CN109383664B - Differential steering heavy-duty electrically-driven steering wheel - Google Patents
Differential steering heavy-duty electrically-driven steering wheel Download PDFInfo
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- CN109383664B CN109383664B CN201811552569.3A CN201811552569A CN109383664B CN 109383664 B CN109383664 B CN 109383664B CN 201811552569 A CN201811552569 A CN 201811552569A CN 109383664 B CN109383664 B CN 109383664B
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- 239000000725 suspension Substances 0.000 claims abstract description 40
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 11
- 230000000670 limiting effect Effects 0.000 claims description 21
- 230000006835 compression Effects 0.000 claims description 20
- 238000007906 compression Methods 0.000 claims description 20
- 230000007246 mechanism Effects 0.000 claims description 5
- 230000000712 assembly Effects 0.000 claims description 4
- 238000000429 assembly Methods 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 3
- 239000013013 elastic material Substances 0.000 claims description 2
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 230000009286 beneficial effect Effects 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 abstract description 4
- 230000002146 bilateral effect Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000047 product Substances 0.000 description 1
- 239000012858 resilient material Substances 0.000 description 1
- 239000011265 semifinished product Substances 0.000 description 1
Abstract
The invention provides a heavy electric drive steering wheel with differential steering, which adopts the differential steering technology, directly uses a driving motor to steer without arranging a steering device, has simple and compact structure and is beneficial to reducing the height of the steering wheel; one end of each of the two groups of suspension arms is hinged with the lower surface of the bogie through a pin shaft, the other end of each of the two groups of suspension arms is a cantilever end, and each wheel assembly comprises a wheel, a built-in hub speed reducer connected with the wheel and a driving motor connected with the built-in hub speed reducer.
Description
Technical Field
The invention relates to a steering wheel mechanism, in particular to a heavy electric drive steering wheel with differential steering.
Background
Omnibearing wheeled mobile robots have begun to find a great deal of application in the field of industrial manufacturing. The light-load omnibearing wheeled mobile robot is generally used for moving a working platform, patrol on a field and the like.
Heavy-duty omnibearing wheeled mobile robots, generally referred to as omnibearing carrier vehicles, can be used for transporting large-sized parts, semi-finished products and finished products in storehouses and workshop manufacturing areas.
In general, a driving system of an Omni-directional wheeled mobile robot may be configured by a plurality of steering wheels, a plurality of Omni wheels (Omni wheels), a plurality of Mecanum wheels (Mecanum wheels), or the like, and is driven by a motor, and a single wheel load is generally not more than 3 tons.
Steering wheels, omni wheels and Mecanum wheels have advantages and disadvantages. Relatively, the omnidirectional wheels and the Mecanum wheels have lower loads, high road surface flatness requirements and higher maintenance cost, and the omnidirectional wheels and the Mecanum wheels have the advantages of fewer components of a driving system, compact structure, smaller required arrangement space and lower chassis. The steering wheel has the advantages of more components, larger arrangement space, large load, low road surface evenness requirement and lower maintenance cost.
Disclosure of Invention
The invention provides a heavy electric drive steering wheel with differential steering, which adopts the differential steering technology to directly steer by using a driving motor without arranging a steering device, has simple and compact structure and is beneficial to reducing the height of the steering wheel.
The technical scheme of the invention is as follows:
the steering system comprises a fixed support, a slewing bearing, a steering frame, suspension arms and wheel assemblies, wherein the fixed support is connected with the steering frame through the slewing bearing;
One end of each of the two groups of suspension arms is hinged with the lower surface of the bogie through a pin shaft, the other end of each of the two groups of suspension arms is a cantilever end, and each wheel assembly comprises a wheel, a built-in hub speed reducer connected with the wheel and a driving motor connected with the built-in hub speed reducer.
Preferably, the fixed support is arranged above the bogie, and the fixed support and the bogie are connected through a slewing bearing.
As the preference of above-mentioned scheme, bogie lower surface rear side is equipped with two sets of axle sleeves, and every axle sleeve of group is through the journal stirrup and bogie fixed connection who locates both ends, hang the arm and include two parallel curb plates, and the round pin axle fixed connection is passed through to two curb plate rear ends, in the axle sleeve was worn to locate to the round pin axle, the wheel was located between the curb plate.
