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CN-224225145-U - Carrier and omnidirectional driving steering device thereof

CN224225145UCN 224225145 UCN224225145 UCN 224225145UCN-224225145-U

Abstract

The utility model discloses a carrier and an omnidirectional driving steering device thereof, which comprises a driving wheel frame, a connecting seat hinged above the driving wheel frame, a bearing, two differential wheel sets, at least one brake and a brake, wherein a gap exists between the connecting seat and the driving wheel frame, the bearing comprises an inner ring and an outer ring which can rotate relatively, the inner ring is fixedly connected with the connecting seat, the outer ring is fixedly connected with a frame, the two differential wheel sets are respectively arranged on the left side and the right side of the driving wheel frame, and the brake is fixedly arranged on the connecting seat and is tightly held to fix the relative position between the inner ring and the outer ring. In this scheme realize the omnidirectional gyration of carrier through utilizing bearing and differential wheelset, utilize the holding of stopper to tightly brake and realize the longitudinal direction of carrier, horizontal and slant motion, thereby through with connecting seat and drive wheel carrier articulated make can relative swing between the two, to a great extent improves the flexibility of carrier itself, simple structure, small.

Inventors

  • CHEN YUSHUAI
  • XU HONGPENG
  • XU WUHUI

Assignees

  • 浙江中力机械股份有限公司

Dates

Publication Date
20260512
Application Date
20250530

Claims (10)

  1. 1. An omni-directional drive steering apparatus, comprising: A drive wheel frame (1); The connecting seat (2) is hinged above the driving wheel frame (1), and a gap (100) is formed between the connecting seat (2) and the driving wheel frame (1); The bearing (3) comprises an inner ring (31) and an outer ring (32) which can rotate relatively, the inner ring (31) is fixedly connected with the connecting seat (2), and the outer ring (32) is fixedly connected with the frame; two differential wheel sets (4) are respectively arranged at the left side and the right side of the driving wheel frame (1); at least one brake (5) is fixedly arranged on the connecting seat (2), and the brake (5) is tightly held to fix the relative position between the inner ring (31) and the outer ring (32).
  2. 2. The omni-directional driving steering device according to claim 1, wherein two connecting pieces (21) are arranged on the lower surface of the connecting seat (2) in a downward protruding mode, the two connecting pieces (21) are respectively located on the front side and the rear side of the connecting seat (2), and the connecting seat (2) is hinged to the driving wheel frame (1) through the two connecting pieces (21).
  3. 3. The omnidirectional driving steering device according to claim 2, further comprising two hinge shafts (6), wherein a first hinge hole (11) is formed in each of the front side wall and the rear side wall of the driving wheel frame (1), a second hinge hole (211) is formed in each of the two connecting pieces (21), the first hinge holes (11) and the second hinge holes (211) are in one-to-one correspondence, one hinge shaft (6) is sequentially arranged in the first hinge hole (11) of the front side wall of the driving wheel frame (1) and the second hinge hole (211) of the front connecting piece (21) of the connecting piece (2), and the other hinge shaft (6) is sequentially arranged in the first hinge hole (11) of the rear side wall of the driving wheel frame (1) and the second hinge hole (211) of the rear connecting piece (21) of the connecting piece (2).
  4. 4. The omnidirectional driving steering device according to claim 3 is characterized in that blocking pieces (12) are respectively arranged on the front side wall and the rear side wall of the driving wheel frame (1), the blocking pieces (12) are arranged in a U shape, two ends of each blocking piece (12) are connected with the driving wheel frame (1), a limiting space (200) is reserved between the middle part of each blocking piece (12) and the driving wheel frame (1), a third hinging hole (121) is formed in each blocking piece (12), when the connecting seat (2) is arranged on the driving wheel frame (1), the connecting piece (21) is located in the limiting space (200), one hinging shaft (6) sequentially penetrates through the first hinging hole (11) of the front side wall of the driving wheel frame (1), the second hinging hole (211) of the front connecting piece (21) of the connecting seat (2) and the third hinging hole (121) of the blocking piece (12), and the other hinging shaft (6) sequentially penetrates through the first hinging hole (11) of the rear side wall of the driving wheel frame (1), the second hinging hole (211) of the front connecting piece (21) of the connecting seat (2) and the third hinging hole (121) of the blocking piece.
  5. 5. An omni-directional drive steering device according to claim 4, wherein the lower edge of the connecting piece (21) is arranged in an arc shape.
  6. 6. The omnidirectional driving steering device according to claim 1, wherein the outer ring (32) of the bearing (3) is provided with gear teeth (321), the output end of the brake (5) is provided with a gear (51), the gear (51) is meshed with the gear teeth (321) on the outer ring (32), and when the brake (5) is tightly held, the gear (51) on the output end of the brake (5) stops rotating, and the gear (51), the outer ring (32) and the inner ring (31) are relatively fixed.
  7. 7. An omni-directional driving steering device according to claim 6, wherein a brake (5) is mounted on the lower surface of the connection base (2), and an output end of the brake (5) is mounted with a gear (51) after passing through the connection base (2).
  8. 8. An omni-directional drive steering device according to claim 1, wherein the number of the brakes (5) is two, and the two brakes (5) are symmetrically mounted on the connecting base (2).
  9. 9. An omni-directional drive steering device according to claim 1, wherein there is a height difference between an inner ring (31) and an outer ring (32) of the bearing (3), the lower surface of the inner ring (31) being located below the lower surface of the outer ring (32).
  10. 10. A truck comprising an omni-directional drive steering arrangement according to any one of claims 1-9.

