanism of drive device, reduce the production cost of steering wheel drive device.It is in addition, of the present utility model new low
Height steering wheel drive device carries out deceleration transmission using parallel planet speed reduction driving mechanism 400 to driving wheel 202, not only increases
The deceleration ratio coverage of steering wheel drive device is (from 1:10 bring up to 1:50) rotation torque in deceleration transmittance process, is also caused
Transmit softer, continuous, stably.
New low clearance steering wheel drive device operation principle and the course of work of the present utility model are as follows：
1) motor 203 drives the input central gear 11 of planet speed reduction driving mechanism 400 to rotate, the input sun
Gear 11 drives three rotations of primary planet little gear 12 for engaging cooperation during rotation, due to three one-level rows
Star little gear 12 engages cooperation with the primary planet ring gear 14 of fixed setting simultaneously so that three primary planet little gears 12 exist
While rotation, and public affairs are carried out around input central gear 11 along the annular track that primary planet ring gear 14 is formed
Turn, three primary planet little gears 12 are during revolution, so as to drive primary planet carrier 13 to rotate, primary planet carrier 13 after
And driving gearshaft 2 is driven to rotate.
2) driving gearshaft 2 is in rotation process, because the three-level central gear 31 for being arranged on centre position passes through bearing
It is pivotally connected with driving gearshaft 2, thus driving gearshaft 2 can only drive secondary sun gear 41 to rotate, secondary sun gear 41 exists
Three rotations of secondary planet little gear 42 for engaging cooperation are driven during rotation, and due to three small teeth of secondary planet
Wheel 42 engages cooperation with the secondary planet ring gear 44 of fixed setting simultaneously so that three secondary planet little gears 42 are in rotation
Meanwhile and along secondary planet ring gear 44 formed annular track revolved round the sun around secondary sun gear 41, three two
Level planet pinion 42 is during revolution, and so as to drive secondary planet frame 43 to rotate, secondary planet frame 43 then drives and set
Put between three primary planet little gears 12 and three secondary planet little gears 42 and be in three third-level planetary little gears 32
The three-level central gear 31 of center rotates, i.e., rotation torque is transferred to two level row by primary planet pinion component 1 first
Star gear assembly 4, then primary planet pinion (is arranged in an intermediate position by the back transfer of secondary planetary gear component 4
Between component 1 and secondary planetary gear component 4) secondary planetary gear component 3, so as to reach inside inner planets round component 10
Multi-stage planetary gear carries out the purpose of back transfer.
3) three-level central gear 31 drives three third-level planetary little gears 32 for engaging cooperation during rotation
Rotation, and because three third-level planetary little gears 32 engage cooperation, and third-level planetary frame 33 with third-level planetary ring gear 34 simultaneously
It is fixed from enough rotating freely so that three third-level planetary little gears 42 can only produce rotation, and third-level planetary little gear
42 while rotation, and drives third-level planetary ring gear 34 to rotate, because the directly fixation of driving wheel 202 is set in third-level planetary
On the outer circumference surface of ring gear 34, therefore driving wheel 202 will follow third-level planetary ring gear 34 to synchronize rotation, so as to realize
And the process that parallel multi-stage planetary gear reduction gearing mechanism drives driving wheel 202 to be walked in ground surface is completed, and can
Reach the purpose of multi-stage speed-reducing transmission during driving wheel 202 rolls walking.
4) when needing to turn to, first, by the cooperation of planetary gear speed reducer and brake 204, to driving
Motor 203 carries out braking maneuver with driving wheel 202；Then, the working procedure of steering motor 304, the output of steering motor 304 are started
Axle drives steering little gear 303 to rotate；Engaged due to turning to little gear 303 with turning to external tooth wheel rim 302, and turn to external tooth wheel rim
302 are fixedly connected on automatical pilot transportation vehicle, are rotated so as to turn to little gear 303 equivalent to around steering external tooth wheel rim 302
Planetary gear, and enter along the annular track that external tooth wheel rim 302 formed is turned to around the excircle for turning to external tooth wheel rim 302
Row revolution；During turning to excircle of the little gear 303 around steering external tooth wheel rim 302 and being revolved round the sun, because fixation is set
The rotating disk 301 for being placed in the upper surface of supporting plate 100 connects steering external tooth wheel rim 302 by turntable bearing, and supporting plate 100 can be relative
Turn to external tooth wheel rim 302 and coaxial rotating rotation occurs, supporting plate 100 can drive drive assembly 200 to turn to, until driving
Assembly 200 redirect to suitable direction, stops the work of steering motor 304；Finally, step 1), step 2) and step are repeated in
It is rapid 3), realize and complete parallel multi-stage planetary gear reduction gearing mechanism and drive walking of the driving wheel 202 along required direction
Process, and the purpose of deceleration transmission can be reached during driving wheel 202 rolls walking.
