Driving steering control device

Abstract

The invention discloses a driving steering control device which comprises an input shaft driving part, an output shaft driving part and a driving part. The input shaft is horizontally and rotatably arranged in the box body, the input shaft driving part drives the input shaft to rotate, and a transmission main gear is arranged on the input shaft; the transmission shaft is horizontally and rotationally arranged in the box body, the transmission shaft and the input shaft are arranged in parallel at intervals, the transmission shaft is sequentially sleeved with a plurality of multi-stage gears at intervals in the axial direction, the number of the multi-stage gears is even, the multi-stage gears are symmetrically arranged on the transmission shaft with the axis of the transmission shaft as the symmetry axis, and the transmission shaft is further provided with transmission auxiliary gears in meshing transmission with the transmission gears; one end, extending out of the box body, of the left output shaft is connected with a left driving wheel, and one end, extending out of the box body, of the right output shaft is connected with a right driving wheel; the left output shaft and the right output shaft are correspondingly provided with a plurality of matched gears which are in matched transmission with the multi-stage gears, so that a multi-stage transmission ratio is formed. According to the invention, the flexible steering capability of the printer is improved.

Description

[0001] This application is a divisional application. The original application was entitled "A Flexible Rotating Mobile Chassis for a House 3D Printer," with application number 202310197971.9 and application date of March 3, 2023. Technical Field

[0002] This invention relates to the field of 3D printing mobile device technology, and more specifically to a flexible rotating mobile chassis for a house 3D printer. Background Technology

[0003] 3D printers are gradually being used in house construction, but existing concrete printers require parts to be transported to the site for on-site assembly, resulting in long preparation times and reduced construction efficiency. Existing concrete printers also require a large footprint, necessitating space appropriate for the size of the house being built, thus impacting surrounding construction projects. Furthermore, existing concrete printers are highly sensitive to ground flatness; uneven surfaces lead to decreased construction accuracy. Finally, existing concrete printers lack a chassis and cannot move independently, requiring workers to assist in transporting them, consuming additional manpower.

[0004] In the process of building a house, 3D printers need to remain in a fixed position for a long time and bear a large fixed load, requiring strong stability; at the same time, during the movement of the 3D printer, the chassis is affected by the rugged ground of the working environment, and needs to have the ability to turn at low speed under heavy load.

[0005] In view of this, it is necessary to improve the chassis in the existing technology to solve the above problems. Summary of the Invention

[0006] The purpose of this invention is to disclose a flexible rotating mobile chassis for a house 3D printer, in order to solve the above-mentioned technical problems and achieve flexible drive and steering.

[0007] To achieve the above objectives, the present invention provides a flexible rotating mobile chassis for a house 3D printer, comprising:

[0008] Chassis main body,

[0009] The housing is located below the main body of the chassis and is connected to the main body of the chassis by a shock-absorbing mechanism;

[0010] An input shaft drive is located inside the housing;

[0011] An input shaft is horizontally rotatably mounted inside the housing and is driven to rotate by an input shaft drive component. A transmission main gear is arranged on the input shaft.

[0012] A drive shaft is horizontally rotatably mounted inside the housing and is arranged parallel to and spaced apart from the input shaft. Several multi-stage gears are sequentially and spaced apart along the axial direction of the drive shaft. The number of multi-stage gears is even and they are symmetrically arranged on the drive shaft with respect to the axis of the drive shaft. Each pair of multi-stage gears has a different number of teeth. The drive shaft is also provided with a transmission pair gear that meshes with the drive gears.

[0013] The left and right output shafts are coaxial and horizontally opposite each other, and are rotatably mounted inside the housing, and are parallel and spaced apart from the drive shaft; the end of the left output shaft extending out of the housing is connected to the left drive wheel, and the end of the right output shaft extending out of the housing is connected to the right drive wheel.

[0014] The left output shaft and the right output shaft are respectively provided with multiple cooperating gears that cooperate with the multi-stage gears to form a multi-stage transmission ratio;

[0015] A gear drive unit is used to drive multiple multi-stage gears to adjust the transmission ratio between the left output shaft and the right output shaft, so that the chassis can switch between forward, left turn, and right turn states.

