Crawler-type unmanned vehicle wheel-side speed reducing mechanism

Abstract

The utility model belongs to the technical field of crawler-type unmanned vehicles, and discloses a crawler-type unmanned vehicle wheel-side speed reducing mechanism which comprises crawler belts installed on the two sides of a vehicle body and supporting wheels of the crawler belts, a driving motor assembly is installed on the inner side of the vehicle body, the driving motor assembly is a driving motor with two-stage gear speed reduction, and the driving motor is connected with the crawler belts. An output shaft of the driving motor assembly penetrates through and extends to the outer side of the vehicle body and is located in the crawler belt, and a wheel edge speed reducing mechanism small gear is fixedly installed on the output shaft of the driving motor assembly. According to the scheme, the speed reduction driving system is composed of two parts, the first part is a driving motor with two-stage gear speed reduction, an output shaft of the speed reduction motor is an input shaft for transmission of the second part, the input shaft is connected with a pinion to transmit power to a supporting and rotating device playing a role in rotating supporting and transmission, and the axial distance of the driving system is controllable; sensibility to vehicle width is low, space layout is compact and reliable, and large torque and low rotating speed of the vehicle can be achieved under the condition that space is limited.

Description

Technical Field

[0001] The utility model relates to the technical field of crawler-type unmanned vehicles, in particular to a wheel-side speed reduction mechanism of a crawler-type unmanned vehicle. Background Art

[0002] A tracked unmanned vehicle is an unmanned vehicle that uses tracks to move. Compared with other types of vehicles, such as wheeled unmanned vehicles, tracked unmanned vehicles are more stable and capable of passing through complex terrain, soft ground, and steep slopes.

[0003] Traditional crawler unmanned vehicles mostly use worm gear reduction motors as the main drive device, and the output shaft of the reducer is fixed to the main drive wheel by adding a shaft end flange. However, for worm gear reduction motors, the speed ratio can be met, but the transmission efficiency is low and the heat generation is high, which is not suitable as the main drive of the vehicle.

[0004] There are also some that use traditional planetary gear motors or spur gear reduction devices as the main drive devices. Although traditional planetary reduction motors can achieve the required speed through multi-stage reduction, their axial dimensions are relatively long, and when the power is arranged on both sides of the wheels, there are some restrictions on the width of the vehicle;

[0005] However, the radial dimension of the spur gear reduction mechanism is large, or the motor power needs to be increased to meet the large torque output, and the corresponding electronic control and battery need to be increased, which makes the use economy relatively low, resulting in high energy consumption of the power system. Utility Model Content

[0006] The utility model aims to solve the shortcomings in the prior art and proposes a wheel-side speed reduction mechanism for a crawler-type unmanned vehicle.

[0007] To solve the above problems, the utility model adopts the following technical solutions.

[0008] A wheel-side reduction mechanism for a tracked unmanned vehicle comprises tracks and support wheels for the tracks installed on both sides of a vehicle body, a drive motor assembly is installed on the inner side of the vehicle body, the drive motor assembly is a drive motor with two-stage gear reduction, the output shaft of the drive motor assembly passes through and extends to the outer side of the vehicle body and is located inside the track, a wheel-side reduction mechanism pinion is fixedly installed on the output shaft of the drive motor assembly, a support rotating device is provided on the outer side of the vehicle body, the wheel-side reduction mechanism pinion is meshed with the internal thread of the support rotating device, a main drive wheel is installed on the movable inner ring of the support rotating device, and the main drive wheel transmits power to the track through the movable inner ring of the support rotating device to perform walking action.

[0009] As a further description of the above technical solution: a plurality of No. 1 bolts are provided on the support and rotation device, and the support and rotation device is fastened and installed on the vehicle body by the No. 1 bolts.

[0010] As a further description of the above technical solution: a plurality of No. 2 bolts are provided on the main drive wheel, and the main drive wheel is fixedly mounted on the movable inner ring of the supporting rotating device through the No. 2 bolts.

[0011] As a further description of the above technical solution: the supporting rotating device is a bearing gear.

[0012] As a further description of the above technical solution: a cover plate is provided on the top of the vehicle body corresponding to the drive motor assembly.

[0013] Compared with the prior art, the advantages of the present invention are:

[0014] 1. The reduction drive system of this scheme consists of two parts. The first part is a driving motor with two-stage gear reduction. The output shaft of the reduction motor is the input shaft of the second part of the transmission. The input shaft is connected to the pinion to transmit power to the supporting rotary device that plays a role in rotation support and transmission. The axial distance of the drive system is controllable, the sensitivity to the vehicle width is low, the space layout is compact and reliable, and the vehicle can achieve high torque and low speed when space is limited.

[0015] 2. The deceleration mechanism of the first part of this scheme is arranged at a relatively high position, which can effectively increase the ground clearance of the power system and enable the tracked vehicle to have better all-terrain adaptability.

[0016] 3. In this solution, the supporting rotating device is fixed to the vehicle body, and the driving wheel is fixed to the supporting rotating device. The output shaft can provide a reliable axial supporting force that is hundreds of times higher than that of the general output shaft structure, making this set of connecting transmission devices have more stable fixing and transmission capabilities. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the structure of the utility model;

[0018] Figure 2 For this utility model Figure 1 Exploded diagram of

[0019] Figure 3 It is a structural schematic diagram and transmission principle diagram of the utility model.

[0020] Description of the numbers in the figure:

[0021] 1. Cover plate; 2. Vehicle body; 3. Drive motor assembly; 4. Wheel-side reduction mechanism pinion; 5. Support slewing device; 6. No. 1 bolt; 7. Main drive wheel; 8. No. 2 bolt; 9. Track. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model; it is obvious that the described embodiments are only part of the embodiments of the utility model, rather than all of the embodiments, and all other embodiments obtained by ordinary technicians in this field based on the embodiments of the utility model without making creative work are within the scope of protection of the utility model.

[0023] See also Figure 1-2 A wheel-side reduction mechanism of a crawler-type unmanned vehicle comprises crawlers 9 and supporting wheels of the crawlers 9 installed on both sides of a vehicle body 2. A driving motor assembly 3 is installed on the inner side of the vehicle body 2. The driving motor assembly 3 is a driving motor with two-stage gear reduction. A cover plate 1 is provided on the top of the vehicle body 2 corresponding to the driving motor assembly 3. The output shaft of the driving motor assembly 3 penetrates and extends to the outer side of the vehicle body 2 and is located inside the crawlers 9. A wheel-side reduction mechanism pinion 4 is fixedly installed on the output shaft of the driving motor assembly 3. A supporting slewing device 5 is provided on the outer side of the vehicle body 2. A plurality of No. 1 bolts 6 are provided on the supporting slewing device 5. The supporting slewing device 5 is fastened and installed on the vehicle body 2 by the No. 1 bolts 6. The wheel-side reduction mechanism pinion 4 is meshed with the internal thread of the supporting slewing device 5. The supporting slewing device 5 is a bearing gear. A main drive wheel 7 is installed on the movable inner ring of the supporting rotating device 5. A plurality of No. 2 bolts 8 are provided on the main drive wheel 7. The main drive wheel 7 is fixedly installed on the movable inner ring of the supporting rotating device 5 by the No. 2 bolts 8. The main drive wheel 7 transmits power to the crawler track 9 through the movable inner ring of the supporting rotating device 5 to perform walking action.

[0024] The above structure drives the output shaft to rotate and drives the pinion 4 of the wheel-side reduction mechanism to rotate by energizing the drive motor assembly 3. The main drive wheel 7 rotates through the transmission of the pinion and the supporting rotating device 5, and then transmits power to the crawler 9 to enable the crawler to perform walking action.

[0025] The first part of the above-mentioned drive system is a drive motor with two-stage gear reduction. The output shaft of the reduction motor is the input shaft of the second part of the transmission. The input shaft is connected to the pinion gear to transmit power to the bearing gear on the wheel side for rotation support and transmission. The bearing gear is connected to the main drive wheel 7. The transmission principle is as follows: Figure 3 shown.

[0026] The mutual coordination and layout of the above structures have the following advantages:

[0027] 1. The axial distance of the drive system is controllable, and the sensitivity to the vehicle width is low. The space layout is compact and reliable, and the vehicle can achieve high torque and low speed when space is limited;

[0028] 2. The first part of the deceleration mechanism is arranged at a relatively high position, which can effectively increase the ground clearance of the power system and make the crawler vehicle have better all-terrain adaptability

[0029] 3. The supporting rotary device 5 is fixed to the vehicle body, and the main driving wheel 7 is fixed to the supporting rotary device 5. The output shaft can provide a reliable axial supporting force that is hundreds of times higher than that of a general output shaft structure, so that the connecting transmission device has a more stable fixing and transmission capacity.

[0030] The above is only a preferred specific implementation of the utility model; however, the protection scope of the utility model is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solution and improved ideas of the utility model within the technical scope disclosed by the utility model, which should be included in the protection scope of the utility model.

Claims

1. A wheel-side speed reduction mechanism for a crawler-type unmanned vehicle, comprising crawlers (9) mounted on both sides of a vehicle body (2) and supporting wheels for the crawlers (9), characterized in that: A drive motor assembly (3) is installed on the inner side of the vehicle body (2). The drive motor assembly (3) is a drive motor with two-stage gear reduction. The output shaft of the drive motor assembly (3) passes through and extends to the outer side of the vehicle body (2) and is located inside the crawler track (9). A wheel-side reduction mechanism pinion (4) is fixedly installed on the output shaft of the drive motor assembly (3). A support rotating device (5) is arranged on the outer side of the vehicle body (2). The wheel-side reduction mechanism pinion (4) is meshed with the internal thread of the support rotating device (5). A main drive wheel (7) is installed on the movable inner ring of the support rotating device (5). The main drive wheel (7) transmits power to the crawler track (9) through the movable inner ring of the support rotating device (5) to perform walking action.

2. A wheel-side reduction mechanism for a crawler-type unmanned vehicle according to claim 1, characterized in that: The supporting rotating device (5) is provided with a plurality of No. 1 bolts (6), and the supporting rotating device (5) is fastened and mounted on the vehicle body (2) via the No. 1 bolts (6).

3. The wheel-side reduction mechanism of a crawler-type unmanned vehicle according to claim 1, characterized in that: The main driving wheel (7) is provided with a plurality of No. 2 bolts (8), and the main driving wheel (7) is fixedly mounted on the movable inner ring of the supporting rotating device (5) via the No. 2 bolts (8).

4. The wheel-side reduction mechanism of a crawler-type unmanned vehicle according to claim 1, characterized in that: The supporting rotating device (5) is a bearing gear.

5. The wheel-side reduction mechanism of a crawler-type unmanned vehicle according to claim 1, characterized in that: A cover plate (1) is provided on the top of the vehicle body (2) corresponding to the drive motor assembly (3).

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