Transmission steering unit, four-wheel drive transmission steering device and vehicle transmission steering method

Abstract

The invention relates to a transmission steering unit, a four-wheel drive transmission steering device and a vehicle transmission steering method.The transmission steering unit comprises gear boxes arranged at intervals in the Y direction, a rotating shaft extends out of each gear box towards the two sides in the X direction, and walking wheels are installed at the ends of the rotating shafts through the transmission steering units correspondingly; a chain transmission assembly is jointly installed between the worms in the two transmission steering units located on the two sides of the same gearbox. Therefore, the gear box and the chain transmission assembly are in power connection with the four walking wheels through the transmission steering unit, four-wheel-drive running of walking and steering is achieved, right-angle steering without turning radius can be achieved through deflection of the wheel seat, the actual use flexibility is greatly improved, and the four-wheel-drive walking wheel is particularly suitable for small-space use occasions.

Description

Technical Field

[0001] The present invention relates to the technical field of AGV trolleys, in particular to a transmission steering unit, a four-wheel drive transmission steering device and a vehicle transmission steering method. Background Art

[0002] The drive system is an important part of the vehicle and affects the driving quality of the vehicle.

[0003] The AGV (Automated Guided Vehicle) in the prior art usually adopts a two-wheel drive structure, in which the drive system consists of two driving wheels and one or more non-driving wheels. Usually, two motors drive the two wheels respectively, and the speed of the two driving wheels is controlled to achieve straight driving or differential turning. The cost is relatively high, and a large turning radius is required. The flexibility of use is poor, and it is especially not suitable for occasions with limited space. Summary of the invention

[0004] In order to solve the above problems, the present invention provides a transmission steering unit, a four-wheel drive transmission steering device and a vehicle transmission steering method with a reasonable structure, so as to realize four-wheel drive driving and steering, and realize right-angle steering without a turning radius, which greatly improves the actual use flexibility and is particularly suitable for use in small spaces.

[0005] The technical solution adopted by the present invention is as follows:

[0006] A transmission steering unit comprises a transmission seat and a wheel seat which are arranged laterally opposite to each other, a vertical shaft is installed through the transmission seat and the wheel seat up and down, the vertical shaft is equipped with a worm arranged along the Y direction through a worm gear meshing, and a horizontally arranged Z direction gear is mounted in the middle of the vertical shaft; a rotating shaft is installed horizontally through the vertical wall of the transmission seat, and an X direction gear 1 meshing with the Z direction gear is installed at the inner end of the rotating shaft; a wheel axle is installed horizontally through the vertical wall of the wheel seat, and an X direction gear 2 meshing with the Z direction gear is installed at the inner end of the wheel axle, and a traveling wheel is installed at the outer end of the wheel axle.

[0007] As a further improvement of the above technical solution:

[0008] The transmission seat and the wheel seat are both U-shaped structures, and the opening sides of the transmission seat and the wheel seat are arranged facing each other; the X-direction gear 1, the X-direction gear 2, and the Z-direction gear are all bevel gears.

[0009] The worm wheel is sleeved on the end of the vertical shaft, and the worm is supported on the transmission seat by a vertical plate and a support.

[0010] A four-wheel drive transmission steering device comprises gear boxes arranged at intervals along the Y direction, a single gear box extends a rotating shaft to both sides along the X direction, the ends of the rotating shaft are respectively installed with running wheels through the transmission steering units described in any one of claims 1 to 3; a chain transmission assembly is commonly installed between the worms in the two transmission steering units located on both sides of the same gear box.

[0011] As a further improvement of the above technical solution:

[0012] It also includes a transmission component 1, which includes two transmission sprockets that rotate synchronously in the same direction. The two transmission sprockets are respectively engaged with the chains of two groups of chain transmission components; one group of chain transmission components is driven by driving power 1 via the active sprocket.

[0013] The structure of the single-group chain transmission assembly is as follows: it includes a vertically arranged support plate, the end of the worm passes through the support plate and is equipped with a driven sprocket, and a chain is wound between the driven sprockets located on both sides of the same gear box.

