High-bearing-capacity parallel-axis planetary reducer combined walking wheel

Abstract

The invention belongs to the field of walking wheels, and particularly relates to a high-bearing-capacity parallel-axis planetary reducer combined walking wheel which comprises a gear carrier, a gear box cover is installed on the gear carrier, and a protruding transmission box cover is formed at one end of the gear box cover. The driving mechanism comprises a driving motor installed below the gear frame, the end, penetrating through the gear frame, of the driving motor is connected with a driving gear, and a power gear is arranged on one side of the driving gear. After primary transmission of power is conducted through the driving mechanism, graded transmission of the power in the parallel axis direction is conducted through the transmission mechanism, and the power is subjected to multiple steps of decomposition, combination and decomposition and combination through the first planetary gear set and the second planetary gear set which are symmetrically arranged. The number of gear rod sets used for transmitting power is increased as much as possible in a limited space, on the premise that stable power output is guaranteed, the gear rod sets and the bearing performance are increased, and the traveling wheel can adapt to the traveling wheel using scene with the high requirement for the heavy load performance.

Description

Technical Field

[0001] The present invention relates to the field of walking wheels, and particularly to a high-load-bearing parallel-axis planetary reducer combined walking wheel. Background Art

[0002] The combination of an AGV and a walking wheel is an important technical combination in the fields of modern automated logistics, production lines, and heavy-duty operations. The walking path of the AGV walking wheel is calculated by software interpolation, and it can move in any direction within a two-dimensional plane, including straight-line movement, horizontal movement, diagonal movement, arbitrary curve movement, and 360° rotation in place, etc. It is used to carry heavy items and can usually support several tons or even heavier goods, meeting the requirements of heavy-load transportation in the industrial production and logistics fields.

[0003] When the walking wheel is in use, due to its high requirements for load-bearing performance, its overall structure is relatively complex. The load-bearing performance is improved by increasing the size of the walking wheel. Currently, there is a lack of a walking wheel device that can be structurally compact and applicable to scenarios such as construction machinery, port equipment, mining machinery, and automated logistics systems without changing the specifications of the walking wheel. Summary of the Invention

[0004] (I) Object of the Invention

[0005] To solve the technical problems existing in the background art, the present invention proposes a high-load-bearing parallel-axis planetary reducer combined walking wheel, which has the characteristics of parallel input and output shafts, compact structure, hierarchical power transmission, and high load-bearing capacity.

[0006] (II) Technical Solution

[0007] To solve the above technical problems, the present invention provides a high-load-bearing parallel-axis planetary reducer combined walking wheel, including a gear frame, on which a gear box cover is installed, and a convex transmission box cover is formed at one end of the gear box cover;

[0008] The driving mechanism includes a driving motor installed below the gear frame. The driving motor penetrates through one end of the gear frame and is connected to a driving gear. A power gear is arranged on one side of the driving gear. The driving gear and the power gear are meshed and driven by a transmission gear. A convex first convex gear rod is connected to the middle of the power gear;

[0009] The transmission mechanism includes a first planetary ring frame arranged in the transmission box cover. An annular first planetary gear ring is arranged in the first planetary ring frame. The first planetary gear ring and the first convex gear rod are meshed and driven by a plurality of first planetary gears. A convex first planetary gear convex rod is formed in the middle of the first planetary gear;

[0010] Above the first planetary ring frame, a convex rod ring frame is provided. The convex rod ring frame is provided with a retaining hole that matches the first planetary gear convex rod, and a second convex gear rod is formed in the middle.

[0011] The planetary gear mechanism includes a second planetary ring frame arranged above the convex rod ring frame. An annular second planetary gear ring is arranged inside the second planetary ring frame. The second planetary gear ring and the second convex gear rod are meshed and driven by a plurality of second planetary gears. A protruding second planetary gear convex rod is formed in the middle of the second planetary gear.

[0012] The connecting wheel mechanism includes a connecting wheel ring frame arranged on one side of the second planetary ring frame. A bearing ring is arranged in the middle of the connecting wheel ring frame. One end of the bearing ring is connected to the second planetary gear convex rod, and a protruding connecting wheel shaft is formed in the middle. The other end of the connecting wheel shaft is connected to the wheel hub, and a tire is sleeved outside the wheel hub.

[0013] Preferably, the driving gear and the power gear have the same specifications, and the two are meshed and driven by the transmission gear, and the driving gear and the power gear have the same rotation speed.

