CN218287876U - Steering driving mechanism of unmanned tracked vehicle - Google Patents
Steering driving mechanism of unmanned tracked vehicle Download PDFInfo
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- CN218287876U CN218287876U CN202222260342.XU CN202222260342U CN218287876U CN 218287876 U CN218287876 U CN 218287876U CN 202222260342 U CN202222260342 U CN 202222260342U CN 218287876 U CN218287876 U CN 218287876U
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Abstract
The utility model discloses a steering driving mechanism of unmanned tracked vehicle, including bevel gear group, the spur gear group, it is first, two, three transmission shafts, freewheel clutch and clutch plate, turn to the motor and be connected with bevel gear group, first bevel gear is arranged in on the output shaft that turns to the motor, second bevel gear and third bevel gear mesh respectively in the left and right sides of first bevel gear, first transmission shaft one end is connected in second bevel gear, another termination has clutch plate and freewheel clutch, second transmission shaft one end is connected in third bevel gear, another termination has clutch plate and freewheel clutch; the driving motor is connected with the straight gear set, the first straight gear is arranged on an output shaft of the driving motor and is meshed with the second straight gear, one end of the third transmission shaft is connected with the third straight gear, the other end of the third transmission shaft is connected with the fourth straight gear, and the middle of the third transmission shaft is connected with the second straight gear; the utility model discloses simple structure, easy operation, the drive can switch in a flexible way with turning to, can reduce the power loss that the motion was interfered and is brought.
Description
Technical Field
The utility model relates to a crawler-type chassis field, concretely relates to steering drive mechanism of unmanned tracked vehicle.
Background
China is a big agricultural country, and in recent years, for the purposes of promoting rural economy and improving rural labor productivity, the agricultural production of China is rapidly developing towards large-scale, mechanization, automation and intellectualization. The paddy field has the characteristics of muddy terrain and large walking resistance, and the operation machine is required to walk in the paddy field without crushing the ground of the cultivated paddy field in the operation process. The crawler-type chassis has the advantages of flexible action, large contact area with the ground, strong capability of passing through obstacles and the like. Therefore, the research of the unmanned crawler becomes significant and is also an urgent need.
The crawler-type chassis is widely applied to field operation vehicles such as engineering machinery, tractors and the like. On traditional motor drive's unmanned tracked vehicle chassis, adopt two motors to drive two action wheels respectively mostly and advance, this kind of drive mode does not have big problem on straight highway, but when comparatively complicated road surface is gone, needs both sides motor to carry out good coordinated control and just can avoid the off tracking when walking, with the condition that the deviation appears in the trail of following. When the transmission structure is used for steering, the driving motor runs at a high speed, the driving motor on the steering side can be steered only by braking, even the motor on the steering side needs to be reversed, so that the pivot steering can be realized only by the motors on the left side and the right side which rotate in different directions, but the inertia of the motors is large when the motors rotate, so that the transmission structure cannot respond timely enough when the transmission structure is used for realizing steering in the process of advancing.
Therefore, the utility model provides a mechanism suitable for crawler-type chassis satisfies to turn to and drive nimble switching.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome prior art's shortcoming and not enough, provide a steering drive mechanism of unmanned tracked vehicle, through bevel gear group, spur gear group, first, two, three transmission shafts, freewheel clutch and clutch disc to solve the problem that proposes in the above-mentioned background art.
