Self-leveling steering self-walking mechanism

Abstract

The utility model discloses a self-leveling steering self-walking mechanism which comprises wheels, a support, a connecting bridge, a walking device and a steering device, the wheels are connected with the walking device, the bottom of the support is connected with the walking device, the top of the support is connected with the steering device and the connecting bridge, and the steering device is connected with the connecting bridge. According to the utility model, the wheel can rotate, the steering space of the wheel is reduced, and the device is suitable for large-diameter wheels, thereby improving the bearing capacity to heavy objects; when the wheels pass through uneven road surfaces, especially large-diameter wheels, the wheels are more prone to jolt, the height of the wheels is adapted through the connecting bridge, and therefore the driving stability is improved. Different connecting bridge forms can adapt to different connecting modes, when the connecting height of the two sets of walking mechanisms is low, a concave connecting bridge can be adopted, and when the connecting height of the two sets of walking mechanisms is high, a convex connecting bridge can be adopted. And different connecting bridge forms can be adopted for use at different heights. When the use height is met, the overall structure of the concave connecting bridge is optimal in stress.

Description

Technical Field

[0001] The utility model belongs to the technical field of traveling devices, in particular to a self-leveling, steering and self-traveling mechanism. Background Art

[0002] At present, there are more and more various transportation vehicles, and the carrying and movement of transportation mainly rely on wheels. The wheel axles in the existing technology run without height difference and rotate synchronously through the suspension set on the wheel axles.

[0003] Based on the above technology, when the application scenario requires transporting heavy objects in the wild, the traveling environment is uneven, the height difference is large, and the turning space is small. Therefore, it is particularly important to design a traveling mechanism that can adapt to uneven roads and enable the wheels to rotate to reduce the turning radius.

[0004] Patent document CN209164494U discloses a gear reduction drive wheel mechanism, comprising a gearbox bracket; a steering module, a drive module, and a reduction module are mounted on the gearbox bracket; the drive module is connected to the reduction module; the reduction module is connected to the steering module; the steering module comprises a steering bracket, a steering motor, a first steering gear, a second steering gear, a driven shaft, a first driven bevel gear, a second driven bevel gear, a first steering shaft, a second steering shaft, a second synchronous pulley, a third synchronous pulley, and a fourth synchronous pulley. This patent, through the drive module, reduction module, and steering module, is capable of reducing the motor's rotational speed to the desired number of rotations and achieving a high torque output. However, this patent describes a single-wheel configuration. If multiple gear reduction drive wheel mechanisms are required, the patent does not disclose how to set the height difference between the different wheel axles.

[0005] Patent document CN220147141U discloses a small, high-load drive wheel assembly. The assembly features a first drive assembly at the top for steering the wheel hub, and a second drive assembly at the bottom for rotating the wheel hub. The wheel hub is radially divided into two sections, each with a stepped hole. The large-diameter ends of the two sections are in contact with each other, and the reducer of the second drive assembly is located within the inner bore of the wheel hub. This patent utilizes the inner bore of the wheel hub by radially dividing the wheel hub into two sections, exposing the stepped hole within the section. This allows the reducer to be placed within the stepped hole and secured in place. This ensures that the wheel hub wall thickness meets strength requirements, further reducing the space occupied by the wheel hub. Furthermore, the first and second drive assemblies are provided to drive the wheel hub for steering and rotation, respectively, meeting the requirement for power output from the wheel hub. However, this patent describes a single-wheel configuration and does not disclose how to set the height difference between the different wheel axles when multiple drive wheel assemblies are provided. Utility Model Content

[0006] In order to solve the above technical problems, the utility model provides a self-leveling steering and self-propelled mechanism.

[0007] The utility model is achieved through the following technical solutions.

[0008] The self-leveling steering self-propelled mechanism provided by the utility model comprises wheels, a bracket, a connecting bridge, a traveling device and a steering device, wherein the wheels are connected to the traveling device, the bottom of the bracket is connected to the traveling device, the top of the bracket is connected to the steering device and the connecting bridge, and the steering device is connected to the connecting bridge.

[0009] Preferably, the bracket is L-shaped, and the bracket includes a connecting part A and a fixing part, the connecting part A is connected to the fixing part and is vertical, the walking device is connected to the fixing part, the steering device is connected to the connecting part A, and the wheel is arranged below the connecting part A.

[0010] Preferably, a gear A is provided on the connecting portion A, and the gear A is connected to the connecting portion A. A fence and a cover are provided on the fixing portion, one side of the fence is connected to the fixing portion, and the other side of the fence is connected to the cover.

