CN213168280U - Composite transmission type differential steering driving mechanism and walking device - Google Patents
Composite transmission type differential steering driving mechanism and walking device Download PDFInfo
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- CN213168280U CN213168280U CN202021001314.0U CN202021001314U CN213168280U CN 213168280 U CN213168280 U CN 213168280U CN 202021001314 U CN202021001314 U CN 202021001314U CN 213168280 U CN213168280 U CN 213168280U
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- type differential
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Abstract
The utility model discloses a compound transmission type differential steering drive mechanism and running gear, to compound transmission type differential steering drive mechanism, its drive module has first drive division and second drive division, the rotation main part includes the shell, first pivot and second pivot, first pivot overcoat has first driven wheel, first driven wheel is connected with first drive division and fixes on the shell, second driven wheel and drive wheel are then suit to the second pivot, second driven wheel is fixed on drive wheel and is connected with second drive division, start drive module and can not only carry out transmission control to the gear train, also drive the rotation of shell, realize compound transmission; moreover, the end parts of the first rotating shaft and the second rotating shaft, which extend into the shell sleeve, are fixedly provided with the main bevel gears, and the two main bevel gears and the auxiliary bevel gear are meshed to form a gear set, so that the speed difference of the first rotating shaft and the second rotating shaft is ensured to be equal, the operation reliability is improved, and the balanced distribution of power on two sides is facilitated.
Description
Technical Field
The utility model relates to a drive arrangement field especially relates to a compound transmission type differential steering drive mechanism and running gear.
Background
At present, two common mechanisms capable of realizing steering are available, one is a traditional steering mechanism, and the other is a differential mechanism.
The traditional steering mechanism is a mechanism with a steering wheel, is commonly used in automobiles and the like, and controls the swing angle of the steering wheel to realize the steering function in a mode of combining a mechanical device and a hydraulic device. However, the traditional steering mechanism has the advantages of complex installation, high cost, easy abrasion of the mechanism, low operation stability and large turning radius.
The differential mainly comprises a left half axle gear, a right half axle gear, two planet gears and a gear carrier. When the automobile turns, the turning radiuses of the inner wheel and the outer wheel are not consistent, and the turning radius of the inner wheel is smaller than that of the outer wheel, so that the rotating speed of the outer wheel is required to be higher than that of the inner wheel. The existing differential mechanism changes the rotating speed of the driving wheels through additional force in opposite directions on the inner driving wheel and the outer driving wheel during turning, so that the difference of the rotating speeds of the wheels on the two sides is realized. However, the difference of the rotation speeds is realized only by the additional force applied to the driving wheels, the consistency of the rotation speed change of the wheels is difficult to ensure, certain unreliability exists, and once the driving wheel on one side slips, the rotation speed on the other side is increased suddenly, which is not beneficial to adapting to various terrains.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to solve one of the technical problem that exists among the prior art at least, provide one kind and can keep the unanimous compound transmission type differential steering drive mechanism and running gear of both sides rotational speed change.
According to the utility model discloses a compound transmission type differential steering drive mechanism of first aspect embodiment, including:
a frame;
the driving module is arranged on the rack and is provided with a first driving part and a second driving part which are mutually independent; and
the rotating main body comprises a shell sleeve, a first rotating shaft and a second rotating shaft, wherein the first rotating shaft and the second rotating shaft are respectively arranged at two ends of the shell sleeve, one end of the first rotating shaft and one end of the second rotating shaft penetrate through the rack, the other end of the first rotating shaft and the other end of the second rotating shaft extend into the shell sleeve, a main bevel gear is fixed at the end part of each of the first rotating shaft and the second rotating shaft extending into the shell sleeve, and the two main bevel gears are meshed with a secondary bevel gear;
the first rotating shaft is sleeved with a first driven wheel, the first driven wheel is connected with the first driving part and fixed on the shell, the second rotating shaft is sleeved with a second driven wheel and a first driving wheel, the second driven wheel and the first driving wheel are sequentially arranged along the direction far away from the shell, and the second driven wheel is fixed on the first driving wheel and connected with the second driving part.
According to the utility model discloses compound transmission type differential steering drive mechanism possesses following beneficial effect at least: the driving module and the rotating main body of the composite transmission type differential steering driving mechanism are both arranged on a rack, the driving module is provided with a first driving part and a second driving part, the rotating main body comprises a shell sleeve, a first rotating shaft and a second rotating shaft, a first driven wheel is sleeved outside the first rotating shaft, the first driven wheel is connected with the first driving part and fixed on the shell sleeve, a second driven wheel and a first driving wheel are sleeved outside the second rotating shaft, the second driven wheel is fixed on the first driving wheel and connected with the second driving part, the driving module is started to carry out transmission control on the gear set and drive the shell sleeve to rotate, and composite transmission is realized; moreover, the end parts of the first rotating shaft and the second rotating shaft, which extend into the shell sleeve, are fixedly provided with the main bevel gears, and the two main bevel gears and the secondary bevel gear are meshed to form a gear set, so that the speed difference of the first rotating shaft and the second rotating shaft can be ensured to be equal, the operation reliability is improved, meanwhile, the balanced distribution of power on two sides is facilitated, and the adaptability to different terrains is improved.