[0016] As a further improvement of the present invention, the multi-stage gear includes a first gear, a second gear, a third gear and a fourth gear that are sequentially spaced along the axial direction of the transmission shaft, and a fifth gear and a sixth gear that can form a transmission engagement with the first gear and the second gear are fixed on the left output shaft.

[0017] The right output shaft is fixed with a seventh gear and an eighth gear that can form a transmission engagement with the third gear and the fourth gear;

[0018] The first gear and the fifth gear, and the sixth gear and the eighth gear form a first-order transmission ratio, and the second gear and the sixth gear, and the third gear and the seventh gear form a second-order transmission ratio;

[0019] The turning radius of the chassis can be adjusted by adjusting the difference between the first-stage transmission ratio and the second-stage transmission ratio.

[0020] As a further improvement of the present invention, the first gear and the second gear are fixedly connected by a first connecting member, and the third gear and the fourth gear are fixedly connected by a second connecting member; the gear driving component includes:

[0021] The first driving component is equipped with a first power unit. The first driving component can drive the first connecting component to slide horizontally along the axial direction of the transmission shaft through the driving force provided by the first power unit, so as to realize the transmission ratio adjustment of the left output shaft.

[0022] The second drive component is equipped with a second power unit. The second drive component can drive the second connecting member to slide horizontally along the axial direction of the transmission shaft through the driving force provided by the second power unit, so as to realize the transmission ratio adjustment of the right output shaft.

[0023] As a further improvement of the present invention, the shock absorption mechanism includes:

[0024] The mounting post is located at the bottom center of the chassis body, and a countersunk groove is provided at the bottom.

[0025] The connecting column is rotatably mounted on the top of the box body, and a movable groove is provided at the top.

[0026] The hydraulic shock absorber piston is positioned between the mounting column and the connecting column, and its two ends respectively mate with the countersunk groove and the movable groove.

[0027] As a further improvement of the present invention, two housings are provided and are arranged opposite each other at the front and rear ends of the bottom of the chassis body.

[0028] As a further improvement of the present invention, the chassis further includes a support mechanism, which has four sets and is respectively arranged at the four corners of the chassis body. The support mechanism includes:

[0029] The first support column drive component is disposed on the chassis body;

[0030] The first support column is supported or moved away from the ground by the first support column driving component.

[0031] As a further improvement of the present invention, the chassis further includes an auxiliary wheel mechanism, wherein two sets of the auxiliary wheel mechanism are arranged between the two sets of the housings and on both sides of the chassis body, arranged symmetrically, and the auxiliary wheel mechanism includes:

[0032] An auxiliary wheel drive component is mounted on the chassis body;

[0033] The auxiliary wheels are driven by the auxiliary wheel drive components, which support them on the ground and cause the front wheels of the box to lift off the ground.

[0034] As a further improvement of the present invention, the housing is also provided with a left driven wheel and a right driven wheel, which are arranged at the rear end of the housing.

[0035] As a further improvement of the present invention, the left output shaft includes:

[0036] A left shaft is rotatably mounted in the housing. The left shaft forms a first step, a second step, a third step, and a fourth step in sequence along its axial direction. The diameters of the first step, the second step, the third step, and the fourth step gradually decrease. The third step and the fourth step are respectively provided with a first spline and a second spline along the circumference. The first spline and the second spline are respectively used to mesh with the sixth gear and the seventh gear.

[0037] Two bearings are located on the outer sides of the sixth and seventh gears, respectively;

[0038] The locking element is fixed to the fourth step.

[0039] As a further improvement of the present invention, the right output shaft includes:

[0040] The right shaft is rotatably mounted in the housing. The right shaft forms a fifth step, a sixth step, a seventh step and an eighth step in sequence along its axial direction. The diameters of the fifth step, the sixth step, the seventh step and the eighth step gradually decrease. The seventh step and the eighth step are respectively provided with a second spline and a third spline along the circumference. The second spline and the third spline are respectively used to mesh with the eighth gear and the ninth gear.

