CN111231652A - Omnidirectional movement chassis structure with symmetrically distributed steering wheels and steering wheels thereof - Google Patents
Omnidirectional movement chassis structure with symmetrically distributed steering wheels and steering wheels thereof Download PDFInfo
- Publication number
- CN111231652A CN111231652A CN202010050578.3A CN202010050578A CN111231652A CN 111231652 A CN111231652 A CN 111231652A CN 202010050578 A CN202010050578 A CN 202010050578A CN 111231652 A CN111231652 A CN 111231652A
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- CN
- China
- Prior art keywords
- gear
- support
- steering
- steering wheel
- power
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- 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
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
- B62D3/12—Steering gears mechanical of rack-and-pinion type
-
- 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
Abstract
The invention relates to a steering wheel which comprises a support, a first power piece, a second power piece, a steering wheel body and a transmission assembly, wherein the transmission assembly comprises a first gear and a second gear which are meshed with each other, the fixed end of the first power piece is fixed on the support, the output end of the first power piece is in transmission connection with the first gear, a bearing is sleeved in the second gear, a connecting piece is arranged at the upper end of the second gear, a rotating shaft is sleeved in the bearing, the lower end of the rotating shaft is fixed with the support, the fixed end of the second power piece is fixed on the support, and the output end of the second power piece is in transmission connection with the steering wheel body. The steering and walking work of the steering wheel is controlled through the first power part and the second power part respectively, the steering wheel is simple in structure and low in manufacturing cost, a good steering effect can be achieved, and the large market prospect is achieved. The steering wheels arranged at the symmetrical corners of the regular quadrangle can realize the omnidirectional movement of the chassis structure under the condition of not sacrificing the speed.
Description
Technical Field
The invention relates to the technical field of chassis, in particular to an omnidirectional moving chassis structure with symmetrically distributed steering wheels and the steering wheels.
Background
In the chassis structure of a common logistics transport trolley or other small vehicles, in order to meet the requirement of omni-directional steering of the logistics transport trolley or other small vehicles, four mecanum wheels are generally arranged below the chassis of the logistics transport trolley or other small vehicles to complete steering, and the mecanum wheels have the defects of high cost and extremely high requirement on the flatness of a road surface, so that the chassis structure which is low in cost and can realize omni-directional movement is needed to be provided.
Disclosure of Invention
Therefore, the omnidirectional moving chassis structure with symmetrically distributed steering wheels and the steering wheels thereof are needed to be provided, so that the problem of high manufacturing cost of the existing chassis structure is solved.
In order to achieve the above object, the inventor provides a steering wheel, which comprises a support, a first power part, a second power part, a steering wheel body and a transmission assembly, wherein the transmission assembly comprises a first gear and a second gear which are meshed with each other, the fixed end of the first power part is fixed on the support, the output end of the first power part is in transmission connection with the first gear, a bearing is sleeved in the second gear, a connecting piece is arranged at the upper end of the second gear, a rotating shaft is sleeved in the bearing, the lower end of the rotating shaft is fixed with the support, the fixed end of the second power part is fixed on the support, and the output end of the second power part is in transmission connection with the steering wheel body;
the support is of an L-shaped structure, a first fixing hole is formed in one end of the support, a second fixing hole is formed in the other end of the support, the output end of the first power piece penetrates through the first fixing hole to be in transmission connection with the first gear, and the output end of the second power piece penetrates through the second fixing hole to be in transmission connection with the steering wheel body.
Further, the number of teeth of the first gear is less than the number of teeth of the second gear.
Furthermore, a first gear through hole is formed in the center of the first gear, and the output end of the first power piece penetrates through the first gear through hole and is in interference fit with the first gear through hole.
Furthermore, the second gear through hole is formed in the center of the second gear.
Furthermore, the lower part of the steering wheel body protrudes out of the lower end face of the support.
Further, the first power part or the second power part is a speed reduction motor.
Further, the rotating shaft is a half coupling.
Furthermore, a sinking groove is formed in the connecting part of the bracket and the half coupling.
The inventor still provides an omnidirectional movement chassis structure of symmetric distribution steering wheel, includes the bottom plate and sets up in two steering wheels and two universal wheels of bottom plate below, the steering wheel be among the above-mentioned arbitrary technical scheme steering wheel, two steering wheels and two universal wheels set up respectively in four edges of positive quadrangle, and two steering wheels set up in positive quadrangle's symmetry edge, and two universal wheels set up in positive quadrangle's symmetry edge.
