Dual drive tiller and control method

Abstract

The application relates to a double-drive steering wheel and a control method, and relates to the technical field of double-drive steering wheels, which comprises a mounting frame, a horizontal plate is fixedly connected to the upper portion of the mounting frame, first motors are mounted on the two sides in the mounting frame, wheels are mounted on the output ends of the two first motors through shaft couplings, a second motor is mounted on the left side in the horizontal plate, a transmission gear is fixedly connected to the output end of the second motor through a shaft coupling, an engaging gear is mounted on the upper portion of the horizontal plate, the transmission gear is engaged with the engaging gear, a lubricating mechanism is arranged on the right side of the upper portion of the horizontal plate, and the wheels are provided with a replacing mechanism. The lubricating mechanism can conveniently lubricate the engaging positions of the transmission gear and the engaging gear responsible for steering, the frictional resistance between the gears is effectively reduced, mechanical wear is reduced, the steering flexibility is ensured, and the service life of the transmission components is prolonged.

Description

Technical Field

[0001] This application relates to the field of dual-drive steering wheel technology, and in particular to a dual-drive steering wheel and its control method. Background Technology

[0002] Dual-drive steering wheels are composite mobile wheel systems that integrate walking and steering functions. They are widely used in mobile robots, automated handling equipment, intelligent logistics systems, and other advanced automated transportation tools. These steering wheels typically transmit power through transmission gears and meshing gears. Their precise steering control and stable power output directly affect the motion accuracy, control response, and reliability of the entire machine. Therefore, the stability of the transmission system of dual-drive steering wheels is crucial, especially the working condition and lubrication effect of the gears.

[0003] However, in the existing technology, the gear transmission structure of the dual-drive steering wheel lacks an effective and continuous lubrication method during long-term operation, resulting in insufficient adhesion of the lubricating medium to the gear surface. Due to the poor fluidity and stability of the lubricating fluid, insufficient lubrication or uneven lubrication distribution often occurs on the gear surface. Especially under high load or long-term operation, the lubrication effect is further deteriorated. This insufficient lubrication can easily lead to increased friction between gears, and in severe cases, it can cause wear and damage to the gear tooth surface, thereby affecting the gear transmission efficiency, shortening the service life of the gears, and leading to transmission failure.

[0004] Furthermore, due to unstable lubrication, the increased friction generated during gear transmission often leads to increased operating noise, which not only affects the working environment of the equipment and causes problems such as overheating, but also reduces the overall reliability and stability of the equipment. The existence of these problems makes it impossible for the existing dual-drive steering wheel to effectively guarantee the long-term use and maintenance convenience of the equipment when operating stably for a long time and under high load. Summary of the Invention

[0005] The purpose of this application is to provide a dual-drive steering wheel and a control method, which aims to solve the problem that in the prior art, the gear transmission structure of the dual-drive steering wheel lacks an effective and continuous lubrication method during long-term operation, and the gear surface often suffers from insufficient lubrication or uneven lubrication distribution.

[0006] In a first aspect, the dual-drive steering wheel provided in this application adopts the following technical solution: it includes a mounting frame, a horizontal plate fixedly connected to the upper part of the mounting frame, a first motor mounted on both sides inside the mounting frame, wheels mounted on the output ends of the two first motors via couplings, a second motor mounted on the left side inside the horizontal plate, a transmission gear fixedly connected to the output end of the second motor via a coupling, a meshing gear mounted on the upper part of the horizontal plate, the transmission gear meshing with the meshing gear, a lubrication mechanism provided on the right side of the upper part of the horizontal plate, a replacement mechanism provided on the outside of the wheels, and cleaning mechanisms provided on both sides outside the mounting frame;

[0007] The lubrication mechanism includes a fixing block, which is fixedly connected to the upper right side of the horizontal plate. A liquid storage tank is fixedly connected to the top of the fixing block. A push rod is slidably connected to the left side inside the liquid storage tank. A push plate is fixedly connected to the right side outside the push rod. The push plate is slidably connected to the inside of the liquid storage tank. A push block is fixedly connected to the left side outside the push rod. A delivery pipe is fixedly connected to the right side outside the liquid storage tank. A nozzle is fixedly connected to the top of the delivery pipe. Extension plates are fixedly connected to the right side outside the liquid storage tank. Moving rods are slidably connected to the inside of both extension plates. Clamping plates are fixedly connected to the outside of both moving rods. Springs are sleeved on the outside of both moving rods. Baffles are fixedly connected to the bottom of both clamping plates. A sponge block is provided in the middle of the two clamping plates.

