CN211223037U - Energy-saving heavy-load speed-difference full-steering driving steering wheel - Google Patents
Energy-saving heavy-load speed-difference full-steering driving steering wheel Download PDFInfo
- Publication number
- CN211223037U CN211223037U CN201921837149.XU CN201921837149U CN211223037U CN 211223037 U CN211223037 U CN 211223037U CN 201921837149 U CN201921837149 U CN 201921837149U CN 211223037 U CN211223037 U CN 211223037U
- Authority
- CN
- China
- Prior art keywords
- steering
- wheel
- driving
- speed reduction
- energy
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
The utility model relates to an energy-conserving heavy load speed difference full steering drive helm, first speed reduction drive wheel and second speed reduction drive wheel including the interval setting, first speed reduction drive wheel and second speed reduction drive wheel are connected with drive arrangement and arresting gear respectively, the reversing frame is installed simultaneously on first speed reduction drive wheel and second speed reduction drive wheel upper portion, install rotary driving mechanism on the reversing frame. The utility model discloses speed reduction drive wheel, driving motor, brake disc combine organically, and overall structure is compact, and is small, drive power big, transship and shock resistance are strong. Adopt the balanced swing buffer structure about: the tyre is well matched with the ground to ensure the stable and reliable differential steering. The differential steering and absolute value encoder servo motor driving steering are combined, so that the power of a steering driving motor is reduced, the steering precision is improved, and the energy consumption is reduced.
Description
Technical Field
The utility model belongs to the technical field of the drive helm technique and specifically relates to an energy-conserving heavy load speed difference full steering drive helm.
Background
The driving steering wheel is commonly used for the AGV electric trolley and has the advantages of flexible driving, high efficiency and the like. In the prior art, the steering wheel cannot fully meet the requirements of precision and impact resistance in the aspects of steering control, load-carrying performance and the like, so that the trolley has small steering angle and poor stability in the use process, and has small load and large energy consumption.
SUMMERY OF THE UTILITY MODEL
The applicant aims at the defects in the prior art and provides an energy-saving heavy-load speed-difference full-steering driving steering wheel with a reasonable structure, so that the steering wheel has the advantages of being simple in structure and low in cost.
The utility model discloses the technical scheme who adopts as follows:
the utility model provides an energy-conserving heavy load speed difference full steering drive rudder wheel, includes first speed reduction drive wheel and the second speed reduction drive wheel that the interval set up, first speed reduction drive wheel and second speed reduction drive wheel are connected with drive arrangement and arresting gear respectively, the revolving rack is installed simultaneously on first speed reduction drive wheel and the second speed reduction drive wheel upper portion, install rotary drive mechanism on the revolving rack.
As a further improvement of the above technical solution:
the structure of the rotary driving mechanism is as follows: the gear transmission mechanism comprises an outer gear ring with an inner ring mounted through a slewing bearing, wherein the outer gear ring is in meshing transmission with a driving gear; the steering servo motor is arranged on the rotary frame and is in transmission connection with the driving gear through a steering speed reducer.
The first speed reduction driving wheel and the second speed reduction driving wheel are respectively provided with a first wheel carrier and a second wheel carrier, two sides of the first wheel carrier are respectively movably connected with one end of the revolving frame through two first balance swinging shafts, and two sides of the second wheel carrier are respectively movably connected with the other end of the revolving frame through two second balance swinging shafts.
Springs are arranged between the top surfaces of the first wheel frame and the second wheel frame and the bottom surface of the revolving frame.
Waist-shaped holes are formed in the front side and the rear side of the two ends of the rotary frame, and the end portions of the first balance swinging shaft and the second balance swinging shaft move along the waist-shaped holes.
The two first balance swing axes are symmetrically arranged on two sides of the first wheel frame, and the second balance swing axes are symmetrically arranged on two sides of the second wheel frame.
The first speed reduction driving wheel and the second speed reduction driving wheel are respectively connected with a first driving motor and a second driving motor, and the first speed reduction driving wheel and the second speed reduction driving wheel are respectively connected with a first brake disc and a second brake disc.
The first brake disc and the second brake disc are electromagnetic brake discs.
The rotary support, the outer gear ring and the driving gear are integrally installed in a gear shield fixed on the rotary frame.
And a proximity switch is arranged on the revolving frame positioned on one side of the gear shield.
The utility model has the advantages as follows:
the utility model has compact and reasonable structure and convenient operation; the speed reduction driving wheel, the driving motor and the brake disc are organically combined, and the integrated structure is compact, small in size, large in driving force, and strong in overload and impact resistance.