[0014] A transmission assembly 2 is installed between the two gearboxes for power connection. The transmission assembly 2 includes transmission gears that rotate synchronously in the same direction. The transmission gears are meshed with the corresponding gearboxes to drive the rotating shafts on both sides of the two gearboxes to rotate synchronously in the same direction. One of the gearboxes is driven by driving power 2 via an active gear.

[0015] The structure of a single gearbox is as follows: it includes a box body, on which rotating shafts are respectively installed on two wall surfaces passing through the X direction, and X-direction gear threes are respectively installed on the inner ends of the rotating shafts on both sides, and large gears are respectively mounted on the single rotating shafts located on the outside of the box body; it also includes an intermediate gear that meshes with the X-direction gear three on both sides at the same time, and the large gears constitute the power connection between the gearboxes and between the gearboxes and the driving power.

[0016] The X-direction gear three, the intermediate gear and the large gear are all bevel gears.

[0017] A vehicle transmission steering method of the four-wheel drive transmission steering device comprises the following steps:

[0018] The second driving power drives the gear transmission in the gear box, and the rotating shaft outputs rotation; the rotating shaft drives the wheel shaft to rotate through the X-direction gear 1, the Z-direction gear, and the X-direction gear 2 that are meshed in sequence, and the walking wheel rotates to travel;

[0019] The driving power drives the chain drive assembly to transmit, the worm rotates to drive the vertical shaft to rotate, the wheel seat rotates with the vertical shaft, and the walking wheel deflects to turn.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] The present invention connects four traveling wheels through the power of the transmission steering unit by means of a gear box and a chain transmission assembly, thereby realizing four-wheel drive driving with walking and steering, and can also realize right-angle steering without a turning radius through the deflection of the wheel seat, which greatly improves the actual use flexibility and is particularly suitable for use in small spaces.

[0022] The present invention also includes the following advantages:

[0023] The driving power one is combined with the chain transmission assembly to transmit power to each transmission steering unit, driving each walking wheel to deflect synchronously to achieve steering, and the steering angle can be up to a right-angle turn; the driving power two is combined with the gear box to transmit power to each transmission steering unit, driving each walking wheel to rotate synchronously and simultaneously to achieve walking; the overall structure is simple, with a high degree of modularization, and the four-wheel drive that uses driving power to achieve walking and rotation respectively, not only effectively ensures the stability and reliability of driving, but also effectively reduces the cost of the mechanism and has good practicality. 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 structural diagram of the transmission steering unit of the present invention.

[0026] Figure 3 It is a schematic structural diagram of the chain transmission assembly of the present invention.

[0027] Figure 4 It is a schematic structural diagram of the gear box of the present invention.

[0028] Among them: 1. Gear box; 2. Transmission steering unit; 3. Travel wheel; 4. Chain transmission assembly; 5. Transmission assembly 1; 6. Transmission assembly 2; 7. Wheel seat; 8. Driving power 1; 9. Driving power 2;

[0029] 10. Box body; 11. Rotating shaft; 12. Large gear; 13. X-axis gear 3; 14. Intermediate gear;

[0030] 21. Transmission seat; 22. X-axis gear 1; 23. Z-axis gear; 24. X-axis gear 2; 25. Vertical shaft; 26. Worm wheel; 27. Worm; 28. Vertical plate; 29. ​​Support;

[0031] 31. Axle;

[0032] 40. support plate; 41. driven sprocket; 42. chain;

[0033] 51. Transmission sprocket; 61. Transmission gear; 81. Driving sprocket; 91. Driving gear. DETAILED DESCRIPTION

[0034] The specific implementation of the present invention will be described below in conjunction with the accompanying drawings.

[0035] like Figure 2 As shown, a transmission steering unit of the present embodiment comprises a transmission seat 21 and a wheel seat 7 which are arranged laterally opposite to each other, a vertical shaft 25 is installed through the transmission seat 21 and the wheel seat 7 from top to bottom, the vertical shaft 25 is meshed with a worm 27 arranged along the Y direction through a worm gear 26, and a horizontally arranged Z-direction gear 23 is mounted on the middle part of the vertical shaft 25; a rotating shaft 11 is installed through the vertical wall of the transmission seat 21 horizontally, and an X-direction gear 22 meshing with the Z-direction gear 23 is installed at the inner end of the rotating shaft 11; a wheel axle 31 is installed through the vertical wall of the wheel seat 7 horizontally, and an X-direction gear 24 meshing with the Z-direction gear 23 is installed at the inner end of the wheel axle 31, and a walking wheel 3 is installed at the outer end of the wheel axle 31.

