Large-torque flexible sealed transmission double-wheel horizontal driving wheel

Abstract

The invention belongs to the field of driving wheels, and particularly relates to a large-torque flexible sealing type transmission double-wheel horizontal driving wheel which comprises a driving table, a gear table is arranged on one side of the driving table, and a sealing cover is arranged on the upper portion of a combined whole of the driving table and the gear table. The steering mechanism comprises a steering motor installed on the driving table, the output end of the steering motor is connected with a steering output gear, the steering output gear is in meshing transmission with a steering transmission gear, and the steering transmission gear is in meshing transmission with a steering main gear arranged in the middle of the gear table. The steering mechanism and the driving mechanism are integrated together, and the driving wheel adopts a double-wheel horizontal design, so that on one hand, the problem of space occupation of the driving wheel is solved, the driving wheel can advance and steer conveniently due to a compact structure, and the steering mechanism and the driving mechanism can be synchronously carried out to improve the smoothness of the driving wheel in the advancing process; the torque of the driving wheel can be increased, and all the driving structures can rotate in the same direction.

Description

Technical Field

[0001] The invention relates to the field of driving wheels, and in particular to a large-torque flexible sealed transmission double-wheel horizontal driving wheel. Background Art

[0002] As a type of mobile robot, AGV (Automated Guided Vehicle) plays a key role in modern industrial logistics systems. Its driving wheels, as the power source for AGV movement, are crucial to the performance and stability of AGV.

[0003] The prior art has the following problems:

[0004] 1. The traditional driving wheel is equipped with an auxiliary control harness cable connection. During the driving process, the cable is easily entangled in the transmission structure, causing damage to the driving wheel;

[0005] 2. When the driving wheel is in use, the steering mechanism and the driving mechanism are separately arranged, the overall space occupied by the driving wheel is large, and the torque output is unstable, which is insufficient. Summary of the invention

[0006] (I) Purpose of the invention

[0007] In order to solve the technical problems existing in the background technology, the present invention proposes a large-torque flexible sealed transmission double-wheel horizontal driving wheel, which has the characteristics of compact structure, balanced transmission and stable large torque output.

[0008] (II) Technical solution

[0009] In order to solve the above technical problems, the present invention provides a large torque flexible sealed transmission double-wheel horizontal driving wheel, comprising a driving platform, a gear platform is arranged on one side of the driving platform, and a cover is arranged on the upper part of the combination of the driving platform and the gear platform;

[0010] The steering mechanism comprises a steering motor mounted on the driving platform, the output end of the steering motor is connected to a steering output gear, the steering output gear is meshed with a steering transmission gear, the steering transmission gear is meshed with a steering main gear arranged in the middle of the gear platform, a steering platform is mounted at the lower part of the steering main gear, and a raised suspension is symmetrically formed at the lower part of the steering platform;

[0011] The two suspensions are respectively connected to the axle platform through limiting members, and the axle platform is a hollow structure and is coaxial with the gear platform;

[0012] The driving mechanism comprises a driving motor mounted on the driving platform, the output end of the driving motor is connected to a rotatable driving gear, a power shaft penetrating the steering main gear is arranged in the middle of the gear platform, and the driving gear and the power shaft are meshed and transmitted through a transmission gear set;

[0013] The transmission mechanism includes a transmission shaft that cooperates with the power shaft. One end of the transmission shaft that penetrates into the inner cavity of the wheel shaft platform is connected to an axial bevel gear. The axial bevel gear is meshed with the radial bevel gear for transmission. A main gear set and an auxiliary gear set are respectively arranged on both sides of the radial bevel gear. The two are respectively connected to the inner wheel frame through the wheel shaft frame. The outer part of the inner wheel frame is provided with an outer tire.

[0014] Preferably, the axle stand is installed between the two suspensions, the axle stand rotates synchronously with the steering platform, and the inner wheel frame rotates at the same angle.

[0015] Preferably, the transmission gear set arranged between the driving gear and the power shaft includes a first transmission gear, a second transmission gear and a third transmission gear that are meshed with each other, the three transmission gears have the same specifications and are obliquely installed on the cover.