[0008] By adopting the above technical solution, the dual-drive steering wheel provides strong power and flexible mobility by setting two first motors to independently drive the wheels. The steering wheel is controlled by the second motor in conjunction with the transmission gear and meshing gear. By setting a lubrication mechanism, the lubricating oil in the reservoir is sprayed out from the nozzle through the delivery pipe by the cooperation of the push rod and push plate. This can lubricate the meshing parts of the meshing gear and the transmission gear in real time, reduce friction and wear between the gears, and extend the service life. At the same time, the sponge block can elastically abut against the gear surface or lubrication area by the cooperation of the extension plate, the moving rod, the spring and the clamping plate. This not only evenly applies the lubricating oil, but also absorbs excess grease and prevents the lubricating oil from splashing everywhere.

[0009] Preferably, the replacement mechanism includes two wheel surfaces, which are disposed on the outer sides of the two wheels. Bolts are installed around the inside of the two wheels, and positioning holes are provided on both sides of the inside of the two wheel surfaces. The bolts and the positioning holes are threadedly connected.

[0010] By adopting the above technical solution, a replacement mechanism is set up to enable rapid replacement of wheel surfaces after wear. When the wheel surface is severely worn, it is not necessary to replace the entire wheel assembly. Simply unscrew the bolts to remove the old wheel surface from the wheel and install the new wheel surface. This not only reduces equipment maintenance costs but also reduces resource waste. At the same time, the fit between the bolts and the positioning holes ensures the stability of the wheel surface installation.

[0011] Preferably, the cleaning mechanism includes a slide bar, which is fixedly connected to both sides of the inner side of the mounting frame. Sliding blocks are slidably connected to both sides of the outer side of the two slide bars. Protrusions are fixedly connected to the upper part of both sliding blocks. Pins are installed inside both protrusions. Fixing posts are fixedly connected to the outer side of both sliding blocks. Cleaning rollers are sleeved on the outer side of both fixing posts. A clamping plate is threadedly connected to the inner right side of both fixing posts.

[0012] By adopting the above technical solution, the cleaning mechanism can remove dust and debris adhering to the surface of the wheel. Through the cooperation of the sliding rod and the sliding block, the position of the cleaning roller is adjusted so that it contacts the surface of the wheel. During the rotation of the wheel, the cleaning roller rubs and cleans the surface of the wheel, preventing the accumulation of debris from causing the wheel to slip or run unstablely. In addition, the threaded connection of the clamping plate facilitates the disassembly, cleaning, and replacement of the cleaning roller, ensuring the continuity of the cleaning effect.

[0013] Preferably, the liquid injection port is fixed on the outer left side of the liquid storage tank, and a sealing cap is installed on the outside of the liquid injection port.

[0014] By adopting the above technical solution, the injection port makes it convenient for staff to add lubricating fluid to the storage tank, while the sealing cap effectively prevents external dust and impurities from entering the storage tank and contaminating the lubricating fluid, and also prevents the lubricating fluid from overflowing due to vibration during equipment operation.

[0015] Preferably, the fixing block has a locking block inside, a collecting shell is fixedly connected to the outside of the locking block, a locking groove is opened inside the fixing block, and the locking block is slidably connected inside the locking groove.

[0016] By adopting the above technical solution, and by setting a collection shell under the fixed block, excess waste oil that drips or flows down during the lubrication process can be collected, preventing oil from dripping into the installation frame. The sliding connection design of the card block and the card slot makes the collection shell easy to disassemble and clean, improving the convenience of equipment maintenance.

[0017] Preferably, the wheel has mounting holes on all four sides inside, and multiple bolts are inserted into the mounting holes.

[0018] By adopting the above technical solution, mounting holes are opened around the inside of the wheel for bolt insertion, which further enhances the connection strength between the wheel surface and the wheel body, ensuring that the wheel surface will not slip or fall off during high torque driving or steering, thus guaranteeing the safety of movement.

[0019] Preferably, the mounting frame has limit holes on both outer sides, and the pin is inserted into any of the limit holes.

[0020] By adopting the above technical solution, the insertion and engagement of the pin and the limiting hole plays a role in positioning and locking. After the position of the cleaning roller is adjusted, the sliding block can be fixed on the sliding rod by inserting the pin into the corresponding limiting hole, preventing the cleaning roller from shifting during equipment operation vibration and ensuring the stability of the cleaning work.

[0021] Preferably, the mounting frame has grooves on both sides inside, and the two slide rods are fixedly connected inside the two grooves.

[0022] By adopting the above technical solution, the slide rod is fixedly connected in the groove inside the mounting frame, which optimizes the spatial layout, makes the structure more compact, and increases the stability of the slide rod installation, so that it can withstand the reaction force generated when the cleaning roller is working and is not easily deformed.