[0041] Two bearings are located on the outer sides of the eighth and ninth gears, respectively;

[0042] The locking element is fixed to the eighth step.

[0043] Compared with the prior art, the beneficial effects of the present invention are:

[0044] (1) A flexible rotating mobile chassis for a house 3D printer, which forms a multi-stage transmission ratio between the drive shaft and the left and right output shafts, and adjusts the steering of the mobile chassis by adjusting the transmission ratio between the left and right drive wheels. The turning radius of the mobile chassis is adjusted by controlling the transmission ratio difference. Specifically, by sliding the first, second, third and fourth gears on the drive shaft, arranging the left output shaft that cooperates with the first and second gears, and the right output shaft that cooperates with the third and fourth gears, the driving reversing capability of the left and right drive wheels is improved. The left and right output shafts both have a first-stage transmission ratio and a second-stage transmission ratio. By adjusting the transmission ratio between the left and right output shafts through the gear drive components, the chassis can switch between forward, left-turn and right-turn states, improving the flexible steering capability of the chassis to meet the needs of constantly moving in narrow spaces when building houses and achieving a small turning radius.

[0045] (2) Through the design of the auxiliary wheel, when there are obstacles such as ditches in front of the chassis, which prevent the front wheels from moving, the auxiliary wheel can lift the front wheels to avoid the obstacles; through the design of the auxiliary wheel, when there are obstacles such as ditches in front of the chassis, which prevent the front wheels from moving, the auxiliary wheel can lift the front wheels to avoid the obstacles; the chassis of this application can maintain a fixed large load for a long time, with strong self-locking and strong stability; the left and right output shafts are separate and arranged with multi-stage transmission ratios, which can realize the reversal on the spot, and is affected by the rugged ground of the working environment, adapting to the characteristics of heavy load and low speed. Attached Figure Description

[0046] Figure 1 This is a schematic diagram showing the cooperative position of the movable chassis of the flexible rotating house 3D printer of the present invention within the printer;

[0047] Figure 2 This is a three-dimensional structural diagram of a flexible rotating mobile chassis for a house 3D printer according to the present invention. The diagram also shows the drive wheel and the driven wheel.

[0048] Figure 3 This is a schematic diagram of the structure of a flexible rotating mobile chassis for a house 3D printer according to the present invention, ignoring the housing.

[0049] In the diagram: 10. Chassis main body; 20. Input shaft drive component; 30. Shock absorption mechanism; 40. Support mechanism; 50. Auxiliary wheel mechanism; 211. Transmission main gear; 22. Transmission shaft; 23. Left output shaft; 24. Right output shaft; 25. Gear drive component; 200. Housing; 221. Multi-stage gear; 222. Transmission secondary gear; 231. Matching gear; 232. Left drive wheel; 242. Right drive wheel; 262. Left driven wheel; 272. Right driven wheel. Detailed Implementation

[0050] The present invention will now be described in detail with reference to the embodiments shown in the accompanying drawings. However, it should be noted that these embodiments are not intended to limit the present invention. Equivalent changes or substitutions in function, method, or structure made by those skilled in the art based on these embodiments are all within the scope of protection of the present invention.

[0051] Please refer to Figures 1 to 3 The present invention illustrates a specific embodiment of a flexible rotating mobile chassis for a house 3D printer.

