CN111152836A

CN111152836A - a steering wheel

Info

Publication number: CN111152836A
Application number: CN202010154411.1A
Authority: CN
Inventors: 不公告发明人
Original assignee: Jiangsu Guangjuan Electromechanical Equipment Co Ltd
Current assignee: YANCHENG FUDA NEW ENERGY Co.,Ltd.
Priority date: 2020-03-07
Filing date: 2020-03-07
Publication date: 2020-05-15

Abstract

A steering driving wheel belongs to a steering and walking driving wheel for an electric loading vehicle, comprising: a slewing support device assembly, a driving wheel bracket, an integrated wheel hub assembly with a built-in planetary reducer, a rubber wheel, and support plates on the left and right sides of the wheel hub , Travel drive motor (or other motors) and travel drive motor encoders and travel drive motor brakes, slewing drive motors (or other motors) and slewing drive motor encoders and slewing drive motor brakes, drive motor mounting plates, connectors and fasteners Firmware; a steering drive wheel of the present application adopts a built-in multi-stage planetary reducer hub, which has a compact and reasonable structure, high bearing capacity, small footprint for the same load specification, small turning radius, low noise, large output torque, and stable operation. The advantages.

Description

Steering driving wheel

Technical Field

The application relates to a steering driving wheel, belonging to a steering driving wheel.

Background

At present, an externally-hung universal speed reducer is mostly adopted for reducing speed to increase torque, the turning radius of a driving wheel is large, and the installation space is enlarged, so that the total size of a frame is relatively increased; the external gears of the rotating device are meshed and exposed outside, so that the lubricating device is not beneficial to lubrication and dust prevention and is inconvenient to maintain.

Disclosure of Invention

This application provides a novel drive wheel device that turns to for solving above-mentioned prior art defect.

In order to solve the technical problem, the technical scheme of the application is as follows:

a novel steering driving wheel device comprises the following parts: the device comprises a driving wheel bracket, a rotary supporting device arranged above the driving wheel bracket, a sealing gear box arranged on the rotary supporting device, a left wheel hub supporting plate and a right wheel hub supporting plate which are arranged on two sides below the driving wheel bracket, an integrated wheel hub with a built-in speed reducer arranged between the left wheel hub supporting plate and the right wheel hub supporting plate, a rubber wheel arranged on the integrated wheel hub with the built-in speed reducer, a driving motor mounting plate arranged on the left wheel hub supporting plate and the right wheel hub supporting plate, a walking driving motor arranged on the driving motor mounting plate, a coder and a brake integrated on the walking driving motor, a speed reducer arranged on the rotary supporting device, a rotary driving motor arranged on; and the connecting flat key, the positioning pin, the fixing bolt, the check ring, the sealing element and the like are additionally used on the device and parts.

Further, the gyration strutting arrangement constitutes: the rotary driving motor is in power connection with the rotary driving speed reducer through a flat key and is fixed through a fastener; the rotary device position encoder, the brake is integrated on the rotary driving motor through the connecting piece and the fastening piece, the output part of the rotary speed reducer is provided with the driving gear which is connected with the speed reducer through the flat key, the gland and the fastening piece to form the rotary driving device, the driving wheel bracket is fixed through the connecting piece and the fastening piece and is arranged on the rotary driving device through the sealing ring, the sealing gear box arranged on the rotary supporting device is connected with the driving wheel bracket through the fastening piece, the outer tooth rotary support is arranged in the sealing gear box and is connected with the driving wheel bracket through the fastening piece, the upper plane of the outer tooth rotary support is connected with the frame body through the fastening piece and the connecting piece, the positioning step on the speed reducer is in positioning fit with the mounting hole on the driving wheel bracket, the outer tooth rotary support is, and all the rotary transmission parts are arranged in the sealed gear box, and a sealing material is arranged between an upper orifice of the sealed gear box and the rotary support. The rotary driving motor encoder and the rotary driving motor brake are integrated on the rotary driving motor and fixed through a connecting piece and a fastening piece.