[0036] In this embodiment, when the rotation is input by the rotating shaft 11, the X-direction gear 1 22 rotates, and the X-direction gear 2 24 is driven to rotate through the Z-direction gear 23, so that the wheel axle 31 drives the walking wheel 3 to rotate and walk; during normal straight-line walking, the vertical shaft 25, the worm wheel 26, and the worm 27 remain stationary without power input.

[0037] When the worm 27 inputs rotation, the vertical shaft 25 is driven to rotate through the engagement with the worm wheel 26, and the wheel seat 7 deflects with the rotation of the vertical shaft 25. The wheel seat 7 drives the wheel axle 31 and the traveling wheel 3 to deflect synchronously, and the X-direction gear 24 meshes and rotates relative to the Z-direction gear 23 in the horizontal plane, thereby realizing the deflection of the traveling direction of the traveling wheel 3 and realizing steering; when the rotating shaft 11 does not rotate, that is, the traveling wheel 3 is in a non-traveling state, the vehicle can be turned in situ through the rotation input of the worm 27, such as a right-angle turn to the left or right, etc., which is particularly suitable for flexible use of vehicles in small spaces.

[0038] In this embodiment, the transmission seat 21 serves as a structural support for the transmission steering unit 2. In actual use, the transmission seat 21 can be installed on a chassis, a frame or other structures to achieve structural support according to actual needs.

[0039] The transmission seat 21 and the wheel seat 7 are both U-shaped structures, and the opening sides of the transmission seat 21 and the wheel seat 7 are arranged facing each other; thereby effectively ensuring the power input through the worm 27, driving the wheel seat 7 to swing left or right relative to the transmission seat 21, and the overall structure is smooth.

[0040] The X-direction gear 1 22, the X-direction gear 2 24, and the Z-direction gear 23 are all bevel gears, which effectively ensure the precision and accuracy of the transmission.

[0041] In this embodiment, the Z-direction gear 23 rotatably installed on the vertical shaft 25 serves as the center of the transmission steering unit 2. It can transmit the rotational power input by the rotating shaft 11 to the wheel axle 31 to realize the movement of the walking wheel 3, and when the rotational power is input through the worm gear 27 to drive the wheel seat 7 to deflect, the X-direction gear 24 rotates along the Z-direction gear 23 in the horizontal plane to ensure the reliability and stability of the deflection of the wheel seat 7.

[0042] The worm wheel 26 is mounted on the end of the vertical shaft 25, and the worm 27 is supported on the transmission seat 21 by the vertical plate 28 and the support 29, which effectively ensures that the horizontal rotational power is converted into the rotation of the vertical shaft 25 in the vertical direction, ensuring the reliability of power transmission.

[0043] like Figure 1 As shown, this embodiment also proposes a four-wheel drive transmission steering device, including gear boxes 1 arranged at intervals along the Y direction, a single gear box 1 extends a rotating shaft 11 to both sides along the X direction, and the ends of the rotating shaft 11 are respectively installed with walking wheels 3 through the transmission steering unit 2; a chain transmission assembly 4 is commonly installed between the worm gears 27 in the two transmission steering units 2 located on both sides of the same gear box 1.

[0044] In this embodiment, the gear box 1 and the chain drive assembly 4 are connected to the four walking wheels 3 through the transmission steering unit 2 to achieve four-wheel drive travel and steering. The deflection of the wheel seat 7 can also achieve on-the-spot steering without a turning radius.

[0045] It also includes a transmission component 5, which includes two transmission sprockets 51 rotating synchronously in the same direction, and the two transmission sprockets 51 are respectively engaged with the chains 42 of two groups of chain transmission components 4; one group of chain transmission components 4 is driven by a driving power 8 via an active sprocket 81; thereby, the deflection and steering of the walking wheels 3 at the ends of the four transmission steering units 2 is simultaneously driven by a driving power 8 via the transmission component 5 and the chain transmission component 4.