[0052] A flexible rotating mobile chassis for a house-type 3D printer includes: a chassis body 10; a housing 200 located below the chassis body 10 and connected to the chassis body 10 by a shock-absorbing mechanism 30; an input shaft drive 20 located within the housing 200; an input shaft horizontally rotatable within the housing 200, driven by the input shaft drive 20, with a transmission main gear 211 arranged on the input shaft; and a transmission shaft 22 horizontally rotatable within the housing 200, arranged parallel to and spaced apart from the input shaft. The transmission shaft 22 has several multi-stage gears 221 sequentially spaced along its axial direction, with an even number of gears 221 symmetrically arranged on the transmission shaft 22 about its axis. Each pair of multi-stage gears 221 has a different number of teeth. The shaft 22 is also equipped with a transmission pair gear 222 that meshes with the transmission gear; the left output shaft 23 and the right output shaft 24 are coaxial and horizontally opposite each other, and are rotatably housed within the housing 200, and are parallel and spaced apart from the transmission shaft 22; one end of the left output shaft 23 extending out of the housing 200 is connected to the left drive wheel 232, and one end of the right output shaft 24 extending out of the housing 200 is connected to the right drive wheel 242; the left output shaft 23 and the right output shaft 24 are respectively equipped with multiple mating gears 231 that mesh with the multi-stage gear 221 to form a multi-stage transmission ratio; the gear drive component 25 is used to drive the multiple multi-stage gears 221 to adjust the transmission ratio between the left output shaft 23 and the right output shaft 24, so that the chassis can switch between forward, left turn, and right turn states. The gear drive component 25 uses a cylinder or motor-driven lever to drive the multi-stage gears 221 to slide axially along the transmission shaft 22.

[0053] Specifically, in this embodiment, the multi-stage gear 221 includes a first gear, a second gear, a third gear, and a fourth gear that are sequentially spaced along the axial direction of the transmission shaft 22. A fifth gear and a sixth gear, which can form a transmission engagement with the first gear and the second gear, are fixed on the left output shaft 23. A seventh gear and an eighth gear, which can form a transmission engagement with the third gear and the fourth gear, are fixed on the right output shaft 24. The first gear and the fifth gear, and the sixth gear and the eighth gear form a first-level transmission ratio, and the second gear and the sixth gear, and the third gear and the seventh gear form a second-level transmission ratio. By adjusting the difference between the first-level transmission ratio and the second-level transmission ratio, the turning radius of the chassis can be adjusted.

[0054] It is important to understand that a flexible rotating chassis for a 3D house printer achieves steering adjustment by forming multiple transmission ratios between the drive shaft 22 and the left output shaft 23 and right output shaft 24. The steering radius of the chassis can be adjusted by adjusting the transmission ratio between the left drive wheel 232 and the right drive wheel 242. Specifically, by sliding a first gear, a second gear, a third gear, and a fourth gear on the drive shaft 22, and arranging the left output shaft 23 (which meshes with the first and second gears) and the right output shaft 24 (which meshes with the third and fourth gears), the driving reversing capability of the left and right drive wheels 242 is improved. Both the left output shaft 23 and the right output shaft 24 have primary and secondary transmission ratios. The transmission ratio between the left output shaft 23 and the right output shaft 24 is adjusted by the gear drive component 25, allowing the chassis to switch between forward, left-turn, and right-turn states. This improves the chassis's flexible steering capability, adapting to the need for constant movement in confined spaces during house construction and achieving a smaller turning radius.

[0055] The first gear and the second gear are fixedly connected by a first connecting member, and the third gear and the fourth gear are fixedly connected by a second connecting member; the gear drive component 25 includes: a first drive component, which is equipped with a first power unit, and the first drive component can drive the first connecting member to slide horizontally along the axial direction of the transmission shaft 22 by the driving force provided by the first power unit, so as to realize the transmission ratio adjustment of the left output shaft 23; and a second drive component, which is equipped with a second power unit, and the second drive component can drive the second connecting member to slide horizontally along the axial direction of the transmission shaft 22 by the driving force provided by the second power unit, so as to realize the transmission ratio adjustment of the right output shaft 24.

[0056] The shock absorption mechanism 30 includes: a mounting column located at the center of the bottom of the chassis body 10, with a countersunk groove at the bottom; a connecting column rotatably located at the top of the housing 200, with a movable groove at the top; and a hydraulic shock absorber piston located between the mounting column and the connecting column, with both ends engaging with the countersunk groove and the movable groove, respectively. Two housings 200 are provided, arranged opposite each other at the front and rear ends of the bottom of the chassis body 10. The chassis also includes a support mechanism 40, which has four sets, arranged at the four corners of the chassis body 10. The support mechanism 40 includes: a first support column drive member located on the chassis body 10; and a first support column driven by the first support column drive member to support or move away from the ground. The chassis also includes an auxiliary wheel mechanism 50. Two sets of auxiliary wheel mechanisms 50 are arranged between the two sets of housings 200, symmetrically positioned on both sides of the chassis body 10. Each auxiliary wheel mechanism 50 includes: an auxiliary wheel drive component mounted on the chassis body 10; and auxiliary wheels driven by the auxiliary wheel drive component, supported on the ground, and causing the front wheels of the housing 200 to lift off the ground. The housing 200 also has a left driven wheel 262 and a right driven wheel 272, located at the rear end of the housing 200.

