CN214776150U - Self-walking mechanism driven to steer by worm gear assembly - Google Patents
Self-walking mechanism driven to steer by worm gear assembly Download PDFInfo
- Publication number
- CN214776150U CN214776150U CN202120381062.7U CN202120381062U CN214776150U CN 214776150 U CN214776150 U CN 214776150U CN 202120381062 U CN202120381062 U CN 202120381062U CN 214776150 U CN214776150 U CN 214776150U
- Authority
- CN
- China
- Prior art keywords
- steering
- walking
- port
- assembly
- rotating shaft
- 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
- Gear Transmission (AREA)
Abstract
The application discloses a self-walking mechanism adopting a worm and gear assembly to drive steering, which comprises a walking mechanism and a steering mechanism, wherein the steering mechanism comprises a steering assembly, the steering assembly is connected with a worm and gear assembly, the steering assembly comprises a bogie assembly, the bogie assembly comprises a bogie rotating shaft and a rotating shaft fixing plate, and the bogie rotating shaft is welded on the rotating shaft fixing plate; the worm gear assembly is sleeved at the lower part of the rotating shaft of the steering frame and is positioned above the rotating shaft fixing plate; and a wheel assembly is arranged below the bogie assembly, and the wheel assembly is fixedly connected with a walking speed reducer. Has the following advantages: the wheels are driven to rotate through the motor and the hydraulic pressure in a cross mode, the motor and the hydraulic pressure in the cross mode drive the worm gear assembly to walk the speed reducer to achieve vehicle steering, the motor and the hydraulic pressure in the cross mode drive the worm gear assembly to walk the speed reducer, actions of the motor and the hydraulic pressure in the cross mode are overlapped according to functional requirements, and self-walking operation functions of straight line walking, oblique line walking, transverse walking, in-situ steering and the like of the whole self-walking mechanism are achieved.
Description
Technical Field
The utility model relates to an adopt worm gear assembly drive to turn to from running gear belongs to mechanical equipment transmission technical field.
Background
The function that present scissors maintain operation device's self-walking mechanism realized is single, and the majority is leading to realizing the straight line walking function. The electro-hydraulic integrated control is mainly used for realizing the function, and the driving is mainly in a mode of front wheel driving, rear wheel steering or coexistence of front wheel driving and steering. The front wheels of some vehicle types are hydraulically or electrically driven, and the rear wheels are hydraulically steered to realize motion control. Limited by structural limitation, the turning radius of the whole machine is large, the transition speed is low, the operating environment is single, and the operating efficiency is low.
In the prior art, the self-walking mechanism only adopts a motor to drive to realize the walking and steering functions of the self-walking mechanism, or adopts hydraulic drive to realize the walking and steering functions of the self-walking mechanism, and only can realize the linear walking and simple steering functions. The self-walking operation functions of oblique line walking, transverse walking, in-situ steering and the like of the self-walking mechanism of the whole machine cannot be realized.
The existing self-walking mechanism adopts a motor to drive a gear pair or a hydraulic oil cylinder to balance and control a four-wheel bogie to realize steering, and has the defects of inaccurate control and poor synchronism.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is to above not enough, provide an adopt worm gear assembly drive to turn to from running gear, can realize the function that sharp walking, slash walking, horizontal walking and pivot turned to, control is accurate moreover, and the synchronism is good.
For solving the technical problem, the utility model discloses a following technical scheme:
a self-walking mechanism adopting a worm and gear assembly to drive steering comprises a walking mechanism and a steering mechanism, wherein the steering mechanism comprises a steering assembly, the steering assembly is connected with a worm and gear assembly, the steering assembly comprises a steering frame assembly, the steering frame assembly comprises a steering frame rotating shaft and a rotating shaft fixing plate, and the steering frame rotating shaft is welded on the rotating shaft fixing plate;
the worm gear assembly is sleeved at the lower part of the rotating shaft of the steering frame and is positioned above the rotating shaft fixing plate;
and a wheel assembly is arranged below the bogie assembly, and the wheel assembly is fixedly connected with a walking speed reducer.
Furthermore, the worm gear assembly is connected with a steering driving motor or a steering hydraulic motor.
Furthermore, the bogie assembly further comprises a walking driving walking speed reducer fixing plate perpendicular to the rotating shaft fixing plate, a walking speed reducer is fixed on the walking driving walking speed reducer fixing plate, and a walking driving walking speed reducer fixing plate reinforcing rib is arranged between the rotating shaft fixing plate and the walking driving walking speed reducer fixing plate.
