CN113147889A - Steering wheel - Google Patents

Steering wheel Download PDF

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Publication number
CN113147889A
CN113147889A CN202110460059.9A CN202110460059A CN113147889A CN 113147889 A CN113147889 A CN 113147889A CN 202110460059 A CN202110460059 A CN 202110460059A CN 113147889 A CN113147889 A CN 113147889A
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CN
China
Prior art keywords
steering
spindle
motor
cover
sleeved
Prior art date
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.)
Pending
Application number
CN202110460059.9A
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Chinese (zh)
Inventor
孟文渊
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suzhou Banghong Intelligent Technology Co ltd
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Suzhou Banghong Intelligent Technology Co ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Suzhou Banghong Intelligent Technology Co ltd filed Critical Suzhou Banghong Intelligent Technology Co ltd
Priority to CN202110460059.9A priority Critical patent/CN113147889A/en
Publication of CN113147889A publication Critical patent/CN113147889A/en
Pending legal-status Critical Current

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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
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
  • Power Steering Mechanism (AREA)

Abstract

The invention discloses a steering wheel, which comprises a steering motor and a hub motor, wherein the bottom of the steering motor is provided with a connecting bracket connected with the hub motor, and the steering motor is provided with a connecting piece; the external connection is provided with a controller which respectively controls and connects the steering motor and the hub motor; adopt the steering motor with the connection of in-wheel motor can be directly carry out the linking of bearing part on the steering motor, simplified the complexity of whole power assembly, design complexity greatly reduced also simultaneously, the at utmost saves space, simple structure, convenient to use for solve the defect that prior art leads to.