[0057] The left output shaft 23 includes: a left shaft body rotatably mounted in the housing 200, the left shaft body forming a first step, a second step, a third step, and a fourth step sequentially along its axial direction, the diameters of the first step, second step, third step, and fourth step gradually decreasing; the third step and the fourth step are respectively provided with a first spline and a second spline along their circumference, the first spline and the second spline being used to mesh with the sixth gear and the seventh gear, respectively; two bearings, respectively located on the outside of the sixth gear and the seventh gear; and a locking member fixed to the fourth step. The right output shaft 24 includes: a right shaft body rotatably mounted in the housing 200, the right shaft body forming a fifth step, a sixth step, a seventh step, and an eighth step sequentially along its axial direction, the diameters of the fifth step, sixth step, seventh step, and eighth step gradually decreasing; the seventh step and the eighth step are respectively provided with a second spline and a third spline along their circumference, the second spline and the third spline being used to mesh with the eighth gear and the ninth gear, respectively; two bearings, respectively located on the outside of the eighth gear and the ninth gear; and a locking member fixed to the eighth step.

[0058] With the design of the auxiliary wheels, when there are obstacles such as ditches in front of the chassis that prevent the front wheels from moving, the auxiliary wheels can lift the front wheels to avoid the obstacles; the chassis of this application can maintain a fixed large load for a long time, with strong self-locking and strong stability; the left and right output shafts are split into 24 parts with multi-stage transmission ratios, which can realize the reversal on the spot and adapt to the characteristics of heavy load and low speed due to the influence of the rugged ground in the working environment.

[0059] Working principle: The secondary transmission ratio is set to be greater than the primary transmission ratio, with the secondary transmission ratio being 1.67 and the primary transmission ratio being 1.08;

[0060] Forward movement: When the first gear meshes with the fifth gear, the second gear disengages from the sixth gear, the third gear disengages from the seventh gear, and the fourth gear meshes with the eighth gear, the left output shaft 23 and the right output shaft 24 are in the same transmission ratio, the left drive wheel 232 and the right drive wheel 242 rotate at the same speed, and the chassis is in forward gear;

[0061] Right turn action: When the first gear and the fifth gear are disengaged, the second gear and the sixth gear are engaged, the third gear and the seventh gear are disengaged, and the fourth gear and the eighth gear are engaged, the secondary transmission ratio of the left output shaft 23 is greater than the primary transmission ratio of the right output shaft 24, the speed of the left drive wheel 232 is greater than the speed of the right drive wheel 242, and the chassis is in a right turn state.

[0062] Left turn action: When the first gear meshes with the fifth gear, the second gear disengages from the sixth gear, the third gear meshes with the seventh gear, and the fourth gear disengages from the eighth gear, the first-stage transmission ratio of the left output shaft 23 is less than the second-stage transmission ratio of the right output shaft 24, the speed of the left drive wheel 232 is less than the speed of the right drive wheel 242, and the chassis is in a left turn state.

[0063] When in translation mode, the mounting column is supported on the ground as a fulcrum. At this time, one of the left drive wheel 232 and the right drive wheel 242 is still driven, causing the chassis to rotate around the mounting column.