According to some embodiments of the utility model, No. one the drive wheel is bevel gear, the flank of tooth orientation of a drive wheel the shell.
According to some embodiments of the utility model, the outside of shell disposes No. two drive wheels, No. two drive wheels pass through the connecting axle with connect from bevel gear, No. two drive wheels with a drive wheel meshes mutually.
According to some embodiments of the utility model, first drive division includes first action wheel and drive first action wheel pivoted first motor, second drive division includes second action wheel and drive second action wheel pivoted second motor.
According to some embodiments of the utility model, first action wheel and first from the driving wheel the second action wheel with the second is from driving wheel and passing through hold-in range or synchronous chain drive connection respectively.
According to some embodiments of the present invention, the frame has a main board, the driving module is provided on an upper surface of the main board, and the rotating body is provided on a lower surface of the main board.
According to some embodiments of the present invention, the first motor and the second motor are arranged side by side on the main board, and the first motor and the output shaft of the second motor are opposite in orientation.
According to some embodiments of the present invention, the main board is provided with a hole for the synchronous belt or the synchronous chain to pass through.
According to some embodiments of the present invention, an ear plate is disposed on each of two sides of the lower surface of the main board, and two through holes for the first rotating shaft or the second rotating shaft to cross are formed on the ear plate.
According to some embodiments of the invention, the first shaft and the shell, the second shaft and the shell are coupled through a flange bearing, respectively.
According to the utility model discloses a running gear of second aspect embodiment, it includes the utility model discloses a compound transmission type differential steering drive mechanism of first aspect embodiment, just first pivot a runner is installed respectively to the other end of second pivot.
According to the utility model discloses running gear, through the configuration the utility model discloses a compound transmission type differential steering drive mechanism of first aspect embodiment has improved the adaptability of functioning under different topography environment.
Drawings
The present invention will be further explained with reference to the accompanying drawings:
fig. 1 is an overall structural view of a compound transmission type differential steering drive mechanism according to an embodiment of the present invention;
fig. 2 is an overall structural view of another angle of the compound transmission type differential steering drive mechanism according to the embodiment of the present invention;
fig. 3 is an exploded view of a rotating body of the compound transmission type differential steering drive mechanism according to the embodiment of the present invention;
fig. 4 is a schematic view showing the engagement of a master bevel gear and a slave bevel gear of the compound transmission type differential steering drive mechanism according to the embodiment of the present invention;
fig. 5 is a structural view of the compound transmission type differential steering drive mechanism according to the embodiment of the present invention after the runner is mounted thereon.
Detailed Description
This section will describe in detail the embodiments of the present invention, preferred embodiments of the present invention are shown in the attached drawings, which are used to supplement the description of the text part of the specification with figures, so that one can intuitively and vividly understand each technical feature and the whole technical solution of the present invention, but they cannot be understood as the limitation of the protection scope of the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship indicated with respect to the orientation description, such as up, down, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, a plurality of means are one or more, a plurality of means are two or more, and the terms greater than, less than, exceeding, etc. are understood as not including the number, and the terms greater than, less than, within, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless there is an explicit limitation, the words such as setting, installation, connection, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in combination with the specific contents of the technical solution.
Referring to fig. 1 to 5, the embodiment of the present invention provides a composite transmission type differential steering driving mechanism, which includes a frame 1, a driving module and a rotating body.
Wherein, the driving module is installed on the frame 1, and the driving module has a first driving part 21 and a second driving part 22 which are independent of each other; the rotating body comprises a shell 31, a first rotating shaft 32 and a second rotating shaft 33 which are respectively arranged at two ends of the shell 31, one end of the first rotating shaft 32 and one end of the second rotating shaft 33 penetrate through the rack 1, the other end of the first rotating shaft 32 and the other end of the second rotating shaft 33 extend into the shell 31, furthermore, a main bevel gear 34 is fixed at the end part of each of the first rotating shaft 32 and the second rotating shaft 33 extending into the shell 31, and the two main bevel gears 34 are meshed with a secondary bevel gear 35.
More specifically, first driven wheel 36 is sleeved outside first rotating shaft 32, first driven wheel 36 is connected with first driving portion 21 and fixed on shell 31, second driven wheel 37 and first driving wheel 38 are sleeved outside second rotating shaft 33, second driven wheel 37 and first driving wheel 38 are sequentially arranged along the direction far away from shell 31, and second driven wheel 37 is fixed on first driving wheel 38 and connected with second driving portion 22.
