Internal gear ring steering compact type driving wheel

Abstract

The invention belongs to the field of driving wheels, and particularly relates to an inner gear ring steering compact type driving wheel which comprises a motor table and a gear table which are arranged in a combined mode. The steering mechanism comprises a steering motor mounted on the motor table; a driving wheel is improved, a steering mechanism and a driving mechanism are integrated together, space occupation is reduced through the compact design, meanwhile, multi-stage transmission of gears is conducted, torque is increased stage by stage, the power of the driving wheel can be increased while steering flexibility is guaranteed, the working requirement for high bearing capacity is met, and the performance of the driving wheel is effectively improved; when the load task borne by the driving wheel during operation is low, on the premise that normal rotation of the second bevel gear is guaranteed, extra power acts on the third bevel gear, the third bevel gear also rotates in the radial direction, redundant kinetic energy is recycled in the rotation process, kinetic energy is converted into electric energy in the energy storage table, and energy saving in the operation process is achieved.

Description

Technical Field

[0001] The present invention relates to the field of driving wheels, and in particular to an internal gear ring steering compact driving wheel. Background Art

[0002] An automated guided vehicle (AGV) is an industrial vehicle that loads goods automatically or manually, drives automatically along a set route or tows a cargo trolley to a designated location, and then loads and unloads goods automatically or manually. The drive wheels are installed at the bottom of the AGV and are responsible for steering and traction of the AGV. The reliability of the drive wheels affects the efficiency of the AGV.

[0003] The existing technology has the following problems:

[0004] 1. The existing drive wheel structure is complex, with the steering part and the drive part being separately arranged, which takes up a large space and has insufficient control sensitivity;

[0005] 2. When the driving wheels are responsible for carrying heavy freight, when the load is low, they consume excess kinetic energy, resulting in power waste and a lack of a device to recover excess kinetic energy. Summary of the Invention

[0006] (1) Purpose of the invention

[0007] In order to solve the technical problems existing in the background technology, the present invention proposes an internal gear ring steering compact drive wheel, which has the characteristics of smooth steering drive, compact structure and high energy efficiency utilization.

[0008] (2) Technical solution

[0009] In order to solve the above technical problems, the present invention provides an internal gear ring steering compact drive wheel, comprising a motor platform and a gear platform arranged in combination, wherein a turntable is provided below the gear platform;

[0010] The steering mechanism includes a steering motor mounted on the motor platform, the output end of the steering motor is connected to a steering gear, the steering gear is meshed with the inner gear ring of the inner ring of the gear platform for transmission, the lower part of the inner gear ring is connected to the turntable, and the bottom of the turntable is connected to the wheel platform frame;

[0011] The driving mechanism includes a driving motor mounted on the motor platform, wherein the output end of the driving motor is connected to a driving gear, the driving gear is meshed and transmitted to the central gear, and the lower part of the central gear is connected to a transmission gear, the transmission gear is meshed and transmitted to the output gear;

[0012] The transmission mechanism includes a coupling installed in the wheel frame, one end of the coupling is connected to the output gear, and the other end is formed with a first bevel gear, the first bevel gear is meshed and transmitted to the second bevel gear, the middle part of the second bevel gear is installed with a wheel shaft, the outer surface of the wheel shaft is provided with a bearing ring, and the distal end is connected to the wheel frame;

[0013] A wheel hub is connected to one side of the wheel frame, and a tire is sleeved on the outside of the wheel hub;

[0014] The recovery mechanism includes a third bevel gear arranged on one side of the first bevel gear, and an energy storage platform for recovering kinetic energy is provided on one side of the third bevel gear.

[0015] Preferably, the turntable and the inner gear ring are combined to rotate as a whole along the axis of the gear stand, and the wheel stand frame rotates axially at a full angle accordingly.

[0016] Preferably, the wheel stand transmission cavity, the transfer cavity and the wheel receiving cavity, wherein the side walls of the wheel stand are installed with detachable side covers.

[0017] Preferably, the driving gear and the output gear are meshed with each other through the central gear and the transmission gear, the driving gear and the central gear are at the same height, the transmission gear and the output gear are at the same height, and the central gear and the transmission gear have the same rotational speed.

[0018] Preferably, the output gear and the first bevel gear are controlled by the coupling to rotate synchronously. The coupling includes symmetrically arranged shaft sleeves and a shaft located between the two shaft sleeves. Sealing rings are also provided on the outside of the two shaft sleeves.