Furthermore, an integrated hub of a planetary reducer is arranged between a left support plate and a right support plate of the hub, a power input end driving wheel support end cover and an output end planetary support are respectively arranged in support holes of the left support plate and the right support plate of the hub, a primary inner gear is arranged on the inner side of the power input end driving wheel support end cover and is fixedly connected through a positioning pin and a fastener, an output support shaft connecting disc is arranged between the primary inner gear and the output end planetary support, and the primary inner gear, the output support shaft connecting disc and the output end planetary support are connected together at two ends through the positioning pin respectively to form an integrated.

Furthermore, a primary planet carrier is arranged inside the primary internal gear and the output support shaft connecting disc, rolling bearings are respectively arranged at two ends of the primary planet carrier, the bearings are respectively matched and positioned with the primary internal gear and the inner hole of the output support shaft connecting disc, and the input end composite end cover and the output support shaft connecting disc are pressed and limited at two ends of the bearings. A planet wheel rotating shaft is arranged in a planet hole of the primary planet carrier, a retainer ring is arranged in a retainer ring groove, and the planet wheel rotating shaft is limited in positioning. The primary planet wheel is arranged in the star wheel groove of the primary planet carrier, the bearings are arranged in the step holes at the two ends of the primary planet wheel and are arranged on the planet wheel rotating shaft, and the spacers are arranged at the two ends of the primary planet wheel on the star wheel shaft, so that the primary planet wheel can be positioned and limited in the primary planet carrier. The primary gear and the secondary gear form a primary speed changer and a secondary speed changer together.

Furthermore, a final-stage central gear shaft is arranged in a central hole of the output-end planet support, spacers are arranged at two ends of the final-stage central gear shaft gear, bearings are respectively arranged at two sides of the spacers, and the bearings are in positioning fit with the central hole of the output-end planet support; two check rings are arranged in a check ring groove of a central hole of the output end planet support to limit and position a final-stage central gear shaft, a bearing and a spacer; two bearings are arranged at shoulders at two ends of the output end planetary support and used for positioning and limiting the output end planetary support, a wheel hub is arranged on an inner side bearing outer ring, the outer ring is matched, an inner end face of the outer ring is positioned in a limiting mode with the wheel hub, an output end inner gear is arranged on an outer side bearing outer ring, and an output end cover is arranged on the outer side of the output end inner gear and the outer side of the outer side bearing outer ring, so that the output end of the support shaft. The three-stage and four-stage speed variator is formed.

Furthermore, a bearing is arranged on the outer circle of the primary inner gear and is arranged in the hub to be matched with the hub to form supporting and positioning, and the inner side of the outer ring is limited by the positioning of steps in the input end of the hub. And an input end composite end cover is arranged on the outer side of the bearing to limit the degree of freedom of the input end integrated steering driving wheel support shaft. Two bearings are arranged at shoulders at two ends of the output end planetary support and used for positioning and limiting the output end planetary support, a wheel hub is arranged on an inner side bearing outer ring, the outer ring is matched, an inner end face of the outer ring is positioned in a limiting mode with the wheel hub, an output end inner gear is arranged on an outer side bearing outer ring, and an output end cover is arranged on the outer side of the output end inner gear and the outer side of the outer side bearing outer ring, so that the output end of the support shaft.

Further, a hub is mounted on an excircle supporting bearing of the integrated supporting shaft, an inner hole at one end of the hub is matched with an outer supporting bearing of the primary inner gear, the other end of the hub is matched with an outer supporting bearing of the output end planet support, an input end composite end cover is mounted at one end of the hub, an output end cover is mounted at the other end of the hub, rotary sealing rings are mounted in outer inner holes of the two end covers, and the rotary sealing rings are fastened on the hub through connecting pieces and fastening pieces. The rubber wheel is arranged outside the hub and matched with the hub, and the integrated hub assembly of the multistage speed reduction built-in speed reducer is formed by combining the characteristics of a connecting piece, a fastening piece and an input end composite end cover.