According to the utility model discloses compound transmission type differential steering drive mechanism, its drive module and rotation main part are all installed in frame 1, drive module has first drive division 21 and second drive division 22, the rotation main part includes shell 31, first pivot 32 and second pivot 33, first pivot 32 overcoat has first driven wheel 36, first driven wheel 36 is connected with first drive division 21 and is fixed on shell 31, second pivot 33 overcoat is then second driven wheel 37 and drive wheel 38, second driven wheel 37 is fixed on drive wheel 38 and is connected with second drive division 22, start drive module can not only carry out transmission control to the gear train, also driven shell 31's rotation, realize compound transmission; moreover, the end parts of the first rotating shaft 32 and the second rotating shaft 33 extending into the shell 31 are fixed with a main bevel gear 34, and the two main bevel gears 34 and a secondary bevel gear 35 are meshed to form a gear set, so that the speed difference between the first rotating shaft 32 and the second rotating shaft 33 can be ensured to be equal, the operation reliability is improved, the balanced distribution of power on two sides is facilitated, and the adaptability to different terrains is improved.
In order to improve the assembly efficiency, a boss 311 matched with the central through hole of the first driven wheel 36 is formed on the shell 31, and the boss 311 is arranged, so that the first driven wheel 36 is not easy to shift after being mounted on the shell 31, the stability after assembly is improved, and the axial line of the first driven wheel 36 and the axial line of the shell 31 can be always kept in a superposed state in the rotating process. Further, the first driven wheel 36 is fixedly connected to the housing 31 by a plurality of fasteners, which are screws in this embodiment.
In some embodiments of the present invention, the first driving portion 21 includes a first driving wheel 211 and a first motor 212 for driving the first driving wheel 211 to rotate, and the second driving portion 22 includes a second driving wheel 221 and a second motor 222 for driving the second driving wheel 221 to rotate. Further, the first driving pulley 211 and the first driven pulley 36, and the second driving pulley 221 and the second driven pulley 37 are respectively connected through a synchronous belt transmission. It is emphasized that in other embodiments, a synchronous belt may be substituted for the synchronous chain. Specifically, as shown in the figure, the rack 1 has a main board 11, the driving module is disposed on an upper surface of the main board 11, and the rotating body is located on a lower surface of the main board 11. Meanwhile, the first motor 212 and the second motor 222 are arranged on the main board 11 in parallel, and the directions of the output shafts of the first motor 212 and the second motor 222 are opposite, so that the first motor 212 and the second motor 222 are ensured not to interfere with each other, meanwhile, the installation space is effectively saved, and the size miniaturization of the composite transmission type differential steering driving mechanism is facilitated.
More specifically, the first transmission wheel 38 is a bevel gear, and the tooth surface of the first transmission wheel 38 faces the shell 31. In a matching manner, a second driving wheel 39 is arranged on the outer side of the shell 31, the second driving wheel 39 is connected with the driven bevel gear 35 through a connecting shaft, and the second driving wheel 39 is meshed with the first driving wheel 38. Specifically, the second transmission wheel 39 is also a bevel gear. So configured, when the first transmission wheel 38 rotates, it will drive the second transmission wheel 39 to rotate, and further, under the drive of the second transmission wheel 39, the second bevel gear 35 rotates and drives the two main bevel gears 34 to rotate in opposite directions. In actual operation, when the rotation speeds of the first motor 212 and the second motor 222 are consistent, the rotation speed of the shell 31 is consistent with that of the first transmission wheel 38, so that the second transmission wheel 39 is not driven to rotate, and the whole mechanism rotates at the same speed; when the rotational speeds of the first motor 212 and the second motor 222 have a speed difference, the second transmission wheel 39 rotates due to the speed difference between the two, and at the same time, the second transmission wheel drives the bevel gear 35 to rotate, so as to drive the first rotating shaft 32 and the second rotating shaft 33 to rotate in opposite directions, thereby realizing differential steering.
Furthermore, in this embodiment, the main board 11 is provided with a hole for the synchronous belt to pass through, so as to prevent the synchronous belt from being exposed outside the rack 1, and to some extent, prevent the synchronous belt from being interfered by the outside during the transmission process, thereby improving the reliability of the transmission. In addition, two side surfaces of the lower surface of the main board 11 of the present embodiment are respectively disposed with an ear plate 12, and the two ear plates 12 are respectively provided with a through hole for the first rotating shaft 32 or the second rotating shaft 33 to pass through.
In some embodiments of the present invention, the first rotating shaft 32 and the shell 31, and the second rotating shaft 33 and the shell 31 are coupled by flange bearings, respectively. The flange bearings are arranged, so that the first rotating shaft 32, the second rotating shaft 33 and the shell sleeve 31 can rotate relatively independently and do not interfere with each other.
