CN111348097A

CN111348097A - Electric steering axle

Info

Publication number: CN111348097A
Application number: CN201811561406.1A
Authority: CN
Inventors: 邹风山; 戈占堃; 徐冰; 胡金涛; 王文钊; 王宇卓
Original assignee: Shenyang Siasun Robot and Automation Co Ltd
Current assignee: Shenyang Siasun Robot and Automation Co Ltd
Priority date: 2018-12-20
Filing date: 2018-12-20
Publication date: 2020-06-30

Abstract

The invention relates to the field of wheeled automatic mobile robots, in particular to an electric steering axle, which comprises: welding a cross beam, a rotary power part, a steering gear, a screw rod and a steering knuckle; the rotary power part and the steering machine are both arranged on the welding beam and are in power connection with each other, the number of the screw rods and the steering knuckles is two, two ends of the steering machine are respectively connected with the screw rods, the screw rods are hinged with the steering knuckles, and the two steering knuckles are respectively hinged at two ends of the welding beam; when the rotating power part inputs torque, the steering gear drives the two screws to move transversely left and right, and then drives the steering knuckle to rotate on the welding beam. The automatic steering axle is designed based on the Ackerman steering principle, steering power is derived from a rotary power part instead of manpower, and the automatic steering function is realized. In addition, the invention has simple mechanical structure and convenient installation mode, and can also be used on other outdoor movable type trolley chassis.

Description

Electric steering axle

Technical Field

The invention relates to the field of wheel type automatic mobile robots, in particular to an electric steering axle.

Background

At present, the traditional steering axle and power mechanism are designed by taking a driver as a core, namely the steering power comes from manpower. With the development of intelligent transportation and unmanned technology, the development of a steering axle which gets rid of manpower control is urgently needed.

Disclosure of Invention

The embodiment of the invention provides an electric steering axle, which at least solves the technical problem that the existing steering axle takes a driver as core power.

According to an embodiment of the present invention, there is provided an electric steering axle including: welding a cross beam, a rotary power part, a steering gear, a screw rod and a steering knuckle; the rotary power part and the steering machine are both arranged on the welding beam and are in power connection with each other, the number of the screw rods and the steering knuckles is two, two ends of the steering machine are respectively connected with the screw rods, the screw rods are hinged with the steering knuckles, and the two steering knuckles are respectively hinged at two ends of the welding beam; when the rotating power part inputs torque, the steering gear drives the two screws to move transversely left and right, and then drives the steering knuckle to rotate on the welding beam.

Further, the axle further comprises two adjusting nuts; two ends of the steering gear are respectively connected with an adjusting nut and a screw rod in sequence.

Furthermore, one end of the adjusting nut is a left-handed internal thread, and the other end of the adjusting nut is a right-handed internal thread.

Further, the steering gear adopts a rack and pinion type structure.

Further, the axle also comprises two kingpins arranged at the two ends of the welded cross-beam, on which kingpins the steering knuckles are articulated.

Furthermore, the axle also comprises two thrust bearings arranged at two ends of the welding cross beam, and the thrust bearings are sleeved on the main pins.

Further, the axle further comprises two encoders disposed at both ends of the welded cross member, the encoders being disposed on the king pins.

Furthermore, the axle also comprises two limiting blocks which are arranged at two ends of the welding beam and used for limiting the deflection angle of the steering knuckle.

Further, the rotary power part comprises a driving motor, the axle further comprises a cross coupling, and the driving motor is in power connection with the steering gear through the cross coupling.

Furthermore, the steering knuckle comprises a steering shaft frame, a transparent cover, a rotary seal, a bearing and a rotary hub which are sequentially connected; the bogie shaft is hinged at the end of the welded beam.

