Elbow arm type heavy load driving wheel device

Abstract

The utility model belongs to the technical field of automatic transportation equipment, and particularly relates to an elbow arm type heavy load driving wheel device which comprises a disc bearing, a mounting base plate, a fixed arm, an elbow arm, a hinge shaft A, a hinge shaft B, a hinge shaft C, a hydraulic cylinder, a steering motor, a transmission gear, a driving wheel mounting frame and a driving wheel. According to the elbow arm type heavy load driving wheel device, the functions of bearing, lifting, driving and steering can be integrated in the same module, so that the dependence of the interior of a vehicle body on an extra steering mechanism and an extra lifting mechanism is reduced, and the compactness and the space utilization rate of the whole vehicle structure are improved. By adopting the elbow arm type lifting structure, the wheel set forms an arc-shaped motion trail in the lifting process, and compared with a traditional linear guide rail type lifting mode, loads and impact force can be more effectively dispersed, the local stress concentration phenomenon is reduced, and the occurrence probability of the problems of guide rail abrasion, clamping stagnation and the like is reduced; and the long-term stability and reliability of the structure under the heavy load working condition are improved.

Description

Technical Field

[0001] This utility model belongs to the field of automated transportation equipment technology, specifically a elbow-arm type heavy-duty drive wheel device. Background Technology

[0002] With the rapid development of logistics warehousing, intelligent manufacturing, and flexible production lines, automated guided vehicles (AGVs) and autonomous mobile robots (AMRs) are increasingly widely used in factory internal transportation. These devices typically need to accommodate drive systems, steering systems, lifting structures, and multiple sensor modules within a limited vehicle space, thus placing higher demands on the integration, load-bearing capacity, and adaptability to complex terrain environments of the chassis and wheel sets.

[0003] Currently, most AGVs adopt a vertical lifting structure using linear guides or columns, achieving the up-and-down movement of the drive wheel assembly through sliders or guide columns. While this type of structure can meet basic height adjustment needs initially, it requires high precision in machining and installation, and the force path is relatively simple. Under long-term heavy-load operation, frequent start-stop cycles, and complex ground impact conditions, problems such as slider jamming, guide rail wear, and structural uneven loading can easily occur, affecting the reliability of the lifting action and the overall stability of the vehicle.

[0004] Meanwhile, the steering mechanism of traditional AGVs is usually located inside the vehicle body, and the steering wheel set is driven to change direction by the vehicle body's servo motor or steering axle. This structure not only occupies a large amount of internal space, but also makes the chassis layout more complicated, reduces the installation space for functional modules such as batteries and controllers, and is not conducive to the modular design and later maintenance of the whole vehicle.

[0005] Furthermore, in actual operating environments, AGVs often face complex conditions such as ground cracks, step junctions, potholes, uneven paving stones, and the edges of equipment foundations. If the drive wheel device can only be simply driven to move vertically up and down, it is difficult to actively adjust the wheel posture and obstacle entry angle when crossing obstacles, which can easily lead to problems such as wheel suspension, insufficient wheel pressure, drive slippage, or increased structural impact, thereby affecting driving stability and equipment lifespan.

[0006] During heavy-duty transport, if the drive wheel assembly cannot adaptively adjust to the actual load distribution, the vehicle's posture is prone to deviation, resulting in unstable operation and even safety hazards. Therefore, the existing drive wheel assembly structure still has significant shortcomings in applications requiring heavy loads, complex terrain, and high reliability.

[0007] Based on the above problems, there is an urgent need for a heavy-duty drive wheel device that, while having a compact structure, also possesses lifting capabilities, steering integration capabilities, and good ground adaptability, in order to improve the passability, stability, and overall system integration of AGVs under complex working conditions. Utility Model Content

[0008] To address the aforementioned problems, the purpose of this utility model is to provide an elbow-arm type heavy-duty drive wheel device.

[0009] The objective of this utility model is achieved through the following technical solution:

[0010] A toggle-arm type heavy-duty drive wheel device includes a disc bearing, a mounting base plate, a fixed arm, a toggle arm, a hinge shaft A, a hinge shaft B, a hinge shaft C, a hydraulic cylinder, a steering motor, a transmission gear, a drive wheel mounting bracket, and a drive wheel. The disc bearing has an inner ring and an outer gear ring that are coaxially rotatable.