Further, the rotary driving motor transmits initial power to the rotary speed reducer through the flat key, the initial power is decelerated through the rotary speed reducer and simultaneously output torque is amplified, the power is transmitted to the rotary driving gear through the flat key, the rotary driving gear is meshed with the external teeth of the rotary support, the power is transmitted to the external teeth rotary support, and the output torque is decelerated and further amplified; the lower rotary support is connected with the driving wheel support through a connecting piece and a fastening piece, and the rotary power is transmitted to the driving wheel support to finally drive the integrated steering wheel to rotate.

Further, on one side of the power input end of the integrated hub assembly of the built-in planetary reducer, a traveling driving motor transmits power to a power input central gear shaft through a flat key, the power input central gear shaft is externally meshed with a primary planetary gear and transmits the power to the primary planetary gear to form primary speed reduction and amplify torque, the primary planetary gear is meshed with a primary internal gear to form secondary speed reduction and amplify torque, and the primary internal gear is fixed relative to the integrated steering driving wheel support shaft assembly through a connecting piece and a fastening piece, so that the torque after the secondary speed reduction and amplification is transmitted to a primary planet support through a planet wheel rotating shaft; the primary planet support is connected with a final-stage central gear shaft spline through an internal spline, amplified torque is transmitted to the final-stage central gear shaft, a final-stage central gear shaft gear is externally meshed with a tail-end star wheel to form three-stage speed reduction, and the torque is amplified again; the tail end star wheel is meshed with the output end internal gear to form four-stage speed reduction, the output end planet support is fixed relative to the supporting shaft, the torque is amplified again and transmitted to the output end internal gear through the last-stage star wheel rotating shaft, and the output end internal gear is fixed with the hub, so that the hub and the rubber wheel are finally driven to rotate together.

Furthermore, the running driving motor encoder is an absolute value encoder and is a device for feeding back the real-time position of the electric flat plate. The walking driving motor brakes are integrated on the walking driving motor and are fixed through the connecting piece and the fastening piece.

Furthermore, the rotary driving motor encoder is an absolute value encoder and is a device for feeding back the real-time angle position of the driving wheel. The rotary driving motor brakes are integrated on the walking driving motor and are fixed through connecting pieces and fastening pieces.

Further, the rotary support is sealed by rotary sealing materials at the relative motion exposed part of the closed gearbox; a rotary sealing ring is adopted between the integrated hub of the built-in speed reducer and the supporting shaft, so that the integrated hub is dustproof and leakproof.

The beneficial effect of this application technical scheme is: the utility model provides an integrative steering drive wheel adopts built-in multistage planetary reducer wheel hub, has that compact structure is reasonable, bearing capacity is high, and turning radius is little, the same load specification occupation space is little, low noise, output torque is big, a great deal of advantage of operation reliable and stable. The outer gear of the rotating device is meshed and sealed in the gear box, so that the lubricating and dust-proof functions are facilitated, and the maintenance frequency in the later period is reduced.

Drawings

Fig. 1 is a side view.

Fig. 2 front view.

FIG. 3 is a cross-sectional view taken along main side A-A.

Fig. 4 top view.

Fig. 5 is a front view of a hub of the built-in speed reducer.

Fig. 6 is a sectional view of a hub A-A of the built-in speed reducer.