Furthermore, a steering motor fixing shaft is arranged on the rotating shaft fixing plate.
Furthermore, the steering mechanism further comprises a steering assembly fixing device, the steering assembly fixing device comprises a steering frame sleeve, a gland and a fastening bolt standard component combination, a steering frame rotating shaft is fixed in the steering frame sleeve, the top end of the steering frame rotating shaft is fixed with the gland through the fastening bolt standard component combination, and the steering frame rotating shaft is vertically limited relative to the steering frame sleeve.
Furthermore, the traveling speed reducer is connected with a traveling hydraulic motor, the traveling hydraulic motor comprises a left rear traveling hydraulic motor T7, a right rear traveling hydraulic motor T8, a left front traveling hydraulic motor T11 and a right front traveling hydraulic motor T12, a port B and a port A of the left rear traveling hydraulic motor T7 are respectively connected with a port A1 and a port B1 of a traveling valve bank T9, a port A3 and a port B3 of a traveling valve bank T9 are respectively connected with a port A3 and a port B3 of a two-position four-way solenoid valve T3, a port A3 and a port B3 of the two-position four-way solenoid valve T3 are respectively connected with a port A and a port B of the left front traveling hydraulic motor T3, a port A3 and a port B3 of the two-position four-way solenoid valve T3 are respectively connected with a port A3 and a port B3 of the right rear traveling hydraulic motor T3, a port A3 and a port B3 of the two-position four-way solenoid valve T3 are respectively connected with a port B3 and a port B3 of the right traveling hydraulic motor T3, the port A and the port B of the two-position four-way electromagnetic valve T13 are respectively connected with the port A and the port B of the right front traveling hydraulic motor T12.
Furthermore, a port C of the traveling valve group T9 is connected with one end of a manual release valve group T6, and the other end of the manual release valve group T6 is connected with a hydraulic lock inlet B of a left rear traveling hydraulic motor T7, a right rear traveling hydraulic motor T8, a left front traveling hydraulic motor T11, and a right front traveling hydraulic motor T12.
Furthermore, a port P of the traveling valve group T9 is connected with a gear pump Z3, the gear pump Z3 is connected with a check valve Z4 and a motor Z5, a port T of the traveling valve group T9 is connected with an oil return filter Z2, and the oil return filter Z2 and the gear pump Z3 are both connected with a hydraulic oil tank.
Furthermore, the walking speed reducer is connected with a walking driving motor.
The utility model adopts the above technical scheme, compare with prior art, have following technological effect:
the vehicle travels by the aid of the motor and hydraulic cross drive traveling and steering, and the motor and the hydraulic cross drive traveling and steering are overlapped according to functional requirements, so that self-traveling operation functions of the whole self-traveling mechanism, such as linear traveling, oblique traveling, transverse traveling, in-situ steering and the like, are realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
FIG. 1 is a schematic structural view of a self-walking mechanism in an embodiment of the present invention;
fig. 2 is a bottom view of the self-propelled mechanism in the embodiment of the present invention;
FIG. 3 is a cross-sectional view of the self-propelled mechanism in an embodiment of the present invention;
FIG. 4 is a schematic structural view of another side of the self-propelled mechanism in the embodiment of the present invention;
fig. 5 and 6 are electrical schematic diagrams of motor-driven steering of the worm gear assembly in the embodiment of the present invention;
fig. 7 is a schematic structural view of a steering assembly according to an embodiment of the present invention;
fig. 8 is a schematic structural view of a bogie assembly according to an example of the present invention;
fig. 9 is a hydraulic control schematic diagram of a travel mechanism in an example of the present invention.
Detailed Description
As shown in fig. 1 to 4, a self-traveling mechanism driven by a worm and gear assembly to steer comprises a traveling mechanism and a steering mechanism, wherein the traveling mechanism comprises a traveling hydraulic motor, a traveling speed reducer and a wheel assembly, the traveling mechanism drives the wheel assembly to rotate by the traveling hydraulic motor and the traveling speed reducer to realize vehicle traveling, the steering mechanism comprises a steering driving motor, the worm and gear assembly, a steering assembly and a steering assembly fixing device, and the steering mechanism drives the worm and gear assembly to drive the steering assembly to rotate by the steering driving motor to realize vehicle steering.
The steering assembly is connected with a steering electric push rod, and the steering assembly fixing device is used for fixing the steering assembly.
The steering assembly fixing device comprises a steering frame sleeve 4, a gland 2 and a fastening bolt standard component assembly 1.