According to the electric steering axle in the embodiment of the invention, when the torque is input by the rotating power piece, the steering machine drives the two screw rods to transversely move left and right, and then drives the steering knuckle to rotate on the welding beam. In addition, the invention has simple mechanical structure and convenient installation mode, and can also be used on other outdoor movable type trolley chassis.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:

FIG. 1 is a block diagram of an electric steering axle of the present invention;

FIG. 2 is a transverse cross-sectional view of the electric steering axle of the present invention;

FIG. 3 is a block diagram of a knuckle for an electric steering axle of the present invention;

wherein the reference numerals are: 1. a drive motor; 2. a motor base; 3. a rotation pin; 4. a limiting block; 5. an encoder support; 6. welding a cross beam; 7. a cross coupling; 8. a steering gear; 9. adjusting the nut; 11. a round screw; 12. a kingpin; 13. a bushing; 14. a thrust bearing; 15. an encoder; 20. a knuckle; 21. rotating the hub; 22. a bearing; 23. rotating and sealing; 24. a transparent cover; 25. a bogie shaft bracket.

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

1-3, there is provided an electric steering axle, according to an embodiment of the present invention, comprising: welding the beam 6, the rotary power part, the steering gear 8, the screw and the steering knuckle 20; the rotary power part and the steering gear 8 are both arranged on the welding beam 6 and are in power connection with each other, the number of the screw rods and the steering knuckles 20 is two, the two ends of the steering gear 8 are respectively connected with the screw rods, the screw rods are hinged with the steering knuckles 20, and the two steering knuckles 20 are respectively hinged with the two ends of the welding beam 6; when the rotating power part inputs torque, the steering gear 8 drives the two screws to move transversely left and right, and then drives the steering knuckle 20 to rotate on the welding beam 6.

According to the electric steering axle in the embodiment of the invention, when the torque is input by the rotating power part, the steering gear 8 drives the two screw rods to transversely move left and right, and then drives the steering knuckle 20 to rotate on the welding cross beam 6. In addition, the invention has simple mechanical structure and convenient installation mode, and can also be used on other outdoor movable type trolley chassis.

In a preferred technical solution, the axle further comprises two adjusting nuts 9; the two ends of the steering gear 8 are respectively connected with an adjusting nut 9 and a screw rod in sequence, and the screw rod is preferably a round screw rod 11. The steering gear 8 is fixed on the welding beam 6 by bolts, and two ends of the steering gear are sequentially connected with an adjusting nut 9 and a round screw 11.

In a preferred technical scheme, one end of the adjusting nut 9 is a left-handed internal thread, and the other end of the adjusting nut is a right-handed internal thread. Adjusting nut 9 one end is left-handed internal thread, and the other end is right-handed internal thread, can be used to adjust the deflection angle of knuckle 20, reaches the purpose that makes two knuckles 20 on the collinear when just installing, can manually adjust the deflection angle of knuckle 20 when just installing promptly to make the wheel be in the forward position at first when the installation.

In the preferred technical scheme, the steering gear 8 adopts a rack and pinion structure, the transmission is stable, the precision is high, the steering control difficulty is reduced, and when the torque is input into the driving motor 1, the steering gear 8 can drive the round screw rod 11 to move left and right transversely, so that the steering knuckle 20 is driven to rotate around the main pin 12, and the steering purpose is realized.

In a preferred embodiment, the axle further comprises two kingpins 12 arranged at the two ends of the welded cross-beam 6, the steering knuckle 20 being articulated on the kingpins 12. The round screw 11 is hinged with the steering knuckle 20 through a rotating pin 3; the steering knuckle 20 is articulated on the welding beam 6 by means of a kingpin 12, the steering knuckle 20 being pivotable about the kingpin 12.

In a preferred technical scheme, the axle further comprises two thrust bearings 14 arranged at two ends of the welding cross beam 6, and the thrust bearings 14 are sleeved on the main pin 12. A thrust bearing 14 is mounted on the kingpin 12 for rotational flexibility when subjected to high loads. The main pin 12 is sleeved in the bushing 13 and can rotate stably.