[0016] Preferably, the power shaft and the transmission shaft are on the same axis, the power shaft is located above the transmission shaft, a symmetrical coupling structure is arranged at the combination of the two, and a bearing sealing structure is sleeved on the outside near the steering main gear and near the axle platform.

[0017] Preferably, the transmission shaft is located in the middle of the wheel shaft platform, the axial bevel gear is controlled by the transmission shaft to make axial rotation, and the axial bevel gear and the radial bevel gear are meshed and transmitted, thereby driving the radial bevel gear to rotate radially.

[0018] Preferably, the main gear set is a planetary gear set, the fixed gear in the middle rotates synchronously with the radial bevel gear, a gear ring is arranged on the outer periphery of the fixed gear, and a plurality of relatively meshing moving gears are arranged between the fixed gear and the gear ring.

[0019] Preferably, the wheel shaft frame includes a bearing frame, a bearing and a mounting ring, wherein the bearing frame is connected to the planetary gear set through a gear rod, a bearing is sleeved on the outside of the bearing frame, and the other end of the bearing is connected to a mounting ring with a bolt hole.

[0020] Preferably, the auxiliary gear set includes a coupling installed in the middle of the radial bevel gear, wherein the coupling is designed with end gear slots, and several couplings are driven by gear meshing until the end coupling is adapted to the same main gear set and the wheel shaft frame.

[0021] Preferably, the cross-sectional surfaces of the inner wheel frame and the outer wheel frame are of an "I" structure, and both are connected to the radial bevel gear and the auxiliary gear set by the same installation method.

[0022] Preferably, a sealing mechanism is provided in the gap between the wheel axle platform and the main gear set, and the sealing structure between the sealing mechanism and other transmission parts are both flexible sealing structures.

[0023] The above-mentioned technical scheme of the present invention has the following beneficial technical effects: the steering mechanism and the driving mechanism are integrated together, and the driving wheel adopts a double-wheel horizontal design, which solves the problem of space occupation of the driving wheel on the one hand, and the compact structure facilitates the movement and steering of the driving wheel. The two can be carried out synchronously to improve the smoothness of the driving wheel during the movement process. Through the design of a multi-stage transmission structure, the torque of the driving wheel can be increased, and each driving structure can rotate in the same direction for easy control. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of the present invention;

[0025] Figure 2 It is a schematic diagram of the internal structure of the gear stage of the present invention;

[0026] Figure 3 It is a schematic diagram of the driving wheel steering structure of the present invention;

[0027] Figure 4 It is a schematic diagram of the transmission mechanism structure of the present invention;

[0028] Figure 5 It is a schematic diagram of the internal structure of the driving wheel of the present invention;

[0029] Figure 6 It is a cross-sectional structural schematic diagram of the present invention.

[0030] Reference numerals:

[0031] 11. Driving platform; 12. Gear platform; 13. Cover; 21. Steering motor; 22. Steering output gear; 23. Steering transmission gear; 24. Steering main gear; 25. Steering platform; 26. Suspension; 3. Axle platform; 41. Driving motor; 42. Driving gear; 43. First transmission gear; 44. Second transmission gear; 45. Third transmission gear; 46. Power shaft; 51. Transmission shaft; 52. Axial bevel gear; 53. Radial bevel gear; 54. Main gear set; 55. Wheel shaft frame; 56. Auxiliary gear set; 6. Sealing mechanism; 71. Inner wheel frame; 72. Outer tire. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings. It should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, the description of well-known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present invention.

[0033] like Figure 1-6 As shown, a large torque flexible sealed transmission double-wheel horizontal driving wheel proposed by the present invention comprises a driving platform 11, a gear platform 12 is arranged on one side of the driving platform 11, and a cover 13 is arranged on the upper part of the combination of the driving platform 11 and the gear platform 12;

[0034] The steering mechanism includes a steering motor 21 mounted on the driving platform 11, the output end of the steering motor 21 is connected to a steering output gear 22, the steering output gear 22 is meshed with a steering transmission gear 23, the steering transmission gear 23 is meshed with a steering main gear 24 arranged in the middle of the gear platform 12, a steering platform 25 is mounted below the steering main gear 24, and a raised suspension 26 is symmetrically formed at the bottom of the steering platform 25;

[0035] The two suspensions 26 are connected to the axle platform 3 through stoppers respectively. The axle platform 3 is a hollow structure and is coaxial with the gear platform 12.