[0046] like Figure 3 As shown, the structure of the single-group chain transmission assembly 4 is: it includes a vertically arranged support plate 40, the end of the worm 27 passes through the support plate 40 and is installed with a driven sprocket 41, and a chain 42 is wound between the driven sprockets 41 located on both sides of the same gear box 1.

[0047] In this embodiment, a single group of chain transmission components 4 drives the driven sprockets 41 on both sides of the same gear box 1 to rotate simultaneously, and inputs rotational power to the worm 27 in the transmission steering unit 2 located on both sides of the same gear box 1; and the transmission component 1 5 is used as the synchronous power transmission between the two groups of chain transmission components 4, so that when one group of chain transmission components 4 is driven by the driving power 1 8 for transmission, the other group of chain transmission components 4 can be driven synchronously through the transmission component 1 5 to realize the synchronous and simultaneous rotation of the four-wheel drive.

[0048] In this embodiment, the support plate 40 serves as a structural support for the chain drive assembly 4. The support plate 40 can be installed on structural parts such as a chassis and a frame according to actual vehicle requirements to ensure reliable structural support.

[0049] A transmission assembly 26 is installed between the two gear boxes 1 for power connection. The transmission assembly 26 includes a transmission gear 61 that rotates synchronously in the same direction. The transmission gear 61 is meshed with the corresponding gear box 1 to drive the rotating shafts 11 on both sides of the two gear boxes 1 to rotate synchronously in the same direction. One of the gear boxes 1 is driven by the driving power 29 via the driving gear 91. Thus, one driving power 29 is combined with the two gear boxes 1 via the transmission assembly 26 to simultaneously drive the walking wheels 3 at the ends of the four transmission steering units 2 to rotate and walk.

[0050] like Figure 4 As shown, the structure of a single gearbox 1 is as follows: it includes a box body 10, and the box body 10 is respectively provided with a rotating shaft 11 penetrating through two wall surfaces along the X direction, and the inner ends of the rotating shafts 11 on both sides are respectively provided with X-direction gear three 13, and a large gear 12 is respectively mounted on the single rotating shaft 11 located on the outer side of the box body 10; it also includes an intermediate gear 14 that is meshed with the X-direction gear three 13 on both sides, and the large gear 12 constitutes the power connection between the gearboxes 1 and between the gearbox 1 and the driving power.

[0051] In this embodiment, a single gearbox 1 realizes the synchronous rotation of two X-direction gear threes 13 through the intermediate gear 14, and inputs rotational power to the X-direction gear one 22 in the transmission steering unit 2 on both sides through the rotating shafts 11 on both sides; the transmission component 2 6 serves as the synchronous power transmission between the two gearboxes 1, and when the X-direction gear three 13 in one of the gearboxes 1 rotates, it can drive the remaining X-direction gear threes 13 in the two gearboxes 1 to rotate synchronously, thereby realizing the synchronous and simultaneous rotation and walking of the four-wheel drive.

[0052] In this embodiment, the large gear 12 is fixedly mounted on the corresponding rotating shaft 11 and rotates synchronously; a large gear 12 in one of the gear boxes 1 is meshed with the active gear 91 at the output end of the driving power second 9, and the other large gear 12 in the gear box 1 is meshed with the transmission gear 61 in the transmission component second 6, thereby transmitting the rotational power to the large gear 12 in the other gear box 1 through the transmission component second 6, and finally driving the rotating shafts 11 in the two gear boxes 1 to rotate synchronously.

[0053] In this embodiment, the housing 10 serves as a structural support for the gearbox 1 and can be set to a frame-type structure, in which one set of opposite surfaces respectively penetrates the installation shaft 11, and an intermediate gear 14 is installed on one side of the other set of opposite surfaces, and the intermediate gear 14 drives the two rotating shafts 11 in the same gearbox 1 to rotate synchronously; of course, the housing 10 can also be set to other structures that can achieve synchronous transmission rotation of the two rotating shafts 11.

[0054] In actual use, the box body 10 can be installed on a chassis, a frame or other structures to achieve structural support according to actual vehicle requirements.

[0055] The X-direction gear 3 13 , the intermediate gear 14 , and the large gear 12 are all bevel gears, which effectively ensure the transmission reliability of the gearbox 1 .

