CN211943570U - Two-wheeled independent walking steering device - Google Patents
Two-wheeled independent walking steering device Download PDFInfo
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- CN211943570U CN211943570U CN202020258446.5U CN202020258446U CN211943570U CN 211943570 U CN211943570 U CN 211943570U CN 202020258446 U CN202020258446 U CN 202020258446U CN 211943570 U CN211943570 U CN 211943570U
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Abstract
The utility model provides a two-wheeled stand alone type walking turns to device, it includes the walking chassis underframe, the walking wheel device that is used for the walking is installed to the both ends symmetry of walking chassis underframe, walking wheel device includes the main tributary supporting shaft, the main tributary supporting shaft links to each other with the steering power device who is used for driving its rotation to turn to, the walking wheel carrier is installed to the bottom of main tributary supporting shaft, support through the pivot between the walking wheel carrier and install the walking wheel, the walking wheel links to each other with the walking power device who is used for driving its rotation walking. The walking steering device is used for the conveying trolley in automatic warehousing, and the independent steering and walking mechanisms are adopted to respectively control the corresponding front wheels and the corresponding rear wheels, so that the steering and walking efficiency is greatly improved, and the use flexibility and the use performance of the walking steering device are improved.
Description
Technical Field
The utility model belongs to the running gear field especially relates to a two-wheeled stand alone type walking turns to device.
Background
In the material transportation process of automatic warehouse, need use the automatic conveying dolly, wherein the chassis of automatic conveying dolly adopts the drive of automatic walking wheel device, and current drive wheel chassis adopts the structural style that rear wheel independent drive and front wheel turned to mostly, and it discovers in concrete use because the carriage is limited at the inside activity space in warehouse, and turning radius is also limited, adopts the drive mode of above-mentioned structure, and the walking, turn to all inflexible.
SUMMERY OF THE UTILITY MODEL
For solving above technical problem, the utility model provides a two-wheeled stand alone type walking turns to device, and this walking turns to the transport trolley that the device is arranged in automatic storage, and it adopts independent turning to and running gear, controls corresponding front and back wheel respectively, and then great improvement turn to walking efficiency, improved the spirit and the nature of its use.
In order to realize the technical characteristics, the purpose of the utility model is realized as follows: two-wheeled independent walking turns to device, it includes the walking chassis underframe, walking wheel device that is used for the walking is installed to the both ends symmetry of walking chassis underframe, walking wheel device includes the main tributary supporting shaft, the main tributary supporting shaft links to each other with the steering power device who is used for driving its rotation to turn to, the walking wheel carrier is installed to the bottom of main tributary supporting shaft, support through the pivot between the walking wheel carrier and install the walking wheel, the walking wheel links to each other with the walking power device who is used for driving its rotation walking.
The steering power device comprises a steering motor fixed at the bottom of the walking chassis frame, a main shaft of the steering motor is connected with a first speed reducer, the first speed reducer is fixedly installed at the top of the walking chassis frame through a speed reducer fixing seat, a first synchronous belt wheel is installed on an output shaft of the first speed reducer, and the first synchronous belt wheel is in meshing transmission with a first driven synchronous belt wheel installed on a main support shaft.
The main supporting shaft is vertically arranged on the walking chassis frame through a main shaft seat.
The walking power device comprises a walking motor fixedly mounted on the walking chassis frame, an output shaft of the walking motor is connected with a second speed reducer, a second synchronous belt wheel is mounted on an output shaft of the second speed reducer, the second synchronous belt wheel is in meshing transmission with a second driven synchronous belt wheel through a synchronous belt, and the second driven synchronous belt wheel is connected with the rotating shaft through a bevel gear mechanism and drives the rotating shaft to rotate.
The bevel gear mechanism comprises a bevel gear shaft arranged in the middle of the walking wheel frame, a second driven synchronous belt wheel is sleeved at the top of the bevel gear shaft, and the bevel gear shaft is in meshing transmission with a bevel gear arranged on the rotating shaft and drives the bevel gear to rotate.
The steering motor of the steering power device and the walking motor of the walking power device both adopt servo motors.
The utility model discloses there is following beneficial effect:
1. the walking steering device is used for the conveying trolley in automatic warehousing, and the independent steering and walking mechanisms are adopted to respectively control the corresponding front wheels and the corresponding rear wheels, so that the steering and walking efficiency is greatly improved, and the use flexibility and the use performance of the walking steering device are improved.
2. The steering power device is mainly used for providing steering power.
3. The walking power device is mainly used for providing walking power.
4. The bevel gear mechanism described above is mainly used for power transmission.
5. The servo motor is adopted, so that the corresponding steering and walking can be controlled by the PLC controller.
Drawings
The present invention will be further explained with reference to the drawings and examples.
Fig. 1 is a first perspective three-dimensional view of the present invention.