1. The device comprises a rotary supporting device assembly, 2 a driving wheel bracket, 3 an integrated hub assembly with a built-in speed reducer, 4 a rubber wheel, 5 left and right supporting plates of the hub, 6 a walking driving motor (or other motors), a walking driving motor encoder, a walking driving motor brake, 7 a rotary driving motor encoder, a rotary driving motor brake, 8 a driving motor mounting plate, 9 a connecting piece and a fastening piece, 1.01 an external tooth rotary support, 1.02 a driving gear, 1.03 a sealing ring, 1.04 a sealed gear box, 1.05 a rotary driving speed reducer, 1.06 a rotary driving motor, a position encoder, a position brake, 1.07 a connecting piece, a fastening piece and the like, 3.01 a power input central gear shaft, 3.02 a hole retainer ring, 3.03 a rotary oil seal, 3.04 a rotary oil seal seat, 3.05 an input end bearing, 3.06 an output end bearing, a rotating shaft, 3.07. planetary gear rotating shaft, 3.08-planetary gear rotating axial braking retainer ring, 3.09-planetary gear bearing, 3.10-planetary gear axial positioning washer, 3.11-planetary gear, 3.41-primary planetary gear carrier, 3.12-primary planetary gear carrier bearing, 3.13-power input end driving wheel supporting end cover, 3.14-connecting piece and fastener, 3.15-rotating oil seal, 3.16-power input end column supporting bearing, 3.17-input end composite end cover, 3.18-fastener, 3.19-primary internal gear, 3.20-output supporting shaft connecting plate, 3.21-fastener and connecting piece, 3.22-hub, 3.23-output end cover, 3.24-output end internal gear, 3.25-output end rotating oil seal, 3.26-output end planetary support, 3.27-spacer, 3.28-output end planetary support bearing, 3.29-final central gear shaft, 3.30-final central gear shaft retainer ring, 3.31-bearing, 3.32-spacer, 3.33-spacer, 3.34-spacer, 3.3. The bearing comprises a retainer ring, a 3.36 final-stage star wheel rotating shaft retainer ring, a 3.37 final-stage star wheel rotating shaft and a 3.38 final-stage star wheel bearing; 3.39. last star wheel locating pad, 3.40, end star wheel, 3.42, connecting piece and fastener.

The drawings are only for purposes of illustration and are not intended to limit the scope of the present patent; for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted; the same or similar reference numerals correspond to the same or similar parts; the terms describing positional relationships in the drawings are for illustrative purposes only and are not to be construed as limiting the patent.

Detailed Description

Referring to the drawings, the integral rotary driving wheel comprises the following parts: the device comprises a driving wheel bracket, a rotary supporting device arranged above the driving wheel bracket, a sealing gear box arranged on the rotary supporting device, a left wheel hub supporting plate and a right wheel hub supporting plate which are arranged on two sides below the driving wheel bracket, an integrated wheel hub with a built-in speed reducer arranged between the left wheel hub supporting plate and the right wheel hub supporting plate, a rubber wheel arranged on the integrated wheel hub with the built-in speed reducer, a driving motor mounting plate arranged on the left wheel hub supporting plate and the right wheel hub supporting plate, a walking driving motor arranged on the driving motor mounting plate, a coder and a brake integrated on the walking driving motor, a speed reducer arranged on the rotary supporting device, a rotary driving motor arranged on; and the connecting flat key, the positioning pin, the fixing bolt, the check ring, the sealing element and the like are additionally used on the device and parts.

The driving wheel bracket is connected with the left and right supporting plates of the hub into a whole through fasteners to be used as a mounting carrier of other parts.

The motor mounting plate is fixedly connected with the wheel hub through a fastener, and serves as a mounting carrier of the walking driving motor.

The rotary driving motor is in power connection with the rotary driving speed reducer through a flat key and is fixed through a fastener; the position encoder and the brake of the rotary device are integrated on the rotary driving motor through a connecting piece and a fastening piece; a driving gear is arranged at the output of the rotary speed reducer and is connected with the speed reducer through a flat key, a gland and a fastener to form a rotary driving device.

The rotary driving device is fixed by a connecting piece and a fastening piece to form a driving wheel support, the rotary driving device is arranged on the driving wheel support through a sealing ring, a sealing gear box is arranged on the rotary supporting device and is connected with the driving wheel support through the fastening piece, an external tooth rotary support is arranged in the sealing gear box and is connected with the driving wheel support through the fastening piece, the upper plane of the external tooth rotary support is connected with a frame body through the fastening piece and the connecting piece, the positioning step on a speed reducer is in positioning fit with the mounting hole of the driving wheel support, the external tooth rotary support is used for outputting rotary power through a driving gear and is fixed on the driving wheel support through the lower part of the fastening piece, the upper part of the external tooth rotary support is fixed on a vehicle body and is meshed with the driving gear.

The rotary driving motor encoder and the rotary driving motor brake are integrated on the rotary driving motor and fixed through a connecting piece and a fastening piece.