[0011] Preferably, the connecting bridge includes a main body, a connecting part B, a connecting shaft and a flange, both sides of the main body are connected to the connecting shaft, one end of the connecting part B is connected to the connecting shaft, the connecting part B is connected to the steering device, and the bottom of the connecting shaft is connected to the flange.

[0012] Preferably, the walking device includes a motor A and a reducer A, the motor A and the reducer A are connected, and the reducer A is connected to the wheel through a rotating shaft.

[0013] Preferably, the steering device includes a motor B, a reducer B and a fixing seat, the motor B and the reducer B are connected, a gear B is provided at one end of the output shaft of the reducer B, and the reducer B is connected to the connecting part B through the fixing seat.

[0014] Preferably, the main body is arranged in a linear or curved shape, and a through hole is provided on the main body.

[0015] The beneficial effects of the present invention are:

[0016] 1. The utility model can make the wheel rotate, reduce the wheel turning space, and is suitable for large-diameter wheels, thereby improving the carrying capacity of heavy objects; when the wheels pass through uneven roads, especially large-diameter wheels, they are more prone to bumps. The connecting bridge adapts to the height of the wheels, thereby improving driving stability.

[0017] 2. The travel device and steering device of the present invention are driven by a motor with a reducer. The reducer reduces the motor speed to provide sufficient torque for the wheels to ensure normal rotation and operation. Servo motor control is used to achieve precise control and provide accurate torque output.

[0018] 3. The steering device of this utility model transmits torque to the bracket through a gear set consisting of gears A and B, causing the bracket to rotate, thereby driving the wheel rotation. Different gear set combinations can produce different transmission ratios to meet different torque and speed requirements during use. A single steering device drives a single wheel, and different wheels can rotate to different angles to adapt to different environmental requirements.

[0019] 4. Different bridge types can adapt to different connection methods. When the connection height between the two sets of walking mechanisms is low, a concave bridge can be used, and when it is higher, a convex bridge can be used. Different bridge types can be used to adapt to different heights. When the height is sufficient, a concave bridge provides the best overall structural stress. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural diagram of the utility model;

[0021] Figure 2 It is a structural diagram of the utility model;

[0022] Figure 3 It is a schematic diagram of the height difference of the rotating shaft of the utility model;

[0023] Figure 4 It is a structural diagram of the utility model bracket;

[0024] Figure 5 It is a structural diagram of the utility model connecting bridge;

[0025] In the figure: 1-wheel, 11-rotating shaft, 2-bracket, 21-connecting part A, 22-fixing part, 23-gear A, 24-enclosure, 25-cover, 3-connecting bridge, 31-main body, 311-through hole, 32-connecting part B, 33-connecting shaft, 34-flange, 4-traveling device, 41-motor A, 42-reducer A, 5-steering device, 51-motor B, 52-reducer B, 53-fixing seat, 54-gear B. DETAILED DESCRIPTION

[0026] The technical solution of the present invention is further described below, but the scope of protection claimed is not limited to the described solution.

[0027] Example:

[0028] like Figure 1-5As shown, the self-leveling steering and self-propelled mechanism includes a wheel 1, a bracket 2, a connecting bridge 3, a running device 4 and a steering device 5. The wheel 1 is connected to the running device 4, and the number of wheels 1 corresponds to the number of brackets 2. The bottom of the bracket 2 is connected to the running device 4, and the running device 4 controls the rotation of a single wheel 1. The top of the bracket 2 is connected to the steering device 5 and the connecting bridge 3. The number of brackets 2 is ≥2, and two or more brackets 2 are connected by a connecting bridge 3. In this embodiment, two brackets 2 are preferably arranged, and the number of steering devices 5 corresponds to the number of brackets 2. The two steering devices 5 are connected by a connecting bridge 3, and the steering device 5 controls the rotation of a single wheel 1.

[0029] The bracket 2 is L-shaped and includes a connecting portion A21 and a fixing portion 22. The connecting portion A21 is connected to the fixing portion 22 and is vertical. The walking device 4 is connected to the fixing portion 22. The steering device 5 is connected to the connecting portion A21. The wheel 1 is arranged below the connecting portion A21.

[0030] A gear A23 is provided on the connecting part A21, and the gear A23 is connected to the connecting part A21. A fence 24 and a cover 25 are provided on the fixing part 22. One side of the fence 24 is connected to the fixing part 22, and the other side of the fence 24 is connected to the cover 25. The fence 24 and the cover 25 are used to protect the walking device 4.

[0031] The connecting bridge 3 includes a main body 31, a connecting part B32, a connecting shaft 33 and a flange 34. Both sides of the main body 31 are connected to the connecting shaft 33, one end of the connecting part B32 is connected to the connecting shaft 33, the connecting part B32 is connected to the steering device 5, the bottom of the connecting shaft 33 is connected to the flange 34, and the flange 34 is connected to the gear A23 by bolts.

[0032] The walking device 4 includes a motor A41 and a reducer A42, which are arranged on the connecting part A21. The motor A41 and the reducer A42 are connected. The motor A41 is a servo motor. The reducer A42 is connected to the wheel 1 through the rotating shaft 11. The height difference between the center of the circle of two adjacent rotating shafts 11 is H, -100mm≤H≤100mm.

[0033] The steering device 5 includes a motor B51, a reducer B52 and a fixed seat 53. The motor B51 and the reducer B52 are connected. The motor B51 is a servo motor. The output shaft of the reducer B52 passes through the connection part B32 and a gear B54 is provided at one end. The reducer B52 is connected to the connection part B32 of the connecting bridge 3 through the fixed seat 53. The gear B54 is engaged with the gear A23. The operation of the motor B51 drives the gear A23 to rotate through the gear B54, and then drives the bracket 2 and the wheel 1 to rotate. The rotation angle of the bracket 2 is α, 0≤α≤360°, and the rotation angular velocity ω≥10° / s.

[0034] The main body 31 is arranged in a linear or curved shape, and the curved part can be arranged in a convex or concave shape. The curved part can be arranged in the middle of the main body 31, thereby obtaining a convex bridge and a concave bridge. A through hole 311 is provided on the main body 31, and the through hole 311 can be arranged in the middle of the main body 31 to facilitate the connection of the main body 31 with other structures. The movement of the structure can be achieved by using two self-leveling steering and self-propelled mechanisms to connect with both sides of the structure to be driven.

Claims

1. Self-leveling steering and self-propelled mechanism, characterized by: The invention comprises a wheel (1), a bracket (2), a connecting bridge (3), a running device (4) and a steering device (5), wherein the wheel (1) is connected to the running device (4), the bottom of the bracket (2) is connected to the running device (4), the top of the bracket (2) is connected to the steering device (5) and the connecting bridge (3), and the steering device (5) is connected to the connecting bridge (3).

2. The self-leveling, steering and self-propelled mechanism according to claim 1, characterized in that: The bracket (2) is L-shaped and comprises a connecting portion A (21) and a fixing portion (22). The connecting portion A (21) is connected to the fixing portion (22) and is vertical. The walking device (4) is connected to the fixing portion (22). The steering device (5) is connected to the connecting portion A (21). The wheel (1) is arranged below the connecting portion A (21).

3. The self-leveling, steering and self-propelled mechanism according to claim 2, characterized in that: A gear A (23) is provided on the connecting portion A (21), and the gear A (23) is connected to the connecting portion A (21). A fence (24) and a cover (25) are provided on the fixing portion (22), and one side of the fence (24) is connected to the fixing portion (22), and the other side of the fence (24) is connected to the cover (25).

4. The self-leveling, steering and self-propelled mechanism according to claim 1, characterized in that: The connecting bridge (3) comprises a main body (31), a connecting portion B (32), a connecting shaft (33) and a flange (34). Both sides of the main body (31) are connected to the connecting shaft (33), one end of the connecting portion B (32) is connected to the connecting shaft (33), the connecting portion B (32) is connected to the steering device (5), and the bottom of the connecting shaft (33) is connected to the flange (34).

5. The self-leveling, steering and self-propelled mechanism according to claim 1, characterized in that: The walking device (4) comprises a motor A (41) and a reducer A (42), wherein the motor A (41) and the reducer A (42) are connected, and the reducer A (42) is connected to the wheel (1) via a rotating shaft (11).

6. The self-leveling, steering and self-propelled mechanism according to claim 1, characterized in that: The steering device (5) comprises a motor B (51), a reducer B (52) and a fixing seat (53). The motor B (51) and the reducer B (52) are connected. A gear B (54) is provided at one end of the output shaft of the reducer B (52). The reducer B (52) is connected to the connecting portion B (32) via the fixing seat (53).

7. The self-leveling, steering and self-propelled mechanism according to claim 4, characterized in that: The main body (31) is arranged in a linear or curved shape, and a through hole (311) is arranged on the main body (31).

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