The utility model discloses a horizontal balance swing buffer structure: the first speed reduction driving wheel and the second speed reduction driving wheel are well matched with the ground, so that the tire and the ground are prevented from slipping, and the differential steering is stable and reliable.
The utility model discloses a differential turns to and turns to combining together with absolute value encoder servo motor drive, reduces to turn to driving motor power, increases and turns to the precision, reduces the energy consumption.
The utility model discloses all motors adopt high-pressure servo motor, and are efficient, and the line loss is little, is fit for new forms of energy trolley-bus energy saving and consumption reduction's requirement.
The utility model discloses carry heavily, can take advantage of and carry 30 tons, turn to angle big, can reach 150 degrees.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a front view of the present invention.
Fig. 3 is a top view of the present invention.
Fig. 4 is a side view of the present invention.
Wherein: 1. a revolving frame; 2. a second balanced swing axis; 3. a second drive motor; 4. a first drive motor; 5. a second deceleration driving wheel; 6. a first deceleration driving wheel; 7. a second wheel carrier; 8. a first wheel carrier; 9. a first brake disk; 10. a second brake disk; 11. a first balance swing shaft; 12. a proximity switch; 13. an outer ring gear; 14. a slewing bearing; 15. a gear guard; 16. a drive gear; 17. a steering servo motor; 18. a steering speed reducer; 19. a spring; 20. a kidney-shaped hole.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1 to 4, the energy-saving heavy-load speed-difference full-steering driving rudder wheel of the present embodiment includes a first decelerating driving wheel 6 and a second decelerating driving wheel 5 which are arranged at an interval, the first decelerating driving wheel 6 and the second decelerating driving wheel 5 are respectively connected with a driving device and a braking device, the upper portions of the first decelerating driving wheel 6 and the second decelerating driving wheel 5 are simultaneously provided with a revolving frame 1, and the revolving frame 1 is provided with a revolving driving mechanism.
The structure of the rotary driving mechanism is as follows: the device comprises an outer gear ring 13 with an inner ring mounted through a slewing bearing 14, wherein the outer gear ring 13 is in meshing transmission with a driving gear 16; the steering servo motor 17 is arranged on the revolving frame 1, and the steering servo motor 17 is in transmission connection with the driving gear 16 through a steering speed reducer 18.
The first speed reduction driving wheel 6 and the second speed reduction driving wheel 5 are respectively provided with a first wheel carrier 8 and a second wheel carrier 7, two sides of the first wheel carrier 8 are respectively movably connected with one end of the revolving frame 1 through two first balance swinging shafts 11, and two sides of the second wheel carrier 7 are respectively movably connected with the other end of the revolving frame 1 through two second balance swinging shafts 2.
Waist-shaped holes 20 are formed in the front side and the rear side of the two ends of the revolving frame 1, and the end parts of the first balance swinging shaft 11 and the second balance swinging shaft 2 move along the waist-shaped holes 20.
The two first balance swing shafts 11 are symmetrically arranged at two sides of the first wheel frame 8, and the second balance swing shaft 2 is symmetrically arranged at two sides of the second wheel frame 7.
The first and second decelerating drive wheels 6 and 5 are connected with a first drive motor 4 and a second drive motor 3, respectively, and the first and second decelerating drive wheels 6 and 5 are connected with a first brake disk 9 and a second brake disk 10, respectively.
The first brake disk 9 and the second brake disk 10 are electromagnetic brake disks.
The slewing bearing 14, the outer ring gear 13 and the drive gear 16 are integrally mounted in a gear guard 15 fixed to the slewing frame 1.
The proximity switch 12 is mounted on the turret 1 on the side of the gear guard 15.
The utility model discloses the theory of operation of structure as follows:
the first driving motor 4 and the second driving motor 3 adopt servo motors: the servo motor is composed of an alternating current permanent magnet synchronous motor and a photoelectric encoder, and the rotating speed of the motor can be accurately controlled under the control of a servo driver;
first and second decelerating drive wheels 6 and 5: the speed reducer is combined with the wheel hub into a whole, and the high-speed rotation of the servo motor is changed into the low rotation speed required by the driving wheel;
first and second wheel carriers 8, 7: the wheel carrier is formed by assembling, welding, annealing and machining a frame by high-strength structural steel and is of a box-shaped structure. The motor, the speed reduction driving wheel, the rotary frame and the like are connected into a whole;
first and second balance swing shafts 11 and 2: the balance swing shaft is fixed on the wheel carrier and embedded in the kidney-shaped groove of the revolving frame, so that the speed reduction driving wheel can move up and down and swing left and right along with the uneven ground, and the contact between the tire and the ground is good.