Different from the prior art, the technical scheme has the following advantages: the steering and walking work of the steering wheel is controlled through the first power part and the second power part respectively, the steering wheel is simple in structure and low in manufacturing cost, a good steering effect can be achieved, and the large market prospect is achieved. The steering wheels arranged at the symmetrical corners of the regular quadrangle can realize the omnidirectional movement of the chassis structure under the condition of not sacrificing the speed.
Drawings
FIG. 1 is a perspective view of a steering wheel according to the present embodiment;
FIG. 2 is a side view of a steering wheel according to the present embodiment;
FIG. 3 is a bottom schematic view of an omnidirectional moving chassis structure with symmetrically distributed steering wheels according to the present embodiment;
FIG. 4 is a bottom schematic view of an omnidirectional moving chassis structure with symmetrically distributed steering wheels according to the present embodiment;
fig. 5 is a schematic structural diagram of an omnidirectional moving chassis structure with symmetrically distributed steering wheels according to the present embodiment.
Description of reference numerals:
01. a steering wheel;
1. a support;
2. a first power member;
3. a second power member;
4. a steering wheel body;
51. a first gear;
52. a second gear;
53. a bearing;
54. a half coupling;
6. a connecting member;
7. a base plate;
8. a universal wheel.
Detailed Description
To explain technical contents, structural features, and objects and effects of the technical solutions in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments.
Referring to fig. 1 to 5, the present embodiment provides a steering wheel, which includes a bracket 1, a first power member 2, a second power member 3, a steering wheel body 4 and a transmission assembly, where the bracket provides a supporting function for the first power member and the second power member, and fixing ends of the first power member and the second power member, that is, fixing holes are formed in housings of the first power member and the second power member, fixing holes are correspondingly formed in opposite positions of the bracket, the fixing holes of the first power member are connected with the corresponding fixing holes of the bracket through connecting members, and the fixing holes of the second power member are connected with the corresponding fixing holes of the bracket through connecting members, so that the housings of the first power member and the second power member are fixed on the bracket. The wheel body of the steering wheel is of a conventional walking wheel structure. The transmission assembly is used for adjusting the traveling direction of the steering wheel.
The transmission assembly comprises a first gear 51 and a second gear 52 which are meshed with each other, the fixed end of the first power piece is fixed on the support, a first fixing hole is formed in the support, the output end of the first power piece penetrates through the first fixing hole to be in transmission connection with the first gear, the first power piece works, the output end of the first power piece rotates to drive the first gear to rotate, and the first gear is not in contact with the support. The second gear is internally sleeved with a bearing 53, the bearing is internally sleeved with a rotating shaft, and the lower end of the rotating shaft is fixed with the support. In the process that the first power part drives the first gear to rotate, the first gear rotates around the center circumference of the second gear, the first power part in transmission connection with the first gear rotates around the center circumference of the second gear at the moment, the output end of the first power part is clamped in a first fixing hole of the support, in the process that the first power part and the first gear rotate around the center circumference of the second gear, the support also rotates around the center circumference of the second gear, a rotating shaft fixed on the support rotates along with the support, the rotating shaft is matched with the second gear through a bearing, and the support drives the rotating shaft to rotate at the center of the second gear.
The upper end of the second gear is provided with a connecting piece 6 which can be a screw rod. The number of the connecting pieces is more than two, and the connecting pieces are uniformly distributed on the upper end face of the second gear.
The fixed end of the second power piece is fixed on the bracket, and the output end of the second power piece is in transmission connection with the wheel body of the steering wheel. The second power part works, and the output end of the second power part rotates to drive the steering wheel body to walk. The first power part independently controls the steering work of the steering wheel, and the second power part independently controls the walking work of the steering wheel, so that the omnidirectional movement can be realized without sacrificing the speed.
In this embodiment, the support is "L shape" structure, and first fixed orifices has been seted up to the one end of support, and the second fixed orifices has been seted up to the other end of support, and first fixed orifices is mutually perpendicular with the central axis of second fixed orifices, the output of first power spare passes first fixed orifices and is connected with first gear drive, the output of second power spare passes the second fixed orifices and is connected with the driving of steering wheel body. Specifically, the first gear is arranged above a first fixing hole of the support, the first power part is arranged below the first fixing hole of the support, the second power part is arranged on the outer side, facing the support, of a second fixing hole of the support, and the steering wheel body is arranged on the inner side, facing the support, of the second fixing hole of the support. The L-shaped structure can control the balance of the steering wheel through the lengths of the two ends of the L-shaped structure after the first power member and the second power member are installed.