[0023] Preferably, the material of the conveying pipe is polytetrafluoroethylene.

[0024] By adopting the above technical solution and selecting polytetrafluoroethylene (PTFE) material to make the delivery pipe, its excellent corrosion resistance and aging resistance can prevent lubricating oil from corroding the pipeline and extend the service life of the pipeline. At the same time, PTFE has a low coefficient of friction, which is conducive to the smooth delivery of lubricating fluid and is not easy to clog.

[0025] Secondly, the dual-drive steering wheel control method provided in this application adopts the following technical solution:

[0026] S1. Inject lubricating fluid into the storage tank through the injection port, and pull the two moving rods to make the clamp and baffle move synchronously, while squeezing the springs sleeved on the outside of the moving rods;

[0027] S2. After the two clamps have moved to the predetermined distance, place the sponge block between the two clamps and release the moving rod. Under the reaction force of the spring, the two clamps move relative to each other to fix the sponge block, and the sponge block is supported by the baffle.

[0028] S3. Push the push block to move the push rod and push plate inside the liquid storage tank, squeeze the lubricant, and deliver the lubricant through the delivery pipe to the nozzle, and drip it from the nozzle into the sponge block.

[0029] S4. Start the second motor to make the transmission gear rotate and drive the meshing gear that meshes with it to rotate. During the rotation, the meshing gear comes into contact with the soaked sponge block.

[0030] S5. When replacing the wheel, remove the bolt from the inside of the wheel, remove the worn wheel surface, and install the new wheel surface on the outside of the wheel. Align the positioning hole with the mounting hole and then tighten the bolt.

[0031] S6. During use, pull out the pin and push the sliding block along the slide bar to move the cleaning roller to the position where it contacts the outside of the wheel. Then, insert the pin into the protrusion and the limiting hole to fix it. When the dual drive steering wheel is running, the wheel drives the cleaning roller to rotate to clean the outside of the wheel.

[0032] In summary, this application includes at least one of the following beneficial technical effects:

[0033] 1. The present invention first injects lubricating fluid into the storage tank, pulls the moving rod to move the clamping plate and the baffle plate synchronously and compress the spring, places the sponge block between the two clamping plates and then releases the moving rod, so that the clamping plate clamps the sponge block under the action of the spring and is supported by the baffle plate. Then push the push block to squeeze the lubricating fluid, which drips into the sponge block through the delivery pipe and nozzle. Start the second motor to drive the transmission gear and the meshing gear to rotate. The meshing gear contacts the wetted sponge block, so that the lubricating fluid adheres to the surface of the gear, thereby lubricating the transmission gear and the meshing gear, reducing wear and improving the running stability of the dual drive steering wheel;

[0034] 2. When replacing the wheel surface of the dual-drive steering wheel, the present invention first removes the bolts inside the wheel, then removes the worn wheel surface, installs the new wheel surface on the outside of the wheel, ensures that the positioning hole of the wheel surface is aligned with the mounting hole of the wheel, and finally tightens the bolts to complete the fixation. By replacing only the wheel surface instead of the entire wheel, the replacement cost and maintenance workload are reduced, the maintenance efficiency is improved, and the waste of resources caused by frequent replacement of the entire wheel is avoided, thereby improving the economy and maintenance convenience of the dual-drive steering wheel.

[0035] 3. When using the dual-drive steering wheel, remove the pin and move the sliding block to move the cleaning roller along the slide bar to the position where it contacts the outside of the wheel. After aligning the sliding block with the limiting hole, insert the pin to complete the fixation. When the cleaning roller needs to be replaced, remove the clamping plate and remove the cleaning roller from the fixing column for replacement. During the operation of the dual-drive steering wheel, the wheel drives the cleaning roller to rotate, cleaning impurities on the outside of the wheel, reducing dirt accumulation and improving operational reliability. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0037] Figure 2This is a schematic diagram of the first motor structure of the present invention;

[0038] Figure 3 This is a schematic diagram of the third motor structure of the present invention;

[0039] Figure 4 This is a schematic diagram of the liquid storage tank structure of the present invention;

[0040] Figure 5 This is a schematic diagram of the sponge block structure of the present invention;

[0041] Figure 6 This is a schematic diagram of the internal structure of the liquid storage tank of the present invention;

[0042] Figure 7 This is a schematic diagram of the disassembled sponge block structure of the present invention;

[0043] Figure 8 This is a schematic diagram of the wheel surface splitting structure of the present invention;

[0044] Figure 9 yes Figure 7 Enlarged view of the structure at point A in the middle;

[0045] Figure 10 yes Figure 4 Enlarged view of the structure at point B in the middle;