[0036] The driving mechanism includes a driving motor 41 mounted on the driving platform 11, the output end of the driving motor 41 is connected to a rotatable driving gear 42, a power shaft 46 penetrating the steering main gear 24 is provided in the middle of the gear platform 12, and the driving gear 42 and the power shaft 46 are meshed and transmitted through a transmission gear set;

[0037] The transmission mechanism includes a transmission shaft 51 that cooperates with the power shaft 46. One end of the transmission shaft 51 that penetrates into the inner cavity of the wheel shaft platform 3 is connected to an axial bevel gear 52. The axial bevel gear 52 is meshed with a radial bevel gear 53 for transmission. A main gear set 54 and an auxiliary gear set 56 are respectively arranged on both sides of the radial bevel gear 53. The two are respectively connected to the inner wheel frame 71 through the wheel shaft frame 55. The outer part of the inner wheel frame 71 is provided with an outer tire 72.

[0038] It should be noted that the axle platform 3 rotates synchronously with the steering platform 25, and the inner wheel frame 71 rotates at the same angle. In actual use, the steering motor 21 drives the steering output gear 22 to rotate, and the steering main gear 24 is driven to rotate in the gear platform 12 under the meshing transmission of the steering transmission gear 23. The number of teeth of the three gears gradually increases. The purpose is to drive the steering platform 25 connected to the steering main gear 24 to rotate at a large angle with the slight rotation of the steering output gear 22 at the output end of the steering motor 21. Because the upper part of the axle platform 3 is installed between the two suspensions 26 at the bottom of the steering platform 25, the steering of the axle platform 3 and the wheel part is controlled.

[0039] The steering platform 25 can rotate 360° in the gear platform 12. When performing steering adjustment, it can rotate in a single direction as a whole. Compared with the traditional forward and reverse rotation, it causes less damage to the gears and the drive mechanism, and prevents the gears from being damaged by friction when switching between forward and reverse rotation.

[0040] As a working example of the driving mechanism: the driving gear 42 connected to the output end of the driving motor 41 rotates, and the power for the rotation of the power shaft 46 is provided through the transmission gear set. The transmission gear set includes a first transmission gear 43, a second transmission gear 44 and a third transmission gear 45 that are meshed with each other. The three have the same specifications and are obliquely installed on the cover 13. When rotating, the power output by the driving motor 41 is smoothly transmitted to the power shaft 46 for a single power transmission. The energy loss in the transmission process is low, and the external force output after transmission is smoother.

[0041] As a working example of the transmission mechanism: since the power shaft 46 and the transmission shaft 51 are at the same axis, the power shaft 46 drives the transmission shaft 51 to rotate, providing power for the lower axial bevel gear 52 to rotate.

[0042] Among them, the power shaft 46 is located above the transmission shaft 51, and a symmetrical coupling structure is arranged at the combination of the two, such as a plum blossom coupling, which can compensate for installation deviation and vibration impact when power is transmitted, and bearing sealing structures are sleeved on the outside near the steering main gear 24 and the axle platform 3. The purpose of setting the bearing sealing structure is to ensure the stable rotation of both the power shaft 46 and the transmission shaft 51, and the edge of the bearing sealing structure is a flexible structure, allowing a certain angle of deflection.

[0043] like Figure 4 As shown, the transmission shaft 51 is located in the middle of the wheel shaft platform 3, and the axial bevel gear 52 is controlled by the transmission shaft 51 to make axial rotation. The axial bevel gear 52 and the radial bevel gear 53 are meshed and transmitted, thereby driving the radial bevel gear 53 to rotate radially.

[0044] In one embodiment, the power for the rotation of the driving wheel comes from the driving motor 41, which transmits the power to the power shaft 46 and the transmission shaft 51 at one time through the transmission gear set, and drives the replacement of the output power's action object through the meshing transmission between the axial bevel gear 52 and the radial bevel gear 53, and acts on the main gear set 54 and the auxiliary gear set on the same axis as the driving wheel.