In order to achieve the above purpose, the utility model provides a following technical scheme:
a steering driving mechanism of an unmanned tracked vehicle comprises a steering motor, a driving motor, a bevel gear set, a straight gear set, a first transmission shaft, a second transmission shaft, a third transmission shaft, an overrunning clutch and a clutch plate;
the steering motor is connected with the bevel gear set, the bevel gear set comprises a first bevel gear, a second bevel gear and a third bevel gear, the first bevel gear is arranged on an output shaft of the steering motor, the second bevel gear and the third bevel gear are respectively meshed with the left side and the right side of the first bevel gear, one end of the first transmission shaft is connected with the second bevel gear, the other end of the first transmission shaft is connected with the clutch plate and the overrunning clutch, one end of the second transmission shaft is connected with the third bevel gear, and the other end of the second transmission shaft is connected with the clutch plate and the overrunning clutch;
the driving motor is connected with a straight gear set, and the straight gear set comprises a first straight gear, a second straight gear, a third straight gear and a fourth straight gear; the first straight gear is arranged on an output shaft of the driving motor and is in meshed connection with the second straight gear, the second, third and fourth straight gears are coaxially arranged on a third transmission shaft, one end of the third transmission shaft is connected with the third straight gear, the other end of the third transmission shaft is connected with the fourth straight gear, and the middle of the third transmission shaft is connected with the second straight gear;
the overrunning clutch consists of an inner ring, an outer ring, a spring and a roller, wherein gear teeth are arranged on the outer surface of the outer ring, and the outer surfaces of the overrunning clutches on the left side and the right side are respectively meshed with a fourth straight gear and a third straight gear;
preferably, the inner ring is arranged in the outer ring and is concentrically arranged with the outer ring, and the inner ring and the outer ring can rotate relatively through a spring and a roller;
preferably, one end of the spring is fixed on the inner ring, and the other end of the spring is connected with the roller to press the roller to the inner surface of the outer ring, so that the roller is simultaneously contacted with the inner ring and the outer ring;
preferably, the inner surface of the outer ring is a friction-enhancing raceway surface;
preferably, the left-right steering of the mechanism is realized by controlling the forward and reverse rotation of the steering motor, and the forward and reverse movement of the mechanism is realized by controlling the forward and reverse rotation of the driving motor;
preferably, when the steering motor rotates forwards, the first bevel gear rotates clockwise, the second bevel gear meshed with the first bevel gear rotates anticlockwise, the third bevel gear rotates clockwise, power with opposite directions on the left side and the right side is generated to the driving wheel, and left rotation of the mechanism is achieved;
preferably, when the steering motor rotates reversely, the first bevel gear rotates anticlockwise, the second bevel gear meshed with the first bevel gear rotates clockwise, the third bevel gear rotates anticlockwise, power with opposite directions on the left side and the right side is generated to the driving wheel, and the right-hand rotation of the mechanism is realized;
preferably, when the driving motor rotates forwards, the first, second, third and fourth spur gears all rotate clockwise, and the fourth and third spur gears drive the left and right overrunning clutches to rotate clockwise, so that power is provided to the driving wheel, and the mechanism advances;
preferably, when the driving motor rotates reversely, the first, second, third and fourth spur gears all rotate anticlockwise, and the fourth and third spur gears drive the left and right overrunning clutches to rotate anticlockwise, so that power is provided for the driving wheel, and the mechanism retreats;
as a preferable scheme, the clutch plate is used for reducing power loss caused by movement interference;
as a preferable scheme, the included angles between the first bevel gear and the second and third bevel gears are both 90 degrees;
the working principle is as follows:
when the crawler is driven to run straight or retreat normally, the steering motor stops working, the driving motor rotates forwards or reversely, power is transmitted to the third transmission shaft through the first straight gear and the second straight gear, then is transmitted to the fourth straight gear and the third straight gear on the left side and the right side respectively, and is output to left and right driving wheels of the crawler through the output shafts after passing through the overrunning clutches on the left side and the right side respectively, so that the crawler can run straight or retreat.
When the crawler belt is required to turn, the driving motor stops working, the turning motor rotates forwards or reversely, power is transmitted to the first transmission shaft and the second transmission shaft through the first bevel gear pair, the second bevel gear pair and the third bevel gear pair, the rotating directions of the left transmission shaft and the right transmission shaft are opposite, the left transmission shaft and the right transmission shaft pass through the overrunning clutches on the left side and the right side respectively and then reach the output shaft, the crawler belt is output to the driving wheels on the left side and the right side of the crawler belt in different rotating directions, and therefore the crawler belt on the two sides rotates in different directions, and left and right turning is achieved.