An integrated hub with a built-in planetary reducer is installed between left and right supporting plates of the hub, a power input end driving wheel supporting end cover and an output end planetary support are respectively installed in supporting holes of the left and right supporting plates of the hub, a primary inner gear installed on the inner side of the power input end driving wheel supporting end cover is fixedly connected through a positioning pin and a fastener, an output supporting shaft connecting disc is installed between the primary inner gear and the output end planetary support, and the primary inner gear, the output supporting shaft connecting disc and the output end planetary support are connected together at two ends through the positioning pin respectively to form an integrated steering driving wheel supporting. To become a rotation center of the rotary driving wheel and a load shaft.

The primary planet carrier is arranged inside the primary internal gear and the output support shaft connecting disc, the rolling bearings are respectively arranged at two ends of the primary planet carrier, the bearings are respectively matched and positioned with the primary internal gear and the inner hole of the output support shaft connecting disc, and the input end composite end cover and the output support shaft connecting disc are pressed and limited at two ends of the bearings. A planet wheel rotating shaft is arranged in a planet hole of the primary planet carrier, a retainer ring is arranged in a retainer ring groove, and the planet wheel rotating shaft is limited in positioning. The primary planet wheel is arranged in a star wheel groove of the primary planet carrier, the bearings are arranged in stepped holes at two ends of the primary planet wheel and are arranged on a planet wheel rotating shaft, and the spacers are arranged at two ends of the primary planet wheel on the star wheel shaft, so that the primary planet wheel can be positioned and limited in the primary planet carrier, and the primary planet wheel and the primary inner gear form a primary speed changer and a secondary speed changer.

A final-stage central gear shaft is arranged in a central hole of the output-end planet support, spacers are arranged at two ends of the final-stage central gear shaft gear, bearings are respectively arranged at two sides of the spacers, and the bearings are in positioning fit with the central hole of the output-end planet support; two check rings are arranged in a check ring groove of a central hole of the output end planet support to limit and position a final-stage central gear shaft, a bearing and a spacer; two bearings are arranged at shoulders at two ends of the output end planetary support and used for positioning and limiting the output end planetary support, a wheel hub is arranged on an inner side bearing outer ring, the outer ring is matched, an inner end face of the outer ring is positioned in a limiting mode with the wheel hub, an output end inner gear is arranged on an outer side bearing outer ring, and an output end cover is arranged on the outer side of the output end inner gear and the outer side of the outer side bearing outer ring, so that the output end of the support shaft. The three-stage and four-stage speed variator is formed.

The bearing is arranged on the outer circle of the primary inner gear, the bearing is arranged in the hub and matched with the hub to form supporting and positioning, and the inner side of the outer ring is limited by the positioning of the step in the input end of the hub. And an input end composite end cover is arranged on the outer side of the bearing to limit the degree of freedom of the input end integrated steering driving wheel support shaft. Two bearings are arranged at shoulders at two ends of the output end planetary support and used for positioning and limiting the output end planetary support, a wheel hub is arranged on an inner side bearing outer ring, the outer ring is matched, an inner end face of the outer ring is positioned in a limiting mode with the wheel hub, an output end inner gear is arranged on an outer side bearing outer ring, and an output end cover is arranged on the outer side of the output end inner gear and the outer side of the outer side bearing outer ring, so that the output end of the support shaft.

The hub is installed on an excircle supporting bearing of the integrated supporting shaft, an inner hole at one end of the hub is matched with an outer supporting bearing of a primary inner gear, the other end of the hub is matched with an outer supporting bearing of an output end planet support, an input end composite end cover is installed at one end of the hub, an output end cover is installed at the other end of the hub, rotary sealing rings are installed in inner holes outside two end covers, and the rotary sealing rings are fastened on the hub through connecting pieces and fastening pieces. The rubber wheel is arranged outside the hub, is matched with the hub and is combined with the input end composite end cover through the connecting piece and the fastening piece. The integrated hub assembly with the multi-stage speed reduction built-in speed reducer is formed by combining the characteristics.

The walking motor is a power device for driving the rotary driving wheel to walk.

The walking driving motor encoder is an absolute value encoder and is a device for feeding back the real-time position of the electric flat plate. The walking driving motor brakes are integrated on the walking driving motor and are fixed through the connecting piece and the fastening piece.

The running mechanism brake is an integrated brake integrated on the motor, and the brake plays roles in parking and braking.

