CN218751123U - Vertical steering wheel of double round - Google Patents

Abstract

The utility model provides a vertical helm of double round, including running gear, bearing plate and energy-absorbing device, running gear includes transaxle and two walking wheels, two walking wheels are installed the both ends of transaxle, the energy-absorbing device includes bridgeware, disturbance hinge and at least one damping shock absorber, the middle part of bridgeware is transversely fixed the outside of transaxle, through the utility model discloses a characteristic that the bearing plate can relative walking direction carry out left and right rocking is when receiving uneven factor influence on ground, even a high one low condition appears in two walking wheel walking processes, the utility model discloses a bearing plate has sufficient surplus to carry out left and right rocking to can also be by energy-absorbing device when its bearing plate sways left and right extreme position, the energy-absorbing is guaranteeing that two walking wheels can balanced contact ground, can also prevent that the slope of two walking wheels directly drives the bearing plate slope to avoid appearing the problem that the loading article emptyd.

Description

Vertical steering wheel of double round

Technical Field

The utility model relates to a AGV steering wheel technical field more particularly indicates a vertical steering wheel of double round.

Background

A common steering wheel AGV in the market mostly adopts a horizontal steering wheel, and a traveling motor of the horizontal steering wheel is transversely arranged on the side surface of a driving wheel. Furthermore, part of the steering wheel also has steering performance, and a steering motor of the steering wheel is also installed beside the side of the driving wheel. Above-mentioned structure, the structural layout of walking motor, steering motor causes the horizontal bulky of whole steering wheel to make the steering wheel adopt the structure of single walking wheel more, bearing capacity is limited. In order to solve the above problems, various vertical steering wheels are available on the market, for example, chinese patent discloses a differential vertical steering wheel (2019207610410) including a mounting plate, a driving assembly and a traveling wheel set; the walking wheel set comprises a gear box, a differential and a group of walking wheels; the gear box is fixedly connected to the bottom of the mounting plate, the differential mechanism is arranged in the gear box, and two half shafts of the differential mechanism are respectively in driving connection with traveling wheels; a through hole is formed in the mounting plate, the driving assembly is located above the traveling wheel set, and the driving assembly is connected with the differential mechanism in a mode that the through hole of the mounting plate is spanned. The technical scheme that this patent was disclosed for drive assembly sets up immediately at the top of mounting panel, and is located the top of walking wheelset. Through the design, the transverse volume of the steering wheel is relatively reduced, the walking steering is flexible, and the walking wheel set can be more suitable for terrains with obstacles such as steps and bosses.

The technical scheme disclosed by the Chinese patent has the following problems in the using process: after slewing bearing and automobile body are fixed, because ground can not accomplish completely horizontally, the condition that one is high one low can appear in consequently walking in-process two walking wheels, the automobile body can follow the walking wheel slope, consequently has the load to topple over from the automobile body problem, does not set up corresponding anti-disturbance device or energy-absorbing device between slewing bearing and the walking wheel, leads to can directly drive slewing bearing when two walking wheels are not in the coplanar and takes place the tilting motion.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a main aim at solves above-mentioned car body and can follow the slope of walking wheel, has the problem that the loading thing emptys from the automobile body.

The technical scheme of the utility model is that: the two-wheel vertical steering wheel comprises a travelling mechanism, a bearing plate and an energy absorption device, wherein the travelling mechanism comprises a drive axle and two travelling wheels, the two travelling wheels are arranged at two ends of the drive axle and driven by the drive axle to travel, the bearing plate is arranged on the drive axle through the energy absorption device, and the bearing plate can swing left and right or incline forwards and backwards relative to the travelling direction of the travelling mechanism.

The energy absorption device comprises a bridge part, a disturbance hinge and at least one damping shock absorber, wherein the middle part of the bridge part is transversely fixed outside the drive axle, the disturbance hinge is provided with a support part and a hinge part which extends downwards from the rear end of the support part, the hinge part is pivoted with the rear end of the bridge part, the head end and the tail end of the damping shock absorber are respectively pivoted with the front end of the bridge part and the front end of the support part, the bottom of the support plate is pivoted on the support part of the disturbance hinge, and the support plate can swing left and right relative to the walking direction of the walking mechanism and contact with the support part.

The bridging piece comprises two bridging plates and two fixing columns connected between the two bridging plates, and the middle parts of the two bridging plates are fixed outside the drive axle.