[0011] The inner ring of the disc bearing is used to directly connect to the corresponding vehicle body. The mounting base is fixed to the lower side of the outer gear ring of the disc bearing and is also located on the lower side of the corresponding vehicle body. The housing of the steering motor is fixed to the mounting base. A transmission gear is provided on the drive end of the steering motor. The transmission gear meshes with the inner ring of the disc bearing. The axial center line of the disc bearing is perpendicular to the horizontal plane.

[0012] The upper end of the fixed arm is located on the lower side of the mounting base plate. The lower end of the fixed arm is provided with the hinge shaft A. The middle part of the fixed arm is provided with the hinge shaft B. One end of the elbow arm in the length direction is hinged to the lower end of the fixed arm through the hinge shaft A. The middle part of the elbow arm is provided with the hinge shaft C. The axial center lines of the hinge shaft A, the hinge shaft B, and the hinge shaft C are all parallel to the horizontal plane. The cylinder barrel of the hydraulic cylinder is located above the cylinder rod of the hydraulic cylinder. The cylinder barrel of the hydraulic cylinder is hinged to the fixed arm through the hinge shaft B. The cylinder rod of the hydraulic cylinder is hinged to the middle part of the elbow arm through the hinge shaft C. The drive wheel mounting bracket is rotatably disposed at the other end of the elbow arm in the length direction. The drive wheel mounting bracket is provided with drive wheels on both sides of the elbow arm in the length direction. The projection of the drive wheel mounting bracket relative to the rotation axis of the elbow arm in the horizontal plane is perpendicular to the projection of the axial center line of the hinge shaft C in the horizontal plane.

[0013] The steering motor and the transmission gear are provided in twos, and the two steering motors are located on both sides of the elbow arm along its length and are symmetrical to each other.

[0014] The elbow-arm type heavy-duty drive wheel device proposed in this utility model is further provided with an encoder A for detecting the rotation angle of the elbow arm about the axial center line of the hinge shaft A. The encoder A has a fixed end and a rotating end that are coaxially rotatable inside and outside. The hinge shaft A has an encoder mounting end that extends out of the fixed arm. The fixed end of the encoder A is disposed on the encoder mounting end of the hinge shaft A. The rotating end of the encoder A is connected to the side of the elbow arm through an encoder adapter.

[0015] The fixed arm is equipped with a dust cover, which covers the outside of the encoder A.

[0016] A steering identification gear A is fixedly connected to the upper side of the mounting base plate and to the inner side of the inner ring of the disc bearing. The axial center line of the steering identification gear A is collinear with the axial center line of the disc bearing.

[0017] The drive wheel mounting bracket is divided into a drive wheel connecting beam and a swing connecting sleeve that are connected vertically. The drive wheel connecting beam is located on the upper side of the swing connecting sleeve. The length direction of the drive wheel connecting beam is perpendicular to the length direction of the elbow arm. Both ends of the drive wheel connecting beam are connected to one of the drive wheels. The swing connecting sleeve and the other end of the elbow arm are connected by a connecting shaft to achieve mutual rotational freedom. The end of the connecting shaft near the elbow arm is fixed to the other end of the elbow arm. The swing connecting sleeve is sleeved on the outside of the connecting shaft. The axial center line of the connecting shaft is also the rotation axis of the drive wheel mounting bracket relative to the elbow arm.

[0018] A flange edge protrudes from the outer periphery of the connecting shaft near the elbow arm; the end of the connecting shaft near the elbow arm is inserted into the other end of the elbow arm along its length, and the flange edge on the connecting shaft is fixed to the other end of the elbow arm along its length by screws.

[0019] Several limiting nuts are threadedly connected to the end of the connecting shaft away from the elbow arm. The swing connecting sleeve of the drive wheel mounting bracket, which is fitted on the connecting shaft, is located between the flange edge on the connecting shaft and the limiting nuts, and is axially limited by the flange edge on the connecting shaft and the limiting nuts.