Spring 19: the high-rigidity spring support is supported between the wheel frame and the rotary frame, plays a role in buffering when the road surface is uneven and keeps the driving wheel effectively contacted with the ground;
a revolving rack 1: the rotary frame is in a U-shaped structure formed by assembling, welding, annealing and machine frame forming of high-strength structural steel. The upper surface is provided with a rotary support and a rotary speed reducer, and the lower surface is connected with a first wheel carrier 8 and a second wheel carrier 7 through a buffer spring.
Slewing bearing 14: the slewing bearing adopts a rolling injection outer gear ring type, and has the advantages of large carrying capacity, small rotating noise, long service life and the like; the inner ring is arranged on the revolving frame, and the outer ring is connected with the towed vehicle body to ensure the relative motion of the revolving frame and the vehicle body;
driving gear 16: the driving gear is arranged on an output shaft of the steering speed reducer 18 and is meshed with an outer gear ring of an outer ring of the slewing bearing 14 to drive the slewing frame 1 to rotate.
Steering speed reducer 18: the RV reducer has the advantages of high precision, large overload torque, large reduction ratio, small size and the like, and is installed on the rotary frame.
Steering servo motor 17: an absolute value alternating current permanent magnet synchronous motor is adopted, and the position memory capability is realized;
the proximity switch 12: the rotary angle of the rotary frame is prevented from exceeding the maximum rotary angle by being arranged on the rotary frame.
The utility model discloses in the use, first driving motor, second driving motor and turn to servo motor and mutually support, the former positive and negative rotation of control helm, forward walking, forward positive and negative rotation or backward positive and negative rotation around, control accuracy is high, energy-efficient.
The above description is for the purpose of explanation and not limitation of the invention, which is defined in the claims, and any modifications may be made within the scope of the invention.
Claims (10)
1. The utility model provides an energy-conserving heavy load speed difference full steering drive rudder wheel which characterized in that: including first speed reduction drive wheel (6) and second speed reduction drive wheel (5) that the interval set up, first speed reduction drive wheel (6) and second speed reduction drive wheel (5) are connected with drive arrangement and arresting gear respectively, and revolving rack (1) is installed simultaneously on first speed reduction drive wheel (6) and second speed reduction drive wheel (5) upper portion, install rotary drive mechanism on revolving rack (1).
2. The energy-saving heavy-load speed-differential full-steering driving steering wheel according to claim 1, characterized in that: the structure of the rotary driving mechanism is as follows: the transmission mechanism comprises an outer gear ring (13) with an inner ring mounted through a slewing bearing (14), wherein the outer gear ring (13) is in meshing transmission with a driving gear (16); the steering servo motor (17) is arranged on the rotary frame (1), and the steering servo motor (17) is in transmission connection with the driving gear (16) through a steering speed reducer (18).
3. The energy-saving heavy-load speed-differential full-steering driving steering wheel according to claim 2, characterized in that: a first wheel carrier (8) and a second wheel carrier (7) are respectively arranged on the first speed reduction driving wheel (6) and the second speed reduction driving wheel (5), two sides of the first wheel carrier (8) are respectively movably connected with one end of the revolving frame (1) through two first balance swinging shafts (11), and two sides of the second wheel carrier (7) are respectively movably connected with the other end of the revolving frame (1) through two second balance swinging shafts (2).
4. The energy-saving heavy-load speed-differential full-steering driving steering wheel according to claim 3, characterized in that: springs (19) are arranged between the top surfaces of the first wheel frame (8) and the second wheel frame (7) and the bottom surface of the rotating frame (1).
5. The energy-saving heavy-load speed-differential full-steering driving steering wheel according to claim 4, wherein: waist-shaped holes (20) are formed in the front side and the rear side of the two ends of the revolving frame (1), and the end portions of the first balance swinging shaft (11) and the second balance swinging shaft (2) move along the waist-shaped holes (20).
6. The energy-saving heavy-load speed-differential full-steering driving steering wheel according to claim 3, characterized in that: the two first balance swing shafts (11) are symmetrically arranged at two sides of the first wheel carrier (8), and the second balance swing shafts (2) are symmetrically arranged at two sides of the second wheel carrier (7).