According to the utility model discloses a running gear of second aspect embodiment, it includes the utility model discloses a compound transmission type differential steering drive mechanism of first aspect embodiment, and a runner 4 is installed respectively to the other end of first pivot 32, second pivot 33, specifically as shown in fig. 5.
According to the utility model discloses running gear, through the configuration the utility model discloses a compound transmission type differential steering drive mechanism of first aspect embodiment has improved the adaptability of function under different topography environment, simultaneously, regulates and control through the moving speed and the direction to first motor 212, second motor 222 and not only can realize functions such as pivot circle, can also utilize the differential to turn to the principle and accomplish and turn to, need not additionally to increase directive wheel or steering mechanism, and the flexibility is greatly improved.
Naturally, the invention is not limited to the above-described embodiments, and those skilled in the art can make equivalent modifications or substitutions without departing from the spirit of the invention, and such equivalent modifications or substitutions are included in the scope of the claims of the present application.
Claims (10)
1. Compound transmission type differential steering drive mechanism, its characterized in that includes:
a frame;
the driving module is arranged on the rack and is provided with a first driving part and a second driving part which are mutually independent; and
the rotating main body comprises a shell sleeve, a first rotating shaft and a second rotating shaft, wherein the first rotating shaft and the second rotating shaft are respectively arranged at two ends of the shell sleeve, one end of the first rotating shaft and one end of the second rotating shaft penetrate through the rack, the other end of the first rotating shaft and the other end of the second rotating shaft extend into the shell sleeve, a main bevel gear is fixed at the end part of each of the first rotating shaft and the second rotating shaft extending into the shell sleeve, and the two main bevel gears are meshed with a secondary bevel gear;
the first rotating shaft is sleeved with a first driven wheel, the first driven wheel is connected with the first driving part and fixed on the shell, the second rotating shaft is sleeved with a second driven wheel and a first driving wheel, the second driven wheel and the first driving wheel are sequentially arranged along the direction far away from the shell, and the second driven wheel is fixed on the first driving wheel and connected with the second driving part.
2. The compound transmission type differential steering drive mechanism according to claim 1, characterized in that: the first driving wheel is a bevel gear, and the tooth surface of the first driving wheel faces the shell sleeve.
3. The compound transmission type differential steering drive mechanism according to claim 2, characterized in that: and a second driving wheel is arranged on the outer side of the shell sleeve, the second driving wheel is connected with the driven bevel gear through a connecting shaft, and the second driving wheel is meshed with the first driving wheel.
4. The compound transmission type differential steering drive mechanism according to claim 1, characterized in that: the first driving part comprises a first driving wheel and a first motor for driving the first driving wheel to rotate, and the second driving part comprises a second driving wheel and a second motor for driving the second driving wheel to rotate.
5. The compound transmission type differential steering drive mechanism according to claim 4, characterized in that: the first driving wheel and the first driven wheel are respectively connected with the second driving wheel and the second driven wheel through a synchronous belt or a synchronous chain.
6. The compound transmission type differential steering drive mechanism according to claim 5, characterized in that: the rack is provided with a main board, the driving module is arranged on the upper surface of the main board, and the rotating main body is located on the lower surface of the main board.
7. The compound transmission type differential steering drive mechanism according to claim 6, characterized in that: the first motor and the second motor are arranged on the main board in parallel, and the directions of output shafts of the first motor and the second motor are opposite.
8. The compound transmission type differential steering drive mechanism according to claim 6, characterized in that: two sides of the lower surface of the main board are respectively provided with an ear plate, and the two ear plates are respectively provided with a through hole for the first rotating shaft or the second rotating shaft to be connected in a penetrating way.
9. The compound transmission type differential steering drive mechanism according to claim 1, characterized in that: the first rotating shaft and the shell sleeve, and the second rotating shaft and the shell sleeve are respectively connected through flange bearings.
10. A traveling apparatus comprising the compound transmission type differential steering drive mechanism according to any one of claims 1 to 9, wherein a rotary wheel is mounted on each of the other ends of the first rotating shaft and the second rotating shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021001314.0U CN213168280U (en) | 2020-06-03 | 2020-06-03 | Composite transmission type differential steering driving mechanism and walking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021001314.0U CN213168280U (en) | 2020-06-03 | 2020-06-03 | Composite transmission type differential steering driving mechanism and walking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213168280U true CN213168280U (en) | 2021-05-11 |
Family
ID=75786620
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021001314.0U Expired - Fee Related CN213168280U (en) | 2020-06-03 | 2020-06-03 | Composite transmission type differential steering driving mechanism and walking device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213168280U (en) |
-
2020
- 2020-06-03 CN CN202021001314.0U patent/CN213168280U/en not_active Expired - Fee Related
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210511 |
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| CF01 | Termination of patent right due to non-payment of annual fee |