The disturbance hinge comprises two disturbance plates and two pin joint pieces, wherein each disturbance plate comprises a support plate body and an articulated plate body extending downwards from the rear end of the support plate body, the two pin joint pieces are connected between the two support plate bodies, the supporting part is formed by the two support plate bodies and the two pin joint pieces, the articulated part is formed by the two articulated plate bodies, the two articulated plate bodies are pivoted at the rear ends of the two bridging plates through a disturbance shaft, and the head and tail ends of the damping shock absorber are pivoted at the front ends of the two bridging plates through pin joint shafts.

The bottom of the supporting plate is provided with two pivoting plates corresponding to the pivoting pieces, and each pivoting plate is pivoted with the pivoting piece through a horizontal disturbing shaft.

And a damping gasket is arranged between the horizontal disturbance shaft and the pivot joint piece.

The double-wheel vertical steering wheel further comprises a driving mechanism, the driving mechanism comprises a speed reducer and a driving motor, the speed reducer is in transmission connection with the drive axle, and the driving motor is in pin joint with the disturbance hinge and in transmission connection with the speed reducer.

The double-wheel vertical steering wheel further comprises a steering mechanism, the steering mechanism comprises a slewing bearing and a steering motor, the slewing bearing is installed on the supporting plate, the slewing bearing comprises an outer gear ring and an inner ring which is coaxial with the outer gear ring, the outer gear ring is rotatably sleeved outside the inner ring, and the steering motor is meshed with the outer gear ring of the slewing bearing through a gear.

The damping shock absorber comprises a sleeve, a movable rod, a retaining ring and a spring, wherein one end of the movable rod is movably inserted into the sleeve, the retaining ring is fixed on the movable rod, the spring is sleeved on the movable rod and is positioned between the retaining ring and the sleeve, a shaft sleeve is arranged at the other end of the movable rod, and a shaft sleeve is arranged at the bottom end of the sleeve.

The utility model has the advantages that: through the utility model discloses a characteristic that bearing plate can walk the direction relatively and carry out left and right rocking pendulum when receiving the influence of the factor of ground injustice, even the condition that one is high and one is low appears in two walking wheel walking in-process, the utility model discloses a bearing plate has sufficient surplus to swing left and right to its bearing plate can also be by the energy-absorbing device energy-absorbing when swinging left and right extreme position, when guaranteeing that two walking wheels can balanced contact ground, can also prevent that the slope of two walking wheels directly drives the bearing plate slope to the problem of load toppling over is avoided appearing.

Drawings

The foregoing and other objects, features and advantages of the invention will be apparent from the following more particular description of preferred embodiments of the invention, as illustrated in the accompanying drawings. Like reference numerals refer to like parts throughout the drawings, and the drawings are not intended to be drawn to scale in actual size, emphasis instead being placed upon illustrating the subject matter.

Fig. 1 and 2 are schematic perspective views of the present invention;

fig. 3 is a schematic view of the energy absorber and the driving axle of the present invention;

fig. 4 is a top view of the present invention;

FIG. 5 isbase:Sub>A schematic cross-sectional view A-A of FIG. 4;

FIG. 6 is a schematic cross-sectional view of B-B in FIG. 4;

FIG. 7 is a schematic illustration of the engagement of the support plate with the energy absorbing device;

fig. 8 is a perspective view with the support plate removed.

Detailed Description

To facilitate an understanding of the present invention, reference will now be made to the accompanying drawings, which are described more fully below.

It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element and be integral therewith, or intervening elements may also be present. The terms "mounted," "one end," "the other end," and the like are used herein for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Referring to fig. 1-8, an embodiment of the present invention provides a two-wheeled vertical steering wheel, as shown in fig. 1 to 2, which includes a traveling mechanism 10, a driving mechanism 20, a supporting plate 30, an energy absorbing device 40 and a steering mechanism 50, wherein, as shown in fig. 6, the traveling mechanism 10 includes a driving axle 11 and two traveling wheels 12, the two traveling wheels 12 are installed at two ends of the driving axle 11, and the driving axle 11 drives the two traveling wheels 12 to travel. The drive axle 11 comprises a housing 111, a differential 112 disposed in the housing 111, and two half shafts 113 connected to output ends of the differential 112, respectively, and the two road wheels 12 are connected to the two half shafts 113, respectively, and it should be noted that the differential 112 is a device common in the art, and a specific structure of the differential 112 is not described herein.

The support plate 30 is mounted on the driving axle 11 through the energy absorbing device 40, and the support plate 30 can swing left and right or incline forward and backward relative to the traveling direction of the traveling mechanism 10, that is, the support plate 30 can swing back and forth between two sides where the two traveling wheels are located, and incline forward and backward in the traveling direction of the two traveling wheels.