As the optimization of above-mentioned scheme, bogie lower surface front side is equipped with two sets of buffer gear, corresponds with two sets of arm fronts that hang respectively, buffer gear includes upper bracket, undershot and compression spring, compression spring connects between upper bracket and undershot, the upper bracket is fixed in revolving frame lower surface front side, and every group hangs arm front side and fixes a undershot.
As the preference of above-mentioned scheme, the upper bracket includes fixed plate, saddle board, stand and spring holder, the fixed plate is fixed in the revolving frame lower surface, and two stands are vertically fixed in on the fixed plate, and the spring holder is fixed in on the fixed plate, and is located between two stands, the spring holder lower extreme is the conical point structure, and outside the conical point structure was located to compression spring upper end cover, saddle board is fixed in two stand lower extreme, and saddle board central authorities are equipped with the through-hole that is used for compression spring to pass, the lower bracket includes a lower saddle board, and lower saddle board central authorities are equipped with the through-hole that is used for compression spring to pass, be equipped with the buffer block that an elastic material made on the lower saddle board, compression spring passes this buffer block downwards.
As the preferable choice of the scheme, the suspension arm comprises a front supporting plate and a rear supporting plate, the front supporting plate and the rear supporting plate are arranged between the two side plates, the wheels are positioned between the front supporting plate and the rear supporting plate, a supporting block is arranged at the lower part of the front side of the front supporting plate, the lower support is arranged on the supporting block, and the pin shaft is arranged at the rear side of the rear supporting plate; the front side of the upper support is bent downwards, and the front side of the lower support is bent upwards.
As the preference of above-mentioned scheme, the bogie both sides respectively have set firmly a limit plate that hangs, hang the front portion that the limit plate upper end was fixed in the bogie side, the lower extreme extends to two sets of arm outsides that hang, hang one side that is equipped with a spacing post on the arm opposite with hanging the limit plate, the spacing post is located the front side of hanging the limit plate, hang the limit plate lower extreme and buckle to form L shape structure to the front side.
As the optimization of the scheme, the center of the fixed support is provided with a through hole, the side wall of the through hole is provided with a bracket extending to the center of the through hole, and the cantilever end of the bracket is provided with an angle sensor for monitoring the steering angle of the heavy electric drive steering wheel.
Preferably, the heavy-duty electrically-driven steering wheel further comprises a motor control box arranged in a region between the two groups of shaft sleeves on the lower surface of the bogie.
The beneficial effect of above-mentioned structure lies in:
(1) The maximum rated load of a single steering wheel can reach 25 tons, the required arrangement space length, width and height dimensions are only 1250mm multiplied by 600mm, the load density can reach 16 tons per square meter, and a sufficient height space arrangement lifting platform is reserved.
(2) The steering wheel adopts a differential steering technology, directly utilizes the driving motor to steer, does not need to additionally arrange a steering device, has a simpler and more compact structure, is beneficial to reducing the height of the steering wheel, and effectively reduces the cost.
(3) The steering wheel comprises a spring suspension device, can compensate road surface height difference, and has lower requirement on road surface flatness.
(4) The steering wheel adopts a modularized design, is convenient to expand, and the carrier uses a plurality of steering wheels to form a driving system according to the total load requirement, so that the requirement of 100-1000 tons of load can be easily met.
Drawings
Fig. 1 is a schematic diagram of an explosive structure according to the present invention.
Fig. 2 is a schematic view of the structure of the suspension arm according to the present invention.
FIG. 3 is a schematic view of the upper support structure of the present invention.
Fig. 4 is a front view of the present invention.
Fig. 5 is a left side view of fig. 4.
Fig. 6 is a right side view of fig. 4.
Fig. 7 is a top view of fig. 4.
Fig. 8 is a bottom view of fig. 4.
Detailed Description
Embodiments of the present invention are described in detail below with reference to the accompanying drawings.
In this embodiment, for convenience of description of the positional relationship between the structures, it is assumed that the side of the suspension arm 10 on which the pin 13 is located is the front side, and the side on which the lower support 9 is mounted is the rear side.