The rotary motor is a power device for driving the integrated rotary driving wheel to rotate in the horizontal plane.

The rotary driving motor encoder is an absolute value encoder and is a device for feeding back the real-time angle position of the driving wheel, and the rotary driving motor brakes are integrated on the walking driving motor and are fixed through connecting pieces and fasteners.

The slewing mechanism brake is an integrated brake integrated on the motor, and the brake plays roles in parking and braking.

The rotary support is sealed by a rotary sealing material at the relative motion exposed part of the closed gearbox; a rotary sealing ring is adopted between the integrated hub of the built-in speed reducer and the supporting shaft, so that the integrated hub is dustproof and leakproof.

This steering drive wheel theory of operation: the steering driving wheel consists of a steering driving wheel walking system and a steering driving wheel steering system.

The working principle of a steering driving wheel traveling system is as follows: the system controller is a programmable controller, a controller controls a walking motor driver to drive the walking motor to run, and then the walking motor driver drives the walking motor to run. The programmable controller controls the starting and stopping of the walking motor and controls the running speed and the running direction of the walking motor.

The power is transmitted to a power input central gear shaft through a flat key, a power input central gear shaft gear is externally meshed with a primary planetary gear and transmits the power to the primary planetary gear to form primary speed reduction and amplify torque, the primary planetary gear is meshed with a primary inner gear to form secondary speed reduction and amplify torque, and the primary inner gear is fixed relative to an integrated steering driving wheel support shaft assembly through a connecting piece and a fastening piece, so that the torque after the secondary speed reduction and amplification is transmitted to a primary planet support through a planet wheel rotating shaft; the primary planet support is connected with a final-stage central gear shaft spline through an internal spline, amplified torque is transmitted to the final-stage central gear shaft, a final-stage central gear shaft gear is externally meshed with a tail-end star wheel to form three-stage speed reduction, and the torque is amplified again; the tail end star wheel is meshed with the output end internal gear to form four-stage speed reduction, the output end planet support is fixed relative to the supporting shaft, the torque is amplified again and transmitted to the output end internal gear through the last-stage star wheel rotating shaft, and the output end internal gear is fixed with the hub, so that the hub and the rubber wheel are finally driven to rotate together. Thereby driving the vehicle body supported on the integral rotary driving wheel to move forwards or backwards.

The running state of the running motor is adjusted in real time by the programmable controller according to the information and artificial subjective requirements, so that the running state of the vehicle body is controlled.

The working principle of a steering system of a steering driving wheel is as follows: the system controller is a programmable controller, a rotary motor driver is controlled by the controller, and then the rotary motor driver drives a rotary servo motor to operate, and the programmable controller controls the starting and stopping of the rotary servo motor and controls the running speed and the running direction of the rotary servo motor.

The rotary driving servo motor transmits initial power to the rotary speed reducer through the flat key, the initial power is decelerated through the rotary speed reducer and simultaneously output torque is amplified, the power is transmitted to the rotary driving gear through the flat key, the rotary driving gear is meshed with the external teeth of the rotary support, the power is transmitted to the external teeth rotary support, and the initial power is decelerated and further output torque is amplified; the lower rotary support is connected with the driving wheel support through a connecting piece and a fastening piece, and the rotary power is transmitted to the driving wheel support to finally drive the integrated steering wheel to rotate.

The encoder of the rotary servo driving motor feeds back the information of the angle position, the angular speed and the like of the steering driving wheel in real time, and the running state of the rotary motor is adjusted in real time by the programmable controller according to the information and artificial subjective requirements, so that the running state of the vehicle body is controlled.

The above embodiments of the present application are merely examples for clearly illustrating the present application, and do not limit the embodiments of the present application. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the claims of the present application.

Claims

1. A steering drive wheel, characterized in that it comprises: a drive wheel bracket, a slewing support device installed above the drive wheel bracket, a sealed gear box installed on the slewing support device, a wheel hub mounted on both sides below the drive wheel bracket , right support plate, built-in planetary reducer integrated hub installed between the left and right support plates of the hub, rubber wheels installed on the built-in planetary reducer integrated hub, drive installed on the left and right support plates of the hub Motor mounting plate, travel drive motor mounted on the drive motor mounting plate, encoder and brake integrated in the travel drive motor, reducer installed on the slewing support device, swing drive motor installed on the swing reducer, integrated in the swing Encoders and brakes for driving motors, and also used for connecting keys, locating pins, fixing bolts, retaining rings, and seals on the above-mentioned devices and components.

2. A kind of steering driving wheel according to claim 1, the slewing support device is characterized in that: the slewing support device slewing drive motor is powered with the slewing drive reducer through a flat key, and is fixed by a fastener; the slewing device position code The brake and brake are integrated on the slewing drive motor through connectors and fasteners, and a driving gear is installed at the output of the slewing reducer, and is connected with the reducer through flat keys, glands, and fasteners to form a slewing drive device. The drive wheel bracket is fixed with the fastener, and is installed on it through the sealing ring. The sealed gear box installed on the slewing support device is connected with the drive wheel bracket through the fastener, and the external gear slewing support is installed in the sealed gear box. , connected with the drive wheel bracket through fasteners, the upper plane of the external gear slewing support is connected with the frame body through fasteners and connectors, the positioning step on the reducer is positioned and matched with the mounting hole on the drive wheel bracket, and the driving gear The external gear slewing support of the output slewing power is fixed on the drive wheel bracket through the lower part of the fastener, and the upper part is fixed on the vehicle body and meshes with the driving gear. A sealing material is installed between the mouth and the rotating support, and the encoder of the rotary drive motor and the brake of the rotary drive motor are integrated on the rotary drive motor and fixed by connecting pieces and fasteners.

3. A steering drive wheel according to claim 1, characterized in that: a planetary reducer integrated hub is built between the left and right support plates of the hub, and a power input is respectively installed in the support holes of the left and right support plates of the hub The end drive wheel supports the end cover and the output end planet bracket. The primary internal gear is installed on the inner side of the drive wheel support end cover at the power input end and is connected and fixed by positioning pins and fasteners. An output is installed between the primary inner gear and the output end planet bracket. The support shaft connecting plate is connected with the primary internal gear, the output support shaft connecting plate and the output end planetary bracket through positioning pins respectively to form an integral steering drive wheel support shaft assembly.

4. A steering drive wheel according to claim 1, 3, characterized in that: a primary planetary carrier is installed inside the primary internal gear and the output support shaft connecting plate, and rolling bearings are installed at both ends of the primary planetary carrier, respectively, The above bearings are positioned with the primary internal gear and the inner hole of the output support shaft connection plate respectively, and the input end composite end cover and the output support shaft connection plate are pressed and limited at both ends of the bearing. In the planetary hole of the primary planet carrier, a planet is installed. For the rotation shaft, a retaining ring is installed in the retaining ring groove to limit the positioning of the rotating shaft of the planetary wheel. It is installed on the rotating shaft of the planetary wheel, and spacers are installed on both ends of the primary star wheel on the star wheel shaft, so that the primary star wheel can be positioned and restricted in the primary planet carrier, and the above-mentioned primary inner gear together with the primary inner gear constitute a primary and secondary transmission.

5. A steering driving wheel according to claim 1, 3, 4, characterized in that: a final-stage sun gear shaft is installed in the center hole of the planet support at the output end, and a final-stage sun gear shaft gear is installed at both ends of the final-stage sun gear shaft. Spacer, install bearings on both sides of the spacer, the bearings and the center hole of the planetary bracket at the output end are positioned and matched; two retaining rings are installed in the retaining ring groove of the center hole of the planetary bracket at the output end to limit the positioning of the final stage sun gear shaft, bearing, spacer Gasket; two bearings are installed on the shoulders at both ends of the planetary bracket at the output end for positioning and limiting the planetary bracket at the output end. A hub is installed on the outer ring of the inner bearing, the outer ring is matched, and the inner end face of the outer ring and the hub are limited and positioned on the outer side. The inner gear of the output end is installed on the outer ring of the bearing, and the outer side of the inner gear of the output end and the outer side of the outer bearing outer ring are equipped with an output end cover, so that the output end of the support shaft assembly is supported and restricted, and the above constitutes a three-stage and four-stage transmission.

6. A steering driving wheel according to claim 1, 3, 4, 5, characterized in that: at the power input end of the integrated steering driving wheel support shaft assembly, a bearing is installed on the outer circle of the primary internal gear, and the bearing is installed In the wheel hub, it cooperates with the wheel hub to form support positioning, the inner measurement of the outer ring and the inner step positioning of the input end of the wheel hub are limited, and a composite end cover of the input end is installed on the outside of the above bearing to limit the degree of freedom of the support shaft of the input end integral steering drive wheel , Install two bearings at the shoulders at both ends of the output end planetary bracket for positioning and limiting the output end planetary bracket, the inner bearing is installed with a hub on the outer ring, the outer ring is matched, the inner end face of the outer ring and the hub are limited and positioned, and the bearing is on the outer side An output end internal gear is installed on the outer ring, and an output end cover is installed on the outer side of the output end inner gear and the outer side of the outer bearing outer ring, so that the output end of the support shaft assembly is supported and restricted.

7. A steering driving wheel according to claim 1, 3, 4, 5, 6, characterized in that: a hub is installed on the outer support bearing of the integral support shaft, and the inner hole at one end of the hub is connected to the outer support bearing of the primary inner gear. Matching, the other end is matched with the outer support bearing of the output end planetary bracket, the input end composite end cover is installed on one end of the hub, and the output end end cover is installed at the other end, and a rotating sealing ring is installed in the outer and inner holes of the two end covers. The fastener is fastened on the wheel hub, and a rubber wheel is installed outside the wheel hub, which is matched with the wheel hub, and is combined with the input end cover through the connector and the fastener, and is composed of the features 1, 3, 4, 5, and 6 above. Integrated wheel hub assembly with multi-stage reduction and built-in reducer.

8. A steering drive wheel according to claim 1, 2, wherein the rotary drive motor transmits initial power to the rotary reducer through the flat key, and the output torque is simultaneously amplified by the rotary reducer, and the power is passed through the flat key. It is transmitted to the slewing driving gear, which meshes with the external teeth of the slewing support, transmits the power to the slewing support with external teeth, decelerates and further amplifies the output torque; the lower support of the slewing support and the drive wheel bracket are connected by connecting pieces and fasteners. The rotating power is transmitted to the drive wheel bracket, and finally drives the integrated steering wheel to rotate.

9. A steering driving wheel according to claim 1, 3, 4, 5, 6, characterized in that: on the side of the power input end of the integrated wheel hub assembly of the built-in reducer, the driving motor is driven, and the power is passed through the flat key. It is transmitted to the power input sun gear shaft, the power input sun gear shaft gear meshes with the primary planetary gear externally, and transmits the power to the primary planetary gear, and forms a first-stage deceleration, and amplifies the torque, the primary planetary gear meshes with the primary internal gear, And form a secondary deceleration and amplify the torque. Since the primary internal gear is fixed relative to the integrated steering drive wheel support shaft assembly by connecting pieces and fasteners, the secondary deceleration and amplified torque is transmitted to the primary through the planetary wheel shaft. Planet carrier; the primary planet carrier is connected with the final stage sun gear shaft through the internal spline, and transmits the amplified torque to the final stage sun gear shaft. Decelerate and amplify the torque again; the final star wheel meshes with the internal gear of the output end to form a four-stage deceleration, because the output end planetary bracket is fixed relative to the support shaft, the torque is amplified again through the final star wheel shaft, and the torque is transmitted. For the internal gear at the output end, since the internal gear at the output end and the hub are fixed, the hub and the rubber wheel are finally driven to rotate together.

10. A kind of steering driving wheel according to claim 1, 2 is characterized in that: the walking drive motor encoder is an absolute value encoder, which is a device for feeding back the real-time position of the electric plate, and the walking driving motor brakes are all integrated in the walking drive. On the motor, it is fixed by connecting parts and fasteners; the encoder of the rotary drive motor is an absolute encoder, which is a device for feeding back the real-time angular position of the driving wheel. Firmware fixed.