[0019] Preferably, the first bevel gear rotates axially, and correspondingly, the second bevel gear rotates radially, and the two are driven by meshing teeth on their edges.

[0020] Preferably, the wheel hub connected to one side of the wheel frame is sleeved on the outer periphery of the wheel stand, and the wheel hub rotates synchronously with the wheel axle.

[0021] Preferably, the third bevel gear and the second bevel gear also rotate radially, the other end of the third bevel gear is connected to a live shaft, the outer sleeve of the live shaft is provided with a rotatable moving ring and a fixed static ring, and the other end of the live shaft is connected to the energy storage platform.

[0022] Preferably, at least two groups of the moving rings are provided, and separation rings are provided between adjacent moving rings.

[0023] Preferably, the distance adjustment mechanism includes a cylinder arranged below the energy storage platform, a movable piston rod is installed at one end of the cylinder, a support platform is connected to the piston rod, a support frame connected to the static ring is installed on the upper part of the support platform, and the distance between the third bevel gear and the first bevel gear is adjusted by the piston rod.

[0024] The above technical solution of the present invention has the following beneficial technical effects:

[0025] 1. Improve the drive wheel by integrating the steering mechanism and the drive mechanism. The compact design reduces space occupation. At the same time, multi-stage gear transmission is implemented to increase torque in stages. While ensuring steering flexibility, the power of the drive wheel can be increased to meet the work requirements of high load-bearing capacity and effectively improve the performance of the drive wheel.

[0026] 2. When the load task borne by the driving wheel is low during operation, while ensuring the normal rotation of the second bevel gear, additional power is applied to the third bevel gear, and the third bevel gear also rotates radially. During the rotation, excess kinetic energy is recovered and converted into electrical energy in the energy storage platform, thereby achieving energy saving during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a structural schematic diagram of the present invention;

[0028] Figure 2 It is a schematic structural diagram of the steering mechanism of the present invention;

[0029] Figure 3 It is a schematic cross-sectional view of the present invention;

[0030] Figure 4 It is a schematic structural diagram of the transmission mechanism of the present invention;

[0031] Figure 5 It is a schematic structural diagram of the recycling mechanism of the present invention;

[0032] Figure 6 It is a schematic cross-sectional structural diagram of the recovery mechanism of the present invention.

[0033] Reference numerals:

[0034] 11. Motor stand; 12. Gear stand; 13. Turntable; 21. Steering motor; 22. Steering gear; 23. Internal gear ring; 3. Wheel stand frame; 31. Side cover; 41. Drive motor; 42. Drive gear; 43. Center gear; 44. Transmission gear; 45. Output gear; 51. Coupling; 52. First bevel gear; 53. Second bevel gear; 54. Axle; 55. Bearing ring; 56. Wheel stand; 6. Wheel hub; 7. Tire; 81. Third bevel gear; 82. Live shaft; 83. Moving ring; 84. Stationary ring; 85. Energy storage stand; 91. Cylinder; 92. Piston rod; 93. Support stand; 94. Support frame. DETAILED DESCRIPTION

[0035] To make the objectives, technical solutions, and advantages of the present invention more clearly understood, the present invention will be 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 merely exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present invention.

[0036] like Figure 1-6 As shown, the present invention proposes an internal gear ring steering compact drive wheel, which includes a motor platform 11 and a gear platform 12 that are combined, and a turntable 13 is provided below the gear platform 12;

[0037] The steering mechanism includes a steering motor 21 mounted on the motor platform 11. The output end of the steering motor 21 is connected to a steering gear 22. The steering gear 22 is meshed with an inner gear ring 23 on the inner ring of the gear platform 12. The lower part of the inner gear ring 23 is connected to the turntable 13. The bottom of the turntable 13 is connected to the wheel platform frame 3.

[0038] The drive mechanism includes a drive motor 41 mounted on the motor platform 11. The output end of the drive motor 41 is connected to a drive gear 42, which is meshed and transmitted to a central gear 43. The lower part of the central gear 43 is connected to a transmission gear 44, which is meshed and transmitted to an output gear 45.