In some embodiments, the first gear has fewer teeth than the second gear. When the first power part drives the first gear to rotate, the steering of the steering wheel is more gentle through the speed reduction transmission of the first gear and the second gear.
In this embodiment, a first gear through hole is formed in the center of the first gear, and the output end of the first power member is inserted into the first gear through hole and is in interference fit with the first gear through hole. Thereby when first power spare output rotated, first gear tightly overlaps through first gear through-hole and locates first power spare output, can effectively avoid first gear to drop from first power spare output, and keeps the position that the clearance also can locate first power spare output through first gear cover between first gear and the support and decides.
In this embodiment, the second gear through hole is opened at a central position of the second gear. The bearing sleeve is arranged at the central position of the second gear. The meshing steering accuracy between the first gear and the second gear is improved.
In this embodiment, the lower portion of the steering wheel body protrudes from the lower end surface of the bracket. In the running process of the steering wheel, a gap exists between the support and the ground, and friction loss cannot be generated between the support and the ground.
In this embodiment, the first power member or the second power member is a speed reduction motor.
In this embodiment, the rotating shaft is a half coupling 54, a flange of the half coupling is disposed toward the upper side of the bracket, a connecting hole is also formed in a position of the bracket corresponding to the through hole of the flange of the half coupling, and the half coupling and the connecting hole correspondingly formed in the bracket are connected through connecting members such as bolts and nuts. In a more preferred embodiment, the upper end surface of the bracket is provided with a sunken groove corresponding to the position of the half coupling, and the shape of the sunken groove is matched with that of a flange of the half coupling.
The inventor still provides an omnidirectional movement chassis structure of symmetric distribution steering wheel, including bottom plate 7 and set up in two steering wheel 01 and two universal wheels 8 of bottom plate below, the steering wheel is the steering wheel among the above-mentioned arbitrary technical scheme, and two steering wheels and two universal wheels set up respectively in four edges of positive quadrangle, and two steering wheels set up in positive quadrangle's symmetry edge, and two universal wheels set up in positive quadrangle's symmetry edge. The logistics transport trolley provided with the omnidirectional moving chassis structure with the symmetrically distributed steering wheels is steered by one of the two steering wheels in the process of advancing or retreating, and the universal wheels are matched to finish steering.
The bottom plate is provided with a bottom plate through hole corresponding to the position of the connecting piece above the second gear, and the connecting piece above the second gear penetrates through the bottom plate through hole and is screwed and fixed below the bottom plate through a nut.
It should be noted that, although the above embodiments have been described herein, the invention is not limited thereto. Therefore, based on the innovative concepts of the present invention, the technical solutions of the present invention can be directly or indirectly applied to other related technical fields by making changes and modifications to the embodiments described herein, or by using equivalent structures or equivalent processes performed in the content of the present specification and the attached drawings, which are included in the scope of the present invention.
Claims (9)
1. A steering wheel characterized in that: the steering mechanism comprises a support, a first power part, a second power part, a steering wheel body and a transmission assembly, wherein the transmission assembly comprises a first gear and a second gear which are meshed with each other, the fixed end of the first power part is fixed on the support, the output end of the first power part is in transmission connection with the first gear, a bearing is sleeved in the second gear, a connecting piece is arranged at the upper end of the second gear, a rotating shaft is sleeved in the bearing, the lower end of the rotating shaft is fixed with the support, the fixed end of the second power part is fixed on the support, and the output end of the second power part is in transmission connection with the steering wheel body;
the support is of an L-shaped structure, a first fixing hole is formed in one end of the support, a second fixing hole is formed in the other end of the support, the output end of the first power piece penetrates through the first fixing hole to be in transmission connection with the first gear, and the output end of the second power piece penetrates through the second fixing hole to be in transmission connection with the steering wheel body.
2. Rudder wheel according to claim 1, wherein: the number of teeth of the first gear is less than that of the second gear.
3. Rudder wheel according to claim 1, wherein: a first gear through hole is formed in the center of the first gear, and the output end of the first power piece penetrates through the first gear through hole and is in interference fit with the first gear through hole.
4. Rudder wheel according to claim 1, wherein: the second gear through hole is formed in the center of the second gear.
5. Rudder wheel according to claim 1, wherein: the lower part of the steering wheel body protrudes out of the lower end face of the support.
6. Rudder wheel according to claim 1, wherein: the first power part or the second power part is a speed reducing motor.
7. Rudder wheel according to claim 1, wherein: the rotating shaft is a half coupling.
8. Rudder wheel according to claim 1, wherein: and a sinking groove is formed in the part where the bracket is connected with the half coupling.