The technical scheme of the embodiment comprises a fixed support 1, a slewing bearing 3, a bogie 4, suspension arms 10 and wheel assemblies, wherein the fixed support 1 is connected with the bogie 4 through the slewing bearing 3, two groups of suspension arms 10 are arranged below the bogie 4, and each group of suspension arms 10 is provided with a group of wheel assemblies;
One end of each of the two groups of suspension arms 10 is hinged with the lower surface of the bogie 4 through a pin shaft 13, the other end is a cantilever end, and the wheel assembly comprises wheels 12, a built-in hub speed reducer connected with the wheels and a driving motor 11 connected with the built-in hub speed reducer.
In this embodiment, the fixed support 1 is disposed above the bogie 4, and the fixed support and the bogie are connected by the slewing bearing 3.
In this embodiment, two sets of shaft sleeves 15 are disposed at the rear side of the lower surface of the bogie 4, each set of shaft sleeves 15 is fixedly connected with the bogie 4 through lugs disposed at two ends, the suspension arm 10 comprises two parallel side plates 101, the rear ends of the two side plates 101 are fixedly connected through a pin shaft 13, the pin shaft 13 is disposed in the shaft sleeves 15 in a penetrating manner, and the wheels are disposed between the two side plates 101.
In this embodiment, the front side of the lower surface of the bogie 4 is provided with two groups of buffer mechanisms, which respectively correspond to the front sides of the two groups of suspension arms 10, the buffer mechanisms comprise an upper support 6, a lower support 9 and a compression spring 7, the compression spring 7 is connected between the upper support 6 and the lower support 9, the upper support 6 is fixed on the front side of the lower surface of the bogie, and one lower support 9 is fixed on the front side of each group of suspension arms 10.
In this embodiment, the upper support 6 includes fixed plate 601, saddle 604, stand 602 and spring holder 603, fixed plate 601 is fixed in the revolving frame lower surface, and two stands 602 are vertically fixed in on the fixed plate 601, and the spring holder 603 is fixed in on the fixed plate 601, and is located between two stands 602, the spring holder 603 lower extreme is the taper structure, and outside the taper structure was located to compression spring 7 upper end cover, saddle 604 is fixed in two stands 602 lower extreme, and saddle 604 central authorities are equipped with the through-hole that is used for compression spring 7 to pass, lower support 9 includes a lower support 9 board, and lower support 9 board central authorities are equipped with the through-hole that is used for compression spring 7 to pass, be equipped with buffer block 8 that a resilient material made on the lower support 9 board, compression spring 7 passes this buffer block 8 downwards.
In this embodiment, the suspension arm 10 includes a front support plate 102 and a rear support plate 104, the front support plate 104 and the rear support plate 104 are disposed between the two side plates 101, the wheels are disposed between the front support plate 104 and the rear support plate 104, a support block is disposed at the lower portion of the front side of the front support plate 102, the lower support 9 is disposed on the support block, and the pin shaft 13 is disposed at the rear side of the rear support plate 104; the front side of the seat plate of the upper support 6 is bent downwards, and the front side of the lower support 9 is bent upwards.
In this embodiment, two sides of the bogie 4 are respectively and fixedly provided with a hanging limiting plate 5, the upper ends of the hanging limiting plates 5 are fixed at the front parts of the sides of the bogie 4, the lower ends of the hanging limiting plates extend to the outer sides of two groups of hanging arms 10, a limiting column 103 is arranged on one side, opposite to the hanging limiting plates 5, of each hanging arm 10, the limiting column 103 is located at the front side of the hanging limiting plate 5, and the lower ends of the hanging limiting plates 5 are bent towards the front sides to form an L-shaped structure.
In this embodiment, a through hole is formed in the center of the fixed support 1, a bracket 16 extending to the center of the through hole is formed on the side wall of the through hole, and an angle sensor 2 is arranged at the cantilever end of the bracket for monitoring the steering angle of the heavy-duty electrically-driven steering wheel.
In this embodiment, the heavy-duty electrically driven steering wheel further comprises a motor control box 14, which is disposed in a region between two sets of bushings 15 on the lower surface of the bogie 4.
In the above structure, the fixing support 1 is fixed to the vehicle frame by bolts, and the revolving frame can revolve around the center of the revolving support 3.