[0039] The transmission mechanism includes a coupling 51 installed in the wheel frame 3. One end of the coupling 51 is connected to the output gear 45, and the other end is formed with a first bevel gear 52. The first bevel gear 52 is meshed with the second bevel gear 53. The middle part of the second bevel gear 53 is installed with a wheel shaft 54. The outer part of the wheel shaft 54 ​​is provided with a bearing ring 55, and the distal end is connected to the wheel frame 56.

[0040] A wheel hub 6 is connected to one side of the wheel frame 56 , and a tire 7 is sleeved on the outside of the wheel hub 6 .

[0041] As a steering example: the steering motor 21 drives the steering gear 22 to rotate. Since the steering gear 22 is engaged with the inner ring gear 23, during the rotation of the steering gear 22, the inner ring gear 23 and the turntable 13 are combined as a whole to rotate along the axis of the gear table 12, driving the wheel frame 3 connected to the lower part of the turntable 13 to make an axial full-angle rotation. According to actual needs, the rotation angle can be controlled without affecting the normal coordination of the gears in the drive mechanism.

[0042] It should be noted that: the wheel frame 3 has a transmission cavity, a transfer cavity and a wheel receiving cavity, wherein the side wall of the wheel frame 3 is installed with a detachable side cover 31, wherein the transmission cavity is used to accommodate the central gear 43, the transmission gear 44 and the output gear 45 for transmission;

[0043] The transfer cavity is a through-type design, and the gear shaft of the output gear 45, the coupling 51 and the driving part of the first gear 52 are all arranged in the through-type interval to perform the conversion of the power output structure;

[0044] The wheel receiving cavity is used to accommodate the wheel axle 54, the bearing ring 55 and the wheel receiving frame 56, and to establish a sealed space for the rotation of the wheel axle 54;

[0045] The steering mechanism, drive mechanism and transmission mechanism are installed by cooperating with the tire frame 3 and the gear platform 12. The compact design not only reduces space occupancy, but also reduces the space occupied by the external structure, simplifies the installation process, and improves the overall maneuverability. The compact design can be expanded in function later.

[0046] As a driving example: the driving motor 41 drives the driving gear 42 at the output end to rotate, and the driving gear 42 and the output gear 45 are meshed and transmitted through the center gear 43 and the transmission gear 44. The driving gear 42 and the center gear 43 are at the same height, and the transmission gear 44 and the output gear 45 are at the same height. The center gear 43 and the transmission gear 44 have the same rotational speed. Because the tooth groove amount of the center gear 43 is higher than that of the driving gear 42, the first torque increase is performed. Because the tooth groove amount of the output gear 45 is higher than that of the transmission gear 44, the second torque increase is performed. During the gear meshing process, the power output position can be changed and the torque can be multiplied.

[0047] As a working example of the transmission mechanism: a coupling 51 is set below the output gear 45, and the output gear 45 and the first bevel gear 52 are controlled by the coupling 51 to rotate synchronously. The coupling 51 includes symmetrically arranged sleeves and a shaft located between the two sleeves. Sealing rings are also provided on the outside of the two sleeves. The purpose of setting the sealing rings is to seal and separate the coupling 51 and the tire rack 3 transfer cavity, and prevent the penetration of lubricating oil in the upper and lower cavities without affecting the rotation effect of the coupling 51.

[0048] like Figure 3-4As shown, the transmission mechanism is combined with the coupling 51, and the first bevel gear 52 at the bottom of the coupling 51 rotates axially. The two are engaged through the teeth and grooves on the edge to drive the second bevel gear 53 to rotate radially. Since the number of teeth and grooves of the first bevel gear 52 is smaller than that of the second bevel gear 53, the torque can be increased again, and the output power at the second bevel gear 53 can be improved. Since the wheel shaft 54 ​​is connected to the second bevel gear 53, it can rotate synchronously in the bearing ring 55 and rotate continuously in a single direction along the axis in the wheel receiving cavity of the wheel frame 3.

[0049] As an installation example of the wheel frame 56: the wheel hub 6 connected to one side of the wheel frame 56 is sleeved on the outer periphery of the wheel pedestal frame 3, and bolts are inserted into the wheel hub 6 and the end surface to which the wheel frame 56 is attached to perform multi-point positioning of the installation position of the wheel hub 6. When the drive motor 41 is working normally, the wheel hub 6 rotates synchronously with the wheel axle 54, and the tire 7 contacts the ground to drive the wheel to move.