[0020] The inner side of the swing connecting sleeve of the drive wheel mounting bracket has a gap with the outer side of the connecting shaft and is provided with a plurality of copper sleeves. A lubricating oil passage is provided on the connecting shaft. The lubricating oil passage has an opening A that communicates with the gap between the inner side of the swing connecting sleeve of the drive wheel mounting bracket and the outer side of the connecting shaft. The lubricating oil passage also has an opening B. The opening B of the lubricating oil passage is located on the end face of the connecting shaft away from the elbow arm. The opening B of the lubricating oil passage is provided with a plug for closing the opening B.

[0021] A swing limiting block is fixed to the other end of the elbow arm along the length direction and on both sides of the swing connecting sleeve of the drive wheel mounting frame. Each swing limiting block is located on the lower side of the entire drive wheel mounting frame.

[0022] The advantages and positive effects of this utility model are as follows:

[0023] 1. The elbow-arm heavy-duty drive wheel device proposed in this utility model can integrate load-bearing, lifting, driving and steering functions in the same module, thereby reducing the dependence on additional steering and lifting mechanisms inside the vehicle body, improving the compactness and space utilization of the overall vehicle structure, and facilitating the arrangement of other functional modules inside the vehicle chassis.

[0024] 2. The elbow-arm heavy-duty drive wheel device proposed in this utility model integrates the steering mechanism inside the wheel set and achieves overall steering of the wheel set through the disc bearing structure. It eliminates the need to set up an additional steering axle or bogie inside the vehicle body, which simplifies the overall vehicle structure, reduces system complexity, and is also conducive to the modular design and later maintenance of the vehicle.

[0025] 3. The elbow-arm type heavy-duty drive wheel device proposed in this utility model adopts an elbow-arm type lifting structure, which makes the wheel group form an arc-shaped motion trajectory during the lifting process. Compared with the traditional linear guide rail type lifting method, it can more effectively distribute the load and impact force, reduce the phenomenon of local stress concentration, reduce the probability of guide rail wear, jamming and other problems, and improve the long-term stability and reliability of the structure under heavy load conditions.

[0026] 4. The elbow-arm type heavy-duty drive wheel device proposed in this utility model, through the elbow-arm structure, allows the wheel set to actively change the wheel entry angle when crossing obstacles or passing through uneven ground, making it easier for the wheel to contact the ground, effectively reducing phenomena such as wheel suspension, uneven wheel pressure and drive slippage, and improving the passability and running stability of the whole vehicle under complex ground conditions. Attached Figure Description

[0027] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0028] Figure 2This is a side view of the overall structure of this utility model;

[0029] Figure 3 This is a bottom view of the overall structure of this utility model;

[0030] Figure 4 This is a partial structural diagram of the present invention after disassembly;

[0031] Figure 5 This is a schematic diagram of the arrangement structure between the drive wheel mounting bracket and the elbow arm of this utility model.

[0032] In the diagram: 1 is a disc bearing, 101 is an inner ring, 102 is an outer gear ring, 2 is a mounting base plate, 3 is a fixed arm, 4 is an elbow arm, 5 is a hinge shaft A, 6 is a hinge shaft B, 7 is a hinge shaft C, 8 is a hydraulic cylinder, 9 is a steering motor, 10 is a transmission gear, 11 is a drive wheel mounting bracket, 1101 is a drive wheel connecting beam, 1102 is a swing connecting sleeve, 12 is a drive wheel, 13 is an encoder adapter, 14 is a dust cover, 15 is a steering identification gear A, 16 is a connecting shaft, 1601 is a lubrication oil passage, 17 is a limit nut, 18 is a copper sleeve, 19 is a seal, 20 is a swing limit stop, and 21 is a gasket. Detailed Implementation

[0033] The following is in conjunction with the appendix Figures 1-5 The present invention will be described in further detail.

[0034] An elbow-arm type heavy-duty drive wheel device, such as Figures 1-5 As shown, this embodiment includes a disc bearing 1, a mounting base plate 2, a fixed arm 3, an elbow arm 4, a hinge shaft A 5, a hinge shaft B 6, a hinge shaft C 7, a hydraulic cylinder 8, a steering motor 9, a transmission gear 10, a drive wheel mounting bracket 11, and a drive wheel 12. The disc bearing 1 has an inner ring 101 and an outer gear ring 102 that are coaxially rotatable. The overall structure of the disc bearing 1 in this embodiment is existing technology.