An angle sensor 2 is arranged between the bogie 4 and the fixed support 1, so that the steering angle of the steering wheel can be monitored, and the steering angle closed-loop control of the steering wheel is realized.
The tail ends of the two suspension arms 10 are arranged on lugs below the bogie 4 through respective pin shafts 13, and the suspension arms 10 can swing along the respective pin shafts 13 in a bilateral symmetry manner.
The front end of the suspension arm 10 is supported by an elastic element consisting of an upper support 6, a compression spring 7, a buffer block 8 and a lower support 9.
The bogie 4 is provided with the suspension limiting plate 5, the suspension limiting plate 5 is of a plate structure with an L-shaped bending part at the lower end, the side plate 101 of the suspension arm 10 is provided with the limiting column 103, and when the suspension arm 10 swings downwards relative to the revolving frame, the limiting effect can be achieved on the swing angle of the suspension arm 10, the overlarge swing angle of the suspension arm 10 is prevented, the suspension spring is kept to be always pressed, and the suspension spring is prevented from falling off.
The suspension arm 10, the pin shaft 13, the upper support 6, the compression spring 7, the buffer block 8, the lower support 9 and the suspension limiting plate 5 jointly form a longitudinal arm spring suspension, and the two sets of suspension are arranged in bilateral symmetry and swing independently of each other, so that the suspension arm has certain pavement compensation capability.
The driving device of steering wheel is constituteed jointly to driving motor, wheel, built-in wheel hub speed reducer and motor control box, wheel and built-in wheel hub speed reducer are installed in the centre of hanging arm 10, hang arm 10 inwards one side and install driving motor, with wheel coaxial installation, motor control box installs in bogie 4 below, between two hanging arms 10, link to each other with two driving motor through the cable, can control respectively the rotational speed of controlling two driving motor, the moment of torsion of driving motor output is through built-in wheel hub speed reducer drive wheel rotation after amplifying, realize the walking function.
The steering wheel adopts a differential steering technology, and the steering function is realized by precisely controlling the rotating speeds of the left driving motor and the right driving motor. When the rotation speeds of the left wheel and the right wheel are equal and the directions are the same, the steering wheel keeps the current steering angle unchanged and walks in a straight line; when the rotation speeds of the left wheel and the right wheel are equal and the directions are opposite, the steering wheel stays in place to rotate; when the rotation speeds of the left wheel and the right wheel are not equal, steering is performed during walking of the steering wheel.
The steering wheel adopts a modularized design, and a driving system can be formed by using a plurality of steering wheels according to the requirement, so that the requirement of 100-1000 tons of load is met.
The steering wheel does not contain a lifting device, and if the carrier needs a lifting function, an independent lifting device can be designed. The turning sweep range of the steering wheel is a circular area with the diameter phi 1120, and a lifting oil cylinder can be arranged at the interval; the arrangement height of the steering wheel is only 600mm, and the lifting platform can be arranged above the steering wheel. The overall height of the carrier can be controlled within 1 meter.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. A differentially steered heavy duty electrically driven steering wheel characterized by: the steering system comprises a fixed support, a slewing bearing, a steering frame, suspension arms and wheel assemblies, wherein the fixed support is connected with the steering frame through the slewing bearing;
one end of each of the two groups of suspension arms is hinged with the lower surface of the bogie through a pin shaft, the other end of each of the two groups of suspension arms is a cantilever end, and each wheel assembly comprises a wheel, a built-in hub speed reducer connected with the wheel and a driving motor connected with the built-in hub speed reducer;
the fixed support is arranged above the bogie and is connected with the bogie through a slewing bearing; the rear side of the lower surface of the bogie is provided with two groups of shaft sleeves, each group of shaft sleeves is fixedly connected with the bogie through lugs arranged at two ends, the suspension arm comprises two parallel side plates, the rear ends of the two side plates are fixedly connected through a pin shaft, the pin shaft is arranged in the shaft sleeve in a penetrating manner, and the wheels are arranged between the two side plates;
The front side of the lower surface of the bogie is provided with two groups of buffer mechanisms which respectively correspond to the front sides of the two groups of suspension arms, the buffer mechanisms comprise an upper support, a lower support and a compression spring, the compression spring is connected between the upper support and the lower support, the upper support is fixed on the front side of the lower surface of the bogie, and the front side of each group of suspension arms is fixed with one lower support;
The upper support comprises a fixed plate, a support plate, upright posts and a spring seat, wherein the fixed plate is fixed on the lower surface of the bogie, the two upright posts are longitudinally fixed on the fixed plate, the spring seat is fixed on the fixed plate and positioned between the two upright posts, the lower end of the spring seat is of a conical point structure, the upper end of the compression spring is sleeved outside the conical point structure, the support plate is fixed at the lower ends of the two upright posts, a through hole for the compression spring to pass through is formed in the center of the support plate, the lower support comprises a lower support plate, a through hole for the compression spring to pass through is formed in the center of the lower support plate, a buffer block made of elastic materials is arranged on the lower support plate, and the compression spring downwards passes through the buffer block;
The heavy electric drive steering wheel also comprises a motor control box which is arranged in the area between the two groups of shaft sleeves on the lower surface of the bogie.