As shown in fig. 3, the energy absorber 40 includes a bridge 41, a disturbance hinge 42 and at least one damping shock absorber 43, the middle portion of the bridge 31 is transversely fixed outside the transaxle 11, the disturbance hinge 42 has a support portion 42A and a hinge portion 42B extending downward from the rear end of the support portion 42A, the hinge portion 42B is pivotally connected to the rear end of the bridge 41, the head and tail ends of the damping shock absorber 43 are pivotally connected to the front end of the bridge 41 and the front end of the support portion 42A, respectively, and when the support portion 42A is pressed downward, the damping shock absorber 43 is compressed to achieve pressure buffering, thereby absorbing energy.

As shown in fig. 5 and 6, the driving mechanism 20 includes a speed reducer 21 and a driving motor 22, the speed reducer 21 is in transmission connection with the differential 112 of the driving axle 11, the driving motor 22 is pivoted with the disturbing hinge 42 through a pivoting shaft 221 and is in transmission connection with the speed reducer 21, so that the driving motor 22 is vertically arranged above the driving axle 11, the speed reducer 21 drives the differential 112 to work, and then the differential 112 drives the road wheel 12 to move through two half shafts 113.

The bottom of the support plate 30 is pivotally connected to a support portion 42A of the disturbing hinge 42, and can swing left and right relative to the traveling direction of the traveling mechanism 10 and contact the support portion 42A, and the support portion 42A can be supported by the edge of the support portion 42A when swinging left and right, so as to ensure that the pressure applied to the support plate 30 can be absorbed by the damping shock absorber 43.

In this embodiment, the support plate 30 is connected to the vehicle body through a steering mechanism 50 for supporting the weight of the vehicle body and the load of the vehicle body. The utility model discloses when the walking, because the unequal factor in ground, when receiving with steering wheel walking direction vertically tangential force, and the setting of damping bumper shock absorber for the steering wheel is when the uneven walking in ground, and the damping bumper shock absorber is compressed behind the bearing plate 30 atress, relies on the extension or the compression absorption steering wheel vibration energy of damping bumper shock absorber, and avoid or reduce other parts of steering wheel receive with the influence of steering wheel walking direction vertically tangential force.

As shown in fig. 2, the steering mechanism 50 includes a slewing bearing 51 and a steering motor 52, the slewing bearing 51 is mounted on the support plate 30, the slewing bearing 51 includes an outer ring gear 511 and an inner ring 512 coaxially disposed with the outer ring gear 511, the outer ring gear 511 is rotatably fitted over the inner ring 12, and the steering motor 52 is engaged with the outer ring gear 512 of the slewing bearing 51 through a gear 521.

Specifically, the bridge member 41 includes two bridge plates 411 and two fixing posts 412 connected between the two bridge plates 411, and the middle portions of the two bridge plates 411 are fixed to the outside of the transaxle 11.

The disturbance hinge 42 comprises two disturbance plates 421 and two pivot parts 422, each disturbance plate 421 comprises a support plate body 421A and a hinge plate body 421B extending downwards from the rear end of the support plate body 421A, the two pivot parts 422 are connected between the two support plate bodies 421A, the support part 42A is formed by the two support plate bodies 321A and the two pivot parts 422, the hinge part 42B is formed by the two hinge plate bodies 421, the two hinge plate bodies 421B are pivoted at the rear ends of the two bridge plates 411 through the disturbance shaft 423, and the head and tail ends of the damping shock absorber 43 are pivoted at the front ends of the two bridge plates 411 and the front ends of the two support plate bodies 421A through the pivot shaft 424.

Two pivoting plates 31 corresponding to the pivoting pieces 422 are disposed at the bottom of the supporting plate 30, and each pivoting plate 31 is pivotally connected to the pivoting piece 422 through a horizontal disturbing shaft 32, so that the supporting plate 30 can swing left and right around the horizontal disturbing shaft 32. Through the effect of horizontal disturbance axle, bearing plate 30 can swing left and right in the walking direction, when receiving the influence of the uneven factor in ground, even the condition that one is high one low appears in two walking wheel walking in-process, bearing plate 30 has sufficient surplus to swing left and right, and bearing plate 30 can also be by the energy-absorbing device energy-absorbing when swinging left and right extreme position, when guaranteeing that two walking wheels 12 can balanced contact ground, can also prevent that the slope of two walking wheels from directly driving bearing plate 30 slopes to avoid appearing the problem that the load emptys.

It should be noted that, in order to increase the stability of the support plate 30 in the left and right swaying, a damping washer 321 is disposed between the horizontal disturbance shaft 32 and the pivot 422, and the damping washer 321 may be made of rubber or other material with good damping property.