[0035] The inner ring 101 of the disc bearing 1 is directly connected to the corresponding vehicle body via screws. The mounting base 2 is fixed to the lower side of the outer gear ring 102 of the disc bearing 1 via screws, and is also located on the lower side of the corresponding vehicle body. The housing of the steering motor 9 is fixed to the mounting base 2 via screws. A transmission gear 10 is correspondingly provided on the drive end of the steering motor 9. The transmission gear 10 meshes with the inner ring 101 of the disc bearing 1. The axial centerline of the disc bearing 1 is perpendicular to the horizontal plane. Through the combination of the disc bearing 1, the steering motor 9, and the transmission gear 10, the rotational support and steering function of the toggle-arm heavy-duty drive wheel device can be integrated into the same component. The steering motor 9 drives the outer gear ring 102 of the disc bearing 1 to rotate through the transmission gear 10, thereby realizing the steering action of the entire assembly consisting of the mounting base 2 and its underlying structure. This structure allows the steering function to be completed inside the toggle-arm heavy-duty drive wheel device, eliminating the need for a separate steering axle or steering system inside the vehicle body, thus reducing the structural complexity inside the vehicle body.

[0036] The upper end of the fixing arm 3 is located on the lower side of the mounting base plate 2. The fixing arm 3 and the mounting base plate 2 can be an integral structure. The lower end of the fixed arm 3 is provided with a hinge shaft A 5, and the middle part of the fixed arm 3 is provided with a hinge shaft B 6. One end of the elbow arm 4 in the length direction is hinged to the lower end of the fixed arm 3 through the hinge shaft A 5. The middle part of the elbow arm 4 is provided with a hinge shaft C 7. The axial center lines of the hinge shaft A 5, the hinge shaft B 6, and the hinge shaft C 7 are all parallel to the horizontal plane. The cylinder barrel of the hydraulic cylinder 8 is located on the upper side of the cylinder rod of the hydraulic cylinder 8. The cylinder barrel of the hydraulic cylinder 8 is hinged to the fixed arm 3 through the hinge shaft B 6, and the cylinder rod of the hydraulic cylinder 8 is hinged to the middle part of the elbow arm 4 through the hinge shaft C 7. The drive wheel mounting bracket 11 is rotatably set at the other end of the elbow arm 4 in the length direction. The drive wheel mounting bracket 11 and the two sides of the elbow arm 4 in the length direction are respectively provided with drive wheels 12. The projection of the drive wheel mounting bracket 11 relative to the rotation axis of the elbow arm 4 in the horizontal plane is perpendicular to the projection of the axial center line of the hinge shaft C 7 in the horizontal plane. In this embodiment, each drive wheel 12 is a prior art drive wheel assembly product with an individual drive motor, and its movement is controlled by a controller on the corresponding vehicle body, allowing the elbow-type heavy-duty drive wheel device to complete the walking drive itself. The overall structure of the hydraulic cylinder 8 in this embodiment is also prior art, with hydraulic oil supplied by a hydraulic system located on the corresponding vehicle body and its movement controlled by a controller on the corresponding vehicle body. The corresponding hydraulic control system also adopts prior art. By controlling the extension and retraction of the hydraulic cylinder 8 as a whole, the mounting base 2 and the fixed arm 3 and above are raised or lowered relative to the drive wheel 12. This lifting method is not only used to adjust the vehicle height, but also to compensate for wheel pressure under uneven ground conditions, allowing the vehicle to maintain a relatively stable posture under heavy load. During the lifting process, the drive wheel mounting bracket 11 and the drive wheel 12 move in an arc trajectory relative to the axial centerline of the hinge shaft A 5. Compared to traditional linear guide rail lifting methods, this structure effectively disperses the load and impact force generated by the drive wheel 12 during lifting and obstacle crossing, reducing local stress concentration, minimizing wear and jamming risks in the guide structure, and allowing the wheel to have a more reasonable obstacle entry angle when contacting obstacles, thus improving obstacle crossing ability and ground contact stability. Through the rotating structure between the drive wheel mounting bracket 11 and the elbow arm 4, the drive wheel 12 can adaptively adjust its posture when encountering uneven ground or minor obstacles, improving ground contact and reducing structural impact. Through the above structural combination, this elbow arm heavy-duty drive wheel device achieves a high degree of integration of load-bearing, lifting, driving, and steering within the same module, improving the overall vehicle's space utilization and enhancing the wheel set's adaptability to complex ground environments, making it suitable for automated transportation equipment under heavy load and complex working conditions.