2. The heavy duty electrically driven steering wheel of claim 1, wherein: the suspension arm comprises a front supporting plate and a rear supporting plate, the front supporting plate and the rear supporting plate are arranged between the two side plates, the wheels are arranged between the front supporting plate and the rear supporting plate, a supporting block is arranged at the lower part of the front side of the front supporting plate, the lower support is arranged on the supporting block, and the pin shaft is arranged at the rear side of the rear supporting plate; the front side of the upper support is bent downwards, and the front side of the lower support is bent upwards.
3. The heavy duty electrically driven steering wheel of claim 1, wherein: the steering frame is characterized in that two sides of the steering frame are respectively fixedly provided with a hanging limiting plate, the upper ends of the hanging limiting plates are fixed at the front parts of the side faces of the steering frame, the lower ends of the hanging limiting plates extend to the outer sides of two groups of hanging arms, one side, opposite to the hanging limiting plates, of each hanging arm is provided with a limiting column, each limiting column is located at the front side of each hanging limiting plate, and the lower ends of the hanging limiting plates are bent towards the front sides to form an L-shaped structure.
4. The heavy duty electrically driven steering wheel of claim 1, wherein: the fixed support is characterized in that a through hole is formed in the center of the fixed support, a support extending to the center of the through hole is arranged on the side wall of the through hole, and an angle sensor is arranged at the cantilever end of the support and used for monitoring the steering angle of the heavy electric drive steering wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811552569.3A CN109383664B (en) | 2018-12-19 | Differential steering heavy-duty electrically-driven steering wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811552569.3A CN109383664B (en) | 2018-12-19 | Differential steering heavy-duty electrically-driven steering wheel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109383664A CN109383664A (en) | 2019-02-26 |
| CN109383664B true CN109383664B (en) | 2024-07-05 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN207579940U (en) * | 2017-11-30 | 2018-07-06 | 苏州安井自动化设备有限公司 | Vision guided navigation formula steering wheel driving mechanism |
| CN207889812U (en) * | 2018-02-01 | 2018-09-21 | 广州智轮科技有限公司 | The novel steering wheel driving device of double-wheel differential type driving |
| CN108995744A (en) * | 2018-08-30 | 2018-12-14 | 安徽凌坤智能科技有限公司 | A kind of differential drive device of AGV equipment |
| CN209814148U (en) * | 2018-12-19 | 2019-12-20 | 湖北三江航天万山特种车辆有限公司 | Differential steering heavy electric driven steering wheel |
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN207579940U (en) * | 2017-11-30 | 2018-07-06 | 苏州安井自动化设备有限公司 | Vision guided navigation formula steering wheel driving mechanism |
| CN207889812U (en) * | 2018-02-01 | 2018-09-21 | 广州智轮科技有限公司 | The novel steering wheel driving device of double-wheel differential type driving |
| CN108995744A (en) * | 2018-08-30 | 2018-12-14 | 安徽凌坤智能科技有限公司 | A kind of differential drive device of AGV equipment |
| CN209814148U (en) * | 2018-12-19 | 2019-12-20 | 湖北三江航天万山特种车辆有限公司 | Differential steering heavy electric driven steering wheel |
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