[0050] It should be added that the bearing ring 55 is a double-ring design, and the wheel shaft 54 ​​slides stably in the bearing ring 55 and always rotates at the same speed as the second bevel gear 53, thereby providing power for the driving wheel to move.

[0051] In one embodiment, the driving wheel is improved, and the steering mechanism and the driving mechanism are integrated together. The compact design reduces space occupancy. In the compact space of the wheel frame 3, multi-stage gear transmission is performed, and the torque is increased in stages. While ensuring steering flexibility, the power of the driving wheel can be increased to adapt to high-load-bearing work requirements and effectively improve the performance of the driving wheel.

[0052] like Figure 5-6 As shown, the recovery mechanism includes a third bevel gear 81 arranged on one side of the first bevel gear 52, and an energy storage platform 85 for recovering kinetic energy is provided on one side of the third bevel gear 81, wherein the third bevel gear 81 and the second bevel gear 53 also rotate radially, and the other end of the third bevel gear 81 is connected to a live shaft 82, and the outer sleeve of the live shaft 82 is provided with a rotatable moving ring 83 and a fixed static ring 84, and the other end of the live shaft 82 is connected to the energy storage platform 85.

[0053] It should be noted that a recovery mechanism is provided on one side of the wheel stand 3, that is, the side cover 31 installed on the side of the wheel stand 3 is disassembled for function expansion.

[0054] In one embodiment, when the load task borne by the driving wheel is low during operation, the third bevel gear 81 is moved to a position attached to the first bevel gear 52 under the premise of normal rotation of the first bevel gear 52, and the two are engaged through the attached tooth grooves. Under the premise of ensuring the normal rotation of the second bevel gear 53, additional power is applied to the third bevel gear 81, and the third bevel gear 81 also rotates radially, driving the dynamic ring 83 connected to the outside of the movable shaft 82 to slide smoothly in the slot of the fixed static ring 84. During the rotation of the movable shaft 82 and the dynamic ring 83, excess kinetic energy is recovered, and the kinetic energy is converted into electrical energy in the energy storage platform 85, thereby achieving energy saving during operation.

[0055] It can be understood that when the driving wheel needs to slow down, the driving motor 41 stops working, the gear groups stop rotating, and the second bevel gear 53 begins to stop rotating under the action of inertia and braking. At this time, the third bevel gear 81 can hinder the rotation between the gear groups and play the role of assisting deceleration braking.

[0056] It should be added that: at least two groups of dynamic rings 83 are provided, and separation rings are provided between adjacent dynamic rings 83; the dynamic rings 83 are used to reduce the friction during the rotation process of the movable shaft 82 and reduce the loss during the kinetic energy transfer process, and the design of the separation rings can prevent the transmission of foreign matter such as dust and prevent the increase of friction at the contact position due to insufficient sealing.

[0057] like Figure 6 As shown, the distance adjustment mechanism includes a cylinder 91 arranged below the energy storage platform 85, a movable piston rod 92 is installed at one end of the cylinder 91, a support platform 93 is connected to the piston rod 92, and a support frame 94 connected to the static ring 84 is installed on the upper part of the support platform 93. The distance between the third bevel gear 81 and the first bevel gear 52 is adjusted by the piston rod 92.

[0058] Among them, when kinetic energy recovery is required, the cylinder 91 drives the piston rod 92 to extend, and the support structure composed of the support platform 93 and the support frame 94 drives the static ring 84 to move until the third bevel gear 81 is engaged with the tooth groove of the first bevel gear 52, that is, kinetic energy recovery is performed under low load conditions.

[0059] Alternatively, when the load task is heavy, in order to ensure the stability of power output, the cylinder 91 can be used to drive the piston rod 92 to extend, and the support structure composed of the support platform 93 and the support frame 94 drives the static ring 84 to move until the third bevel gear 81 is separated from the tooth groove of the first bevel gear 52, and all the kinetic energy is applied to the second bevel gear 53, ensuring the stability of the drive wheel rotation and providing sufficient power.

[0060] It should be understood that the above-described specific embodiments of the present invention are merely illustrative or illustrative of the principles of the present invention and do not constitute limitations 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 within the scope of protection of the present invention. In addition, the appended claims are intended to cover all variations and modifications that fall within the scope and metes and bounds of the appended claims, or equivalents thereof.

Claims

1. A compact driving wheel with an internal gear ring steering, characterized in that: It comprises a motor platform (11) and a gear platform (12) which are arranged in combination, wherein a turntable (13) is arranged below the gear platform (12); The steering mechanism comprises a steering motor (21) mounted on the motor platform (11), an output end of the steering motor (21) is connected to a steering gear (22), the steering gear (22) is meshed with an inner gear ring (23) of the inner ring of the gear platform (12) for transmission, the lower part of the inner gear ring (23) is connected to the turntable (13), and the bottom of the turntable (13) is connected to the wheel platform frame (3); The driving mechanism comprises a driving motor (41) mounted on the motor platform (11), an output end of the driving motor (41) is connected to a driving gear (42), the driving gear (42) is meshed and transmitted to a central gear (43), a lower portion of the central gear (43) is connected to a transmission gear (44), and the transmission gear (44) is meshed and transmitted to an output gear (45); The transmission mechanism includes a coupling (51) installed in the wheel frame (3), one end of the coupling (51) is connected to the output gear (45), and the other end is formed with a first bevel gear (52), the first bevel gear (52) is meshed and transmitted to the second bevel gear (53), and a wheel shaft (54) is installed in the middle of the second bevel gear (53), the outer portion of the wheel shaft (54) is provided with a bearing ring (55), and the far end is connected to the wheel frame (56); A wheel hub (6) is connected to one side of the wheel frame (56), and a tire (7) is sleeved on the outside of the wheel hub (6); The recovery mechanism comprises a third bevel gear (81) arranged on one side of the first bevel gear (52), and an energy storage platform (85) for recovering kinetic energy is arranged on one side of the third bevel gear (81).

2. The internal gear ring steering compact drive wheel according to claim 1, characterized in that: The turntable (13) and the inner gear ring (23) are integrally assembled and rotate along the axis of the gear stand (12), and the wheel stand (3) rotates axially at a full angle accordingly.

3. The internal gear ring steering compact drive wheel according to claim 1, characterized in that: The wheel platform (3) comprises a transmission cavity, a transfer cavity and a wheel receiving cavity, wherein a detachable side cover (31) is installed on the side wall of the wheel platform (3).

4. The internal gear ring steering compact drive wheel according to claim 1, characterized in that: The driving gear (42) and the output gear (45) are meshed and transmitted through the central gear (43) and the transmission gear (44). The driving gear (42) and the central gear (43) are at the same height, the transmission gear (44) and the output gear (45) are at the same height, and the central gear (43) and the transmission gear (44) have the same rotational speed.

5. The internal gear ring steering compact drive wheel according to claim 1, characterized in that: The output gear (45) and the first bevel gear (52) are controlled by the coupling (51) to rotate synchronously. The coupling (51) includes symmetrically arranged shaft sleeves and a shaft located between the two shaft sleeves. Sealing rings are also provided on the outside of the two shaft sleeves.

6. The internal gear ring steering compact drive wheel according to claim 1, characterized in that: The first bevel gear (52) rotates axially, and correspondingly, the second bevel gear (53) rotates radially, and the two are driven by meshing teeth on their edges.

7. The internal gear ring steering compact drive wheel according to claim 1, characterized in that: The wheel hub (6) connected to one side of the wheel frame (56) is sleeved on the outer periphery of the wheel platform frame (3), and the wheel hub (6) rotates synchronously with the wheel shaft (54).

8. The internal gear ring steering compact drive wheel according to claim 1, characterized in that: The third bevel gear (81) and the second bevel gear (53) also rotate radially. The other end of the third bevel gear (81) is connected to a movable shaft (82). The outer surface of the movable shaft (82) is provided with a rotatable movable ring (83) and a fixed static ring (84). The other end of the movable shaft (82) is connected to the energy storage platform (85).

9. The internal gear ring steering compact drive wheel according to claim 8, characterized in that: At least two groups of the movable rings (83) are provided, and a separation ring is provided between adjacent movable rings (83).

10. The internal gear ring steering compact drive wheel according to claim 9, characterized in that: The distance adjustment mechanism includes a cylinder (91) arranged below the energy storage platform (85), a movable piston rod (92) is installed at one end of the cylinder (91), a support platform (93) is connected to the piston rod (92), and a support frame (94) connected to the static ring (84) is installed on the upper part of the support platform (93), and the distance between the third bevel gear (81) and the first bevel gear (52) is adjusted by the piston rod (92).

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