The steering assembly is arranged in a steering frame sleeve 4, the gland 2 is arranged at the top of the steering assembly, and the gland 2 is fixed at the top of the steering assembly through the fastening bolt standard component assembly 1.
The steering assembly is connected with a worm gear assembly, the number of the steering assemblies is four, the four steering assemblies are respectively a left rear steering assembly 6, a right front steering assembly 7, a left front steering assembly 19 and a right rear steering assembly 8, and the four steering assemblies are identical in structure.
The left rear steering assembly 6 is connected with a left rear worm gear assembly 14, the right front steering assembly 7 is connected with a right front worm gear assembly 18, the left front steering assembly 19 is connected with a left front worm gear assembly 9, and the right rear steering assembly 20 is connected with a right rear worm gear assembly 15.
As shown in fig. 5, the left rear worm gear assembly 14 is connected with a left rear worm gear assembly motor M7, the right rear worm gear assembly 15 is connected with a right rear worm gear assembly motor M8, both the left rear worm gear motor M7 and the right rear worm gear motor M8 are connected with a servo driver U2, the model of the servo driver U2 is MDC2230-1, the PwrCtrol pin of the servo driver U2 is connected with one end of a fuse F63, the other end of the fuse F63 is connected with the positive pole of a 24V power supply, the Ground pin of the servo driver U2 is connected with the negative pole of the 24V power supply, the VMot pin of the servo driver U2 is connected with one end of a switch of a trip relay KM6, the other end of the switch of the trip relay KM6 is connected with one end of a fuse F62, the other end of the fuse F62 is connected with the positive pole of the 24V power supply, the 2 pin of the servo driver U2 KM is connected with one end of a coil of a trip relay 6, and the other end of the coil of the switch KM6 is connected with the positive pole of the 24V power supply.
As shown in fig. 6, the left front worm gear assembly 9 is connected with a left front worm gear motor M5, the right front worm gear assembly 18 is connected with a right front worm gear motor M6, both the left front worm gear motor M5 and the right front worm gear motor M6 are connected with a servo driver U1, the model of the servo driver U1 is MDC2230-1, the PwrCtrol pin of the servo driver U1 is connected with one end of a fuse F53, the other end of the fuse F53 is connected with the positive pole of a 24V power supply, the Ground pin of the servo driver U1 is connected with the negative pole of the 24V power supply, the VMot pin of the servo driver U1 is connected with one end of a switch of a cut-off relay KM5, the other end of the switch of the cut-off relay KM5 is connected with one end of a fuse F52, the other end of the fuse F52 is connected with the positive pole of the 24V power supply, the 2 pin of the servo driver U1 is connected with one end of a coil of a cut-off relay KM5, and the other end of the coil of the cut-off relay KM5 is connected with the positive pole of the 24V power supply.
As shown in fig. 7, the steering assembly includes a bogie assembly 21, a wheel assembly 22 is mounted below the bogie assembly 21, the wheel assembly 22 is fixedly connected with a travel speed reducer 23, and the wheel assembly 22 is fixed on flanges of the travel drive hydraulic motor and the travel speed reducer 23 through fasteners.
As shown in fig. 8, the bogie assembly 21 includes a bogie shaft 31 and a shaft fixing plate 32, the bogie shaft 31 is welded on the shaft fixing plate 32, and a steering motor fixing shaft 35 is disposed on the shaft fixing plate 32.
The bogie assembly 21 further comprises a walking driving walking speed reducer fixing plate 34 perpendicular to the rotating shaft fixing plate 32, a walking speed reducer 23 is fixed on the walking driving walking speed reducer fixing plate 34, and the rotating shaft fixing plate 32 and the walking driving walking speed reducer fixing plate 34 are connected through a walking driving walking speed reducer fixing plate reinforcing rib 33.
The bogie rotating shaft 31 is fixed in the bogie sleeve 4, the top end of the bogie rotating shaft 31 is fixed with the gland 2 through the fastening bolt standard component assembly 1, and the bogie rotating shaft 31 is limited up and down relative to the bogie sleeve 4.
The worm gear assembly is sleeved on the lower part of the steering frame rotating shaft 31 and is positioned above the rotating shaft fixing plate 32.
The traveling speed reducer 23 is connected with a traveling hydraulic motor.
