CN107719466A - One kind drives steering integrated steering wheel module and its application - Google Patents
One kind drives steering integrated steering wheel module and its application Download PDFInfo
- Publication number
- CN107719466A CN107719466A CN201711059314.9A CN201711059314A CN107719466A CN 107719466 A CN107719466 A CN 107719466A CN 201711059314 A CN201711059314 A CN 201711059314A CN 107719466 A CN107719466 A CN 107719466A
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- China
- Prior art keywords
- steering
- motor
- wheel
- gear
- feedback device
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0418—Electric motor acting on road wheel carriers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0038—Disposition of motor in, or adjacent to, traction wheel the motor moving together with the wheel axle
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The present invention relates to one kind to drive steering integrated steering wheel module and its application, including support frame, top surface, which is provided with, on support frame turns to gear wheel and with turning to steering little gear, the steering feedback coder gear that gear wheel is meshed, the bottom surface of support frame is provided with motor, ratio wheel, drive feedback device, steering feedback device and steering motor, the motor is connected with ratio wheel, ratio wheel is connected with drive feedback device, steering motor is meshed with turning to little gear, turns to feedback coder gear and is connected with turning to feedback device.Steering wheel module of the present invention is using the steering integrated design of driving, the differential drive device in conventional rudder wheel module is abandoned, make that the steering wheel modular structure after improvement is compact, it is small to install and use space, when again by the steering wheel module application to the devices such as AGV cars, driving turn to more precisely flexibly, control performance it is more preferable, it has good use value and market value.
Description
Technical field
The present invention relates to one kind to drive steering integrated steering wheel module and its application, more particularly to a kind of to be applied to AGV cars
The steering integrated steering wheel module of driving, belong to guiding equipment technology field of transport.
Background technology
AGV, i.e. automatical pilot transportation vehicle (Automated Guided Vehicle), refer to equipped with electricity magnetically or optically etc.
Homing guidance device, it can be travelled along defined guide path, have the transport vehicle of safeguard protection and various transfer functions,
AGV belongs to wheeled mobile robot (Wheeled Mobile Robot, abbreviation WMR) category.
AGV is strong to reducing production cost and hand labor as automatization level highest product in current Logistics Equipment
Degree, improve production efficiency and product quality important in inhibiting.AGV is using wheel type mobile and the robot phase of other movement forms
Than with the simple in construction, advantage such as controlling is strong, agile, security is good.
Present AGV is more using differential drive device driving AGV motions with realizing its turning.The principle of differential drive device is
AGV two driving wheels are driven by two motors respectively, by adjust the rotating speed of two motors, turn to realize AGV straight trip with
Turn.Differential drives and requires high to the rotation precision of motor, controls difficulty big.When being driven using differential, if using motor with
The direct coupled mode of driving wheel, driving wheel steering space is big, and motor shaft stress is big, is easily damaged motor；Such as using decelerator,
Meshed transmission gear, harsh is required to the fit precision of decelerator and each transmission parts, and installing space demand is big.
The content of the invention
In view of the shortcomings of the prior art, the present invention provides a kind of steering integrated steering wheel module of driving, the steering wheel module energy
Enough while realizing that AGV garages walk and turned to, without differential drive device, its structure is more compact, installs and uses space more
It is small, driving turn to more precisely flexibly, control performance it is more preferable.
The present invention also provides the application method of the steering integrated steering wheel module of above-mentioned driving.
Technical scheme is as follows：
One kind drives steering integrated steering wheel module, including support frame, on support frame top surface be provided with turn to gear wheel and
With turning to steering little gear, the steering feedback coder gear that gear wheel is meshed, the bottom surface of support frame is provided with driving electricity
Machine, ratio wheel, drive feedback device, steering feedback device and steering motor, the motor are connected with ratio wheel, subtracted
Speed wheel is connected with drive feedback device, and steering motor is meshed with turning to little gear, and it is anti-with turning to turn to feedback coder gear
Present device connection.
Preferably, support frame as described above includes substrate and otic placode, and the bottom surface of substrate is oppositely arranged two otic placodes, one of them
Mounting groove is offered on otic placode.
Preferably, the upper surface of the substrate is provided with fixing axle, and the steering gear wheel is arranged on by bearing to be fixed
On axle.
Preferably, the ratio wheel is arranged between two otic placodes, and motor and drive feedback device are located at ear respectively
Plate both sides, the motor shaft of motor are connected with ratio wheel.
Preferably, the drive feedback device and steering feedback device select encoder.
Preferably, the ratio wheel includes planetary reduction gear, wheel hub and the wheel rim being sequentially connected from inside to outside, the driving
The motor shaft of motor and the sun gear key connection of planetary reduction gear.
Preferably, the control of the motor, steering motor, drive feedback device, steering feedback device with AGV cars
Device connects.
A kind of application method for driving steering integrated steering wheel module application on AGV cars, comprises the following steps：
First, gear wheel will be turned to be connected with AGV rigidity of vehicle body, then fills motor, steering motor, drive feedback
The controller for putting, turning to feedback device and AGV cars connects, and starts motor, and motor drives ratio wheel to be walked, when
When needing to turn to, start steering motor, steering motor drives steering bull gear drive, so as to drive AGV car bodies to turn to.
The beneficial effects of the present invention are：
Steering wheel module of the present invention has abandoned the differential driving dress in conventional rudder wheel module using steering integrated design is driven
Put, make that the steering wheel modular structure after improvement is compact, it is small to install and use space, then by the steering wheel module application to the devices such as AGV cars
When upper, driving turn to more precisely flexibly, control performance it is more preferable, it has good use value and market value.
Brief description of the drawings
Fig. 1 is the structural representation of steering wheel module of the present invention；
Fig. 2 is the structural representation of support frame in the present invention；
Fig. 3 is the structural representation of ratio wheel in the present invention；
Wherein：1st, gear wheel is turned to；2nd, feedback coder gear is turned to；3rd, support frame；4th, feedback device is turned to；5th, drive
Motor；6th, ratio wheel；7th, drive feedback device；8th, steering motor；9th, little gear is turned to；10th, substrate；11st, otic placode；12nd, install
Groove.
Embodiment
The present invention will be further described by way of example and in conjunction with the accompanying drawings, but not limited to this.
Embodiment 1：
As shown in Figure 1 to Figure 3, the present embodiment provides a kind of steering integrated steering wheel module of driving, including support frame 3, branch
Top surface, which is provided with, on support 3 turns to gear wheel 1 and with turning to steering little gear 9, the steering feedback coder that gear wheel is meshed
Gear 2, the bottom surface of support frame 3 are provided with motor 5, ratio wheel 6, drive feedback device 7, steering feedback device 4 and turned
To motor 8, motor 5 is connected with ratio wheel 6, and ratio wheel 6 is connected with drive feedback device 7, and steering motor 8 is with turning to
Little gear 9 is meshed, and turns to feedback coder gear 2 and is connected with turning to feedback device 4.
Support frame 3 includes substrate 10 and otic placode 11, and substrate and otic placode are formed in one structure, in the bottom surface phase of substrate 10
To setting two otic placodes 11, mounting groove is offered on one of otic placode, through hole is offered on another otic placode.
The upper surface of substrate 10 is welded and fixed axle, and bearing is set with fixing axle, turns to gear wheel 1 and is arranged on by bearing
In fixing axle.
Ratio wheel 6 is arranged between two otic placodes 11, planetary reduction gear that ratio wheel 6 includes being sequentially connected from inside to outside,
Wheel hub and wheel rim, as shown in Figure 3.The motor shaft of motor 5 passes through through hole and the sun gear key connection of planetary reduction gear and drive
Dynamic motor is arranged on otic placode by bolt in itself, and drive feedback device 7 is placed in the position of mounting groove 12 of another otic placode and logical spiral shell
Bolt is arranged on otic placode.
Drive feedback device 7 and steering feedback device 4 select commercially available encoder, such as the river production that rubs more
TS5214N8566OIH48-2500P8-L6-5V type encoder for servo motor；Motor, steering motor, drive feedback device,
Turn to feedback device to be connected with AGV vehicle controllers, programme-control is carried out by AGV vehicle controllers in running.
Embodiment 2：
A kind of application method of the steering integrated steering wheel module application of driving on AGV cars using described in embodiment 1, bag
Include following steps：
First, gear wheel 1 will be turned to be connected with AGV rigidity of vehicle body, it is then that motor 5, steering motor 8, driving is anti-
Feedback device 7, the controller of steering feedback device 4 and AGV cars connect.In the process of running, by the inside of AGV vehicle controllers
Program starts motor 5, and motor 5 drives ratio wheel 6 to be walked, when needing to turn to, the internal processes of AGV vehicle controllers
Start steering motor 8, steering motor 8 drives steering gear wheel 1 to rotate, and so as to drive AGV car bodies to turn to, is subsequently fed back by turning to
Encoder gear 2, which feeds back to the steering situation for turning to gear wheel 1, turns to feedback device 4, is finally set by AGV vehicle controllers
Program performs.