[0014] Preferably, a gear table installed on the gear frame is arranged below the transmission gear. A bearing boss penetrating through the middle of the transmission gear is installed in the middle of the gear table. A slotted separating ring is formed at the edge of the gear table, and the slotted parts are respectively close to the driving gear and the power gear.

[0015] Preferably, the first convex gear rod is controlled by the power gear to rotate 360°. The protruding end of the first convex gear rod penetrates into the inner cavity of the first planetary ring frame. When the first convex gear rod rotates, the tooth grooves are respectively meshed and driven with the three first planetary gears.

[0016] Preferably, the first planetary gear moves along the inner tooth groove of the first planetary gear ring. The protruding end of the first planetary gear convex rod penetrates into the retaining hole opened on the convex rod ring frame, and the second convex gear rod rotates circumferentially with the combination of the convex rod ring frame and the first planetary gear convex rod.

[0017] Preferably, the end of the second convex gear rod protruding from the convex rod ring frame penetrates into the inner ring of the second planetary ring frame. The second convex gear rod drives the second planetary gear to move along the inner ring of the second planetary gear ring, thereby driving the second planetary gear convex rod to move.

[0018] Preferably, one end of the convex rod of the second planetary gear penetrates into the connecting wheel ring frame. An assembly hole adapted to the convex rod of the second planetary gear is formed at the bottom of the bearing ring, and a positioning rod penetrating into the second planetary ring frame is formed on the bearing ring. The connecting wheel ring frame and the second planetary ring frame form an integrated rotating mechanism.

[0019] Preferably, a transmission box cover is sleeved outside the connecting wheel ring frame. An assembly ring part penetrating into the inner wall of the transmission box cover is installed on the upper part of the connecting wheel ring frame. The connecting wheel ring frame is a fixed structure in the transmission box cover, and the bearing ring is a movable structure in the transmission box cover.

[0020] Preferably, the hub is sleeved on the outer periphery of the transmission box cover. A shaft groove adapted to the protruding section of the connecting wheel shaft is formed in the middle of the hub, and a plurality of bolts penetrating into the screw holes of the bearing ring are screwed on the hub.

[0021] Preferably, a through oil injection device is provided on the side wall of the gear box cover. The oil injection device is used to add lubricating oil for assisting the rotation of each gear set.

[0022] The above technical solution of the present invention has the following beneficial technical effects: After the power is transmitted once through the driving mechanism, the power is hierarchically transmitted in the parallel axis direction through the transmission mechanism. Through the symmetrically arranged first planetary gear set and second planetary gear set, the power is decomposed, combined, decomposed and combined in multiple steps, and the number of gear rod groups used for power transmission is increased as much as possible in a limited space. On the premise of ensuring stable power output, the gear set rod group and bearing performance are increased, and it can adapt to the use scenario of walking wheels with higher requirements for heavy load performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a schematic structural diagram of the present invention;

[0024] Figure 2 is a schematic structural diagram of the transmission gear of the present invention;

[0025] Figure 3 is a schematic separation structure diagram of the present invention;

[0026] Figure 4 is a schematic structural diagram of the transmission mechanism of the present invention;

[0027] Figure 5 is a schematic structural diagram of the planetary gear mechanism of the present invention;

[0028] Figure 6 is a schematic structural diagram of the connecting wheel mechanism of the present invention.

[0029] Reference Signs:

[0030] 11. Gear rack; 12. Gearbox cover; 13. Transmission box cover; 14. Lubricating device; 21. Driving motor; 22. Driving gear; 23. Transmission gear; 231. Gear platform; 232. Bearing boss; 233. Spacer ring; 24. Power gear; 25. First convex gear rod; 31. First planetary ring frame; 32. First planetary gear ring; 33. First planetary gear; 34. First planetary gear convex rod; 41. Convex rod ring frame; 42. Second convex gear rod; 51. Second planetary ring frame; 52. Second planetary gear ring; 53. Second planetary gear; 54. Second planetary gear convex rod; 61. Connecting wheel ring frame; 62. Bearing ring; 63. Connecting wheel shaft; 64. Positioning rod; 65. Assembly hole; 66. Support ring part; 7. Hub; 8. Tire. Detailed implementation mode

[0031] To make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below in conjunction with the specific implementation modes and with reference to the accompanying drawings. It should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, the descriptions of well-known structures and technologies are omitted to avoid unnecessarily confusing the concepts of the present invention.