[0046] Explanation of reference numerals in the attached drawings: 1. Mounting frame; 2. Horizontal plate; 3. Wheel; 4. First motor; 5. Second motor; 6. Transmission gear; 7. Meshing gear; 8. Fixing block; 9. Storage tank; 10. Injection port; 11. Push rod; 12. Push block; 13. Push plate; 14. Delivery pipe; 15. Nozzle; 16. Sponge block; 17. Locking block; 18. Collection shell; 19. Slot; 20. Extension plate; 21. Moving rod; 22. Spring; 23. Clamping plate; 24. Baffle; 25. Wheel surface; 26. Positioning hole; 27. Bolt; 28. Mounting hole; 29. ​​Groove; 30. Sliding rod; 31. Sliding block; 32. Protrusion; 33. Pin; 34. Fixing column; 35. Cleaning roller; 36. Locking plate; 37. Limiting hole. Detailed Implementation

[0047] The following is in conjunction with the appendix Figure 1 - Appendix Figure 10 This application will be described in further detail below.

[0048] A dual-drive steering wheel, reference Figures 1-6The system includes a mounting frame 1, a horizontal plate 2 fixedly connected to the upper part of the mounting frame 1, first motors 4 installed on both sides inside the mounting frame 1, wheels 3 installed at the output ends of the two first motors 4, a second motor 5 installed on the left side inside the horizontal plate 2, a transmission gear 6 fixedly connected to the output end of the second motor 5, a meshing gear 7 installed on the upper part of the horizontal plate 2, the transmission gear 6 meshing with the meshing gear 7, a lubrication mechanism provided on the upper right side of the horizontal plate 2, which facilitates the lubrication of the transmission gear 6 and the meshing gear 7, a replacement mechanism provided on the outside of the wheels 3, which facilitates the replacement of the wheel surface 25 of the wheels 3, and cleaning mechanisms provided on both sides outside the mounting frame 1, which facilitates the cleaning of the outside of the wheels 3.

[0049] The lubrication mechanism includes a fixed block 8, which is fixedly connected to the upper right side of the horizontal plate 2. A liquid storage tank 9 is fixedly connected to the top of the fixed block 8 to facilitate the storage of lubricating fluid. A push rod 11 is slidably connected to the left side inside the liquid storage tank 9. A push plate 13 is fixedly connected to the right side outside the push rod 11 and is slidably connected to the inside of the liquid storage tank 9. A push block 12 is fixedly connected to the left side outside the push rod 11 to facilitate operation. A delivery pipe 14 is fixedly connected to the right side outside the liquid storage tank 9. A nozzle 15 is fixedly connected to the top of the delivery pipe 14 to facilitate the discharge of lubricating fluid. Extension plates 20 are fixedly connected to the right side outside the liquid storage tank 9. Moving rods 21 are slidably connected inside the two extension plates 20. Clamping plates 23 are fixedly connected to the outside of the two moving rods 21. Springs 22 are sleeved on the outside of the two moving rods 21. The bottom of the clamping plates 23 is fixedly fixed. A baffle 24 is fixedly connected to the two clamping plates 23, and a sponge block 16 is set in the middle of the two clamping plates 23. The sponge block 16 facilitates the lubrication of the transmission gear 6 and the meshing gear 7. The liquid storage tank 9 has a fixed injection port 10 on the outside left side, and a sealing cap is installed on the outside of the injection port 10. The injection port 10 facilitates the addition of lubricating fluid. A locking block 17 is set inside the fixed block 8, and a collection shell 18 is fixedly connected to the outside of the locking block 17. The collection shell 18 facilitates the collection of some fallen lubricating fluid. A slot 19 is opened inside the fixed block 8, and the locking block 17 is slidably connected inside the slot 19. The slot 19 facilitates the movement of the locking block 17. The conveying pipe 14 is made of polytetrafluoroethylene (PTFE) to prevent the lubricating fluid from corroding or aging the conveying pipe 14. At the same time, the smooth inner wall of PTFE and the low coefficient of friction are conducive to the smooth flow of lubricating fluid, reducing conveying resistance, preventing blockage, and thus ensuring stable delivery of lubricating fluid.

[0050] Specifically, firstly, an appropriate amount of lubricant is added into the storage tank 9 through the injection port 10. After the lubricant is added, the operator pulls the two moving rods 21 outward, causing the moving rods 21 to move the clamping plates 23 and baffles 24 connected to their ends outward simultaneously. During the outward movement of the moving rods 21, the springs 22 sleeved on the outside of the moving rods 21 are compressed, causing elastic deformation and storing elastic potential energy. When the two clamping plates 23 are pulled apart to meet the installation space requirements, the sponge block 16 is placed in the middle area between the two clamping plates 23, so that the sponge block 16 is in the corresponding position on the outside of the meshing gear 7. Then, the moving rods 21 are released. Under the rebound action of the springs 22, the two moving rods 21 drive the clamping plates 23 to move closer to each other, thereby clamping and fixing the sponge block 16, so that the sponge block 16 can be stably held in the set position and in contact with the outer surface of the meshing gear 7. At the same time, the sponge block 16 is set on the clamping plates 23. The outer baffle 24 provides support for the bottom and sides of the sponge block 16, effectively preventing the sponge block 16 from sliding or falling off due to its own weight or soaking in the lubricant during subsequent lubrication process, thus ensuring the stability of the lubrication structure. After the sponge block 16 is fixed, the pusher 12 is pushed to move the pusher rod 11 and the pusher plate 13 fixedly connected to the right side of the pusher rod 11 along the direction inside the storage tank 9. During the movement, the pusher plate 13 squeezes the lubricant stored inside the storage tank 9, causing the lubricant to enter the delivery pipe 14 under internal pressure and be transported to the nozzle 15 along the internal channel of the delivery pipe 14. When the lubricant reaches the nozzle 15, it drips evenly into the sponge block 16, allowing the sponge block 16 to gradually absorb the lubricant and be fully wetted, thus forming a stable lubricant storage structure inside the sponge block 16.

[0051] Then, the second motor 5 is started, and the second motor 5 outputs power to drive the transmission gear 6 to rotate. During the rotation, the transmission gear 6 meshes with the externally meshing gear 7, thereby driving the meshing gear 7 to rotate synchronously. When the meshing gear 7 rotates, its outer surface continuously contacts and rubs with the sponge block 16 after it is soaked in lubricating fluid. The lubricating fluid stored inside the sponge block 16 is gradually released under the action of contact and compression, and evenly adheres to the tooth surface and tooth root of the meshing gear 7. As the transmission gear 6 continues to rotate, the lubricating fluid is continuously brought into the gear meshing area, so that a stable lubricating film is formed between the transmission gear 6 and the meshing gear 7, thereby ensuring that the lubrication state is continuously maintained during the gear transmission process.

[0052] Reference Figures 2-8The replacement mechanism includes two wheel surfaces 25, which are located on the outer sides of two wheels 3. Bolts 27 are installed around the inside of both wheels 3. Positioning holes 26 are opened on both sides of the inside of the two wheel surfaces 25. Multiple bolts 27 are threadedly connected to multiple positioning holes 26. The positioning holes 26 facilitate the installation of bolts 27. Mounting holes 28 are opened around the inside of the wheels 3. Multiple bolts 27 are inserted into multiple mounting holes 28. The mounting holes 28 facilitate the installation of bolts 27.

[0053] Specifically, when it is necessary to replace wheel 3 of the dual-drive steering wheel, first use tools to remove the bolts 27 inside wheel 3 one by one, so as to disconnect the connection between wheel surface 25 and wheel 3. Then remove the worn wheel surface 25 from the outside of wheel 3. At this time, the wheel 3 body is still installed and there is no need to disassemble it as a whole. After the old wheel surface 25 is removed, the new wheel surface 25 is fitted and installed on the outside of wheel 3, and the position of wheel surface 25 is adjusted so that the positioning hole 26 on its outer side is accurately aligned with the corresponding mounting hole 28 on the outside of wheel 3.

[0054] After the positioning hole 26 is fully aligned with the mounting hole 28, the bolt 27 is re-passed through the mounting hole 28 and connected and fixed to the positioning hole 26. The new wheel surface 25 is then securely installed on the outside of the wheel 3 by tightening the bolt 27, thus completing the replacement of the wheel surface 25. Using this replacement method, only the wheel surface 25 needs to be disassembled and replaced after wear, without replacing or disassembling the entire wheel 3. This simplifies the wheel 3 replacement process, reduces disassembly and assembly steps and operation time, and facilitates rapid on-site maintenance.

[0055] Reference Figures 3-10 The cleaning mechanism includes sliding rods 30, which are fixedly connected to the inner sides of the mounting frame 1. Sliding blocks 31 are slidably connected to the outer sides of the two sliding rods 30. Protrusions 32 are fixedly connected to the upper part of the two sliding blocks 31. Pins 33 are installed inside the two protrusions 32. Fixing posts 34 are fixedly connected to the outer sides of the two sliding blocks 31. Cleaning rollers 35 are sleeved on the outer sides of the two fixing posts 34. The cleaning rollers 35 facilitate cleaning of the wheels 3. The inner right side of the two fixing posts 34 is threaded with a retaining plate 36, which limits the position of the cleaning rollers 35. Limiting holes 37 are opened on the outer sides of the mounting frame 1. Pins 33 are inserted into any of the limiting holes 37, which limits the position of the pins 33. Grooves 29 are opened on the inner sides of the mounting frame 1. The two sliding rods 30 are fixedly connected inside the two grooves 29, which facilitate the installation of the sliding rods 30.

[0056] Specifically, in the process of using the dual-drive steering wheel, firstly, the pin 33 is removed from the inside of the protrusion 32 using a tool, so that the connection between the pin 33 and the protrusion 32 is released. Then, by pushing the sliding block 31 to slide along the outside of the slide rod 30, the sliding block 31 drives the cleaning roller 35 mounted on it to move outward synchronously. When the sliding block 31 moves to the set position, the cleaning roller 35 is brought to a suitable position to contact the outside of the wheel 3, so as to facilitate the cleaning operation on the surface of the wheel 3. At this time, the positioning of the sliding block 31 is aligned with the limiting hole 37, ensuring that the cleaning roller 35 is in the predetermined working position.

[0057] Subsequently, the pin 33 is reinserted into the protrusion 32 and the limiting hole 37 to fix the position of the sliding block 31 and the cleaning roller 35, ensuring that the cleaning roller 35 works stably during use and avoiding the cleaning effect being affected by loosening or misalignment. Through this simple and stable connection method, the cleaning roller 35 is efficiently and safely fixed on the sliding block 31. When the cleaning roller 35 needs to be replaced, first remove the retaining plate 36 from the outside of the fixing post 34 to unlock the connection between the cleaning roller 35 and the fixing post 34. Then, remove the cleaning roller 35 from the fixing post 34 and replace it with a new cleaning roller 35 as needed. When installing the new cleaning roller 35... Reverse the steps, reinstall the cleaning roller 35 onto the fixing post 34, and secure the cleaning roller 35 in place with the clamping plate 36. When the dual-drive steering wheel is running, the cleaning roller 35 will rotate along with the wheel 3. By contacting the outside of the wheel 3, the cleaning roller 35 removes dirt, dust and other impurities attached to the surface of the wheel 3, thereby achieving an automatic cleaning function. It can continuously and effectively clean the outside of the wheel 3, avoid the accumulation of dirt, improve the cleanliness of the wheel 3 surface and the running stability of the steering wheel, reduce the risk of failure caused by dirt accumulation, and further improve the operational reliability and maintenance convenience of the dual-drive steering wheel.

[0058] A dual-drive steering wheel control method includes the following steps:

[0059] S1. Lubricating fluid is injected into the storage tank 9 through the injection port 10, and the two moving rods 21 are pulled to make the clamp 23 and the baffle 24 move synchronously, while squeezing the spring 22 sleeved on the outside of the moving rods 21.

[0060] S2. After the two clamping plates 23 have moved to a predetermined distance, place the sponge block 16 between the two clamping plates 23 and release the moving rod 21. Under the reaction force of the spring 22, the two clamping plates 23 move relative to each other to fix the sponge block 16, and the sponge block 16 is supported by the baffle 24.

[0061] S3. Pushing the push block 12 drives the push rod 11 and push plate 13 to move inside the liquid storage tank 9, squeezing the lubricant, so that the lubricant is transported to the nozzle 15 through the delivery pipe 14, and dripped from the nozzle 15 into the sponge block 16.

[0062] S4. Start the second motor 5 to make the transmission gear 6 rotate and drive the meshing gear 7 that meshes with it to rotate. During the rotation, the meshing gear 7 comes into contact with the soaked sponge block 16.

[0063] S5. When replacing wheel 3, remove bolt 27 from inside wheel 3, remove worn wheel surface 25, and install new wheel surface 25 onto the outside of wheel 3. Align positioning hole 26 with mounting hole 28 and then tighten bolt 27 again.

[0064] S6. During use, pull out the pin 33 and push the sliding block 31 to move along the slide rod 30. After the cleaning roller 35 moves to the position that contacts the outside of the wheel 3, insert the pin 33 into the protrusion 32 and the limiting hole 37 for fixation. When the dual drive steering wheel is running, the wheel 3 drives the cleaning roller 35 to rotate to clean the outside of the wheel 3.