9. The utility model provides an omnidirectional movement chassis structure of symmetric distribution steering wheel which characterized in that: the steering wheel comprises a bottom plate, two steering wheels and two universal wheels, wherein the two steering wheels and the two universal wheels are arranged below the bottom plate, the steering wheels are the steering wheels according to any one of claims 1 to 8, the two steering wheels and the two universal wheels are respectively arranged at four corners of a regular quadrangle, the two steering wheels are arranged at symmetrical corners of the regular quadrangle, and the two universal wheels are arranged at the symmetrical corners of the regular quadrangle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010050578.3A CN111231652A (en) | 2020-01-17 | 2020-01-17 | Omnidirectional movement chassis structure with symmetrically distributed steering wheels and steering wheels thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010050578.3A CN111231652A (en) | 2020-01-17 | 2020-01-17 | Omnidirectional movement chassis structure with symmetrically distributed steering wheels and steering wheels thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111231652A true CN111231652A (en) | 2020-06-05 |
Family
ID=70876884
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010050578.3A Pending CN111231652A (en) | 2020-01-17 | 2020-01-17 | Omnidirectional movement chassis structure with symmetrically distributed steering wheels and steering wheels thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111231652A (en) |
Citations (10)
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|---|---|---|---|---|
| WO2017006106A1 (en) * | 2015-07-06 | 2017-01-12 | Trw Limited | A gearbox assembly for an electric power steering assembly |
| CN207550349U (en) * | 2017-10-11 | 2018-06-29 | 深圳市普渡科技有限公司 | A kind of robot steering wheel device |
| CN208411401U (en) * | 2018-07-09 | 2019-01-22 | 湖南驰众机器人有限公司 | A kind of omnidirectional's steering wheel driving device |
| CN208665379U (en) * | 2018-02-26 | 2019-03-29 | 深圳市功夫机器人有限公司 | A kind of the steering wheel suspension and omnidirectional's automatic guided vehicle of automatic guided vehicle |
| CN109911061A (en) * | 2019-04-29 | 2019-06-21 | 湖南驰众机器人有限公司 | The differential steering AGV's of wheel more than a kind of rotates in place control method |
| EP3501872A1 (en) * | 2017-12-21 | 2019-06-26 | Disney Enterprises, Inc. | Non-scrubbing vertical drive unit for a trackless or free roaming vehicle with zero turn radius |
| CN209037705U (en) * | 2018-09-28 | 2019-06-28 | 哈尔滨博乐恩机器人技术有限公司 | The chassis Twin Rudders wheel AGV |
| CN110588834A (en) * | 2019-10-18 | 2019-12-20 | 广东博智林机器人有限公司 | Omnidirectional chassis and robot |
| CN209852467U (en) * | 2019-05-17 | 2019-12-27 | 诸城辐全精密机械有限公司 | Steering wheel driving device |
| CN211684644U (en) * | 2020-01-17 | 2020-10-16 | 宁德师范学院 | Chassis with steering wheel and steering wheel structure thereof |
-
2020
- 2020-01-17 CN CN202010050578.3A patent/CN111231652A/en active Pending
Patent Citations (10)
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|---|---|---|---|---|
| WO2017006106A1 (en) * | 2015-07-06 | 2017-01-12 | Trw Limited | A gearbox assembly for an electric power steering assembly |
| CN207550349U (en) * | 2017-10-11 | 2018-06-29 | 深圳市普渡科技有限公司 | A kind of robot steering wheel device |
| EP3501872A1 (en) * | 2017-12-21 | 2019-06-26 | Disney Enterprises, Inc. | Non-scrubbing vertical drive unit for a trackless or free roaming vehicle with zero turn radius |
| CN208665379U (en) * | 2018-02-26 | 2019-03-29 | 深圳市功夫机器人有限公司 | A kind of the steering wheel suspension and omnidirectional's automatic guided vehicle of automatic guided vehicle |
| CN208411401U (en) * | 2018-07-09 | 2019-01-22 | 湖南驰众机器人有限公司 | A kind of omnidirectional's steering wheel driving device |
| CN209037705U (en) * | 2018-09-28 | 2019-06-28 | 哈尔滨博乐恩机器人技术有限公司 | The chassis Twin Rudders wheel AGV |
| CN109911061A (en) * | 2019-04-29 | 2019-06-21 | 湖南驰众机器人有限公司 | The differential steering AGV's of wheel more than a kind of rotates in place control method |
| CN209852467U (en) * | 2019-05-17 | 2019-12-27 | 诸城辐全精密机械有限公司 | Steering wheel driving device |
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Application publication date: 20200605 |
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