[0045] Among them, the main gear set 54 is a planetary gear set, the fixed gear in the middle rotates synchronously with the radial bevel gear 53, a gear ring is set on the outer periphery of the fixed gear, and a number of relatively meshing moving gears are set between the fixed gear and the gear ring. Among them, the fixed gear is directly controlled by the radial bevel gear 53 to make an initial rotation, and under the meshing transmission of the outer teeth, it drives the moving gear on its periphery to rotate, and at the same time, the gear ring on its periphery starts to revolve, and the power is output to the wheel shaft frame 55 connected to each moving gear through the distributed transmission load of the moving gear, and the torque is increased by the planetary gear set to provide the driving wheel power.

[0046] The auxiliary gear set 56 includes a coupling installed in the middle of the radial bevel gear 53, wherein the coupling is designed with end gear slots, and several couplings are driven by gear meshing until the end coupling is adapted to the same main gear set 54 and the wheel shaft frame 55.

[0047] It should be noted that: since the driving wheel is a double-wheel design, the main gear set 54 is close to the radial bevel gear 53, and correspondingly, the auxiliary gear set 56 is far away from the radial bevel gear 53. In order to ensure the balance of the two wheels during the travel process, the radial bevel gear 53 and the auxiliary gear set 56 are used to compensate for the power when they cooperate. A gear structure is arranged on the coupling, and the gears are meshed through the multi-stage layered coupling to transmit the power output by the radial bevel gear 53 to the auxiliary gear set 56 with the same amplitude. The auxiliary gear set 56 and the main gear set 54 are also planetary gear sets, which are used to provide rotational power for the other tire.

[0048] It can be understood that the wheel shaft frame 55 includes a bearing frame, a bearing and a mounting ring, wherein the bearing frame is connected to the planetary gear set through a gear rod, a bearing is sleeved on the outside of the bearing frame, and the other end of the bearing is connected to a mounting ring with a bolt hole. The wheel shaft frame 55 is controlled by the driving rotation of each gear rod on the planetary gear set. The inner wheel frame 71 is installed in parallel on the two wheel shaft frames 55, and the outer tire 72 of the driving wheel can be installed.

[0049] The cross-sectional surfaces of the inner wheel frame 71 and the outer wheel frame 72 are an “I” structure, and both are connected to the radial bevel gear 53 and the auxiliary gear set 56 in the same installation manner.

[0050] In one embodiment, a sealing mechanism 6 is provided in the gap between the axle platform 3 and the main gear set 54. The purpose of designing the sealing mechanism 6 is to separate the power source and the power output of the main gear set 54, and to isolate the problems of dust infiltration and lubricating oil infiltration at both ends while ensuring normal transmission at both ends of the main gear set 54, thereby ensuring the smooth operation of the structures at both ends.

[0051] In an optional embodiment, the sealing structure between the sealing mechanism 6 and other transmission parts is a flexible sealing structure. The flexible sealing structure adopts a multi-layer sealing structure of a sealing ring, a sealing ring and a sealing filler. It has elastic and movable properties when combined, and can absorb vibration and displacement at the transmission structure, thereby alleviating external stress. During the movement of the driving wheel, it can still maintain stable operation under external vibration.

[0052] It should be understood that the above specific embodiments of the present invention are only used to illustrate or explain the principles of the present invention, and do not constitute a limitation of the present invention. Therefore, any modifications, equivalent substitutions, improvements, etc. made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. In addition, the appended claims of the present invention are intended to cover all changes and modifications that fall within the scope and boundaries of the appended claims, or the equivalent forms of such scope and boundaries.