[0065] Working principle: First, lubricating fluid is injected into the storage tank 9 through the injection port 10. Then, the two moving rods 21 are pulled, moving the clamping plates 23 and baffles 24 synchronously. As the moving rods 21 move, they compress the externally sleeved springs 22, causing the springs 22 to deform under force. After the two clamping plates 23 move a certain distance, the sponge block 16 is placed in the middle of the two clamping plates 23. Then, the two moving rods 21 are released. Under the reaction force of the springs 22, the two clamping plates 23 move relative to each other and fix the sponge block 16. At this time, the sponge block 16 is in contact with the outside of the meshing gear 7. At the same time, the two baffles 24 are set to support the sponge block 16 and prevent it from falling off when immersed in the lubricating fluid. Then, the push block 12 is pushed, moving the push plate 13, which is fixedly connected to the right side of the push rod 11, inside the storage tank 9. As the push plate 13 moves, it compresses the storage tank. The lubricant inside the 9th motor is squeezed to deliver the lubricant from the inside of the delivery pipe 14 to the inside of the nozzle 15. Then, the lubricant drips into the inside of the sponge block 16 through the nozzle 15, wetting the sponge block 16. Then, the second motor 5 drives the transmission gear 6 to rotate. When the transmission gear 6 rotates, it drives the external meshing gear 7 to rotate. When the meshing gear 7 rotates, it comes into contact with the wet sponge block 16, so that the lubricant inside the sponge block 16 adheres to the outside of the meshing gear 7. With the continuous rotation of the transmission gear 6, both the transmission gear 6 and the meshing gear 7 are lubricated. This makes it easy to lubricate the transmission gear 6 and the meshing gear 7 on the dual-drive steering wheel during use, reducing friction and wear between gears, reducing energy loss, and extending the service life of the transmission gear 6 and the meshing gear 7, thereby improving the operational stability and reliability of the dual-drive steering wheel.

[0066] When replacing wheel 3 of the dual-drive steering wheel, firstly, remove bolt 27 from the inside of wheel 3, then remove the worn wheel surface 25 from the outside of wheel 3, then install the new wheel surface 25 on the outside of wheel 3, aligning the positioning hole 26 on the outside of wheel surface 25 with the mounting hole 28 on the outside of wheel 3, and finally tighten bolt 27. This allows for the replacement of only wheel surface 25 when replacing the worn wheel 3 of the dual-drive steering wheel, without replacing wheel 3 itself. This reduces replacement and maintenance costs, decreases disassembly and assembly workload, improves maintenance efficiency, and avoids resource waste caused by frequent replacement of the entire wheel, thereby improving the economic efficiency and maintenance convenience of the dual-drive steering wheel.

[0067] When using the dual-drive steering wheel, first remove the pin 33 from the inside of the protrusion 32, then slide the sliding block 31 on the outside of the slide rod 30. As the sliding block 31 moves, it moves the externally mounted cleaning roller 35 synchronously, moving the cleaning roller 35 to a position where it contacts the outside of the wheel 3. Then, align the sliding block 31 with the limiting hole 37, and then insert the pin 33 into the protrusion 32 and the limiting hole 37. This completes the fixation of the cleaning roller 35. When the cleaning roller 35 needs to be replaced, remove the retaining plate 36 from the outside of the fixing post 34, and then remove the cleaning roller 35 from the outside of the fixing post 34 for replacement. The installation is then performed in reverse. Subsequently, when the dual-drive steering wheel is running, it is convenient for the wheel 3 to drive the cleaning roller 35 to rotate. The rotation of the cleaning roller 35 cleans the impurities attached to the outside of the wheel 3, realizing convenient cleaning of the outside of the dual-drive steering wheel when it moves, reducing dirt accumulation, and improving operational reliability.

[0068] The embodiments described in this specific implementation are preferred embodiments of this application and are not intended to limit the scope of protection of this application. Identical components are represented by the same reference numerals. Therefore, all equivalent changes made to the structure, shape, and principle of this application should be covered within the scope of protection of this application.

Claims

1. A dual-drive steering wheel, comprising a mounting frame (1), characterized in that, A horizontal plate (2) is fixedly connected to the upper part of the mounting frame (1). A first motor (4) is installed on both sides inside the mounting frame (1). Wheels (3) are installed at the output ends of the two first motors (4) through couplings. A second motor (5) is installed on the left side inside the horizontal plate (2). A transmission gear (6) is fixedly connected to the output end of the second motor (5) through a coupling. A meshing gear (7) is installed on the upper part of the horizontal plate (2). The transmission gear (6) meshes with the meshing gear (7). A lubrication mechanism is provided on the upper right side of the horizontal plate (2). A replacement mechanism is provided on the outside of the wheel (3). A cleaning mechanism is provided on both sides outside the mounting frame (1). The lubrication mechanism includes a fixed block (8), which is fixedly connected to the upper right side of the horizontal plate (2). A liquid storage tank (9) is fixedly connected to the top of the fixed block (8). A push rod (11) is slidably connected to the left side inside the liquid storage tank (9). A push plate (13) is fixedly connected to the right side outside the push rod (11). The push plate (13) is slidably connected to the inside of the liquid storage tank (9). A push block (12) is fixedly connected to the left side outside the push rod (11). A conveyor is fixedly connected to the right side outside the liquid storage tank (9). The pipe (14) is fixedly connected to the top of the delivery pipe (14) with a nozzle (15). The right side of the liquid storage tank (9) is fixedly connected to an extension plate (20). The two extension plates (20) are slidably connected to a moving rod (21). The two moving rods (21) are fixedly connected to a clamping plate (23). The two moving rods (21) are fitted with a spring (22). The bottom of the two clamping plates (23) is fixedly connected to a baffle (24). The two clamping plates (23) are provided with a sponge block (16) in the middle.