Fig. 2 is a second perspective three-dimensional view of the present invention.
Fig. 3 is a third perspective three-dimensional view of the present invention.
In the figure: the device comprises a walking chassis frame 1, a steering motor 2, a speed reducer fixing seat 3, a first speed reducer 4, a first synchronous pulley 5, a second synchronous pulley 6, a walking wheel 7, a rotating shaft 8, a walking wheel frame 9, a second driven synchronous pulley 10, a spindle seat 11, a first driven synchronous pulley 12, a main support shaft 13, a walking motor 14, a second speed reducer 15, a steering power device 16, a walking wheel device 17, a walking power device 18, a bevel gear shaft 19 and a bevel gear 20.
Detailed Description
The following describes embodiments of the present invention with reference to the accompanying drawings.
Referring to fig. 1-3, the two-wheeled independent walking steering device comprises a walking chassis frame 1, walking wheel devices 17 for walking are symmetrically installed at two ends of the walking chassis frame 1, each walking wheel device 17 comprises a main supporting shaft 13, each main supporting shaft 13 is connected with a steering power device 16 for driving the main supporting shaft to rotate and steer, walking wheel frames 9 are installed at the bottoms of the main supporting shafts 13, walking wheels 7 are installed between the walking wheel frames 9 in a supporting mode through rotating shafts 8, and the walking wheels 7 are connected with a walking power device 18 for driving the walking wheels to rotate and walk. The walking steering device is used for the conveying trolley in automatic warehousing, and the independent steering and walking mechanisms are adopted to respectively control the corresponding front wheels and the corresponding rear wheels, so that the steering and walking efficiency is greatly improved, and the use flexibility and the use performance of the walking steering device are improved. In the specific use process, the steering and the walking of the two sets of walking wheel carriers 9 can be respectively and independently controlled.
Further, the steering power device 16 includes a steering motor 2 fixed at the bottom of the walking chassis frame 1, a main shaft of the steering motor 2 is connected with a first speed reducer 4, the first speed reducer 4 is fixedly mounted at the top of the walking chassis frame 1 through a speed reducer fixing seat 3, an output shaft of the first speed reducer 4 is provided with a first synchronous pulley 5, and the first synchronous pulley 5 is in meshing transmission with a first driven synchronous pulley 12 mounted on a main supporting shaft 13. The steering power device 16 is mainly used for providing steering power, and in the steering process, the steering motor 2 drives the first speed reducer 4, the first speed reducer 4 drives the first synchronous pulley 5, the first synchronous pulley 5 drives the first driven synchronous pulley 12, and finally the first driven synchronous pulley 12 drives the main support shaft 13 to rotate, so that the whole walking wheel carrier 9 is driven to rotate to realize steering action.
Further, the main supporting shaft 13 is vertically installed on the traveling chassis frame 1 through the main spindle housing 11. The main support shaft 13 can be stably supported by the spindle seat 11, and the supporting stability and reliability are further ensured.
Further, the walking power device 18 comprises a walking motor 14 fixedly mounted on the walking chassis frame 1, an output shaft of the walking motor 14 is connected with a second speed reducer 15, a second synchronous pulley 6 is mounted on an output shaft of the second speed reducer 15, the second synchronous pulley 6 is in meshing transmission with a second driven synchronous pulley 10 through a synchronous belt, and the second driven synchronous pulley 10 is connected with the rotating shaft 8 through a bevel gear mechanism and drives the rotating shaft to rotate. The walking power device 18 is mainly used for providing walking power, in the walking process, the walking motor 14 drives the second speed reducer 15, the second speed reducer 15 drives the second synchronous pulley 6, the second synchronous pulley 6 drives the second driven synchronous pulley 10, and finally the second driven synchronous pulley 10 drives the bevel gear mechanism.
Further, the bevel gear mechanism comprises a bevel gear shaft 19 arranged in the middle of the traveling wheel carrier 9, a second driven synchronous pulley 10 is sleeved on the top of the bevel gear shaft 19, and the bevel gear shaft 19 is in meshing transmission with a bevel gear 20 arranged on the rotating shaft 8 and drives the bevel gear to rotate. The bevel gear mechanism is mainly used for power transmission, and in the working process, the bevel gear shaft 19 is driven by the second driven synchronous pulley 10, the bevel gear 20 is driven by the bevel gear shaft 19, the rotating shaft 8 is driven to rotate by the bevel gear 20, and finally the travelling wheels 7 are driven to rotate by the rotating shaft 8.
Furthermore, the steering motor 2 of the steering power device 16 and the walking motor 14 of the walking power device 18 both adopt servo motors. The servo motor is adopted, so that the corresponding steering and walking can be controlled by the PLC controller.