When the rotating speed of the outer ring is greater than that of the inner ring, the outer ring works corresponding to the driving motor at the moment, the steering motor does not work, the outer ring presses the roller to further push the inner ring to rotate, the outer ring driving output end rotates, and the driving motor drives the driving wheel of the tracked vehicle to realize forward running. In the process, the power transmission between the first transmission shaft and the second transmission shaft and the inner ring of the overrunning clutch is interrupted under the action of the clutch plate, so that the power loss caused by motion interference is reduced.
When the driving motor does not work, the steering motor works, the power of the steering motor is input through the inner ring of the overrunning clutch and output to the driving wheel of the tracked vehicle, and the rotating directions of the power on the left side and the power on the right side are opposite, so that the steering function is realized. In the process, the roller and the outer ring slide mutually, the power transmission effect is not generated, the interference with the rotation of an engine is further avoided, the inner ring can rotate freely, and the movement of the outer ring is not influenced.
Compared with the prior art, the beneficial effects of the utility model are that:
1. in the utility model, by arranging the driving motor and the steering motor, the steering motor is connected with the bevel gear set, the driving motor is connected with the straight gear set, one motor is responsible for driving, and the other motor carries out steering, so that the deviation phenomenon caused by different rotating speeds of the left and right driving wheels is avoided by the same power output; the steering motor can generate power with opposite directions on two sides to the driving wheel, so that the pivot steering function is realized, the driving and steering can be flexibly switched, and the energy-saving and high-efficiency steering device is energy-saving.
2. In the utility model, by arranging the clutch plate and the overrunning clutch, when only the driving motor works, the outer ring of the overrunning clutch presses the roller to further push the inner ring to rotate, the outer ring driving output end rotates, the power transmission between the first transmission shaft and the second transmission shaft and the inner ring of the overrunning clutch is interrupted under the action of the clutch plate, and the power loss caused by motion interference is further reduced; when only the steering motor works, the roller and the outer ring slide mutually, the power transmission effect is not generated, the interference with the rotation of the engine is further avoided, the inner ring can rotate freely, and the motion of the outer ring is not influenced.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the overrunning clutch of the present invention;
in the figure: 1. a steering motor; 2. a first bevel gear; 2-1, a second bevel gear; 2-2, a third bevel gear; 3. a first drive shaft; 3-1, a second transmission shaft; 3-2, a third transmission shaft; 4. a drive motor; 5. a first straight gear; 5-1, a second spur gear; 5-2, a third spur gear; 5-3, a fourth spur gear; 6. a clutch plate; 7. an overrunning clutch; 8. an output shaft; 9. an inner ring; 10. an outer ring; 11. a spring; 12. and a roller.
Detailed Description
The present invention will be described in further detail with reference to the following examples and drawings, but the present invention is not limited thereto.