Claims (8)
1. one kind drives steering integrated steering wheel module, including support frame, it is characterised in that top surface is provided with steering on support frame
Gear wheel and the steering little gear being meshed with steering gear wheel, feedback coder gear is turned to, the bottom surface of support frame is set
There are motor, ratio wheel, drive feedback device, steering feedback device and steering motor, the motor passes with ratio wheel
Dynamic connection, ratio wheel are connected with drive feedback device, and steering motor is meshed with turning to little gear, turn to feedback coder gear
It is connected with turning to feedback device.
2. drive steering integrated steering wheel module as claimed in claim 1, it is characterised in that support frame as described above include substrate and
Otic placode, the bottom surface of substrate are oppositely arranged two otic placodes, mounting groove are offered on one of otic placode.
3. steering integrated steering wheel module is driven as claimed in claim 2, it is characterised in that the upper surface of the substrate is set
There is fixing axle, the steering gear wheel is arranged in fixing axle by bearing.
4. steering integrated steering wheel module is driven as claimed in claim 2, it is characterised in that the ratio wheel is arranged on two
Between otic placode, motor and drive feedback device are located at otic placode both sides respectively, and the motor shaft of motor is connected with ratio wheel.
5. drive steering integrated steering wheel module as claimed in claim 1, it is characterised in that the drive feedback device and turn
Encoder is selected to feedback device.
6. drive steering integrated steering wheel module as claimed in claim 1, it is characterised in that the ratio wheel include by it is interior to
Planetary reduction gear, wheel hub and the wheel rim being sequentially connected outside, the motor shaft of the motor and the sun gear key of planetary reduction gear
Connection.
7. steering integrated steering wheel module is driven as claimed in claim 1, it is characterised in that the motor, turn to electricity
The controller of machine, drive feedback device, steering feedback device with AGV cars is connected.
A kind of 8. use of the steering integrated steering wheel module application of driving on AGV cars as described in claim any one of 1-7
Method, comprise the following steps：
First, by turn to gear wheel be connected with AGV rigidity of vehicle body, then by motor, steering motor, drive feedback device,
The controller for turning to feedback device and AGV cars connects, and starts motor, and motor drives ratio wheel to be walked, when need
When turning to, start steering motor, steering motor drives steering bull gear drive, so as to drive AGV car bodies to turn to.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711059314.9A CN107719466A (en) | 2017-11-01 | 2017-11-01 | One kind drives steering integrated steering wheel module and its application |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711059314.9A CN107719466A (en) | 2017-11-01 | 2017-11-01 | One kind drives steering integrated steering wheel module and its application |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107719466A true CN107719466A (en) | 2018-02-23 |
Family
ID=61221939
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711059314.9A Pending CN107719466A (en) | 2017-11-01 | 2017-11-01 | One kind drives steering integrated steering wheel module and its application |
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| Country | Link |
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| CN (1) | CN107719466A (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108639185A (en) * | 2018-05-24 | 2018-10-12 | 汇专科技集团股份有限公司 | A kind of single driving steering wheel type omnidirectional AGV vehicles |
| CN109624678A (en) * | 2018-12-30 | 2019-04-16 | 江苏金陵智造研究院有限公司 | A kind of low-mounting height heavy duty steering wheel system |