In a preferred embodiment, the axle further comprises two encoders 15 arranged at the two ends of the welded cross-beam 6, the encoders 15 being arranged on the kingpin 12. The encoder 15 is mounted on the kingpin 12 and supported by the encoder bracket 5, and counts the deflection angle of the real-time feedback knuckle 20 as the kingpin 12 rotates.

In a preferred technical scheme, the axle further comprises two limiting blocks 4 which are arranged at two ends of the welding cross beam 6 and used for limiting the deflection angle of the steering knuckle 20. The limiting block 4 is connected to the welding beam 6 through a bolt and used for limiting the deflection angle of the steering knuckle 20.

In a preferable technical scheme, the rotary power part comprises a driving motor 1, the axle further comprises a cross coupling 7, and the driving motor 1 is in power connection with a steering gear 8 through the cross coupling 7. The driving motor 1 is fixed on the welding beam 6 through the motor base 2 by using bolts; the output shaft of the driving motor 1 is connected with the input shaft of the steering gear box 8 through a cross coupling 7.

In a preferred embodiment, referring to fig. 3, the steering knuckle 20 includes a steering shaft bracket 25, a transparent cover 24, a rotary seal 23, a bearing 22, and a rotary hub 21, which are connected in sequence; the bogie 25 is hinged at the end of the welding beam 6.

The invention provides a steering axle which has a simple structure and is easy to control, and provides a mobile robot for routing inspection, article transportation and the like. Compared with the prior art, the power of the automatic steering axle is replaced by the driving motor 1, the automatic steering axle is designed based on the Ackerman steering principle, the steering power is from the driving motor 1, and the automatic steering function is realized without manpower. According to the invention, the encoder 15 is additionally arranged at the steering position of the rotating hub, and the deflection angle of the wheel can be fed back instantly, so that the turning radius of the vehicle is calculated, and the controllability and the locatability of the vehicle are improved.

The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.

In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described system embodiments are merely illustrative, and for example, a division of a unit may be a logical division, and an actual implementation may have another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims

1. An electric steering axle, comprising: welding a cross beam, a rotary power part, a steering gear, a screw rod and a steering knuckle; the rotary power part and the steering gear are both arranged on the welding cross beam and are in power connection with each other, the number of the screw rods and the number of the steering knuckles are two, two ends of the steering gear are respectively connected with the screw rods, the screw rods are hinged with the steering knuckles, and the two steering knuckles are respectively hinged to two ends of the welding cross beam; when the rotary power part carries out torque input, the steering gear box drives the two screw rods to transversely move left and right, and then the steering knuckle is driven to rotate on the welding cross beam.

2. The axle of claim 1, further comprising two adjustment nuts; and two ends of the steering gear are respectively and sequentially connected with the adjusting nut and the screw rod.

3. The axle of claim 2, wherein the adjustment nut has a left-hand internal thread at one end and a right-hand internal thread at the other end.

4. The vehicle axle of claim 1, wherein the steering gear is of a rack and pinion type construction.

5. The axle according to claim 1, further comprising two kingpins disposed at both ends of the welded cross-beam, the steering knuckle being hinged on the kingpins.

6. The axle of claim 5 further comprising two thrust bearings disposed at either end of the welded cross-beam, the thrust bearings being sleeved over the main pin.

7. The axle of claim 5 further comprising two encoders disposed at either end of the welded cross-beam, the encoders being disposed on the king pin.

8. The axle according to claim 1, further comprising two stop blocks disposed at both ends of the welded beam for limiting the steering knuckle deflection angle.

9. The axle of claim 1, wherein the rotational power member comprises a drive motor, the axle further comprising an oldham coupling, the drive motor being in powered connection with the steering gear through the oldham coupling.

10. The axle according to claim 1, characterized in that the steering knuckle comprises a steering spindle carrier, a transparent cover, a rotary seal, a bearing, a rotary hub connected in sequence; the bogie shaft is hinged at the end of the welded beam.