Description

Steering wheel
Technical Field
The invention relates to the field of robots, in particular to a steering wheel.
Background
The existing four-wheel independent steering vehicle adopts a direct current brushless motor and a plurality of parts of a wheel hub, integrates a planetary reducer, rotation with large torque can be provided, however, the motor is not bearable in the radial direction of the rotation axis, therefore, in order to achieve the purpose of bearing the rotating shaft, a plurality of additional supporting parts are required to be designed, including various rotating devices such as bearings and gears and fixed decorations, so as to realize bearing support in the radial direction of the steering, a four-wheel robot or a four-wheel unmanned vehicle, in order to pursue cost and light weight, the four-wheel independent steering device needs to adopt a tiny space layout and a light-weight structural design, the existing similar direct current brushless motors cannot be directly combined with driving wheels, and extra fixing pieces and rotating devices are needed, so that the steering mechanism is complicated, and the maintenance cost and the cost are increased;
if a conventional brushless speed reducing motor is adopted, an additional radial support piece needs to be designed, the design complexity is increased, the whole volume cannot be simplified, and meanwhile, the production cost and the processing cost of a corresponding module are increased;
so accomplish a structure that simplifies very much, will turn to motor and wheel hub and unite two into one, can have the control of cost, to the structural design integration of original complicacy, design the inside of motor, inform the motor shaft directly with the wheel hub flange integration, can save a large amount of development costs, reduce part quantity, can install the product fast simultaneously.
Disclosure of Invention
The invention provides a steering wheel, which aims to solve the technical problems that the existing similar brushless direct current motor cannot be directly combined with a driving wheel, and an additional fixing piece and a rotating device are needed, so that the complexity of a steering mechanism is caused, the maintenance cost is increased, and the cost is increased.
In order to solve the technical problems, the invention provides the following technical scheme:
a steering wheel comprises a steering motor and a hub motor, wherein a connecting bracket connected with the hub motor is arranged at the bottom of the steering motor, and a connecting piece is arranged on the steering motor;
the outer joint has the difference control connection turn to the motor with in-wheel motor's controller adopts turn to the motor with in-wheel motor's connection can be direct carry out the linking of bearing part on turning to the motor, has simplified whole power assembly's complexity, and the design complexity also greatly reduced simultaneously, the at utmost saves space, simple structure, convenient to use.
The steering wheel is characterized in that the steering motor comprises an encoder, a main shaft rod, a gear base, a main shaft flange and a gear ring, wherein the encoder is mounted at the top of the main shaft rod;
the spindle rod is coaxially arranged at the top of the spindle flange, the spindle rod is sequentially sleeved with a top fixed bearing, a fixed disc, a positioning fixed bearing and a spindle gear from top to bottom, three planetary gears which are arranged at the top of the gear base through planetary gear shafts are matched at the periphery of the spindle gear, the gear base is arranged at the top of the spindle flange, the gear ring is sleeved at the periphery of the three planetary gears, an annular outer cover with a U-shaped section is sleeved at the periphery of the gear ring, an outer rotor iron core sleeved on the gear ring is arranged in the annular outer cover, a magnetic spindle cover connected with the fixed disc is sleeved at the periphery of the outer rotor iron core, a spindle rear cover covering the top of the spindle rod is arranged at the top of the magnetic spindle cover, and a top cover is arranged at the top of the spindle rear cover;
a conical bearing is sleeved on the periphery of the spindle flange, a conical bearing cover is sleeved on the periphery of the conical bearing, a shell is sleeved on the periphery of the conical bearing cover, a bottom cover is installed at the bottom of the shell, and a steering base which extends out of the bottom cover and is connected with the support is arranged at the bottom of the spindle flange;
the connector is connected to the outer wall of the housing.
In the above steering wheel, the outer rotor core is a 36-slot outer rotor core, and a copper wire is wound around the outer rotor core.
In the above steering wheel, the outer diameter of the outer rotor core is 81 mm, and the thickness of the outer rotor core is 20 mm.
In the above steering wheel, an upper top cover is arranged at the bottom of the conical bearing cover.
In the above steering wheel, the tops of the three planetary gears are covered with a planetary gear outer cover sleeved on the periphery of the positioning fixed bearing.
In the above steering wheel, two conical bearings are arranged in parallel up and down.
Different from other products, the technical scheme adopts a 'human' type structure, four sections of rotating shafts (comprising the main shaft rod, the main shaft flange, the gear base and the steering base) with different diameters are designed on a main shaft of the steering motor, the upper conical bearing and the lower conical bearing are added in the middle section, and the upper top cover, the shell and the bottom cover are added, so that the radial enough large bearing capacity is ensured, the stable work of the motor can be still ensured under the pressure of large load and large weight.
According to the technical scheme provided by the invention, the steering wheel has the following technical effects:
adopt the steering motor with the connection of in-wheel motor can be directly carry out the linking of bearing part on the steering motor, simplified the complexity of whole power assembly, design complexity greatly reduced also simultaneously, the at utmost saves space, simple structure, convenient to use.
Drawings
FIG. 1 is a schematic structural view of a steerable wheel according to the present invention;
FIG. 2 is a schematic structural diagram of a unilateral suspension connecting arm in a steering wheel according to the present invention;
FIG. 3 is a schematic view of the internal structure of a steerable wheel according to the present invention;
FIG. 4 is a schematic structural diagram of a steering motor and a hub motor in a steering wheel according to the present invention;
FIG. 5 is a schematic view of the internal structure of a steering motor in a steering wheel according to the present invention;
fig. 6 is a schematic structural view of a steering motor in a steering wheel according to the present invention.
Wherein the reference numbers are as follows:
the robot comprises a robot body 101, a radar 102, a suspension connecting arm 103, a steering motor 104, a hub motor 105, a bracket assembly 106, a connecting bracket 107, a connecting piece 108, a circular shaft 201, a first fixing piece 202, a second fixing piece 203, a cross beam 204, a supporting plate 205, a first bearing 206, a second bearing 207, a locking piece 208, a first differential gear 301, a fixed base 302, a second differential gear 303, a fixed shaft 304, a top cover 401, a main shaft rear cover 402, an annular outer cover 403, a shell 404, a bottom cover 405, an encoder 501, a main shaft rod 502, a main shaft flange 503, a gear ring 504, a top fixed bearing 505, a fixed plate 506, a positioning fixed bearing 507, a main shaft gear 508, a planetary gear shaft 509, a planetary gear 510, a steering base 511, an outer rotor core 512, a magnetic ingot cover 513, a conical bearing 514, a conical bearing cover 515, an upper top cover 516, a planetary gear.
Detailed Description
In order to make the technical means, the inventive features, the objectives and the effects of the invention easily understood and appreciated, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the specific drawings, and it is obvious that the described embodiments are a part of the embodiments of the present invention, but not all of the embodiments.
All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions under which the present invention can be implemented, so that the present invention has no technical significance, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention.
In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.
A preferred embodiment of the present invention provides a steering wheel, which aims to adopt the connection between the steering motor and the hub motor to directly connect the bearing part on the steering motor, thereby simplifying the complexity of the whole power assembly, greatly reducing the design complexity, saving the space to the maximum extent, having a simple structure and being convenient to use.
On the first hand, as shown in fig. 4-6, a steering wheel comprises a steering motor 104 and a hub motor 105, a connecting bracket 107 connected with the hub motor 105 is arranged at the bottom of the steering motor 104, and a connecting piece 108 is arranged on the steering motor 104;
the outer connection has the controller of controlling connection steering motor 104 and in-wheel motor 105 respectively, adopts steering motor 104 and in-wheel motor 105's connection, can directly carry out the linking of bearing part on steering motor 104, has simplified the complexity of whole power assembly, and the design complexity also greatly reduced simultaneously, and the at utmost saves space, simple structure, convenient to use.
The steering motor 104 comprises an encoder 501, a main shaft rod 502, a gear base 518, a main shaft flange 503 and a gear ring 504, wherein the encoder 501 is arranged at the top of the main shaft rod 502;
the main shaft rod 502 is coaxially arranged at the top of a main shaft flange 503, the main shaft rod 502 is sequentially sleeved with a top fixed bearing 505, a fixed disc 506, a positioning fixed bearing 507 and a main shaft gear 508 from top to bottom, three planetary gears which are arranged at the top of a gear base 518 through planetary gear shafts 509 are matched at the periphery of the main shaft gear 508, the gear base 518 is arranged at the top of the main shaft flange 503, the steering torque is effectively increased, a gear ring 504 is sleeved at the periphery of the three planetary gears 510, an annular outer cover 403 with a U-shaped section is sleeved at the periphery of the gear ring 504, an outer rotor iron core 512 sleeved on the gear ring 504 is arranged in the annular outer cover 403, a magnetic spindle cover 513 connected with the fixed disc 506 is sleeved at the periphery of the outer rotor iron core 512, a main shaft rear cover 402 covering the top of the main shaft rod 502 is arranged at the top of the magnetic spindle cover 513, and a top cover 401 is arranged at the top of the main shaft rear cover 402;
a conical bearing 514 is sleeved on the periphery of the spindle flange 503, a conical bearing cover 515 is sleeved on the periphery of the conical bearing 514, a shell 404 is sleeved on the periphery of the conical bearing cover 515, a bottom cover 405 is installed at the bottom of the shell 404, and a steering base 511 which extends out of the bottom cover 405 and is connected with a support is arranged at the bottom of the spindle flange 503;
the connector is connected to the outer wall of the housing.
The outer rotor core 512 is a 36-slot outer rotor core, and a copper wire is wound on the outer rotor core 512.
The outer diameter of the outer rotor core 512 is 81 mm, and the thickness of the outer rotor core 512 is 20 mm.
Wherein, the bottom of the conical bearing cap 515 is provided with an upper top cover 516.
Wherein, the top of the three planetary gears 510 is covered with a planetary gear housing 517 sleeved on the periphery of the fixed bearing.
Two conical bearings 514 are arranged in parallel up and down.
In a second aspect, as shown in fig. 1-2, a four-wheel steering robot comprises a robot body 101, a radar 102 and a controller mounted on the robot body 101, suspension link arms 103 pivotally connected to both sides of the robot body 101, and steering wheels mounted on both ends of each suspension link arm 103;
the radar 102 is in data transmission through wireless connection with the controller, and the controller controls the steering wheel to move according to the data transmitted by the radar 102.
As shown in fig. 2, a bracket assembly 106 connected with the suspension connecting arm 103 is mounted at both ends of the robot body 101;
the bracket assembly 106 comprises a round shaft 201, a first fixing member 202 and a second fixing member 203, wherein the round shaft 201 penetrates through the first fixing member 202 and the second fixing member 203 in sequence and then is in shaft-driven connection with the suspension connecting arm 103;
the round shaft 201 and the first fixing part are both arranged inside the robot body 101, the second fixing part 203 is arranged on the side end face of the robot body 101, and a cross beam 204 which is arranged on two sides of the round shaft 201 and connected with the first fixing part 202 and the second fixing part 203 is arranged inside the robot body 101.
Wherein, the bottom of the robot body 101 is provided with a supporting plate 205 which is respectively connected with the first fixing part 202 and the second fixing part 203;
the first fixing member 202 is provided with a first bearing 206 for fixing the circular shaft 201, and the second fixing member 203 is provided with a second bearing 207 for fixing the circular shaft 201.
As shown in fig. 3, a central differential is disposed inside the robot body 101, the central differential includes a first differential gear 301, a fixed base 302 and second differential gears 303 respectively connected to the two circular shafts 201, the first differential gear 301 and the two second differential gears 303 are vertically disposed, the fixed base is connected to a fixed shaft 304, and the first differential gear 301 is movably sleeved on the fixed shaft 304 and is respectively in contact connection with the two second differential gears 303.
Wherein, a locking piece 208 connected with the round shaft 201 is arranged on the hanging connecting arm 103.
As shown in fig. 4, the steering wheel includes a steering motor 104 and a hub motor 105, a connecting bracket 107 connected to the hub motor 105 is disposed at the bottom of the steering motor 104, a connecting member 108 connected to the cantilever bracket is mounted on the steering motor 104, and the connecting member 108 is disposed at one side of the steering motor 104 and connected to the cantilever bracket in a side fixing manner;
the controller controls and connects the steering motor 104 and the in-wheel motor 105 respectively, and the steering motor 104 and the in-wheel motor 105 are connected, so that the bearing part can be directly connected on the steering motor 104, the complexity of the whole power assembly is simplified, the design complexity is greatly reduced, the space is saved to the maximum degree, the structure is simple, and the use is convenient.