[0032] As Figures 1-6 shown, a high-load-bearing parallel-axis planetary reducer combined walking wheel proposed by the present invention includes a gear rack 11, a gearbox cover 12 is installed on the gear rack 11, and a raised transmission box cover 13 is formed at one end of the gearbox cover 12;

[0033] The driving mechanism includes a driving motor 21 installed below the gear rack 11. One end of the driving motor 21 passes through the gear rack 11 and is connected with a driving gear 22. A power gear 24 is arranged on one side of the driving gear 22. The driving gear 22 and the power gear 24 are meshed and driven through a transmission gear 23, and a raised first convex gear rod 25 is connected to the middle of the power gear 24;

[0034] The transmission mechanism includes a first planetary ring frame 31 arranged in the transmission box cover 13. An annular first planetary gear ring 32 is arranged in the first planetary ring frame 31. The first planetary gear ring 32 and the first convex gear rod 25 are meshed and driven through a plurality of first planetary gears 33. A raised first planetary gear convex rod 34 is formed in the middle of the first planetary gear 33;

[0035] A convex rod ring frame 41 is arranged above the first planetary ring frame 31. A retaining hole matching the first planetary gear convex rod 34 is formed on the convex rod ring frame 41, and a second convex gear rod 42 is formed in the middle;

[0036] The planetary gear mechanism includes a second planetary ring frame 51 disposed above the convex rod ring frame 41. An annular second planetary gear ring 52 is arranged inside the second planetary ring frame 51. The second planetary gear ring 52 and the second convex gear rod 42 are in meshing transmission through a plurality of second planetary gears 53. A raised second planetary gear convex rod 54 is formed in the middle of the second planetary gear 53.

[0037] The connecting wheel mechanism includes a connecting wheel ring frame 61 disposed on one side of the second planetary ring frame 51. A bearing ring 62 is arranged in the middle of the connecting wheel ring frame 61. One end of the bearing ring 62 is connected to the second planetary gear convex rod 54, and a raised connecting wheel shaft 63 is formed in the middle. The other end of the connecting wheel shaft 63 is connected to the wheel hub 7. A tire 8 is sleeved outside the wheel hub 7.

[0038] It should be noted that: The driving mechanism is used to output power for the movement of the walking wheels. The power source is the output end of the driving motor 21. There is a problem that it is inconvenient to control the speed when directly connecting the output end of the driving motor 21 to the walking wheels. By setting the driving mechanism and the transmission mechanism for multi-stage power transmission, it is convenient to control the speed of the walking wheels. Among them, the driving gear 22 and the power gear have the same specifications, and the two are in meshing transmission through the transmission gear 23. The driving gear 22 and the power gear 24 have the same rotational speed, and the power is only transmitted through the meshing of the transmission gear 23. At this time, the output end of the driving motor 21 serves as the power input shaft, and the first convex gear rod 25 serves as the power output shaft. The two are arranged in parallel for the first transfer of power.

[0039] In one embodiment, after the first transfer of power through the driving mechanism, the power is hierarchically transferred in the parallel axis direction through the transmission mechanism;

[0040] The first convex gear rod 25 is controlled by the power gear 24 to rotate 360°. The protruding end of the first convex gear rod 25 penetrates into the inner cavity of the first planetary ring frame 31. When the first convex gear rod 25 rotates, the tooth grooves are respectively in meshing transmission with the three first planetary gears 33. At this time, the first planetary gears 33 move along the inner tooth grooves of the first planetary gear ring 32, transferring the power output by the first cam rod 25 to the three first planetary gears 33. The movement frequencies and rotational speeds of the three are the same, and the power is transmitted to each first planetary gear convex rod 34. The protruding end of the first planetary gear convex rod 34 penetrates into the retaining holes formed on the convex rod ring frame 41. After combination, the power provided by the three acts on the second convex gear rod 42 in the middle of the convex rod ring frame 41. The second convex gear rod 42 rotates circularly with the combination of the convex rod ring frame 41 and the first planetary gear convex rod 34.

[0041] Further, one end of the second convex gear rod 42 protruding from the convex rod ring frame 41 penetrates into the inner ring of the second planetary ring frame 51. The second convex gear rod 42 drives the second planetary gear 53 to move along the inner ring of the second planetary gear ring 52, and then drives the second planetary gear convex rod 54 to move with the second planetary gear 53, transmitting the power output by the second convex gear rod 42 to the three second planetary gears 53 again and continuing to transmit through the second planetary gear convex rod 54;

[0042] Since one end of the second planetary gear convex rod 54 protrudes into the joint wheel ring frame 61, an assembly hole 65 adapted to the second planetary gear convex rod 54 is opened at the bottom of the bearing ring 62, and a positioning rod 64 penetrating into the second planetary ring frame 51 is formed on the bearing ring 62. A rotating mechanism integrated between the joint wheel ring frame 61 and the second planetary ring frame 51.