7. The energy-saving heavy-load speed-differential full-steering driving steering wheel according to claim 2, characterized in that: the first speed reduction driving wheel (6) and the second speed reduction driving wheel (5) are respectively connected with a first driving motor (4) and a second driving motor (3), and the first speed reduction driving wheel (6) and the second speed reduction driving wheel (5) are respectively connected with a first brake disc (9) and a second brake disc (10).
8. The energy-saving heavy-load speed-differential full-steering driving steering wheel according to claim 7, characterized in that: the first brake disc (9) and the second brake disc (10) adopt electromagnetic brake discs.
9. The energy-saving heavy-load speed-differential full-steering driving steering wheel according to claim 2, characterized in that: the rotary support (14), the outer gear ring (13) and the driving gear (16) are integrally installed in a gear shield (15) fixed on the rotary frame (1).
10. The energy saving heavy load differential speed full steering wheel of claim 9, wherein: the rotary frame (1) positioned at one side of the gear shield (15) is provided with a proximity switch (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921837149.XU CN211223037U (en) | 2019-10-29 | 2019-10-29 | Energy-saving heavy-load speed-difference full-steering driving steering wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921837149.XU CN211223037U (en) | 2019-10-29 | 2019-10-29 | Energy-saving heavy-load speed-difference full-steering driving steering wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211223037U true CN211223037U (en) | 2020-08-11 |
Family
ID=71926274
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921837149.XU Active CN211223037U (en) | 2019-10-29 | 2019-10-29 | Energy-saving heavy-load speed-difference full-steering driving steering wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211223037U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111891987A (en) * | 2020-08-28 | 2020-11-06 | 广州普华灵动机器人技术有限公司 | Vertical differential drive assembly |
| CN112356655A (en) * | 2020-09-30 | 2021-02-12 | 江苏金陵智造研究院有限公司 | Independent suspension and vibration reduction integrated differential driving wheel device and control method thereof |
-
2019
- 2019-10-29 CN CN201921837149.XU patent/CN211223037U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111891987A (en) * | 2020-08-28 | 2020-11-06 | 广州普华灵动机器人技术有限公司 | Vertical differential drive assembly |
| CN112356655A (en) * | 2020-09-30 | 2021-02-12 | 江苏金陵智造研究院有限公司 | Independent suspension and vibration reduction integrated differential driving wheel device and control method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108860315B (en) | Wheel drive electric automobile all-line control chassis structure | |
| CN211223037U (en) | Energy-saving heavy-load speed-difference full-steering driving steering wheel | |
| CN107215386B (en) | The electric vehicle system that a kind of four motorized wheels and independent omnidirectional turn to | |
| CN102673672B (en) | Driving and steering integrated magnetic wheel device for magnetic adsorption wall-climbing robot | |
| CN201800546U (en) | Omnidirectionally movable vehicle | |
| CN109339541A (en) | A kind of the car carrying robot and its control method of omnidirectional moving | |
| JP2019505431A (en) | Powered wheel and disk type omnidirectional power steering system | |
| CN202686557U (en) | Integrated driving-steering magnet-wheel device used for magnetic-adsorbing wall-climbing robot | |
| CN110949498B (en) | Electric automobile and wheel hub structure of integrated steering and suspension | |
| CN116279770A (en) | Wheel independent steering structure based on hub motor | |
| CN207389169U (en) | A kind of intelligence carrying implement | |
| CN101121418A (en) | Electric four-wheeled independent driving automobile | |
| CN204196580U (en) | A kind of battery-operated motor cycle | |
| CN109278536B (en) | Wheel drive system and vehicle using same | |
| CN206217993U (en) | Omnidirectional's wheeled platform | |
| CN218431399U (en) | Horizontal differential steering wheel structure assembly | |
| CN204936787U (en) | A kind of rear-guard electro-tricycle | |
| CN207758542U (en) | Split type dual-drive electric automobile chassis | |
| CN213383860U (en) | Motor-driven four-wheel hub steering vehicle | |
| CN210212575U (en) | Vertical helm of wobbling difference | |
| CN209277652U (en) | A kind of car carrying robot of omnidirectional moving | |
| CN202481174U (en) | Walking device for rescue robot | |
| CN211075953U (en) | Electric carrier with improved power structure | |
| CN206031095U (en) | Novel two driving motor 4 wheel driven electric truck chassis | |
| CN221233473U (en) | Self-balancing center rotary trackless carrier |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |