Hydraulic differential steering wheel

Abstract

The utility model provides a hydraulic differential steering wheel, which comprises a mounting seat, two sides of the mounting seat are respectively and rotatably provided with a driving wheel, the top of the mounting seat is provided with a lifting tray, and the hydraulic differential steering wheel is characterized by further comprising a steering mechanism, a lifting mechanism and a differential mechanism, the differential mechanisms are mounted on the two sides of the mounting base in a central symmetry manner and connected with the driving wheels, and the differential mechanisms adjust the rotating speed of the driving wheels on the two sides, so that the vehicle can steadily turn; the steering mechanism is arranged between the mounting seat and the lifting tray and is used for feeding back steering angle information in real time; and the lifting mechanism is mounted between the mounting seat and the steering mechanism and can drive the steering mechanism at the top of the lifting mechanism and the lifting tray to do lifting motion.

Description

Technical Field

[0001] This utility model relates to the field of mechanical transmission equipment technology, and in particular to a hydraulic differential steering wheel. Background Technology

[0002] Differential steering wheels are widely used in various mobile robot fields, such as warehousing and logistics robots, service robots, and inspection robots. In warehousing and logistics, differential steering wheels enable handling robots to shuttle between shelves and accurately reach designated storage locations for loading and unloading goods. The main advantage of differential steering wheels lies in their excellent maneuverability and flexibility; they can achieve zero-radius turns, meaning they can turn on the spot, allowing mobile robots to operate freely even in confined spaces.

[0003] Chinese patent CN202410564092.X discloses a horizontal dual-wheel electric differential steering wheel assembly, comprising: an upper assembly, a lower assembly, and a support shaft, wherein the upper assembly and the lower assembly are integrally formed by the support shaft; the upper assembly includes a slewing bearing, a connecting plate, and a hinge fixing seat, wherein the outer ring of the slewing bearing is fixedly connected to the frame, the inner ring of the slewing bearing is fixedly connected to the connecting plate, and at least one hinge fixing seat is fixedly connected to the lower side of the connecting plate; the lower assembly includes an upper support plate, a reduction gearbox, wheels, and a lower support plate.

[0004] However, this technical solution has the following problems: the total height of the slewing bearing for the steering wheel is fixed and cannot be changed. When transporting the steering wheel in a limited space, the inconvenience of handling and storage will occur because the total lifting height remains unchanged. Summary of the Invention

[0005] The purpose of this utility model is to address the shortcomings of existing technologies by providing a hydraulic differential steering wheel. Through a lifting mechanism, the steering mechanism and the lifting tray on its top can be raised and lowered. The height can be adjusted in a timely manner according to actual needs, facilitating the handling and storage of goods and solving the problem of inconvenient operation in limited spaces.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a hydraulic differential steering wheel, including a mounting base, with drive wheels rotatably mounted on both sides of the mounting base, and a lifting tray mounted on the top of the mounting base. The differential mechanism is characterized by further including a steering mechanism, a lifting mechanism, and a differential mechanism; the differential mechanism is centrally and symmetrically mounted on both sides of the mounting base and connected to the drive wheels, adjusting the rotational speed of the drive wheels to enable the vehicle to turn smoothly; the steering mechanism is disposed between the mounting base and the lifting tray, providing real-time feedback of steering angle information; the lifting mechanism is installed between the mounting base and the steering mechanism, driving the steering mechanism and the lifting tray on its top to perform lifting and lowering movements.

[0007] As a preferred embodiment, the top of the lifting tray is a platform, and the bottom is a column, the outer diameter of which is smaller than the outer diameter of the platform; an oil passage is provided through the lifting tray.

[0008] As a preferred embodiment, the lifting mechanism includes a cylinder body and a lifting balance box; the cylinder body is located at the center of the mounting base, the cylinder body is sleeved on the column, the cylinder body is connected to the oil passage, and the bottom of the cylinder body is provided with a step; the lifting balance box is sleeved on the outside of the cylinder body, and the bottom of the lifting balance box is close to the step.

[0009] As a preferred embodiment, the lifting balance box has protrusions on both sides, and the mounting base has grooves that are shaped to mimic the protrusions, with the protrusions embedded in the grooves.

[0010] As a preferred embodiment, a circular groove is provided at the bottom of the column, and a buffer spring is provided between the top of the groove and the cylinder body.