[0043] In another embodiment, through the symmetrically arranged first planetary gear set and second planetary gear set, the power is decomposed, combined, decomposed and combined in multiple steps, increasing the number of gear rod sets for transmitting power as much as possible within a limited space. On the premise of ensuring stable power output, the gear set rod set and load-bearing performance are increased, which can adapt to the use scenario of walking wheels with higher requirements for heavy-load performance.

[0044] As Figure 2 shown, a gear table 231 installed on the gear frame 11 is provided at the lower part of the transmission gear 23. A bearing boss 232 penetrating through the middle of the transmission gear 23 is installed in the middle of the gear table 231. A slotted partition ring 233 is formed at the edge of the gear table 231, and the slotted parts are respectively close to the driving gear 22 and the power gear 24.

[0045] Among them, when the transmission gear 23 is driven by the driving gear 22, it rotates on the gear table 231 along the axis of the bearing boss 232, and only the two ends close to the slotted positions of the partition ring 233 are in meshing contact with the driving gear 22 and the power gear 24. The design purpose is to prevent lubricating oil from splashing at the rotating transmission gear 23. Since the tooth groove utilization rate of the transmission gear 23 is higher than that of the driving gear 22 and the power gear 24 on both sides, setting the partition ring 233 can ensure the long-term retention of lubricating oil in its outer peripheral tooth grooves, reducing the hidden danger of tooth groove damage caused by too high friction frequency and improving the service life of the transmission gear 23.

[0046] As Figures 1-6 shown, a transmission box cover 13 is sleeved outside the joint wheel ring frame 61. An assembly ring part penetrating into the inner wall of the transmission box cover 13 is installed on the upper part of the joint wheel ring frame 61. The joint wheel ring frame 61 is a fixed structure in the transmission box cover 13, and the bearing ring 62 is a movable structure in the transmission box cover 13.

[0047] It can be understood that after the gear set is installed, the second planetary ring frame 51 and the follower ring frame 61 are fixed structures, and power transmission is only carried out through the internal planetary gears as the rotating parts. The bearing ring 62 rotates with the combined structure of the second planetary gear convex rod 54. The hub 7 is sleeved on the outer periphery of the transmission case cover 13. An axial groove adapted to the protruding section of the follower shaft 63 is provided in the middle of the hub 7. A number of bolts penetrating the screw holes of the bearing ring 62 are screwed on the hub 7. After the driving motor 21 provides power, the hub 7 rotates on the outer periphery of the transmission case cover 13 after being driven and transmitted, driving the tire 8 to move forward.

[0048] In an alternative embodiment, an oil injection device 14 is provided through the side wall of the gearbox cover 12. The oil injection device 14 is used to add lubricating oil for the auxiliary rotation of each gear set. The oil injection device 14 adds lubricating oil to the transmission gears and each planetary gear set respectively.

[0049] It should be understood that the above specific embodiments of the present invention are only used for exemplary illustration or explanation of the principle of the present invention, and do not constitute a limitation to the present invention. Therefore, any modifications, equivalent replacements, improvements, etc. made without departing from the spirit and scope of the present invention shall be included within the protection scope of the present invention. In addition, the appended claims of the present invention are intended to cover all changes and modification examples falling within the scope and boundary of the appended claims, or equivalent forms of such scope and boundary.

Claims

1. A high-load-bearing parallel-axis planetary reducer combined travel wheel, characterized in that: It comprises a gear rack (11), a gear box cover (12) is mounted on the gear rack (11), and a protruding transmission box cover (13) is formed at one end of the gear box cover (12); The driving mechanism comprises a driving motor (21) installed below the gear frame (11); one end of the driving motor (21) passes through the gear frame (11) and is connected to a driving gear (22); a power gear (24) is arranged on one side of the driving gear (22); the driving gear (22) and the power gear (24) are meshed and transmitted via a transmission gear (23); a raised first convex gear rod (25) is connected to the middle of the power gear (24); The transmission mechanism comprises a first planetary ring frame (31) arranged in the transmission case cover (13), an annular first planetary ring gear (32) being arranged in the first planetary ring frame (31), the first planetary ring gear (32) and the first convex gear rod (25) being meshed and transmitted via a plurality of first planetary gears (33), and a convex first planetary gear convex rod (34) being formed in the middle of the first planetary gear (33); A convex rod ring frame (41) is arranged above the first planetary ring frame (31), a retaining hole matching the first planetary gear convex rod (34) is opened on the convex rod ring frame (41), and a second convex gear rod (42) is formed in the middle; The planetary gear mechanism comprises a second planetary ring frame (51) arranged above the convex rod ring frame (41), an annular second planetary ring gear (52) is arranged in the second planetary ring frame (51), the second planetary ring gear (52) and the second convex gear rod (42) are meshed and transmitted via a plurality of second planetary gears (53), and a convex second planetary gear convex rod (54) is formed in the middle of the second planetary gear (53); The wheel receiving mechanism comprises a wheel receiving ring frame (61) arranged on one side of the second planetary ring frame (51), a bearing ring (62) is arranged in the middle of the wheel receiving ring frame (61), one end of the bearing ring (62) is connected to the second planetary gear protrusion (54), and a protruding wheel receiving shaft (63) is formed in the middle, the other end of the wheel receiving shaft (63) is connected to the wheel hub (7), and the outer part of the wheel hub (7) is provided with a tire (8).