In the middle of this embodiment, driving motor 22 sets up between two disturbance boards 421, driving motor 22's outside is passed through the pin joint axle and is disturbed board 421 pin joint among them, in order to realize the utility model discloses a driving motor 22 immediately establishes the top of transaxle 11, the horizontal volume of relative reduction helm, the walking turns to the flexibility, and the walking wheel more can adapt to the topography that has obstacles such as step, boss.

The utility model discloses a damping shock absorber can be damping spring, hydraulic shock absorber and shock attenuation elastomeric element etc.. The support plate can extend or compress the shock absorber when moving up and down or swinging left and right, or extend or compress the same damping shock absorber when moving up and down or swinging left and right.

In this embodiment, the damping shock absorber 43 includes a sleeve 431, a movable rod 432 with one end movably inserted into the sleeve 431, a stopping ring 433 fixed on the movable rod 432, and a spring 434 sleeved on the movable rod 432 and located between the stopping ring 433 and the sleeve 431, the other end of the movable rod 432 is provided with a shaft sleeve 435, and the bottom end of the sleeve 431 is provided with a shaft sleeve 435, so as to facilitate the two ends of the damping shock absorber 43 to be pivoted at the front ends of the two bridge plates 411 and the front ends of the two support plate bodies 421A through a pivoting shaft.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, reference to the description of the terms "preferred embodiment," "yet another embodiment," "other embodiments," or "specific examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.

Claims (9)

1. The utility model provides a vertical helm of double round, includes running gear, bearing plate and energy-absorbing device, wherein, running gear includes transaxle and two walking wheels, two walking wheels are installed the both ends of transaxle are installed by the transaxle drives two walking wheels walk its characterized in that: the supporting plate is installed on the drive axle through the energy absorption device, and the supporting plate can swing left and right or incline forwards and backwards relative to the walking direction of the walking mechanism.

2. The steering wheel of claim 1, wherein the energy absorber comprises a bridge, a disturbance hinge and at least one damping shock absorber, the bridge is transversely fixed at the outer part of the driving axle at the middle part, the disturbance hinge has a support part and a hinge part extending downward from the rear end of the support part, the hinge part is pivoted with the rear end of the bridge, the damping shock absorber is pivoted with the front end of the bridge and the front end of the support part at the head and tail ends, respectively, and the bottom of the support plate is pivoted on the support part of the disturbance hinge and can swing left and right relative to the walking direction of the walking mechanism and contact the support part.

3. The vertical rudder wheel with two wheels as claimed in claim 2, wherein the bridge member includes two bridge plates and two fixing posts connected between the two bridge plates, and the middle parts of the two bridge plates are fixed to the outside of the driving axle.

4. The vertical steering wheel with two wheels as claimed in claim 3, wherein the disturbance hinge comprises two disturbance plates and two pivot members, each disturbance plate comprises a support plate and a hinge plate extending downward from the rear end of the support plate, the two pivot members are connected between the two support plates, the support portion is defined by the two support plates and the two pivot members, the hinge portion is defined by the two hinge plates, the two hinge plates are pivotally connected to the rear ends of the two bridge plates through the disturbance shaft, and the damping shock absorber is pivotally connected to the front ends of the two bridge plates and the front ends of the two support plates through the pivot shafts.

5. The vertical steering wheel with two wheels as claimed in claim 4, wherein the bottom of the support plate is provided with two pivoting plates corresponding to the pivot, and each pivoting plate is pivoted to the pivot by a horizontal disturbing shaft.

6. A two-wheeled upright rudder wheel as claimed in claim 5 wherein a damping washer is provided between the horizontal perturbation shaft and the pivot.

7. The vertical steering wheel with two wheels as claimed in claim 2, further comprising a driving mechanism, wherein the driving mechanism comprises a speed reducer and a driving motor, the speed reducer is in transmission connection with the driving axle, and the driving motor is pivoted with the disturbing hinge and in transmission connection with the speed reducer.

8. The dual-wheel vertical steering wheel according to claim 1, wherein the dual-wheel vertical steering wheel further comprises a steering mechanism, the steering mechanism comprises a slewing bearing and a steering motor, the slewing bearing is mounted on the support plate, the slewing bearing comprises an outer gear ring and an inner ring coaxially arranged with the outer gear ring, the outer gear ring is rotatably sleeved outside the inner ring, and the steering motor is engaged with the outer gear ring of the slewing bearing through a gear.

9. The vertical steering wheel with two wheels as claimed in claim 2, wherein the damping shock absorber comprises a sleeve, a movable rod with one end movably inserted into the sleeve, a stop ring fixed on the movable rod, and a spring sleeved on the movable rod and located between the stop ring and the sleeve, the other end of the movable rod is provided with a shaft sleeve, and the bottom end of the sleeve is provided with a shaft sleeve.

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