Claims

1. A large torque flexible sealed transmission double wheel horizontal drive wheel, characterized in that: It comprises a driving platform (11), a gear platform (12) is arranged on one side of the driving platform (11), and a cover (13) is arranged on the upper part of the combined whole of the driving platform (11) and the gear platform (12); The steering mechanism comprises a steering motor (21) mounted on the driving platform (11); the output end of the steering motor (21) is connected to a steering output gear (22); the steering output gear (22) is meshed with a steering transmission gear (23) for transmission; the steering transmission gear (23) is meshed with a steering main gear (24) arranged in the middle of the gear platform (12) for transmission; a steering platform (25) is mounted below the steering main gear (24); and a raised suspension (26) is symmetrically formed below the steering platform (25); The two suspensions (26) are respectively connected to the axle platform (3) through limiting members; the axle platform (3) is a hollow structure and is coaxial with the gear platform (12); The driving mechanism comprises a driving motor (41) mounted on the driving platform (11); the output end of the driving motor (41) is connected to a rotatable driving gear (42); a power shaft (46) penetrating the steering main gear (24) is arranged in the middle of the gear platform (12); the driving gear (42) and the power shaft (46) are meshed and transmitted via a transmission gear set; The transmission mechanism comprises a transmission shaft (51) matched with the power shaft (46); one end of the transmission shaft (51) penetrating into the inner cavity of the wheel axle platform (3) is connected with an axial bevel gear (52); the axial bevel gear (52) is meshed with a radial bevel gear (53) for transmission; a main gear set (54) and an auxiliary gear set (56) are respectively arranged on both sides of the radial bevel gear (53); the two are respectively connected to the inner wheel frame (71) through a wheel axle frame (55); and an outer tire (72) is sleeved on the outer side of the inner wheel frame (71).

2. A large torque flexible sealed transmission double wheel horizontal driving wheel according to claim 1, characterized in that: The axle platform (3) is installed between the two suspensions (26); the axle platform (3) rotates synchronously with the steering platform (25); and the inner wheel frame (71) rotates at the same angle.

3. The large torque flexible sealed transmission double-wheel horizontal driving wheel according to claim 1, characterized in that: The transmission gear set arranged between the driving gear (42) and the power shaft (46) comprises a first transmission gear (43), a second transmission gear (44) and a third transmission gear (45) which are meshed with each other, have the same specifications and are obliquely mounted on the cover (13).

4. The large torque flexible sealed transmission double-wheel horizontal driving wheel according to claim 1, characterized in that: The power shaft (46) and the transmission shaft (51) are located at the same axis, the power shaft (46) is located above the transmission shaft (51), a symmetrical coupling structure is arranged at the combination of the two, and a bearing sealing structure is sleeved on the outside close to the steering main gear (24) and close to the wheel shaft platform (3).

5. The large torque flexible sealed transmission double-wheel horizontal driving wheel according to claim 1, characterized in that: The transmission shaft (51) is located in the middle of the wheel shaft platform (3), and the axial bevel gear (52) is controlled by the transmission shaft (51) to rotate axially. The axial bevel gear (52) and the radial bevel gear (53) are meshed and driven, thereby driving the radial bevel gear (53) to rotate radially.

6. The large torque flexible sealed transmission double-wheel horizontal driving wheel according to claim 1, characterized in that: The main gear set (54) is a planetary gear set, the fixed gear in the middle rotates synchronously with the radial bevel gear (53), a gear ring is arranged on the outer periphery of the fixed gear, and a plurality of relatively meshing moving gears are arranged between the fixed gear and the gear ring.

7. A large torque flexible sealed transmission double wheel horizontal driving wheel according to claim 6, characterized in that: The wheel shaft frame (55) comprises a bearing frame, a bearing and a mounting ring, wherein the bearing frame is connected to the planetary gear set through a gear rod, a bearing is sleeved on the outside of the bearing frame, and the other end of the bearing is connected to a mounting ring with a bolt hole.

8. The large torque flexible sealed transmission double-wheel horizontal driving wheel according to claim 1, characterized in that: The auxiliary gear set (56) includes a coupling installed in the middle of the radial bevel gear (53), wherein the coupling is designed with end gear slots, and a plurality of couplings are driven by gear meshing until the coupling at the end is adapted to the same main gear set (54) and the wheel shaft frame (55).

9. The large torque flexible sealed transmission double-wheel horizontal driving wheel according to claim 1, characterized in that: The cross-sectional surfaces of the inner wheel frame (71) and the outer wheel frame (72) are of an "I" structure, and both are connected to the radial bevel gear (53) and the auxiliary gear set (56) in the same installation manner.

10. The large torque flexible sealed transmission double-wheel horizontal driving wheel according to claim 1, characterized in that: A sealing mechanism (6) is provided in the gap between the wheel shaft platform (3) and the main gear set (54), and the sealing structures between the sealing mechanism (6) and other transmission parts are all flexible sealing structures.

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