As shown in fig. 9, the traveling hydraulic motors include a left rear traveling hydraulic motor T7, a right rear traveling hydraulic motor T8, a port B and a port A of a left front walking hydraulic motor T11 and a port B12 of the right front walking hydraulic motor T12, a port B and a port A of a left rear walking hydraulic motor T7 are respectively connected with a port A1 and a port B1 of a walking valve group T9, a port A3 and a port B3 of the walking valve group T9 are respectively connected with a port A10 and a port B10 of a two-position four-way solenoid valve T10, a port A and a port B of the two-position four-way solenoid valve T10 are respectively connected with a port A10 and a port B10 of the two-position four-way solenoid valve T10, a port A and a port B of the right rear walking hydraulic motor T10 are respectively connected with a port B and a port A of the two-position four-way solenoid valve T10, a port A10 and a port B10 of the two-position four-way solenoid valve T10 are respectively connected with a port A10 and a port B10 of the two-position four-way solenoid valve T10, and a port B10 of the two-position four-way solenoid valve T10 are respectively connected with a port B10 and a port B10 of the right walking hydraulic motor B10.
The port C of the walking valve group T9 is connected with one end of a manual release valve group T6, and the other end of the manual release valve group T6 is connected with the hydraulic lock inlets B of a left rear walking hydraulic motor T7, a right rear walking hydraulic motor T8, a left front walking hydraulic motor T11 and a right front walking hydraulic motor T12.
A P port of the walking valve group T9 is connected with a gear pump Z3, the gear pump Z3 is connected with a check valve Z4 and a motor Z5, a T port of the walking valve group T9 is connected with an oil return filter Z2, and the oil return filter Z2 and the gear pump Z3 are both connected with a hydraulic oil tank.
The walking speed reducer can also be connected with a walking driving motor, and the walking mechanism adopts the walking driving motor and the walking speed reducer to drive the wheel assembly to rotate so as to realize the walking of the vehicle.
The worm and gear assembly can also be connected with a steering hydraulic motor, and the steering mechanism adopts the steering hydraulic motor to drive the worm and gear assembly to drive the bogie to rotate so as to realize the steering of the vehicle.
The description of the present invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to practitioners skilled in this art. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.
Claims (9)
1. The utility model provides an adopt worm gear assembly drive to turn to from running gear which characterized in that: the steering mechanism comprises a walking mechanism and a steering mechanism, the steering mechanism comprises a steering assembly, the steering assembly is connected with a worm and gear assembly, the steering assembly comprises a bogie assembly (21), the bogie assembly (21) comprises a bogie rotating shaft (31) and a rotating shaft fixing plate (32), and the bogie rotating shaft (31) is welded on the rotating shaft fixing plate (32);
the worm gear assembly is sleeved at the lower part of the rotating shaft (31) of the bogie and is positioned above the rotating shaft fixing plate (32);
and a wheel assembly (22) is installed below the bogie assembly (21), and the wheel assembly (22) is fixedly connected with a walking speed reducer (23).
2. A self-propelled mechanism for steering by a worm and gear assembly as claimed in claim 1, wherein: the worm and gear assembly is connected with a steering driving motor or a steering hydraulic motor.
3. A self-propelled mechanism for steering by a worm and gear assembly as claimed in claim 1, wherein: the bogie assembly (21) further comprises a walking driving walking speed reducer fixing plate (34) perpendicular to the rotating shaft fixing plate (32), a walking speed reducer (23) is fixed on the walking driving walking speed reducer fixing plate (34), and a walking driving walking speed reducer fixing plate reinforcing rib (33) is arranged between the rotating shaft fixing plate (32) and the walking driving walking speed reducer fixing plate (34).
4. A self-propelled mechanism for steering by a worm and gear assembly as claimed in claim 1, wherein: and a steering motor fixing shaft (35) is arranged on the rotating shaft fixing plate (32).
5. A self-propelled mechanism for steering by a worm and gear assembly as claimed in claim 1, wherein: the steering mechanism further comprises a steering assembly fixing device, the steering assembly fixing device comprises a steering frame sleeve (4), a gland (2) and a fastening bolt standard part combination (1), a steering frame rotating shaft (31) is fixed in the steering frame sleeve (4), the gland (2) is fixed at the top end of the steering frame rotating shaft (31) through the fastening bolt standard part combination (1), and the steering frame rotating shaft (31) is vertically limited relative to the steering frame sleeve (4).