Referring to fig. 1-2, the present invention provides a technical solution:
a steering driving mechanism of an unmanned tracked vehicle comprises a steering motor 1, a driving motor 4, a bevel gear set, a straight gear set, a first transmission shaft, a second transmission shaft, a third transmission shaft, an overrunning clutch 7 and a clutch plate 6;
the steering motor 1 is connected with a bevel gear set, the bevel gear set comprises a first bevel gear, a second bevel gear and a third bevel gear, the first bevel gear 2 is arranged on an output shaft of the steering motor 1, a second bevel gear 2-1 and the third bevel gear 2-2 are respectively meshed with the left side and the right side of the first bevel gear 2, one end of a first transmission shaft 3 is connected to the second bevel gear 2-1, the other end of the first transmission shaft is connected with a clutch plate 6 and an overrunning clutch 7, one end of the second transmission shaft 3-1 is connected to the third bevel gear 2-2, and the other end of the second transmission shaft is connected with the clutch plate 6 and the overrunning clutch 7;
the driving motor 4 is connected with a spur gear set, and the spur gear set comprises a first spur gear, a second spur gear, a third spur gear and a fourth spur gear; the first straight gear 5 is arranged on an output shaft of the driving motor 4, the first straight gear 5 is meshed with the second straight gear 5-1, the second, third and fourth straight gears are coaxially arranged on a third transmission shaft 3-2, one end of the third transmission shaft 3-2 is connected with the third straight gear 5-2, the other end of the third transmission shaft is connected with the fourth straight gear 5-3, and the middle of the third transmission shaft is connected with the second straight gear 5-1;
the overrunning clutch 7 consists of an inner ring 9, an outer ring 10, a spring 11 and a roller 12, gear teeth are arranged on the outer surface of the outer ring 10, and the outer surfaces of the overrunning clutches 7 on the left side and the right side are respectively meshed with a fourth straight gear 5-3 and a third straight gear 5-2;
in the utility model, by arranging the driving motor 4 and the steering motor 1, the steering motor 1 is connected with the bevel gear set, the driving motor 4 is connected with the straight gear set, one motor is responsible for driving, and one motor is loaded to steer, so that the deviation phenomenon caused by different rotating speeds of the left and right driving wheels is avoided by the same power output; the steering motor 1 can generate power with opposite directions on two sides to the driving wheel, so that the pivot steering function is realized, the driving and steering can be flexibly switched, and the energy is saved and the efficiency is high; by arranging the clutch plate 6 and the overrunning clutch 7, when only the driving motor 4 works, the outer ring 10 of the overrunning clutch 7 presses the roller 12 to further push the inner ring 9 to rotate, so that the outer ring 10 drives the output end to rotate, the power transmission between the first transmission shaft and the second transmission shaft and the inner ring 9 of the overrunning clutch 7 is interrupted under the action of the clutch plate 6, and the power loss caused by motion interference is further reduced; when only the steering motor 1 works, the rollers 12 and the outer ring 10 slide mutually, and no power transmission effect is generated, so that interference with the rotation of an engine is avoided, the inner ring 9 can rotate freely, and the movement of the outer ring 10 is not influenced.
As shown in fig. 2, the inner ring 9 is arranged in the outer ring 10 and is concentrically installed with the outer ring 10, and the inner ring 9 and the outer ring 10 can rotate relatively through a spring 11 and a roller 12; one end of the spring 11 is fixed on the inner ring 9, and the other end is connected with the roller 12, so that the roller 12 is pressed towards the inner surface of the outer ring 10, and the roller 12 is simultaneously contacted with the inner ring 10 and the outer ring 10; the inner surface of the outer ring 10 is a raceway surface for enhancing friction;
the left-right steering of the mechanism is realized by controlling the forward and reverse rotation of the steering motor 1, and the forward and reverse of the mechanism is realized by controlling the forward and reverse rotation of the driving motor 4;
when the steering motor 1 rotates forwards, the first bevel gear 2 rotates clockwise, the second bevel gear 2-1 meshed with the first bevel gear 2 rotates anticlockwise, and the third bevel gear 2-2 rotates clockwise to generate opposite power to the left and right sides of the driving wheel, so that the left steering of the mechanism is realized;
when the steering motor 1 rotates reversely, the first bevel gear 2 rotates anticlockwise, the second bevel gear 2-1 meshed with the first bevel gear 2 rotates clockwise, the third bevel gear 2-2 rotates anticlockwise, power with opposite directions on the left side and the right side is generated to a driving wheel, and the right steering of the mechanism is realized;
when the driving motor 4 rotates forwards, the first, second, third and fourth straight gears all rotate clockwise, and the fourth and third straight gears drive the left and right overrunning clutches 7 to rotate clockwise, so that power is provided to the driving wheel, and the mechanism advances;
when the driving motor 4 rotates reversely, the first, second, third and fourth straight gears all rotate anticlockwise, and the fourth and third straight gears drive the left and right overrunning clutches 7 to rotate anticlockwise, so that power is provided for the driving wheels, and the mechanism retreats;
the clutch plate 6 is used for reducing power loss caused by motion interference;
the included angle between the first bevel gear 2 and the second bevel gear and the included angle between the first bevel gear 2 and the third bevel gear are both 90 degrees;
the working principle is as follows:
when the crawler is driven to run straight or retreat normally, the steering motor 1 stops working, the driving motor 4 rotates in the forward direction or the reverse direction, power is transmitted to the third transmission shaft 3-2 through the first straight gear and the second straight gear, then is transmitted to the fourth straight gear and the third straight gear on the left side and the right side respectively, and is output to the driving wheels on the left side and the right side of the crawler through the output shafts 8 after passing through the overrunning clutches 7 on the left side and the right side respectively, so that the crawler can run straight or retreat.