2. The dual-drive steering wheel according to claim 1, characterized in that, The replacement mechanism includes two wheel surfaces (25), which are located on the outer sides of the two wheels (3). Bolts (27) are installed around the inside of the two wheels (3). Positioning holes (26) are opened on both sides of the inside of the two wheel surfaces (25). The bolts (27) and the positioning holes (26) are threadedly connected.

3. The dual-drive steering wheel according to claim 1, characterized in that, The cleaning mechanism includes a slide rod (30), which is fixedly connected to the inner sides of the mounting frame (1). Slide blocks (31) are slidably connected to the outer sides of the two slide rods (30). Protrusions (32) are fixedly connected to the upper part of the two slide blocks (31). Pins (33) are installed inside the two protrusions (32). Fixing posts (34) are fixedly connected to the outer side of the two slide blocks (31). Cleaning rollers (35) are sleeved on the outer side of the two fixing posts (34). A clamping plate (36) is threadedly connected to the inner right side of the two fixing posts (34).

4. A dual-drive steering wheel according to claim 1, characterized in that, The liquid storage tank (9) has a fixed injection port (10) on the left side outside, and a sealing cap is installed on the outside of the injection port (10).

5. A dual-drive steering wheel according to claim 1, characterized in that, The fixing block (8) has a card block (17) inside, and a collection shell (18) is fixedly connected to the outside of the card block (17). The fixing block (8) has a card slot (19) inside, and the card block (17) is slidably connected inside the card slot (19).

6. A dual-drive steering wheel according to claim 2, characterized in that, The wheel (3) has mounting holes (28) on all four sides inside, and multiple bolts (27) are inserted into the mounting holes (28).

7. A dual-drive steering wheel according to claim 3, characterized in that, The mounting frame (1) has limit holes (37) on both sides of its exterior, and the pin (33) is inserted into any of the limit holes (37).

8. A dual-drive steering wheel according to claim 3, characterized in that, The mounting frame (1) has grooves (29) on both sides inside, and the two slide rods (30) are fixedly connected inside the two grooves (29).

9. A dual-drive steering wheel according to claim 1, characterized in that, The material of the delivery pipe (14) is polytetrafluoroethylene.

10. A dual-drive steering wheel control method, characterized in that, The application of a dual-drive steering wheel according to any one of claims 1-9 includes the following steps: S1. Lubricating fluid is injected into the storage tank (9) through the injection port (10), and the two moving rods (21) are pulled to make the clamp (23) and the baffle (24) move synchronously, while squeezing the spring (22) sleeved on the outside of the moving rod (21). S2. After the two clamps (23) have moved to a predetermined distance, place the sponge block (16) between the two clamps (23) and release the moving rod (21). Under the reaction force of the spring (22), the two clamps (23) move relative to each other to fix the sponge block (16) and support the sponge block (16) through the baffle (24). S3. Push the push block (12) to drive the push rod (11) and push plate (13) to move inside the liquid storage tank (9) to squeeze the lubricant, so that the lubricant is transported to the nozzle (15) through the delivery pipe (14) and dripped from the nozzle (15) into the sponge block (16). S4. Start the second motor (5) to make the transmission gear (6) rotate and drive the meshing gear (7) that meshes with it to rotate. During the rotation, the meshing gear (7) comes into contact with the soaked sponge block (16). S5. When replacing the wheel (3), remove the bolt (27) from the inside of the wheel (3), remove the worn wheel surface (25), and install the new wheel surface (25) onto the outside of the wheel (3). Align the positioning hole (26) with the mounting hole (28) and then tighten the bolt (27). S6. During use, pull out the pin (33) and push the sliding block (31) to move along the slide bar (30) so that the cleaning roller (35) moves to the position of contact with the outside of the wheel (3). Then, insert the pin (33) into the protrusion (32) and the limiting hole (37) for fixing. When the dual drive steering wheel is running, the wheel (3) drives the cleaning roller (35) to rotate to clean the outside of the wheel (3).

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