[0011] As a preferred embodiment, the steering mechanism includes a lifting guard, a cylindrical gear, an encoder, and a rotary gear; the lifting guard is disposed on the top of the mounting base; the cylindrical gear is disposed on the top of the lifting guard, the cylindrical gear is sleeved on the column, and the cylindrical gear has several mounting holes, the mounting holes being used to fix the cylindrical gear to the cylinder body by fasteners; the encoder is fixedly mounted on one side of the lifting guard; a rotary gear is sleeved on the shaft of the encoder, the rotary gear meshing with the cylindrical gear.

[0012] As a preferred embodiment, a lifting and positioning mechanism is provided between the platform and the cylindrical gear. The lifting and positioning mechanism includes an upper lifting and positioning seat, an upper lifting and positioning body, a lower lifting and positioning seat, and a lower lifting and positioning body. The upper lifting and positioning seat is fixedly installed at the bottom of the platform and is hinged to one end of the upper lifting and positioning body. The lower lifting and positioning seat is fixedly installed at the top of the cylindrical gear and is located directly below the upper lifting and positioning seat. The lower lifting and positioning seat is hinged to one end of the lower lifting and positioning body. The other end of the upper lifting and positioning body is hinged to the other end of the lower lifting and positioning body.

[0013] As a preferred embodiment, the differential mechanism includes a gearbox, a drive component, and a planetary reducer; the gearbox is fixedly mounted on one side of the mounting base; the drive component is mounted on the input end of the gearbox and is connected to the gears in the gearbox; the planetary reducer is embedded inside the drive wheel, and the drive shaft of the planetary reducer is connected to the gears at the output end of the gearbox.

[0014] As a preferred embodiment, an end cover is provided between the mounting base and the opposite side of the gearbox output end. The end cover is stepped, with its larger end embedded in the mounting base and its smaller end embedded in the opposite side of the gearbox output end.

[0015] The beneficial effects of this utility model are as follows:

[0016] (1) By setting up a lifting mechanism and using a hydraulic system to control the lifting of the lifting tray, this utility model reduces the overall space occupied by the equipment in a limited space and adjusts the height according to actual needs, thereby improving the adaptability of the equipment. After the lifting tray is lifted, it is also convenient for manual handling and maintenance of the equipment itself, thus improving work efficiency.

[0017] (2) This utility model ensures the verticality of the lifting balance box and the bottom of the mounting base by setting protrusions on both sides of the lifting balance box and embedding them in the mounting base, thereby ensuring the verticality of the sleeved cylinder body and the column, and finally ensuring the parallelism of the loading platform and the bottom of the mounting base, making the transfer of goods safer and more stable.

[0018] (3) By setting up a lifting and positioning mechanism, this utility model can synchronize the rotation of the lifting pallet and the cylindrical gear, avoid slippage, facilitate the encoder to provide more accurate feedback of the steering angle information, improve the accuracy of cargo transfer, and the hinge of the upper lifting and positioning body to the lower lifting and positioning body will not affect the lifting and lowering movement of the lifting pallet.

[0019] (4) This utility model adopts a stepped design for the end cap by reducing the unit space. At the same time, the large end of the end cap is embedded with the mounting base, and the small end is embedded with the opposite side of the gearbox output end, which limits the position while ensuring concentricity.

[0020] In summary, this utility model has the advantages of high adaptability, high work efficiency, good stability, and accurate positioning. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0022] Figure 2 This is a top view of the present invention;

[0023] Figure 3 This is a cross-sectional view of the present invention;

[0024] Figure 4 This is a partial schematic diagram of the present invention;

[0025] Figure 5 This is a partial schematic diagram of the present invention;

[0026] Figure 6 This is a partial schematic diagram of the present invention.

[0027] Figure labels: 1. Mounting base; 11. Groove; 2. Drive wheel; 3. Lifting tray; 31. Platform; 311. Lifting limit sensor; 32. Column; 33. Oil passage; 34. Circular groove; 4. Steering mechanism; 41. Lifting cover; 42. Cylindrical gear; 43. Encoder; 44. Rotary gear; 5. Lifting mechanism; 51. Cylinder body; 511. Step; 52. Lifting balance box; 521. Boss; 53. Buffer spring; 6. Differential mechanism; 61. Gearbox; 611. End cover; 62. Drive component; 63. Planetary reducer; 7. Lifting positioning mechanism; 71. Upper lifting positioning seat; 72. Upper lifting positioning body; 73. Lower lifting positioning seat; 74. Lower lifting positioning body. Detailed Implementation

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0029] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0030] Example 1

[0031] like Figures 1 to 6As shown, this embodiment provides a hydraulic differential steering wheel, including a mounting base 1, with drive wheels 2 rotatably mounted on both sides of the mounting base 1, and a lifting tray 3 on the top of the mounting base 1. The embodiment is characterized by further including a steering mechanism 4, a lifting mechanism 5, and a differential mechanism 6. The differential mechanism 6 is centrally symmetrically mounted on both sides of the mounting base 1 and connected to the drive wheels 2. The differential mechanism 6 adjusts the rotational speed of the drive wheels on both sides, enabling the vehicle to turn smoothly. The steering mechanism 4 is disposed between the mounting base 1 and the lifting tray 3, and is used to provide real-time feedback of steering angle information. The lifting mechanism 5 is installed between the mounting base 1 and the steering mechanism 4, and can drive the steering mechanism 4 and the lifting tray 3 on its top to perform lifting and lowering movements.

[0032] It is worth mentioning that the lifting mechanism 5 is set up, and the lifting pallet 3 is controlled by a hydraulic system. This reduces the overall space occupied by the equipment in a limited space and adjusts the height according to actual needs, improving the adaptability of the equipment. Lifting the lifting pallet 3 also facilitates manual handling and maintenance of the equipment, thus improving work efficiency.

[0033] like Figure 3 As shown, the top of the lifting tray 3 is a platform 31, and the bottom is a column 32. The outer diameter of the column 32 is smaller than the outer diameter of the platform 31. An oil passage 33 is provided through the lifting tray 3.

[0034] It is worth mentioning that the outer diameter of the column 32 is smaller than the outer diameter of the platform 31 to avoid small goods from slipping onto the column and causing jamming during subsequent lifting when the platform 31 is in operation.

[0035] like Figure 3 , 4 As shown, the lifting mechanism 5 includes a cylinder body 51 and a lifting balance box 52; the cylinder body 51 is located at the center of the mounting base 1, the cylinder body 51 is sleeved on the column 32, the cylinder body 51 is internally connected to the oil passage 33, and the bottom of the cylinder body 51 is provided with a step 511; the lifting balance box 52 is sleeved on the outside of the cylinder body 51, and the bottom of the lifting balance box 52 is close to the step 511.

[0036] It should be noted that hydraulic oil enters or exits into the cylinder body 51 through the oil passage 33 to control the lifting and lowering of the column 32. A lifting limit sensor 311 is installed on one side of the platform 31 to provide real-time feedback of height information.

[0037] like Figure 1 , 4As shown, the lifting balance box 52 has protrusions 521 on both sides, and the mounting base 1 has a groove 11 that is shaped to the protrusions 521, with the protrusions 521 embedded in the groove 11.

[0038] It should be noted that the lifting balance box 52 adopts an integral molding design, which has high strength and good stability. At the same time, the two bosses 521 are integrally molded, which can ensure the coaxiality of the two bosses 521, thereby ensuring the positioning accuracy of the lifting balance box 52 during installation and further ensuring the perpendicularity of the lifting balance box 52 to the bottom of the mounting base 1. The bottom of the lifting balance box 52 also presses the step 511 onto the bottom of the mounting base 1, thereby ensuring the perpendicularity of the sleeved cylinder body 51 and the column 32, and finally ensuring the parallelism of the loading platform 31 to the bottom of the mounting base 1, making the transfer of goods safer and more stable.

[0039] like Figure 3 As shown, a circular groove 34 is provided at the bottom of the column 32, and a buffer spring 53 is provided between the top of the circular groove 34 and the cylinder body 51.

[0040] It is worth mentioning that the circular groove 34 facilitates the positioning and installation of the buffer spring 53 at the bottom of the column 32. When the column 32 moves rapidly and approaches the end of its stroke, it will generate a large impact force. The buffer spring 53 installed inside the hydraulic cylinder can play a buffering role. When the hydraulic system fails, the buffer spring 53 can continue to play a certain role, so that the lifting tray 3 can maintain a certain function or enter a safe state.

[0041] Example 2

[0042] like Figure 1 As shown, components that are the same as or corresponding to those in Embodiment 1 are referred to by the same reference numerals as those in Embodiment 1. The steering mechanism 4 includes a lifting cover 41, a cylindrical gear 42, an encoder 43, and a rotary gear 44. The lifting cover 41 is disposed on the top of the mounting base 1. The cylindrical gear 42 is disposed on the top of the lifting cover 41 and is sleeved on the column 32. The cylindrical gear 42 has several mounting holes 421, which are fastened to the cylinder body 51 by fasteners. The encoder 43 is fixedly installed on one side of the lifting cover 41. The rotary gear 44 is sleeved on the shaft of the encoder 43 and meshes with the cylindrical gear 42.

[0043] It should be noted that a bearing is provided between the lifting guard 41 and the cylinder body 51. During the equipment turning process, the differential mechanism 6 drives the mounting base 1 to rotate, and the cylinder body 51 and the cylindrical gear 42 rotate synchronously. The rotary gear 44 on the lifting guard 41 rotates around the cylindrical gear 42, and the encoder 43 accurately feeds back the turning information to the control system.

[0044] like Figure 1 , 5 As shown, a lifting and positioning mechanism 7 is provided between the platform 31 and the cylindrical gear 42. The lifting and positioning mechanism 7 includes an upper lifting and positioning seat 71, an upper lifting and positioning body 72, a lower lifting and positioning seat 73, and a lower lifting and positioning body 74. The upper lifting and positioning seat 71 is fixedly installed at the bottom of the platform 31, and one end of the upper lifting and positioning body 72 is hinged to it. The lower lifting and positioning seat 73 is fixedly installed at the top of the cylindrical gear 42 and is located directly below the upper lifting and positioning seat 71. One end of the lower lifting and positioning body 74 is hinged to it. The other end of the upper lifting and positioning body 72 is hinged to the other end of the lower lifting and positioning body 74.

[0045] It is worth mentioning that the lifting and positioning mechanism 7 synchronizes the rotation of the lifting pallet 3 and the cylindrical gear 42 to avoid slippage, which allows the encoder 43 to provide more accurate feedback on the steering angle information and improves the accuracy of cargo transfer. The upper lifting and positioning body 72 is hinged to the lower lifting and positioning body 74, which does not affect the lifting and lowering movement of the lifting pallet 3.

[0046] like Figure 1 , 2 As shown, the differential mechanism 6 includes a gearbox 61, a drive component 62, and a planetary reducer 63; the gearbox 61 is fixedly installed on one side of the mounting base 1; the drive component 62 is installed at the input end of the gearbox 61 and is connected to the gear in the gearbox 61; the planetary reducer 63 is embedded inside the drive wheel 2, and the drive shaft of the planetary reducer 63 is connected to the gear at the output end of the gearbox 61.

[0047] It should be noted that the drive unit 62 drives the input gear in the gearbox 61 to rotate, the input gear drives the output gear to drive the planetary reducer 63, and the planetary reducer 63 drives the drive wheel 2. When the two drive wheels 2 are under different working conditions, the differential mechanism 6 can automatically adjust the speed of the two drive wheels 2 so that the vehicle can turn smoothly.

[0048] like Figure 3 , 6As shown, an end cover 611 is provided between the mounting base 1 and the opposite side of the output end of the gearbox 61. The end cover 611 is stepped, with its large end embedded in the mounting base 1 and its small end embedded in the opposite side of the output end of the gearbox 61.

[0049] It is worth mentioning that the end cover 611 adopts a stepped design to reduce the unit space. At the same time, the large end of the end cover 611 is embedded in the mounting base 1, and the small end is embedded in the opposite side of the output end of the gearbox 61. While limiting the position, it fully ensures concentricity. At the same time, the concentricity of the installation is ensured by the outer diameter of the end cover 611 and the inner diameter of the mounting base 1, and it serves as a positioning reference to ensure the concentricity of the connection between the mounting base 1 and the gearbox 61, thus achieving high-precision transmission.

[0050] Work steps

[0051] Hydraulic oil enters or exits into the cylinder body 51 through the oil passage 33 to control the lifting and lowering of the column 32. A lifting limit sensor 311 is installed on one side of the platform 31 to provide real-time feedback of height information. The buffer spring 53 can play a buffering role. When the hydraulic system fails, the buffer spring 53 can continue to play a certain role, so that the lifting tray 3 can maintain a certain function or enter a safe state.