[0037] Specifically, such as Figure 3As shown, in this embodiment, there are two steering motors 9 and two corresponding transmission gears 10. The two steering motors 9 are located on both sides of the elbow arm 4 along its length and are symmetrical to each other to provide sufficient steering power. In this embodiment, the steering motors 9 are all commercially available products and are controlled by the corresponding controllers on the vehicle body.

[0038] Specifically, the elbow-arm type heavy-duty drive wheel device in this embodiment is further equipped with an encoder A for detecting the rotation angle of the elbow arm 4 around the axial center line of the hinge shaft A5. The encoder A has a fixed end and a rotating end that are coaxially rotatable inside and outside. The hinge shaft A5 has an encoder mounting end extending from the fixed arm 3. The fixed end of the encoder A is set on the encoder mounting end of the hinge shaft A5, and the rotating end of the encoder A is connected to the side of the elbow arm 4 through an encoder adapter 13. The encoder adapter 13 can be configured in a common way, for example, it can be a combination of a fixed pin and a fixed line limit seat, wherein the fixed pin is directly connected to the rotating end of the encoder A, and the fixed line limit seat is fixed to the side of the elbow arm 4, and the fixed pin is connected to the fixed line limit seat. A dust cover 14 is provided on the fixed arm 3, which covers the outside of the encoder A and can protect the encoder A from dust, ensuring reliable detection by the encoder A. In this embodiment, as Figure 1 As shown, a steering recognition gear A 15 is fixedly connected to the upper side of the mounting base 2 and to the inner side of the inner ring 101 of the disc bearing 1. The axial center line of the steering recognition gear A 15 is collinear with the axial center line of the disc bearing 1. The steering recognition gear A 15 can mesh with a steering recognition gear B rotatably mounted on the corresponding vehicle body. The steering recognition gear B is equipped with an encoder B to detect the rotation angle of the entire structure connected to the fixed arm 3 driven by the outer gear ring 102 of the disc bearing 1. In this embodiment, both encoder A and encoder B are commercially available products and are connected and communicated with the controller on the corresponding vehicle body.

[0039] Specifically, such as Figure 4 and Figure 5As shown, in this embodiment, the drive wheel mounting bracket 11 is divided into a drive wheel connecting beam 1101 and a swing connecting sleeve 1102 that are connected to each other. The drive wheel connecting beam 1101 and the swing connecting sleeve 1102 can be an integral structure. The drive wheel connecting beam 1101 of the drive wheel mounting bracket 11 is located on the upper side of the swing connecting sleeve 1102 of the drive wheel mounting bracket 11. The length direction of the drive wheel connecting beam 1101 of the drive wheel mounting bracket 11 is perpendicular to the length direction of the elbow arm 4. Both ends of the drive wheel connecting beam 1101 of the drive wheel mounting bracket 11 are connected to a drive wheel 12. The swing connecting sleeve 1102 of the drive wheel mounting bracket 11 and the other end of the elbow arm 4 in the length direction are connected to each other through the connecting shaft 16 to achieve the degree of freedom of rotation. The end of the connecting shaft 16 near the elbow arm 4 is fixed to the other end of the elbow arm 4 in the length direction. The swing connecting sleeve 1102 of the drive wheel mounting bracket 11 is sleeved on the outside of the connecting shaft 16. The axial center line of the connecting shaft 16 is also the rotation axis of the drive wheel mounting bracket 11 relative to the elbow arm 4.