6. A self-propelled mechanism for steering by a worm and gear assembly as claimed in claim 1, wherein: the walking speed reducer (23) is connected with a walking hydraulic motor, the walking hydraulic motor comprises a left rear walking hydraulic motor T7, a right rear walking hydraulic motor T8, a left front walking hydraulic motor T11 and a right front walking hydraulic motor T12, a port B and a port A of a left rear walking hydraulic motor T7 are respectively connected with a port A1 and a port B1 of a walking valve bank T9, a port A3 and a port B3 of a walking valve bank T9 are respectively connected with a port A3 and a port B3 of a two-position four-way solenoid valve T3, a port A and a port B of the two-position four-way solenoid valve T3 are respectively connected with a port A and a port B of the left front walking hydraulic motor T3, a port A3 and a port B3 of the two-position four-way solenoid valve T3 are respectively connected with a port A3 and a port B3 of the right rear walking hydraulic motor T3, a port A3 and a port B3 of the two-position four-way solenoid valve T3 are respectively connected with a port 3A 3 and a port 3A 3 of the right four-position four-way solenoid valve T3, the port A and the port B of the two-position four-way electromagnetic valve T13 are respectively connected with the port A and the port B of the right front traveling hydraulic motor T12.
7. A self-propelled mechanism for steering by a worm and gear assembly as claimed in claim 6, wherein: the port C of the walking valve group T9 is connected with one end of a manual release valve group T6, and the other end of the manual release valve group T6 is connected with the hydraulic lock inlets B of a left rear walking hydraulic motor T7, a right rear walking hydraulic motor T8, a left front walking hydraulic motor T11 and a right front walking hydraulic motor T12.
8. A self-propelled mechanism for steering by a worm and gear assembly as claimed in claim 6, wherein: a P port of the walking valve group T9 is connected with a gear pump Z3, the gear pump Z3 is connected with a check valve Z4 and a motor Z5, a T port of the walking valve group T9 is connected with an oil return filter Z2, and the oil return filter Z2 and the gear pump Z3 are both connected with a hydraulic oil tank.
9. A self-propelled mechanism for steering by a worm and gear assembly as claimed in claim 1, wherein: the walking speed reducer (23) is connected with a walking driving motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120381062.7U CN214776150U (en) | 2021-02-20 | 2021-02-20 | Self-walking mechanism driven to steer by worm gear assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120381062.7U CN214776150U (en) | 2021-02-20 | 2021-02-20 | Self-walking mechanism driven to steer by worm gear assembly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214776150U true CN214776150U (en) | 2021-11-19 |
Family
ID=78753651
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120381062.7U Active CN214776150U (en) | 2021-02-20 | 2021-02-20 | Self-walking mechanism driven to steer by worm gear assembly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214776150U (en) |
-
2021
- 2021-02-20 CN CN202120381062.7U patent/CN214776150U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204527297U (en) | A kind of for agricultural vehicle auto-manual dual rotation system | |
| CN105667580B (en) | A kind of wire-controlled steering system and its control method based on fuzzy control | |
| CN105416392B (en) | A kind of push-down composite turning system and its mode switch control method | |
| CN104401388A (en) | Intelligent electro-hydraulic steering system | |
| CN103963825A (en) | Steering system and independent suspension wheel type overload vehicle | |
| CN107651005A (en) | The electro-hydraulic mixing servo steering system and its control method of a kind of four-wheel walking machine | |
| CN104960572A (en) | Commercial vehicle with four-wheel steering function | |
| CN103569197B (en) | four-wheel steering system and control method thereof | |
| CN103496396A (en) | Novel energy-saving differential power-assisted steering system of electric wheel automobile and control method thereof | |
| CN102229347A (en) | Electric power-assisted steering system of electric vehicle and power-assisted steering method thereof | |
| CN108556910B (en) | All-wheel steering system | |
| CN103287491A (en) | Control system for compliance steer of roadway trackless wheeled hydraulic power vehicle group | |
| CN214776150U (en) | Self-walking mechanism driven to steer by worm gear assembly | |
| CN202063181U (en) | Four-wheel steering automobile | |
| CN103895699B (en) | A kind of steering hardware and unmanned steering system | |
| CN203601361U (en) | Automobile power-assisted steering structure | |
| CN212667482U (en) | Self-walking mechanism driven to steer by electric push rod | |
| CN113492906B (en) | Hydraulic steering system and control method and device thereof | |
| CN102874309A (en) | Crane as well as steering system and rocker arm thereof | |
| CN203528594U (en) | Automobile steering system | |
| CN102248964A (en) | Four-wheel steering automobile | |
| CN105667575A (en) | Steering system for electric tractor | |
| CN213861857U (en) | Automatically controlled running gear of crawler tractor | |
| CN213649714U (en) | Front-rear steering control device of wheel excavator | |
| CN212667484U (en) | Self-walking mechanism adopting hydraulic drive steering |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |