Double-wheel independent driving wheel set integrating multiple driving modes

Abstract

The invention relates to the technical field of unmanned transport vehicles, and discloses a double-wheel independent driving wheel set integrating multiple driving modes, which comprises a horizontal steering gear, a wheel bracket and a hub motor wheel. The wheel support is connected with the lower end of the horizontal steering gear and horizontally rotates by 360 degrees on the ground through the horizontal steering gear. The two hub motor wheels are oppositely arranged and are rotationally connected to the left side and the right side of the wheel support correspondingly. According to the double-wheel independent drive wheel set integrating the multiple running modes, the running modes such as in-situ steering, differential steering, straight running, backward running and oblique running of the whole structure can be achieved, the control performance and trafficability of a vehicle are greatly improved, a complex mechanical transmission system is omitted, traditional mechanical parts such as a transmission shaft and a differential mechanism are not needed, and the cost is reduced. The structure of the vehicle is simplified, the transmission efficiency is improved, the overall weight of the structure is reduced, more possibilities are provided for lightweight and intelligent design of the vehicle, and the vehicle is more flexible and portable during movement.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned transport vehicles, in particular to a double-wheel independent driving wheel set integrating multiple driving modes for outdoor off-road transportation. BACKGROUND

[0002] An unmanned transport vehicle is a cargo-carrying tool with automatic driving function, mainly applied to scenarios such as logistics transportation and industrial production, and realizes automatic transportation and distribution of goods through intelligent technology.

[0003] A Chinese patent with patent application number CN202222130019.0 discloses an unmanned transport device based on off-road working conditions, which comprises a pitch type swing balance car compartment, a hydraulic linkage type pitch adjusting mechanism, a main body frame assembly and a four-wheel drive traveling assembly. The pitch type swing balance car compartment is rotationally arranged on the main body frame assembly. Through the pitch rotation of the pitch type swing balance car compartment, the relative level of the car body can be maintained through angle compensation during obstacle crossing, preventing it from falling. The hydraulic linkage type pitch adjusting mechanism is symmetrically arranged between the pitch type swing balance car compartment and the main body frame assembly. Through the hydraulic linkage type pitch adjusting mechanism, not only can it have a certain self-adaptive damping effect, but also can change the pre-compression degree of the spring when crossing obstacles, so as to change the horizontal angle of the car body. The four-wheel drive traveling assembly is symmetrically arranged on the main body frame assembly. The hydraulic linkage type pitch adjusting mechanism comprises a hydraulic adjusting assembly, a telescopic damping assembly and a hydraulic linkage assembly. The hydraulic adjusting assembly is symmetrically arranged on the main body frame assembly. The telescopic damping assembly is arranged on the hydraulic adjusting assembly. The hydraulic linkage assembly is arranged between the two hydraulic adjusting assemblies. The four-wheel drive traveling assembly comprises a motor seat, a driving motor and a traveling tension wheel. The motor seat is symmetrically arranged at the bottom of the car body. The driving motor is clamped in the motor seat. The traveling tension wheel is clamped on the output shaft of the driving motor.

[0004] However, the four-wheel drive traveling assembly of the unmanned transport device based on off-road working conditions has the following problems: the four-wheel drive traveling assembly is formed by the motor seat, the driving motor and the traveling tension wheel, the driving motor drives the traveling tension wheel to rotate, the driving mode is single, the steering flexibility is poor, and it is difficult to pass through complex terrain, which is not conducive to the stable transportation of the unmanned transport device based on off-road working conditions in outdoor environment. SUMMARY

[0005] The purpose of the present application is to overcome the problems of the prior art and provide a double-wheel independent driving wheel set integrating multiple driving modes.

[0006] In order to achieve the above purpose, the present application adopts the following scheme:

[0007] A double-wheel independent driving wheel set integrating multiple driving modes, comprising:

[0008] horizontal steering device;

[0009] wheel support, connected with the lower end of the horizontal steering device, and horizontally rotating 360° on the ground through the horizontal steering device;

[0010] wheel hub motor wheels, oppositely arranged and respectively rotatably connected on the left and right sides of the wheel support.

[0011] Further, the wheel hub motor wheel has a wheel hub motor body and a solid tire which is adaptively fitted on the wheel hub motor body.

[0012] Further, the left and right sides of the solid tire are respectively provided with a plurality of holes arranged around the central axis.

[0013] Further, the holes on the left and right sides of the solid tire are mirror-imaged relative to the wheel hub motor body.

[0014] Further, the horizontal steering device comprises an upper support plate, a lower support plate and a bearing rotating shaft; the bottom end of the upper support plate is connected with the upper end of the bearing rotating shaft; the top end of the lower support plate is connected with the lower end of the bearing rotating shaft and can horizontally rotate 360° relative to the upper support plate; the bottom end of the lower support plate is connected with the double-wheel independent drive wheel set.

[0015] Further, the central position of the bearing rotating shaft has a central threading hole penetrating through the upper and lower ends thereof; the upper support plate is provided with at least three first threading holes which are in communication with the threading hole; the central position of the lower support plate has a first threading hole which is in communication with the lower end of the central threading hole.

[0016] Further, the side of the upper support plate corresponding to the position of the first threading hole is provided with at least three first wire connectors which are adaptively embedded into the first threading hole one by one.

[0017] Further, the upper support plate is provided with a plurality of hidden bolts which are evenly arranged around the central axis of the bearing rotating shaft and connected with the upper end of the bearing rotating shaft; the head of the hidden bolt is hidden in the bolt hole of the upper support plate.

[0018] Further, the wheel support comprises a mounting plate and a mounting frame; the mounting frame has a receiving cavity; the mounting plate is connected on the top end of the mounting frame; the left and right sides of the mounting frame are respectively rotatably connected with one wheel hub motor wheel.

[0019] Further, the mounting plate has a wire groove which is in communication with the first threading hole; the front or rear side of the mounting plate is provided with at least three second threading holes which are in communication with the wire groove.

[0020] The mounting plate is provided with at least three second wire connectors corresponding to the positions of the second wire holes.

[0021] The front side and the rear side of the mounting frame are provided with second wire holes communicating with the accommodating cavities.

[0022] Compared with the prior art, the present application has the following advantages:

[0023] The horizontal steering device, the wheel support and the wheel hub motor wheel cooperate with each other, the rotation speed and the torque of each wheel hub motor wheel can be independently controlled, the functions of straight movement and reverse movement are realized, and the two wheel hub motor wheels cooperate with each other to realize the steering function, for example, the functions of forward movement and backward movement are realized by directly synchronously controlling the rotation directions of the two wheel hub motor wheels, or the steering function is realized by adjusting the rotation speed difference of the two wheel hub motor wheels under the action of the horizontal steering device, the design can realize the driving modes of whole-structure in-place steering, differential steering, straight movement, backward movement and oblique movement, greatly improves the control performance and the passing performance of the vehicle, cancels the complex mechanical transmission system, i.e., without the mechanical components such as the traditional transmission shaft and the differential, simplifies the structure of the vehicle, improves the transmission efficiency, reduces the overall weight of the structure, improves the space utilization, provides more possibilities for the lightweight and intelligent design of the vehicle, and makes the vehicle more flexible and portable when moving. BRIEF DESCRIPTION OF DRAWINGS

[0024] The present application will be further described in detail below in combination with the drawings and specific embodiments.

[0025] Fig. 1 is one of the three-dimensional structure schematic diagrams of the double-wheel independent driving wheel set integrating multiple driving modes of the present application.

[0026] Fig. 2 is another three-dimensional structure schematic diagram of the double-wheel independent driving wheel set integrating multiple driving modes of the present application.

[0027] Fig. 3 is an exploded three-dimensional structure schematic diagram of the double-wheel independent driving wheel set integrating multiple driving modes of the present application.

[0028] The drawings include:

[0029] Horizontal steering device 1, upper support plate 11, first wire hole 111, lower support plate 12, first wire hole 121, bearing shaft 13, central wire hole 131, wheel support 2, mounting plate 21, wire groove 211, second wire hole 212, mounting frame 22, second wire hole 221, accommodating cavity 222, wheel hub motor wheel 3, wheel hub motor body 31, solid tire 32, hole 321, first wire joint 4, second wire joint 5, hidden bolt 6. DETAILED DESCRIPTION

[0030] The specific embodiments of the present application will be further described in detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate the present application, but are not used to limit the scope of the present application.

[0031] As shown in Figs. 1 to 3 A dual-wheel independent drive wheel set integrating multiple driving modes includes a horizontal steering device 1, a wheel support 2, and a wheel hub motor wheel 3. The wheel support 2 is made of high-strength material, such as stainless steel, to ensure sufficient rigidity and stability when bearing the weight of the wheel hub motor wheel 3 rotating and moving equipment. The wheel support 2 is connected to the lower end of the horizontal steering device 1 and can rotate 360° on the ground through the horizontal steering device 1. Two wheel hub motor wheels 3 are oppositely arranged and rotatably connected to the left and right sides of the wheel support 2, respectively.

[0032] The integrated dual-wheel independent drive wheel set with multiple driving modes can independently control the speed and torque of each wheel hub motor wheel 3 through the cooperation of the horizontal steering device 1, the wheel support 2 and the wheel hub motor wheel 3, has the functions of straight movement and reverse movement, and the two wheel hub motor wheels 3 can work together to realize the steering function, for example, by directly synchronously reversing the two wheel hub motor wheels 3 to realize the functions of forward movement and backward movement, or by adjusting the speed difference of the two wheel hub motor wheels 3 to realize the steering function under the action of the horizontal steering device 1. This design can realize the driving modes of overall in-place steering, differential steering, straight movement, backward movement and oblique movement, which is specifically manifested in that: through the independent driving of the left and right wheel hub motor wheels 3, smooth steering is realized according to the speed difference of the left and right wheels, the two wheel hub motor wheels 3 can realize the in-place steering mode and the differential steering mode through cooperation, which is suitable for flexible movement in narrow space; at the same time, the two wheel hub motor wheels 3 can realize various driving modes such as straight movement, backward movement and oblique movement by adjusting the driving direction and speed of the two wheels, which greatly improves the control performance and passability of the vehicle, cancels the complex mechanical transmission system, i.e. without traditional mechanical components such as transmission shaft and differential, simplifies the vehicle structure, improves the transmission efficiency, reduces the overall weight of the structure, improves the space utilization, provides more possibilities for lightweight and intelligent design of the vehicle, and is more flexible and portable during movement, meeting the movement needs in different scenes.

[0033] The wheel hub motor wheel 3 has a wheel hub motor body 31 and a solid tire 32 which is fitted on the wheel hub motor body 31. The wheel hub motor body 31 integrates structural elements such as motor stator, motor rotor, stator bracket, rotor bracket, motor winding, wheel brake disc, brake caliper and rim, and can realize independent speed and torque control. The solid tire 32 is made of high-elastic and wear-resistant material, has good grip and shock absorption performance, and can provide stable driving effect under different road conditions. The combination of the wheel hub motor body 31 and the solid tire 32 greatly improves the control performance and passability of the vehicle, cancels the complex mechanical transmission system, i.e. without traditional mechanical components such as transmission shaft and differential, simplifies the vehicle structure, improves the transmission efficiency, reduces the overall weight of the structure, improves the space utilization, provides more possibilities for lightweight and intelligent design of the vehicle, and is more flexible and portable during movement, meeting the movement needs in different scenes.

[0034] The left side and the right side of the solid tire 32 are each provided with a plurality of holes 321 arranged around the central axis thereof. Preferably, the holes 321 on the left side and the right side of the solid tire 32 are mirror images of each other relative to the hub motor body 31, which is simple to design and produce. The solid tire 32 and the holes 321 are thus designed. The solid tire 32 has no risk of air leakage, and the holes 321 are designed to further enhance the puncture resistance of the solid tire 32 without affecting the overall structural strength, suitable for complex road conditions and harsh environments, reducing failures caused by damage to the solid tire 32, and the smoothness of the solid tire 32 can also reduce the bumping feeling and improve the driving stability. In addition, the holes 321 design helps air circulation, which can effectively reduce the heat accumulation of the hub motor wheel 3 during operation, prolong the service life of the hub motor wheel 3, especially in high-speed or long-time driving scenarios, which can significantly improve the heat dissipation efficiency. In addition, the holes 321 design further reduces the weight of the solid tire 32, making it more stable and flexible to move.

[0035] In the embodiment, the horizontal diverter 1 includes an upper support plate 11, a lower support plate 12, and a bearing rotating shaft member 13; the bottom end of the upper support plate 11 is connected to the upper end of the bearing rotating shaft member 13; the top end of the lower support plate 12 is connected to the lower end of the bearing rotating shaft member 13 and can rotate horizontally by 360° relative to the upper support plate 11; and the bottom end of the lower support plate 12 is connected to the double-wheel independent drive wheel group. The bearing rotating shaft member 13 is a conventional bearing assembly, which is designed to allow the lower support plate 12 to rotate horizontally by 360° relative to the upper support plate 11, i.e., the wheel support 2 and the hub motor wheel 3 can rotate horizontally by 360° relative to the upper support plate 11. With the cooperation of the two hub motor wheels 3, the structure as a whole can realize the driving modes of original turning, differential turning, straight driving, backward driving, and oblique driving, greatly improving the control performance and passability of the vehicle. The complex mechanical transmission system is canceled, i.e., there is no need for traditional mechanical components such as a transmission shaft and a differential, which simplifies the vehicle structure, improves the transmission efficiency, reduces the overall weight of the structure, improves the space utilization, and provides more possibilities for the lightweight and intelligent design of the vehicle. When moving, it is more flexible and light, meeting the moving needs in different scenarios.

[0036] In order to facilitate the connection between the upper support plate 11 and the bearing rotating shaft member 13, and to facilitate disassembly and avoid the exposure of the hidden bolts 6, a plurality of hidden bolts 6 are arranged on the upper support plate 11, evenly arranged around the central axis of the bearing rotating shaft member 13, and connected to the upper end of the bearing rotating shaft member 13; the head of the hidden bolt 6 is hidden in the bolt hole of the upper support plate 11.

[0037] In the embodiment, the wheel support 2 comprises a mounting plate 21 and a mounting frame 22; the mounting frame 22 has a receiving cavity 222; the mounting frame 22 is surrounded by a plurality of frame plates on its front side, rear side, left side, right side and bottom end, and the connection between the frame plates can be achieved by welding, screw connection, buckle connection, etc. The mounting plate 21 is connected to the top end of the mounting frame 22; the left and right sides of the mounting frame 22 are respectively rotatably connected with one of the hub motor wheels 3. By setting the mounting plate 21 and the mounting frame 22 to form the wheel support 2, the rotatable connection of the two hub motor wheels 3 on the left and right sides can be achieved, a stable connection structure is provided, and then it is helpful to support the steering, straight driving and other driving modes of the two hub motor wheels 3, adapt to complex terrain (such as slope, uneven road surface), improve the mobility.

[0038] For the lead installation of the integrated dual-wheel independent drive wheel set with multiple driving modes, the two hub motor wheels 3 are powered. The central position of the bearing rotating shaft 13 has a central threading hole 131 penetrating the upper and lower ends thereof; the upper support plate 11 is provided with at least three first threading holes 111 in communication with the threading hole; and the central position of the lower support plate 12 has a first threading hole 121 in communication with the lower end of the central threading hole 131. The side of the upper support plate 11 corresponding to the position of the first threading hole 111 is provided with at least three first wire connectors 4 which are respectively and correspondingly fitted into the first threading hole 111. The mounting plate 21 has a wire groove 211 in communication with the first threading hole 121; the front side or rear side of the mounting plate 21 is provided with at least three second threading holes 212 in communication with the wire groove 211; and the side of the mounting plate 21 corresponding to the position of the second threading hole 212 is provided with at least three second wire connectors 5 which are respectively and correspondingly fitted into the second threading hole 212; and the front side and rear side of the mounting frame 22 are provided with second threading holes 221 in communication with the receiving cavity 222. The first wire connector 4, the first threading hole 111, the central threading hole 131, the first threading hole 121, the wire groove 211, the second threading hole 212, the second wire connector 5, the second threading hole 221 and the receiving cavity 222 are sequentially communicated to form a lead path, through reasonable path planning and connection mode, the stable power supply of the hub motor wheel 3 under various working conditions is ensured, the occupation of external power supply wire harness is reduced, the layout of the power supply wire harness is more regular, the overall performance and aesthetic degree of the dual-wheel independent drive wheel set are improved, the constraint of the power supply wire harness is reduced, the structure as a whole is better to realize the driving modes of structure overall steering, differential steering, straight driving, backward driving, diagonal driving, etc., the vehicle control performance and passability are greatly improved, the vehicle is more flexible and portable during movement, and it is beneficial to meet the movement needs in different scenes.

[0039] In summary, the embodiment of the present application provides a dual-wheel independent driving wheel set integrating multiple driving modes, which has the following advantages.

[0040] The dual-wheel independent driving wheel set integrating multiple driving modes can independently control the rotating speed and torque of each wheel hub motor wheel 3 through the cooperation of the horizontal steering device 1, the wheel support 2 and the wheel hub motor wheel 3, has the functions of straight movement and reverse movement, and the two wheel hub motor wheels 3 can work together to realize the steering function, for example, by directly synchronously reversing the two wheel hub motor wheels 3 to realize the functions of forward movement and backward movement, or by adjusting the rotating speed difference of the two wheel hub motor wheels 3 to realize the steering function under the action of the horizontal steering device 1. This design can realize the driving modes of overall in-place steering, differential steering, straight movement, backward movement and oblique movement, which is specifically shown as follows: the independent driving of the left and right wheel hub motor wheels 3 realizes smooth steering according to the speed difference between the left and right wheels, the cooperation of the two wheel hub motor wheels 3 can realize the in-place steering mode and the differential steering mode, and is suitable for flexible movement in narrow space; at the same time, the two wheel hub motor wheels 3 can also realize multiple driving modes such as straight movement, backward movement and oblique movement by adjusting the driving direction and speed of the two, which greatly improves the control performance and passability of the vehicle, cancels the complex mechanical transmission system, i.e. without the need for traditional mechanical components such as transmission shaft and differential, simplifies the vehicle structure, improves the transmission efficiency, reduces the overall weight of the structure, improves the space utilization, provides more possibilities for the lightweight and intelligent design of the vehicle, is more flexible and portable during movement, and meets the movement requirements in different scenes.

[0041] The above only describes the preferred embodiments of the present application, and it should be noted that those skilled in the art can make some improvements and replacements without departing from the technical principles of the present application, and these improvements and replacements should also be considered as the protection scope of the present application.

Claims

1. A dual-wheel independent drive wheel set integrating multiple driving modes, characterized in that, include: Horizontal steering gear; A wheel bracket is connected to the lower end of the horizontal steering gear and can rotate 360° horizontally on the ground via the horizontal steering gear; Hub motor wheels; the two hub motor wheels are positioned opposite each other and are rotatably connected to the left and right sides of the wheel bracket, respectively.

2. The dual wheel independent drive wheel set integrated with multiple travel modes according to claim 1, characterized in that, The hub motor wheel has a hub motor body and a solid tire that is appropriately mounted on the hub motor body.

3. The dual-wheel independent drive wheel set integrated with multiple travel modes according to claim 2, characterized in that, The solid tire has several holes arranged around its central axis on both its left and right sides.

4. The dual wheel independent drive wheel set integrated with multiple travel modes according to claim 2, characterized in that, The holes on the left and right sides of the solid tire are mirror images of the hub motor body.

5. The dual wheel independent drive wheel set integrated with multiple travel modes according to claim 1, wherein, The horizontal steering gear includes an upper support plate, a lower support plate, and a bearing shaft; the bottom end of the upper support plate is connected to the upper end of the bearing shaft; the top end of the lower support plate is connected to the lower end of the bearing shaft and can rotate horizontally 360° relative to the upper support plate; the bottom end of the lower support plate is connected to the dual-wheel independent drive wheel set.

6. The dual-wheel independent drive wheel set integrated with multiple travel modes according to claim 5, characterized in that, The bearing shaft has a central through-hole at its center, passing through both its upper and lower ends; the upper support plate has at least three first through-holes connected to the central through-hole; the lower support plate has a first through-hole at its center, connected to the lower end of the central through-hole.

7. The dual-wheel independent drive wheel set integrated with multiple travel modes according to claim 6, characterized in that, The upper support plate has at least three first wire connectors on one side corresponding to the position of the first wire passage, which are fitted into the first wire passage.

8. The dual wheel independent drive wheel set integrated with multiple travel modes according to claim 5, wherein, The upper support plate is provided with a number of hidden bolts evenly distributed around the central axis of the bearing shaft and connected to the upper end of the bearing shaft; the heads of the hidden bolts are hidden in the bolt holes of the upper support plate.

9. The dual wheel independent drive wheel set integrated with multiple travel modes according to claim 6, wherein, The wheel bracket includes a mounting plate and a mounting frame; the mounting frame has a receiving cavity; the mounting plate is connected to the top of the mounting frame; a hub motor wheel is rotatably connected to the left and right sides of the mounting frame, respectively.

10. The dual-wheel independently driven wheel set integrated with multiple travel modes according to claim 9, characterized in that, The mounting plate has a wire groove that communicates with the first wire hole; the front or rear side of the mounting plate is provided with at least three second wire channels that are all connected to the wire groove. The mounting plate has at least three second wire connectors that are one-to-one adapted and embedded in the second wire channel on one side of the mounting plate corresponding to the position of the second wire channel. The mounting frame is provided with a second threading hole on both the front and rear sides, which communicates with the receiving cavity.

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