| CN109955894A (en) * | 2019-04-12 | 2019-07-02 | 深圳精智机器有限公司 | A kind of totally enclosed tighttype AGV steering driving integrated apparatus |
| CN109969293A (en) * | 2019-05-17 | 2019-07-05 | 诸城辐全精密机械有限公司 | A kind of steering wheel driving device |
| CN110077222A (en) * | 2019-06-06 | 2019-08-02 | 广东博智林机器人有限公司 | Steering wheel device and carrier |
| CN110091705A (en) * | 2019-06-06 | 2019-08-06 | 广东博智林机器人有限公司 | Steering wheel device and carrier |
| CN110481306A (en) * | 2019-09-05 | 2019-11-22 | 山东理工大学 | A kind of robot damping chassis flexibly turned to |
| CN110509738A (en) * | 2019-08-15 | 2019-11-29 | 燕山大学 | Six degree of freedom series connection branch leg based on ground surface blockage |
| CN110588766A (en) * | 2019-09-10 | 2019-12-20 | 三峡大学 | Differential steering mechanism of automatic conveying trolley and steering control method |
| CN110821241A (en) * | 2019-11-18 | 2020-02-21 | 重庆复融科技有限公司 | Harmonic reducer for comb-tooth type unmanned conveying vehicle |
| CN111319455A (en) * | 2019-12-30 | 2020-06-23 | 江苏金陵智造研究院有限公司 | Explosion-proof type steering wheel system |
| CN113443587A (en) * | 2021-07-19 | 2021-09-28 | 淄博纽氏达特行星减速机有限公司 | Electric forklift driving integrated wheel |
| CN113501047A (en) * | 2021-06-25 | 2021-10-15 | 机械工业第九设计研究院有限公司 | Drive supporting structure for bearing AGV |
| CN113859380A (en) * | 2021-10-20 | 2021-12-31 | 重庆兰空无人机技术有限公司 | All-terrain unmanned aerial vehicle defense system and moving method |
| CN114194285A (en) * | 2021-12-31 | 2022-03-18 | 上海仙途智能科技有限公司 | Steering control method and system of unmanned intelligent floor washing machine |
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| CN202686557U (en) * | 2012-06-07 | 2013-01-23 | 中国东方电气集团有限公司 | Integrated driving-steering magnet-wheel device used for magnetic-adsorbing wall-climbing robot |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108639185A (en) * | 2018-05-24 | 2018-10-12 | 汇专科技集团股份有限公司 | A kind of single driving steering wheel type omnidirectional AGV vehicles |
| CN109624678A (en) * | 2018-12-30 | 2019-04-16 | 江苏金陵智造研究院有限公司 | A kind of low-mounting height heavy duty steering wheel system |
| CN109955894A (en) * | 2019-04-12 | 2019-07-02 | 深圳精智机器有限公司 | A kind of totally enclosed tighttype AGV steering driving integrated apparatus |
| CN109969293A (en) * | 2019-05-17 | 2019-07-05 | 诸城辐全精密机械有限公司 | A kind of steering wheel driving device |
| CN110077222A (en) * | 2019-06-06 | 2019-08-02 | 广东博智林机器人有限公司 | Steering wheel device and carrier |
| CN110091705A (en) * | 2019-06-06 | 2019-08-06 | 广东博智林机器人有限公司 | Steering wheel device and carrier |
| CN110509738B (en) * | 2019-08-15 | 2022-07-08 | 燕山大学 | Six-freedom-degree series branched chain leg based on ground sealing |
| CN110509738A (en) * | 2019-08-15 | 2019-11-29 | 燕山大学 | Six degree of freedom series connection branch leg based on ground surface blockage |
| CN110481306A (en) * | 2019-09-05 | 2019-11-22 | 山东理工大学 | A kind of robot damping chassis flexibly turned to |
| CN110588766A (en) * | 2019-09-10 | 2019-12-20 | 三峡大学 | Differential steering mechanism of automatic conveying trolley and steering control method |
| CN110821241A (en) * | 2019-11-18 | 2020-02-21 | 重庆复融科技有限公司 | Harmonic reducer for comb-tooth type unmanned conveying vehicle |
| CN111319455A (en) * | 2019-12-30 | 2020-06-23 | 江苏金陵智造研究院有限公司 | Explosion-proof type steering wheel system |
| CN113501047A (en) * | 2021-06-25 | 2021-10-15 | 机械工业第九设计研究院有限公司 | Drive supporting structure for bearing AGV |
| CN113443587A (en) * | 2021-07-19 | 2021-09-28 | 淄博纽氏达特行星减速机有限公司 | Electric forklift driving integrated wheel |
| CN113859380A (en) * | 2021-10-20 | 2021-12-31 | 重庆兰空无人机技术有限公司 | All-terrain unmanned aerial vehicle defense system and moving method |
| CN113859380B (en) * | 2021-10-20 | 2023-09-08 | 重庆兰空无人机技术有限公司 | All-terrain unmanned aerial vehicle defense system and moving method |
| CN114194285A (en) * | 2021-12-31 | 2022-03-18 | 上海仙途智能科技有限公司 | Steering control method and system of unmanned intelligent floor washing machine |
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