[0056] In this embodiment, the transmission ratio of the driving gear 91, the large gear 12, the X-direction gear three 13, the intermediate gear 14 and other power transmission can also be set according to the actual speed increase and deceleration requirements, so as to output a suitable rotation speed to the walking wheel 3 via the driving power two 9.

[0057] In this embodiment, the rotating shafts 11 on both sides of the same gear box 1 can be arranged in the same straight line direction.

[0058] In this embodiment, the driving power 1 8 is combined with the chain transmission component 4 to transmit power to each transmission steering unit 2, driving each walking wheel 3 to deflect synchronously to achieve steering, and the steering angle can be up to a right-angle turn; the driving power 2 9 is combined with the gear box 1 to transmit power to each transmission steering unit 2, driving each walking wheel 3 to rotate synchronously and simultaneously to achieve walking; the overall structure is simple and highly modularized. The four-wheel drive that uses driving power to achieve walking and rotation respectively not only effectively ensures the stability and reliability of driving, but also effectively reduces the cost of the mechanism and has good practicality.

[0059] This embodiment also proposes a vehicle transmission steering method of a four-wheel drive transmission steering device, including the following walking and steering steps.

[0060] The power transmission for walking is as follows: the driving power 29 drives the gear transmission in the gear box 1, and the rotating shaft 11 outputs the rotation; the rotating shaft 11 drives the wheel shaft 31 to rotate through the X-direction gear 1 22, the Z-direction gear 23, and the X-direction gear 2 24 that are meshed in sequence, and the walking wheel 3 rotates to walk; specifically:

[0061] When the driving power 2 9 works, the driving gear 91 rotates, driving the large gear 12 in the corresponding gear box 1 to rotate. When the large gear 12 drives the corresponding rotating shaft 11 to rotate, the rotating shaft 11 on the opposite side is driven to rotate through the X-direction gear 3 13, the intermediate gear 14, and the X-direction gear 3 13, so that the rotating shafts 11 on both sides of the gear box 1 rotate synchronously; at the same time, the rotating shaft 11 on the opposite side drives the corresponding large gear 12 to rotate, and the transmission gear 61 rotates, and drives the large gear 12 in the other gear box 1 to rotate through the transmission component 2 6, and finally makes the four rotating shafts 11 on both sides of the two gear boxes 1 rotate synchronously; then, each rotating shaft 11 drives the corresponding walking wheel 3 to rotate through the corresponding transmission steering unit 2, so as to realize the synchronous drive walking of the four wheels.

[0062] The power transmission of steering is: the driving power 8 drives the chain drive assembly 4 to drive, the worm 27 rotates to drive the vertical shaft 25 to rotate, the wheel seat 7 rotates with the vertical shaft 25, and the walking wheel 3 deflects to turn; specifically:

[0063] When the driving power 8 works, the active sprocket 81 rotates, driving the chain 42 in the corresponding chain transmission component 4 to transmit the power, and the rotation of the driven sprockets 41 on both sides transmits the power to the worm 27 in the corresponding transmission steering unit 2; at the same time, the chain 42 drives the transmission sprocket 51 to rotate, and drives another group of chain transmission components 4 through the transmission component 5, and then drives the worm 27 in the other two transmission steering units 2 to rotate through the corresponding driven sprockets 41, so that the four wheel seats 7 are deflected synchronously, realizing the deflection and steering of the four wheels.

[0064] The present invention realizes four-wheel drive driving for walking and turning, realizes right-angle turning without turning radius, greatly improves the actual use flexibility, and is particularly suitable for use in small spaces.

[0065] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0066] The above description is an explanation of the present invention, not a limitation of the present invention. The scope of the present invention is defined in the claims. Any form of modification may be made within the scope of protection of the present invention.

Claims

1. A transmission steering unit, characterized in that: The invention comprises a transmission seat (21) and a wheel seat (7) arranged laterally opposite to each other, a vertical shaft (25) is installed through the transmission seat (21) and the wheel seat (7) up and down, the vertical shaft (25) is meshed with a worm (27) arranged along the Y direction through a worm gear (26), and a horizontally arranged Z direction gear (23) is sleeved on the middle of the vertical shaft (25); a rotating shaft (11) is installed through the vertical wall surface of the transmission seat (21) horizontally, and an X direction gear 1 (22) meshing with the Z direction gear (23) is installed at the inner end of the rotating shaft (11); a wheel shaft (31) is installed through the vertical wall surface of the wheel seat (7) horizontally, and an X direction gear 2 (24) meshing with the Z direction gear (23) is installed at the inner end of the wheel shaft (31), and a travel wheel (3) is installed at the outer end of the wheel shaft (31).