2. The high-load-bearing parallel-axis planetary reducer combined traveling wheel according to claim 1, characterized in that: The driving gear (22) and the power gear (24) have the same specifications, and the two are meshed and transmitted through the transmission gear (23). The driving gear (22) and the power gear (24) have the same rotation speed.

3. The high-load-bearing parallel-axis planetary reducer combined traveling wheel according to claim 1, characterized in that: A gear platform (231) mounted on the gear frame (11) is provided at the lower part of the transmission gear (23); a bearing boss (232) penetrating the middle part of the transmission gear (23) is installed in the middle part of the gear platform (231); a slotted separation ring (233) is formed at the edge of the gear platform (231), and the slotted parts are respectively close to the driving gear (22) and the power gear (24).

4. The high-load-bearing parallel-axis planetary reducer combined traveling wheel according to claim 1, characterized in that: The first convex gear rod (25) is controlled by the power gear (24) to rotate 360 ​​degrees, and a protruding end of the first convex gear rod (25) penetrates into the inner cavity of the first planetary ring frame (31). When the first convex gear rod (25) rotates, the tooth grooves are respectively meshed with the three first planetary gears (33) for transmission.

5. The high-load-bearing parallel-axis planetary reducer combined traveling wheel according to claim 1, characterized in that: The first planetary gear (33) moves along the inner tooth groove of the first planetary gear ring (32), a protruding end of the first planetary gear convex rod (34) penetrates a retention hole provided on the convex rod ring frame (41), and the second convex gear rod (42) rotates in a circle with the combination of the convex rod ring frame (41) and the first planetary gear convex rod (34).

6. The high-load-bearing parallel-axis planetary reducer combined traveling wheel according to claim 1, characterized in that: One end of the second convex gear rod (42) protrudes from the convex rod ring frame (41) and penetrates the inner ring of the second planetary ring frame (51); the second convex gear rod (42) drives the second planetary gear (53) to move along the inner ring of the second planetary gear ring (52), thereby driving the second planetary gear convex rod (54) to move.

7. The high-load-bearing parallel-axis planetary reducer combined traveling wheel according to claim 1, characterized in that: One protruding end of the second planetary gear protrusion (54) penetrates the wheel receiving ring frame (61), a mounting hole (65) adapted to the second planetary gear protrusion (54) is provided at the bottom of the bearing ring (62), and a positioning rod (64) penetrating the second planetary ring frame (51) is formed on the bearing ring (62), and the wheel receiving ring frame (61) and the second planetary ring frame (51) are combined into an integrated rotating mechanism.

8. The high-load-bearing parallel-axis planetary reducer combined traveling wheel according to claim 1, characterized in that: The transmission box cover (13) is sleeved on the outer side of the wheel receiving ring frame (61), and an assembly ring penetrating the inner wall of the transmission box cover (13) is installed on the upper part of the wheel receiving ring frame (61). The wheel receiving ring frame (61) is a fixed structure in the transmission box cover (13), and the bearing ring (62) is a movable structure in the transmission box cover (13).

9. The high-load-bearing parallel-axis planetary reducer combined traveling wheel according to claim 1, characterized in that: The wheel hub (7) is sleeved on the outer circumference of the transmission case cover (13), and a shaft groove adapted to the protruding section of the wheel connecting shaft (63) is opened in the middle of the wheel hub (7). A plurality of bolts penetrating into the screw holes of the bearing ring (62) are screwed on the wheel hub (7).

10. The high-load-bearing parallel-axis planetary reducer combined traveling wheel according to claim 1, characterized in that: The side wall of the gear box cover (12) is provided with a through oil injection device (14), and the oil injection device (14) is used to add lubricating oil for assisting the rotation of each gear set.

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