When the crawler vehicle needs to turn, the driving motor 4 stops working, the turning motor 1 rotates forwards or reversely, power is transmitted to the first transmission shaft and the second transmission shaft through the first bevel gear pair, the second bevel gear pair and the third bevel gear pair, the left transmission shaft and the right transmission shaft rotate in opposite directions, and the power passes through the overrunning clutches 7 on the left side and the right side and then the output shaft 8, so that the crawler vehicle can output the power in different directions to the driving wheels on the left side and the right side of the crawler vehicle to realize the rotation of the crawler belts on the two sides in different directions, and the left-right turning is realized.
When the rotating speed of the outer ring 10 is greater than that of the inner ring 9, namely the outer ring 10 works corresponding to the driving motor 4 at the moment, the steering motor 1 does not work, the outer ring 10 further pushes the inner ring 9 to rotate by pressing the roller 12, the outer ring 10 drives the output end to rotate, and the driving motor 4 drives the driving wheel of the tracked vehicle to realize forward running. In the process, the power transmission between the first transmission shaft and the second transmission shaft and the inner ring 9 of the overrunning clutch 7 is interrupted under the action of the clutch plate 6, so that the power loss caused by motion interference is reduced.
When the driving motor 4 does not work, the steering motor 1 works, the power of the steering motor 1 is input and output to the driving wheel of the crawler through the inner ring 9 of the overrunning clutch 7, and the rotating directions of the power on the left side and the power on the right side are opposite, so that the steering function is realized. In the process, the rollers 12 and the outer ring 10 slide mutually, no power transmission effect is generated, interference with rotation of an engine is further avoided, the inner ring 9 can rotate freely, and movement of the outer ring 10 is not influenced.
The above is the preferred embodiment of the present invention, but the embodiment of the present invention is not limited by the above, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be equivalent replacement modes, and all are included in the scope of the present invention.
Claims (10)
1. A steering driving mechanism of an unmanned tracked vehicle comprises a steering motor and a driving motor, and is characterized by further comprising a bevel gear set, a straight gear set, a first transmission shaft, a second transmission shaft, a third transmission shaft, an overrunning clutch and a clutch plate;
the steering motor is connected with the bevel gear set, the bevel gear set comprises a first bevel gear, a second bevel gear and a third bevel gear, the first bevel gear is arranged on an output shaft of the steering motor, the second bevel gear and the third bevel gear are respectively meshed with the left side and the right side of the first bevel gear, one end of the first transmission shaft is connected with the second bevel gear, the other end of the first transmission shaft is connected with the clutch plate and the overrunning clutch, one end of the second transmission shaft is connected with the third bevel gear, and the other end of the second transmission shaft is connected with the clutch plate and the overrunning clutch;
the driving motor is connected with a straight gear set, and the straight gear set comprises a first straight gear, a second straight gear, a third straight gear and a fourth straight gear; the first straight gear is arranged on an output shaft of the driving motor and is meshed with the second straight gear, the second, third and fourth straight gears are coaxially arranged on a third transmission shaft, one end of the third transmission shaft is connected with the third straight gear, the other end of the third transmission shaft is connected with the fourth straight gear, and the middle of the third transmission shaft is connected with the second straight gear;
the overrunning clutch consists of an inner ring, an outer ring, a spring and a roller, gear teeth are arranged on the outer surface of the outer ring, and the outer surfaces of the overrunning clutches on the left side and the right side are respectively meshed with the fourth straight gear and the third straight gear.