2. The transmission steering unit according to claim 1, characterized in that: The transmission seat (21) and the wheel seat (7) are both U-shaped structures, and the opening sides of the transmission seat (21) and the wheel seat (7) are arranged facing each other; the X-direction gear 1 (22), the X-direction gear 2 (24), and the Z-direction gear (23) are all bevel gears.

3. The transmission steering unit according to claim 1, characterized in that: The worm wheel (26) is sleeved on the end of the vertical shaft (25), and the worm (27) is supported on the transmission seat (21) by a vertical plate (28) and a support (29).

4. A four-wheel drive steering device, characterized in that: The invention comprises gear boxes (1) arranged at intervals along the Y direction, a single gear box (1) extending a rotating shaft (11) to both sides along the X direction, the ends of the rotating shaft (11) being respectively provided with running wheels (3) via a transmission steering unit (2) as claimed in any one of claims 1 to 3; a chain transmission assembly (4) being commonly provided between the worm gears (27) in two transmission steering units (2) located on both sides of the same gear box (1).

5. The four-wheel drive steering device according to claim 4, characterized in that: The invention also comprises a transmission assembly (5), wherein the transmission assembly (5) comprises two transmission sprockets (51) which rotate synchronously in the same direction, and the two transmission sprockets (51) are respectively meshed with chains (42) of two groups of chain transmission assemblies (4); one group of chain transmission assemblies (4) is driven by driving power (8) via a driving sprocket (81).

6. The four-wheel drive steering device according to claim 4 or 5, characterized in that: The structure of the single-group chain transmission assembly (4) is as follows: it includes a vertically arranged support plate (40), the end of the worm (27) passes through the support plate (40) and is equipped with a driven sprocket (41), and a chain (42) is wound between the driven sprockets (41) located on both sides of the same gear box (1).

7. The four-wheel drive steering device according to claim 4, characterized in that: A transmission assembly 2 (6) is installed between the two gear boxes (1) for power connection. The transmission assembly 2 (6) includes a transmission gear (61) that rotates synchronously in the same direction. The transmission gear (61) is meshed with the corresponding gear box (1) to drive the rotating shafts (11) on both sides of the two gear boxes (1) to rotate synchronously in the same direction. One of the gear boxes (1) is driven by the driving power 2 (9) via the driving gear (91).

8. The four-wheel drive steering device according to claim 4 or 7, characterized in that: The structure of a single gear box (1) is as follows: it comprises a box body (10), wherein the box body (10) is respectively provided with rotating shafts (11) penetrating two wall surfaces along the X direction, wherein the inner ends of the rotating shafts (11) on both sides are respectively provided with X-direction gear threes (13), and the single rotating shafts (11) located outside the box body (10) are respectively provided with large gears (12); and it also comprises an intermediate gear (14) meshing with the X-direction gear threes (13) on both sides at the same time, wherein the large gear (12) constitutes the power connection between the gear boxes (1) and between the gear boxes (1) and the driving power.

9. The four-wheel drive steering device according to claim 8, characterized in that: The X-direction gear three (13), the intermediate gear (14) and the large gear (12) are all bevel gears.

10. A vehicle transmission steering method of the four-wheel drive steering device according to claim 4, characterized in that: The steps include: The driving power second (9) drives the gear transmission in the gear box (1), and the rotating shaft (11) outputs the rotation; the rotating shaft (11) drives the wheel shaft (31) to rotate through the X-direction gear 1 (22), the Z-direction gear (23), and the X-direction gear 2 (24) that are meshed in sequence, and the walking wheel (3) rotates to move; The driving power (8) drives the chain drive assembly (4) to drive, the worm (27) rotates to drive the vertical shaft (25) to rotate, the wheel seat (7) rotates along with the vertical shaft (25), and the walking wheel (3) deflects to turn.

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