[0064] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A drive steering control device, characterized in that, include: Box (200); An input shaft drive (20) is disposed within the housing (200); An input shaft is horizontally rotatably disposed within the housing (200) and is driven to rotate by the input shaft drive component (20). A transmission main gear (211) is mounted on the input shaft. The drive shaft (22) is horizontally rotatably disposed in the housing (200) and arranged parallel to the input shaft. A multi-stage gear set that can slide along the axial direction is sleeved on the drive shaft (22). A transmission auxiliary gear (222) that meshes with the main transmission gear (211) is also fixed on the drive shaft (22). A left output shaft (23) and a right output shaft (24) are arranged coaxially and horizontally opposite each other in the housing (200) and parallel to and spaced apart from the transmission shaft (22). One end of the left output shaft (23) is used to connect to the left drive wheel (232), and one end of the right output shaft (24) is used to connect to the right drive wheel (242). The left output shaft (23) and the right output shaft (24) are respectively fixed with a set of meshing gears for selectively meshing with the multi-stage gear set to form a multi-stage transmission ratio. A gear drive unit (25) is used to drive the multi-stage gear set to slide axially along the transmission shaft (22) to adjust the transmission ratio between the left output shaft (23) and the right output shaft (24); The left output shaft (23) includes a left shaft body, which is rotatably mounted on the housing (200). The left shaft body has a first step, a second step, a third step and a fourth step with gradually decreasing diameter along its axial direction. The third step and the fourth step are respectively provided with a first spline and a second spline along the circumferential direction. The right output shaft (24) includes a right shaft body, which is rotatably mounted on the housing (200). The right shaft body has a fifth step, a sixth step, a seventh step and an eighth step with gradually decreasing diameter along its axial direction. The seventh step and the eighth step are respectively provided with a second spline and a third spline along the circumferential direction. The first spline, the second spline, and the third spline are respectively used to mesh with the gears in the mating gear set.

2. Application of a drive steering control device in a 3D printer mobile chassis.

3. A mobile chassis for a 3D printer, characterized in that, Includes the drive steering control device as described in claim 1.

4. A 3D printer mobile chassis according to claim 3, characterized in that, Also includes: Chassis body (10), box (200) is installed below chassis body (10). The multi-stage gear includes a first gear, a second gear, a third gear, and a fourth gear that are sequentially spaced along the axial direction of the transmission shaft (22); a fifth gear and a sixth gear that can form a transmission engagement with the first gear and the second gear are fixed on the left output shaft (23); a seventh gear and an eighth gear that can form a transmission engagement with the third gear and the fourth gear are fixed on the right output shaft (24); the first gear and the fifth gear, and the sixth gear and the eighth gear form a first-level transmission ratio, and the second gear and the sixth gear, and the third gear and the seventh gear form a second-level transmission ratio; The first gear and the second gear are fixedly connected by a first connecting member, and the third gear and the fourth gear are fixedly connected by a second connecting member; the gear drive (25) includes: a first drive member, which is equipped with a first power unit, and the first drive member can drive the first connecting member to slide horizontally along the axial direction of the transmission shaft (22) by the driving force provided by the first power unit; The second driving member is equipped with a second power unit. The second driving member can drive the second connecting member to slide horizontally along the axial direction of the transmission shaft (22) by the driving force provided by the second power unit. The support mechanism (40) has four sets and is respectively arranged at the four corners of the chassis body (10). The support mechanism (40) includes a first support column drive member and a first support column. The first support column drive member is provided on the chassis body (10). The first support column is driven by the first support column drive member to support or move away from the ground. The auxiliary wheel mechanism (50) has two sets arranged between the two sets of the housing (200) and located on both sides of the chassis body (10), arranged symmetrically. The auxiliary wheel mechanism (50) includes an auxiliary wheel drive and an auxiliary wheel. The auxiliary wheel drive is located on the chassis body (10). The auxiliary wheel is driven by the auxiliary wheel drive and supported on the ground, causing the front wheel of the housing (200) to lift off the ground.

5. A 3D printer mobile chassis according to claim 4, characterized in that, It also includes a shock absorption mechanism (30), which includes: The mounting post is located at the bottom center of the chassis body, and a countersunk groove is provided at the bottom. The connecting column is rotatably located on the top of the box (200), and the top end is provided with a movable groove; The hydraulic shock absorber piston is positioned between the mounting column and the connecting column, and its two ends respectively mate with the countersunk groove and the movable groove.

6. A 3D printer mobile chassis according to claim 4, characterized in that, The rear end of the housing (200) is also provided with a left driven wheel and a right driven wheel.

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