[0040] like Figure 5 As shown, a flange edge protrudes from the outer periphery of the connecting shaft 16 near the elbow arm 4. The end of the connecting shaft 16 near the elbow arm 4 is inserted into the other end of the elbow arm 4 along its length, and the flange edge on the connecting shaft 16 is fixed to the other end of the elbow arm 4 along its length by screws. This arrangement allows for accurate installation and connection of the connecting shaft 16 and the elbow arm 4, and further fixation can be achieved by welding between the flange edges on the connecting shaft 16 and the elbow arm 4, ensuring reliable fixation. Two limiting nuts 17 are threadedly connected to the end of the connecting shaft 16 away from the elbow arm 4. The swing connecting sleeve 1102 of the drive wheel mounting bracket 11, which is fitted onto the connecting shaft 16, is located between the flange edge on the connecting shaft 16 and the limiting nuts 17, and is axially limited by the flange edge on the connecting shaft 16 and the limiting nuts 17, ensuring that the swing connecting sleeve 1102 of the drive wheel mounting bracket 11 will not move axially during use. A gasket 21 may also be fitted on the connecting shaft 16 between the limit nut 17 and the swing connecting sleeve 1102 of the drive wheel mounting bracket 11 to improve the reliability of the connection.

[0041] like Figure 5As shown, in this embodiment, the inner side of the swing connecting sleeve 1102 of the drive wheel mounting bracket 11 has a gap with the outer side of the connecting shaft 16 and is provided with two copper sleeves 18, which allows the swing connecting sleeve 1102 of the drive wheel mounting bracket 11 to rotate smoothly relative to the connecting shaft 16. A lubrication oil passage 1601 is provided on the connecting shaft 16. The lubrication oil passage 1601 has an opening A that communicates with the gap between the inner side of the swing connecting sleeve 1102 of the drive wheel mounting bracket 11 and the outer side of the connecting shaft 16. The lubrication oil passage 1601 also has an opening B, which is located on the end face of the connecting shaft 16 away from the elbow arm 4. A plug 19 for closing the opening B of the lubrication oil passage 1601 is provided. The lubrication oil passage 1601 facilitates the injection of lubricating oil at the location of the copper sleeves 18, ensuring long-term reliability.

[0042] like Figure 4 As shown, in this embodiment, swing limiting blocks 20 are fixedly connected to the other end of the elbow arm 4 along the length direction and to both sides of the swing connecting sleeve 1102 of the drive wheel mounting bracket 11. Each swing limiting block 20 is located on the lower side of the entire drive wheel mounting bracket 11. By setting each swing limiting block 20, the drive wheel mounting bracket 11 can be stopped when it swings to a predetermined limit position, preventing the drive wheel mounting bracket 11 from swinging excessively and achieving limitation.

Claims

1. A toggle-arm type heavy-duty drive wheel device, characterized in that: Includes disc bearing (1), mounting base plate (2), fixed arm (3), elbow arm (4), hydraulic cylinder (8), steering motor (9), transmission gear (10), drive wheel mounting bracket (11), and drive wheel (12); The inner ring (101) of the disc bearing (1) is used to directly connect to the corresponding vehicle body. The mounting base plate (2) is fixed to the lower side of the outer gear ring (102) of the disc bearing (1). The housing of the steering motor (9) is fixed to the mounting base plate (2). A transmission gear (10) is provided on the drive end of the steering motor (9). The transmission gear (10) meshes with the inner ring (101) of the disc bearing (1). The upper end of the fixed arm (3) is located on the lower side of the mounting base plate (2). The lower end of the fixed arm (3) is provided with a hinge shaft A (5). The middle part of the fixed arm (3) is provided with a hinge shaft B (6). One end of the elbow arm (4) in the length direction is hinged to the lower end of the fixed arm (3) through the hinge shaft A (5). The middle part of the elbow arm (4) is provided with a hinge shaft C (7). The cylinder of the hydraulic cylinder (8) is hinged to the fixed arm (3) through the hinge shaft B (6). The cylinder rod of the hydraulic cylinder (8) is hinged to the middle part of the elbow arm (4) through the hinge shaft C (7). The drive wheel mounting bracket (11) is rotatably located at the other end of the elbow arm (4) in the length direction. The drive wheel mounting bracket (11) is provided with drive wheels (12) on both sides of the elbow arm (4) in the length direction.

2. The elbow-arm type heavy-duty drive wheel device according to claim 1, characterized in that: The steering motor (9) and the transmission gear (10) are provided in twos respectively. The two steering motors (9) are located on both sides of the elbow arm (4) in the length direction and are symmetrical to each other.