2. The steer-drive of an unmanned tracked vehicle according to claim 1, wherein said inner ring is disposed within said outer ring and is mounted concentrically with said outer ring, said inner and outer rings being capable of relative rotation by means of springs and rollers.
3. The steer-drive of an unmanned tracked vehicle according to claim 2, wherein said spring is fixed at one end to said inner race and at the other end to said roller for urging said roller against said inner surface of said outer race to simultaneously contact said inner and outer races.
4. The steer-drive of an unmanned tracked vehicle according to claim 3, wherein the inner surface of said outer race is a friction enhancing raceway surface.
5. The steering drive mechanism for an unmanned crawler according to claim 1, wherein the forward and reverse of the drive mechanism is controlled by controlling the forward and reverse rotation of the drive motor to achieve the left and right steering of the mechanism.
6. The steering driving mechanism of an unmanned crawler according to claim 5, wherein when the steering motor rotates forward, the first bevel gear rotates clockwise, the second bevel gear engaged with the first bevel gear rotates counterclockwise, the third bevel gear rotates clockwise, and opposite power is generated to the driving wheel in left and right directions to realize left rotation of the mechanism.
7. The steering driving mechanism of an unmanned crawler according to claim 5, wherein when the steering motor rotates reversely, the first bevel gear rotates counterclockwise, the second bevel gear engaged with the first bevel gear rotates clockwise, the third bevel gear rotates counterclockwise, and opposite power is generated to the driving wheels in left and right directions to realize right rotation of the mechanism.
8. The steering driving mechanism of an unmanned crawler according to claim 5, wherein when the driving motor rotates forward, the first, second, third and fourth spur gears all rotate clockwise, and the fourth and third spur gears drive the left and right overrunning clutches to rotate clockwise, so as to provide power to the driving wheel and realize forward movement of the mechanism.
9. The steering driving mechanism of an unmanned crawler according to claim 5, wherein when the driving motor rotates reversely, the first, second, third and fourth spur gears all rotate counterclockwise, and the fourth and third spur gears drive the left and right overrunning clutches to rotate counterclockwise, so as to provide power to the driving wheel and realize the backward movement of the mechanism.
10. The unmanned tracked vehicle steering drive according to claim 1, wherein the clutch plate is adapted to reduce power losses due to motion interference.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222260342.XU CN218287876U (en) | 2022-08-26 | 2022-08-26 | Steering driving mechanism of unmanned tracked vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222260342.XU CN218287876U (en) | 2022-08-26 | 2022-08-26 | Steering driving mechanism of unmanned tracked vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN218287876U true CN218287876U (en) | 2023-01-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222260342.XU Expired - Fee Related CN218287876U (en) | 2022-08-26 | 2022-08-26 | Steering driving mechanism of unmanned tracked vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116759952A (en) * | 2023-08-17 | 2023-09-15 | 国网山东省电力公司东平县供电公司 | Submarine cable installation auxiliary device |
-
2022
- 2022-08-26 CN CN202222260342.XU patent/CN218287876U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116759952A (en) * | 2023-08-17 | 2023-09-15 | 国网山东省电力公司东平县供电公司 | Submarine cable installation auxiliary device |
| CN116759952B (en) * | 2023-08-17 | 2024-01-16 | 国网山东省电力公司东平县供电公司 | Submarine cable installation auxiliary device |
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Granted publication date: 20230113 |