The better embodiment of the present invention is the foregoing is only, the invention is not limited in above-mentioned embodiment, is implementing
During there may be local small structural modification, if not departing from the essence of the present invention to the various changes or modifications of the present invention
God and scope, and belong within the scope of the claim and equivalent technologies of the present invention, then the present invention is also intended to comprising these changes
And modification.
Claims (10)
1. a kind of new low clearance steering wheel drive device, it include supporting plate, the drive assembly being arranged on below supporting plate and
The steering mechanism being arranged on above supporting plate, the drive assembly are used to drive rolling of the steering wheel drive device on ground to walk,
The steering mechanism is used to control drive assembly to carry out commutation walking of turning, it is characterised in that：The drive assembly includes driving
Wheel mounting bracket, driving wheel and motor, the driving wheel mounting bracket are fixedly installed in the supporting plate, the driving
Wheel is installed in rotation in the driving wheel mounting bracket, and the motor is fixedly mounted on the driving wheel mounting bracket
On, and the output shaft of the motor is parallel with the supporting plate, the output shaft of the motor connects with the driving wheel
Connect, to drive the driving wheel to roll walking by the motor；The position of the driving wheel is corresponded in the supporting plate
Hole slot is installed, the top of the driving wheel is placed in the hole slot.
2. new low clearance steering wheel drive device according to claim 1, it is characterised in that：The driving wheel mounting bracket
It is designed to the bi-lateral support frame of both arms supporting construction.
3. new low clearance steering wheel drive device according to claim 1 or 2, it is characterised in that：The steering wheel driving dress
Putting also includes planet speed reduction driving mechanism, and the planet speed reduction driving mechanism is used for the rotation torque by motor output with one
For fixed speed than being delivered to the drive assembly, the driving wheel is installed in rotation on institute by the planet speed reduction driving mechanism
State in driving wheel mounting bracket.
4. new low clearance steering wheel drive device according to claim 3, it is characterised in that：The driving wheel mounting bracket
Left-side support frame, be respectively equipped with mounting hole on Right side support frame, the driving wheel can by the planet speed reduction driving mechanism
It is rotatably mounted at the Left-side support frame of the driving wheel mounting bracket, on Right side support frame, the planet speed reduction driving mechanism
The first installation end cap, the second installation end cap pass through Left-side support frame, the right side of mounting hole and the driving wheel mounting bracket respectively
Side stand component is fixedly connected.
5. new low clearance steering wheel drive device according to claim 3, it is characterised in that：The planetary reduction gear driver
Structure includes being made up of primary planet pinion component, driving gearshaft, three-stage planetary gear component and secondary planetary gear component
Inner planets round component, the primary planet pinion component, three-stage planetary gear component and secondary planetary gear component are successively
It is arranged side by side, the three-stage planetary gear component is located between primary planet pinion component and secondary planetary gear component, described
Driving gearshaft is arranged in primary planet pinion component, three-stage planetary gear component and secondary planetary gear component successively
Position is entreated, to cause primary planet pinion component, three-stage planetary gear component and secondary planetary gear component to keep coaxial rotation
Walk around and move and transmit successively rotation torque；
The primary planet pinion component includes input central gear, at least three primary planet little gears, primary planet carrier
With primary planet ring gear, the input central gear is fixedly connected with motor output shaft, each small tooth of primary planet
Wheel is hubbed in the planetary gear shaft on primary planet carrier respectively, and the primary planet ring gear is set in the small tooth of each primary planet
The periphery of wheel and primary planet carrier, the input central gear are arranged in primary planet ring gear, and the input is too
Positive gear engages with each primary planet little gear, while each primary planet little gear engages with primary planet ring gear；
The driving gearshaft is used to transmit rotation torque, the right part of the driving gearshaft and one-level between multi-stage planetary gear
Planet carrier is fixedly connected, to cause driving gearshaft to follow primary planet carrier to keep synchronous rotary；
The three-stage planetary gear component include three-level central gear, at least three third-level planetary little gears, third-level planetary frame and
Third-level planetary ring gear, the three-level central gear is pivotally connected with driving gearshaft, to cause three-level central gear and travelling gear
Axle keeps coaxially being hubbed at the planetary gear on third-level planetary frame respectively without synchronous rotary, each third-level planetary little gear
On axle, the third-level planetary ring gear is set in the periphery of each third-level planetary little gear and third-level planetary frame, the three-level
Central gear is arranged in the sets of holes of third-level planetary ring gear, and the three-level central gear is nibbled with each third-level planetary little gear
Close, each third-level planetary little gear engages with third-level planetary ring gear, side and the one-level row of the third-level planetary ring gear
Star ring gear is fixedly connected；
The secondary planetary gear component include secondary sun gear, at least three secondary planet little gears, secondary planet frame and
Secondary planet ring gear, secondary sun gear are fixedly connected with driving gearshaft, to cause secondary sun gear to follow driving cog
Wheel shaft keeps synchronous rotary, and each secondary planet little gear is hubbed in the planetary gear shaft on secondary planet frame respectively,
The secondary planet frame is fixedly installed on three-level central gear, to cause three-level central gear to follow secondary planet frame to keep same
Step rotation, the secondary planet ring gear are set in the periphery of each secondary planet little gear and secondary planet frame, and described two
Level central gear is arranged in secondary planet ring gear, and the secondary sun gear engages with each secondary planet little gear, often
Individual secondary planet little gear engages with secondary planet ring gear, in the opposite side and secondary planet of the third-level planetary ring gear
Gear ring is fixedly connected；The driving wheel is fixed and is set on the outer circumference surface of the third-level planetary ring gear, to cause the drive
Driving wheel keeps coaxial synchronous rotary motion with the third-level planetary ring gear.
6. new low clearance steering wheel drive device according to claim 5, it is characterised in that：The planetary reduction gear driver
Structure also includes two spring bearings, and the spring bearing is used for the bearing capacity for improving third-level planetary ring gear and lifting three-level
Stability when planetary annular is run, described two spring bearings are separately positioned in primary planet ring gear and third-level planetary
Between gear ring and between secondary planet ring gear and third-level planetary ring gear, described two spring bearings are set in one-level
In planetary annular and secondary planet ring gear, the madial wall of two spring bearing inner rings is outer with primary planet ring gear respectively
Side wall, the lateral wall of secondary planet ring gear are fixedly connected, the lateral walls of two spring bearing outer rings respectively with third-level planetary
The madial wall of gear ring is fixedly connected.
7. new low clearance steering wheel drive device according to claim 5, it is characterised in that：The planetary reduction gear driver
Structure also includes two installation end caps, and described two end caps include the first installation end cap and the second installation end cap, first installation
End cap is fixedly installed on primary planet ring gear, and the first installation end cap center is provided with coordinate motor output shaft to stretch into the
One through hole, the second installation end cap are fixedly installed on secondary planet ring gear, and the second installation end cap center, which is provided with, matches somebody with somebody
Close the second through hole that driving gearshaft stretches out.
8. new low clearance steering wheel drive device according to claim 1, it is characterised in that：The steering mechanism includes turning
Disk, turntable bearing and steering external tooth wheel rim, steering little gear and steering motor, the rotating disk are fixedly installed on the upper table of supporting plate
Face, the inner ring of the turntable bearing are set on the excircle of rotating disk, and the steering external tooth wheel rim fixed cover is located at the rotating disk
On the outer ring of bearing, the steering external tooth wheel rim engages with the steering little gear, and the steering motor is fixedly installed on support
On plate, the output shaft of the steering motor is simultaneously vertical with the output shaft of the supporting plate and the motor, described turn
It is fixedly connected to the output shaft of motor with the steering little gear.
9. new low clearance steering wheel drive device according to claim 8, it is characterised in that：The steering mechanism also includes
Rotation angle sensor and rudder angle gear, the rotation angle sensor is used for the monitoring and collection for detecting drive assembly steering angle, described
Rotation angle sensor is fixedly installed on the supporting plate, and the rotation angle sensor passes through the rudder angle gear and the steering external tooth wheel rim
Connection, the rudder angle gear engage cooperation with the steering external tooth wheel rim.
10. new low clearance steering wheel drive device according to claim 1, it is characterised in that：The hole slot is located at described
The middle position of supporting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720740625.0U CN207078227U (en) | 2017-06-23 | 2017-06-23 | New low clearance steering wheel drive device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720740625.0U CN207078227U (en) | 2017-06-23 | 2017-06-23 | New low clearance steering wheel drive device |
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| Publication Number | Publication Date |
|---|---|
| CN207078227U true CN207078227U (en) | 2018-03-09 |
Family
ID=61425995
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720740625.0U Active CN207078227U (en) | 2017-06-23 | 2017-06-23 | New low clearance steering wheel drive device |
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| Country | Link |
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| CN (1) | CN207078227U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108423064A (en) * | 2018-05-04 | 2018-08-21 | 北京泊宝机器人科技有限公司 | A kind of steering wheel device |
| CN108482483A (en) * | 2018-05-21 | 2018-09-04 | 徐州德坤电气科技有限公司 | A kind of omnidirectional driving wheel system assembly and the AGV for using the assembly |
| CN109551989A (en) * | 2018-12-27 | 2019-04-02 | 湖北三江航天万山特种车辆有限公司 | A kind of heavy type electric drive steering wheel |
| CN110001768A (en) * | 2019-04-28 | 2019-07-12 | 山东华力机电有限公司 | A kind of steering wheel structure and the AGV using the steering wheel |
| CN110332285A (en) * | 2019-08-07 | 2019-10-15 | 广州市中立智能装备科技有限公司 | A kind of AGV driving wheel of large speed ratio high-torque |
| CN110821241A (en) * | 2019-11-18 | 2020-02-21 | 重庆复融科技有限公司 | Harmonic reducer for comb-tooth type unmanned conveying vehicle |
| CN113924265A (en) * | 2019-03-20 | 2022-01-11 | 阿斯蒂移动机器人有限公司 | Autonomous omnidirectional drive unit |
| CN117072742A (en) * | 2023-10-12 | 2023-11-17 | 常州诚磊阀门科技股份有限公司 | valve actuator |
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- 2017-06-23 CN CN201720740625.0U patent/CN207078227U/en active Active
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108423064A (en) * | 2018-05-04 | 2018-08-21 | 北京泊宝机器人科技有限公司 | A kind of steering wheel device |
| CN108423064B (en) * | 2018-05-04 | 2024-02-20 | 北京泊宝机器人科技有限公司 | Steering wheel device |
| CN108482483A (en) * | 2018-05-21 | 2018-09-04 | 徐州德坤电气科技有限公司 | A kind of omnidirectional driving wheel system assembly and the AGV for using the assembly |
| CN108482483B (en) * | 2018-05-21 | 2023-10-27 | 徐州德坤电气科技有限公司 | Omnidirectional driving gear train assembly and AGV using same |
| CN109551989A (en) * | 2018-12-27 | 2019-04-02 | 湖北三江航天万山特种车辆有限公司 | A kind of heavy type electric drive steering wheel |
| CN113924265A (en) * | 2019-03-20 | 2022-01-11 | 阿斯蒂移动机器人有限公司 | Autonomous omnidirectional drive unit |
| CN113924265B (en) * | 2019-03-20 | 2023-08-01 | 阿斯蒂移动机器人有限公司 | Autonomous omni-directional drive unit |
| CN110001768A (en) * | 2019-04-28 | 2019-07-12 | 山东华力机电有限公司 | A kind of steering wheel structure and the AGV using the steering wheel |
| CN110332285A (en) * | 2019-08-07 | 2019-10-15 | 广州市中立智能装备科技有限公司 | A kind of AGV driving wheel of large speed ratio high-torque |
| CN110821241A (en) * | 2019-11-18 | 2020-02-21 | 重庆复融科技有限公司 | Harmonic reducer for comb-tooth type unmanned conveying vehicle |
| CN117072742A (en) * | 2023-10-12 | 2023-11-17 | 常州诚磊阀门科技股份有限公司 | valve actuator |
| CN117072742B (en) * | 2023-10-12 | 2024-01-19 | 常州诚磊阀门科技股份有限公司 | Valve actuator |
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