Description

Carrier and omnidirectional driving steering device thereof Technical Field The utility model relates to the technical field of a carrier, in particular to a carrier and an omnidirectional driving steering device thereof. Background In the prior art, the driving steering device of the automatic guided vehicle is mainly divided into a hinged shaft steering type and a differential steering type. The steering and driving of the hinge shaft steering type vehicle body is driven by two different motors respectively, the positioning precision is low, the steering of the vehicle body can be realized by controlling the speed ratio of the two driving wheels in the middle part of the vehicle body in a differential steering type, but the vehicle body cannot move obliquely, and the flexibility is restrained to a certain extent. Therefore, it is necessary to design a driving steering device which has high positioning accuracy, simple structure and can move omnidirectionally. Disclosure of utility model In order to solve the technical problems, the utility model aims to provide the carrier with small volume and simple structure and the omnidirectional driving steering device thereof, which can realize the longitudinal, transverse, oblique and revolving omnidirectional movement of the whole carrier. In order to achieve the above purpose, the present utility model adopts the following technical scheme: an omni-directional drive steering apparatus comprising: a driving wheel frame; the connecting seat is hinged above the driving wheel frame, and a gap exists between the connecting seat and the driving wheel frame; the bearing comprises an inner ring and an outer ring which can rotate relatively, the inner ring is fixedly connected with the connecting seat, and the outer ring is fixedly connected with the frame; the two differential wheel sets are respectively arranged at the left side and the right side of the driving wheel frame; And the at least one brake is fixedly arranged on the connecting seat and is tightly held to fix the relative position between the inner ring and the outer ring. Preferably, the lower surface of the connecting seat is provided with two connecting sheets in a downward protruding mode, the two connecting sheets are respectively positioned on the front side and the rear side of the connecting seat, and the connecting seat is hinged with the driving wheel frame through the two connecting sheets. The hinge mechanism is characterized by further comprising two hinge shafts, wherein a first hinge hole is formed in the front side wall and the rear side wall of the driving wheel frame respectively, a second hinge hole is formed in the two connecting pieces respectively, the first hinge holes and the second hinge holes are in one-to-one correspondence, one hinge shaft is sequentially arranged in the first hinge hole of the front side wall of the driving wheel frame and the second hinge hole of the connecting piece at the front side of the connecting seat in a penetrating manner, and the other hinge shaft is sequentially arranged in the first hinge hole of the rear side wall of the driving wheel frame and the second hinge hole of the connecting piece at the rear side of the connecting seat in a penetrating manner. Preferably, the front side wall and the rear side wall of the driving wheel frame are respectively provided with a baffle, the baffle is in a U-shaped structure, two ends of the baffle are connected with the driving wheel frame, a limiting space is reserved between the middle part of the baffle and the driving wheel frame, a third hinge hole is formed in the baffle, when the connecting seat is arranged on the driving wheel frame, the connecting sheet is positioned in the limiting space, one hinge shaft sequentially penetrates through the first hinge hole of the front side wall of the driving wheel frame, the second hinge hole of the connecting seat front side connecting sheet and the third hinge hole of the baffle, and the other hinge shaft sequentially penetrates through the first hinge hole of the rear side wall of the driving wheel frame, the second hinge hole of the connecting seat front side connecting sheet and the third hinge hole of the baffle. Therefore, the connecting piece is limited in the limiting space, so that the connecting seat is prevented from axially moving. Preferably, the lower edge of the connecting piece is arranged in an arc shape. Preferably, the outer ring of the bearing is provided with gear teeth, the output end of the brake is provided with a gear, the gear is meshed with the gear teeth on the outer ring, and when the brake is tightly held, the gear on the output end of the brake stops rotating, and the gear, the outer ring and the inner ring are relatively fixed. Preferably, the brake is mounted on the lower surface of the connecting seat, and the output end of the brake passes through the connecting seat and then is provided with the gear. Preferably, the number of the