[0052] The drive unit 62 drives the input gear in the gearbox 61 to rotate, the input gear drives the output gear to drive the planetary reducer 63, and the planetary reducer 63 drives the drive wheel 2. When the two drive wheels 2 are under different working conditions, the differential mechanism 6 can automatically adjust the speed of the two drive wheels 2 so that the vehicle can turn smoothly. During the turning process, the differential mechanism 6 drives the mounting base 1 to rotate, the cylinder body 51 and the cylindrical gear 42 rotate synchronously, the rotary gear 44 on the lifting cover 41 rotates around the cylindrical gear 42, and the encoder 43 accurately feeds back the steering information to the control system.

[0053] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A hydraulic differential steering wheel, comprising a mounting base, drive wheels rotatably disposed on both sides of the mounting base, and a lifting tray disposed on the top of the mounting base, characterized in that, It also includes the steering mechanism, lifting mechanism, and differential mechanism; The differential mechanism is symmetrically mounted on both sides of the mounting base and connected to the drive wheels. The differential mechanism adjusts the rotational speed of the drive wheels on both sides, enabling the vehicle to turn smoothly. The steering mechanism is disposed between the mounting base and the lifting tray, and the steering mechanism is used to provide real-time feedback of steering angle information; The lifting mechanism is installed between the mounting base and the steering mechanism, and the lifting mechanism can drive the steering mechanism and the lifting tray on its top to move up and down.

2. A hydraulic differential steering wheel according to claim 1, characterized in that, The lifting tray has a platform at the top and a column at the bottom, with the outer diameter of the column being smaller than the outer diameter of the platform. An oil passage is provided through the lifting tray.

3. A hydraulic differential steering wheel according to claim 2, characterized in that, The lifting mechanism includes a hydraulic cylinder body and a lifting balance box body; The cylinder body is located at the center of the mounting base, the cylinder body is sleeved on the column, the inside of the cylinder body is connected to the oil passage, and the bottom of the cylinder body is provided with a step; The lifting balance box is fitted outside the cylinder body, and the bottom of the lifting balance box is close to the step.

4. A hydraulic differential steering wheel according to claim 3, characterized in that, The lifting balance box has protrusions on both sides, and the mounting base has grooves that are shaped to mimic the protrusions, with the protrusions embedded in the grooves.

5. A hydraulic differential steering wheel according to claim 3, characterized in that, A circular groove is provided at the bottom of the column, and a buffer spring is provided between the top of the groove and the cylinder body.

6. A hydraulic differential steering wheel according to claim 3, characterized in that, The steering mechanism includes a lifting guard, a cylindrical gear, an encoder, and a rotary gear; The lifting guard is disposed on the top of the mounting base; The cylindrical gear is disposed on the top of the lifting cover, the cylindrical gear is sleeved on the column, and the cylindrical gear has several mounting holes, which are used to fix the cylindrical gear to the cylinder body by fasteners. The encoder is fixedly installed on one side of the lifting cover; A rotary gear is fitted on the shaft of the encoder, and the rotary gear meshes with the cylindrical gear.

7. A hydraulic differential steering wheel according to claim 6, characterized in that, A lifting and positioning mechanism is provided between the platform and the cylindrical gear. The lifting and positioning mechanism includes an upper lifting and positioning seat, an upper lifting and positioning body, a lower lifting and positioning seat, and a lower lifting and positioning body. The upper lifting positioning seat is fixedly installed at the bottom of the platform, and the upper lifting positioning seat is hinged to one end of the upper lifting positioning body; The lower lifting positioning seat is fixedly installed on the top of the cylindrical gear and is located directly below the upper lifting positioning seat. The lower lifting positioning seat is hinged to one end of the lower lifting positioning body. The other end of the upper lifting positioning body is hinged to the other end of the lower lifting positioning body.

8. A hydraulic differential steering wheel according to claim 1, characterized in that, The differential mechanism includes a gearbox, a drive unit, and a planetary reducer; The gearbox is fixedly installed on one side of the mounting base; The drive unit is installed at the input end of the gearbox and is connected to the gears in the gearbox for transmission. The planetary reducer is embedded inside the drive wheel, and the drive shaft of the planetary reducer is connected to the gear at the output end of the gearbox.

9. A hydraulic differential steering wheel according to claim 8, characterized in that, An end cover is provided between the mounting base and the opposite side of the gearbox output end. The end cover is stepped, with its larger end embedded in the mounting base and its smaller end embedded in the opposite side of the gearbox output end.

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