3. The elbow-arm type heavy-duty drive wheel device according to claim 1, characterized in that: An encoder A is also provided for detecting the rotation angle of the elbow arm (4) around the axial center line of the hinge shaft A (5). The encoder A has a fixed end and a rotating end that are coaxially rotatable inside and outside. The hinge shaft A (5) has an encoder mounting end that extends out of the fixed arm (3). The fixed end of the encoder A is set on the encoder mounting end of the hinge shaft A (5). The rotating end of the encoder A is connected to the side of the elbow arm (4) through an encoder adapter (13).

4. The elbow-arm type heavy-duty drive wheel device according to claim 3, characterized in that: The fixed arm (3) is provided with a dust cover (14), which is placed on the outside of the encoder A.

5. The elbow-arm type heavy-duty drive wheel device according to claim 1, characterized in that: A steering identification gear A (15) is fixedly connected to the upper side of the mounting base plate (2) and to the inner side of the inner ring (101) of the disc bearing (1). The axial center line of the steering identification gear A (15) is collinear with the axial center line of the disc bearing (1).

6. The elbow-arm type heavy-duty drive wheel device according to claim 1, characterized in that: The drive wheel mounting bracket (11) is divided into a drive wheel connecting beam (1101) and a swing connecting sleeve (1102) that are connected vertically to each other. The drive wheel connecting beam (1101) of the drive wheel mounting bracket (11) is located on the upper side of the swing connecting sleeve (1102) of the drive wheel mounting bracket (11). The length direction of the drive wheel connecting beam (1101) of the drive wheel mounting bracket (11) is perpendicular to the length direction of the elbow arm (4). The two ends of the length direction of the drive wheel connecting beam (1101) of the drive wheel mounting bracket (11) are respectively connected to one of the drive wheels (1102). 12) Connection: The swing connecting sleeve (1102) of the drive wheel mounting bracket (11) and the other end of the elbow arm (4) in the length direction are connected by a connecting shaft (16) to achieve mutual rotational freedom. The end of the connecting shaft (16) near the elbow arm (4) is fixed to the other end of the elbow arm (4) in the length direction. The swing connecting sleeve (1102) of the drive wheel mounting bracket (11) is sleeved on the outside of the connecting shaft (16). The axial center line of the connecting shaft (16) is also the rotation axis of the drive wheel mounting bracket (11) relative to the elbow arm (4).

7. The elbow-arm type heavy-duty drive wheel device according to claim 6, characterized in that: A flange edge is provided on the outer periphery of the end of the connecting shaft (16) near the elbow arm (4); the end of the connecting shaft (16) near the elbow arm (4) is inserted into the other end of the elbow arm (4) in the length direction, and the flange edge on the connecting shaft (16) is fixed to the other end of the elbow arm (4) in the length direction by screws.

8. The elbow-arm type heavy-duty drive wheel device according to claim 7, characterized in that: A plurality of limiting nuts (17) are threadedly connected to one end of the connecting shaft (16) away from the elbow arm (4). The swing connecting sleeve (1102) of the drive wheel mounting bracket (11) sleeved on the connecting shaft (16) is located between the flange edge on the connecting shaft (16) and the limiting nuts (17), and is axially limited by the flange edge on the connecting shaft (16) and the limiting nuts (17).

9. The elbow-arm type heavy-duty drive wheel device according to claim 6, characterized in that: The inner side of the swing connecting sleeve (1102) of the drive wheel mounting bracket (11) has a gap with the outer side of the connecting shaft (16) and is provided with a plurality of copper sleeves (18). The connecting shaft (16) is provided with a lubricating oil passage (1601). The lubricating oil passage (1601) has an opening A that communicates with the gap between the inner side of the swing connecting sleeve (1102) of the drive wheel mounting bracket (11) and the outer side of the connecting shaft (16). The lubricating oil passage (1601) also has an opening B. The opening B of the lubricating oil passage (1601) is located on the end face of the connecting shaft (16) away from the elbow arm (4). The opening B of the lubricating oil passage (1601) is provided with a plug (19) for closing the opening B.

10. The elbow-arm type heavy-duty drive wheel device according to claim 6, characterized in that: A swing limit block (20) is fixedly attached to the other end of the elbow arm (4) along the length direction and to both sides of the swing connection sleeve (1102) of the drive wheel mounting frame (11). Each swing limit block (20) is located on the lower side of the drive wheel mounting frame (11) as a whole.

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