The utility model discloses a use as follows:
when the whole device needs to be controlled to walk, the two sets of walking wheel frames 9 are respectively controlled to independently control the steering and the walking of the whole device; when steering is needed, the steering motor 2 drives the first speed reducer 4, the first speed reducer 4 drives the first synchronous belt pulley 5, the first synchronous belt pulley 5 drives the first driven synchronous belt pulley 12, and finally the first driven synchronous belt pulley 12 drives the main support shaft 13 to rotate, so that the whole walking wheel carrier 9 is driven to rotate to realize steering; when the walking is needed, the walking motor 14 drives the second speed reducer 15, the second speed reducer 15 drives the second synchronous pulley 6, the second synchronous pulley 6 drives the second driven synchronous pulley 10, the second driven synchronous pulley 10 drives the bevel gear mechanism, the second driven synchronous pulley 10 drives the bevel gear shaft 19, the bevel gear shaft 19 drives the bevel gear 20, the bevel gear 20 drives the rotating shaft 8 to rotate, and the rotating shaft 8 drives the walking wheel 7 to rotate.
Claims (6)
1. Two-wheeled independent walking steering device, its characterized in that: it includes walking chassis underframe (1), walking wheel device (17) that are used for the walking are installed to the both ends symmetry of walking chassis underframe (1), walking wheel device (17) include main tributary supporting shaft (13), main tributary supporting shaft (13) link to each other with steering power device (16) that are used for driving its rotation to turn to, walking wheel carrier (9) are installed to the bottom of main tributary supporting shaft (13), it installs walking wheel (7) to support through pivot (8) between walking wheel carrier (9), walking wheel (7) link to each other with walking power device (18) that are used for driving its rotation walking.
2. The two-wheeled freestanding walking steering device of claim 1, wherein: the steering power device (16) comprises a steering motor (2) fixed to the bottom of the walking chassis frame (1), a main shaft of the steering motor (2) is connected with a first speed reducer (4), the first speed reducer (4) is fixedly installed at the top of the walking chassis frame (1) through a speed reducer fixing seat (3), a first synchronous pulley (5) is installed on an output shaft of the first speed reducer (4), and the first synchronous pulley (5) is in meshing transmission with a first driven synchronous pulley (12) installed on a main support shaft (13).
3. The two-wheeled freestanding walking steering device of claim 1, wherein: the main supporting shaft (13) is vertically arranged on the walking chassis frame (1) through a main shaft seat (11).
4. The two-wheeled freestanding walking steering device of claim 1, wherein: the walking power device (18) comprises a walking motor (14) fixedly mounted on a walking chassis frame (1), an output shaft of the walking motor (14) is connected with a second speed reducer (15), a second synchronous pulley (6) is mounted on an output shaft of the second speed reducer (15), the second synchronous pulley (6) is in meshing transmission with a second driven synchronous pulley (10) through a synchronous belt, and the second driven synchronous pulley (10) is connected with a rotating shaft (8) through a bevel gear mechanism and drives the second driven synchronous pulley to rotate.
5. The two-wheeled freestanding walking steering device of claim 4, wherein: the bevel gear mechanism comprises a bevel gear shaft (19) arranged in the middle of the walking wheel carrier (9), a second driven synchronous belt wheel (10) is sleeved on the top of the bevel gear shaft (19), and the bevel gear shaft (19) is in meshing transmission with a bevel gear (20) arranged on the rotating shaft (8) and drives the bevel gear to rotate.
6. The two-wheeled freestanding walking steering device of claim 1, wherein: the steering motor (2) of the steering power device (16) and the walking motor (14) of the walking power device (18) both adopt servo motors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020258446.5U CN211943570U (en) | 2020-03-05 | 2020-03-05 | Two-wheeled independent walking steering device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020258446.5U CN211943570U (en) | 2020-03-05 | 2020-03-05 | Two-wheeled independent walking steering device |
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| Publication Number | Publication Date |
|---|---|
| CN211943570U true CN211943570U (en) | 2020-11-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020258446.5U Active CN211943570U (en) | 2020-03-05 | 2020-03-05 | Two-wheeled independent walking steering device |
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| CN (1) | CN211943570U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113978575A (en) * | 2021-11-17 | 2022-01-28 | 铁力山（北京）控制技术有限公司 | AGV dolly and universal motion thereof |
| CN114275525A (en) * | 2021-12-30 | 2022-04-05 | 苏州华明智能科技有限公司 | Combined type intelligent robot |
-
2020
- 2020-03-05 CN CN202020258446.5U patent/CN211943570U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113978575A (en) * | 2021-11-17 | 2022-01-28 | 铁力山（北京）控制技术有限公司 | AGV dolly and universal motion thereof |
| CN114275525A (en) * | 2021-12-30 | 2022-04-05 | 苏州华明智能科技有限公司 | Combined type intelligent robot |
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