As shown in fig. 5-6, the steering motor 104 includes an encoder 501, a spindle shaft 502, a gear base 518, a spindle flange 503, and a gear ring 504, wherein the encoder 501 is mounted on the top of the spindle shaft 502;
the main shaft rod 502 is coaxially arranged at the top of a main shaft flange 503, the main shaft rod 502 is sequentially sleeved with a top fixed bearing 505, a fixed disc 506, a positioning fixed bearing 507 and a main shaft gear 508 from top to bottom, three planetary gears which are arranged at the top of a gear base 518 through planetary gear shafts 509 are matched at the periphery of the main shaft gear 508, the gear base 518 is arranged at the top of the main shaft flange 503, the steering torque is effectively increased, a gear ring 504 is sleeved at the periphery of the three planetary gears 510, an annular outer cover 403 with a U-shaped section is sleeved at the periphery of the gear ring 504, an outer rotor iron core 512 sleeved on the gear ring 504 is arranged in the annular outer cover 403, a magnetic spindle cover 513 connected with the fixed disc 506 is sleeved at the periphery of the outer rotor iron core 512, a main shaft rear cover 402 covering the top of the main shaft rod 502 is arranged at the top of the magnetic spindle cover 513, and a top cover 401 is arranged at the top of the main shaft rear cover 402;
a conical bearing 514 is sleeved on the periphery of the spindle flange 503, a conical bearing cover 515 is sleeved on the periphery of the conical bearing 514, a shell 404 is sleeved on the periphery of the conical bearing cover 515, a bottom cover 405 is installed at the bottom of the shell 404, and a steering base 511 which extends out of the bottom cover 405 and is connected with a support is arranged at the bottom of the spindle flange 503;
different from other products, the technical scheme adopts a 'man' shaped structure, four sections of rotating shafts (comprising a main shaft rod 502, a main shaft flange 503, a gear base 518 and a steering base 511) with different diameters are designed on a main shaft of a steering motor 104, two conical bearings 514 which are arranged up and down are added in the middle section, and a top cover 516, a shell 404 and a bottom cover 405 are added, so that the radial enough bearing capacity is ensured, the stable work of the motor can be ensured under the pressure of large load and large weight, the whole technical scheme simplifies the volume and the complexity of the whole equipment, is a steering wheel of an unmanned vehicle or a robot with four wheels steering independently, and has the advantages of saving the complexity of part splicing, and being capable of directly adopting the motor to fix the wheel, and bearing the weight of the unmanned vehicle or the robot.
The outer rotor core 512 is a 36-slot outer rotor core, and a copper wire is wound on the outer rotor core 512;
the outer diameter of the outer rotor core 512 is 81 mm, and the thickness of the outer rotor core 512 is 20 mm.
Wherein, the bottom of the conical bearing cap 515 is provided with an upper top cover 516.
Wherein, the top of the three planetary gears 510 is covered with a planetary gear outer cover 517 sleeved on the periphery of the fixed bearing 507.
According to the technical scheme, the four independent hub motors 105 are mainly arranged, each hub motor 105 is provided with the steering motor 104, the hub motors 105 have radial supporting force and are assembled with the steering motors 104 into a whole, the four-wheel steering robot can be directly used on four-wheel independent steering vehicles, the four-wheel steering robot can move forwards and backwards and move left and right, in-situ steering can be realized, and functions which cannot be met by similar products can be realized;
the core of the technical scheme is that a new motor shaft design is adopted, a planetary reducer device, an outer roller direct current brushless motor and a radial bearing function are combined into 1, meanwhile, a hub motor 105 and a steering motor 104 are integrally designed, the design is minimized in size, the hub motor and the steering motor are integrated and miniaturized, a planetary gear 510 is arranged in the steering motor 104, a double-cone bearing 514 is designed on a main shaft rod 502 for supporting, a cone bearing cover 515 is fixed, the radial bearing function is very high, the problem that a common motor cannot bear the load is solved, the motor of the technical scheme can be directly used as the load of a heavy object, is directly connected with a wheel structure, bears the weight of an unmanned vehicle/robot, and the problem that the load of the structure is not required to be additionally designed, so that the volume is only 1/3 of products with the same functions in the market, the occupied space of parts is greatly reduced, the assembly cost is also reduced;
a group of tapered roller thrust bearings are adopted in a single steering wheel, the axial load of a steering motor 104 is guaranteed, a main shaft rod 502 of the steering motor 104 and a steering base 511 of an in-wheel motor 105 are combined into a whole, the structural complexity is simplified through integrated design, a front steering wheel and a rear steering wheel on a single side are in a group, the left side and the right side of a robot body 101 are in two groups, the two groups of steering wheels are connected through the robot body 101 to form a four-wheel steering robot, a central differential mechanism is adopted at the joint of two suspension connecting arms 103 on the left side and the right side to connect, the rotation angles of the two groups of steering wheels towards different directions can be achieved through the central differential mechanism, namely, four wheels of the four-wheel steering robot can be always kept on the ground when walking on the ground of a complex road, and meanwhile, each wheel can bear the weight load.
Four independent steering wheels are arranged on a robot body to form a four-wheel steering robot, and each steering wheel is driven in an independent driving mode, so that the four-wheel steering robot can realize various motion modes such as forward movement, backward movement, oblique driving, transverse driving, pivot steering and the like; the joints of the two suspension connecting arms on the left side and the right side are connected by adopting a central differential mechanism, and the rotation angles of all two groups of steering wheels towards different directions can be realized through the central differential mechanism, so that the four wheels of the four-wheel steering robot can be always kept on the ground when the four-wheel steering robot walks on the ground on a complex road, and meanwhile, each wheel can bear the weight load.
In conclusion, the steering wheel provided by the invention has the advantages that the steering motor is connected with the hub motor, so that the bearing part can be directly connected with the steering motor, the complexity of the whole power assembly is simplified, the design complexity is greatly reduced, the space is saved to the maximum extent, the structure is simple, and the use is convenient.
Specific embodiments of the invention have been described above. It is to be understood that the invention is not limited to the particular embodiments described above, in that devices and structures not described in detail are understood to be implemented in a manner common in the art; various changes or modifications may be made by one skilled in the art within the scope of the claims without departing from the spirit of the invention, and without affecting the spirit of the invention.

Claims (7)

1. The steering wheel is characterized by comprising a steering motor and a hub motor, wherein a connecting bracket connected with the hub motor is arranged at the bottom of the steering motor, and a connecting piece is arranged on the steering motor;
and the controller is externally connected with the steering motor and the hub motor in a control connection mode respectively.
2. The steering wheel of claim 1, wherein the steering motor comprises an encoder, a spindle shaft, a gear base, a spindle flange, and a gear ring, the encoder being mounted on the top of the spindle shaft;
the spindle rod is coaxially arranged at the top of the spindle flange, the spindle rod is sequentially sleeved with a top fixed bearing, a fixed disc, a positioning fixed bearing and a spindle gear from top to bottom, three planetary gears which are arranged at the top of the gear base through planetary gear shafts are matched at the periphery of the spindle gear, the gear base is arranged at the top of the spindle flange, the gear ring is sleeved at the periphery of the three planetary gears, an annular outer cover with a U-shaped section is sleeved at the periphery of the gear ring, an outer rotor iron core sleeved on the gear ring is arranged in the annular outer cover, a magnetic spindle cover connected with the fixed disc is sleeved at the periphery of the outer rotor iron core, a spindle rear cover covering the top of the spindle rod is arranged at the top of the magnetic spindle cover, and a top cover is arranged at the top of the spindle rear cover;
a conical bearing is sleeved on the periphery of the spindle flange, a conical bearing cover is sleeved on the periphery of the conical bearing, a shell is sleeved on the periphery of the conical bearing cover, a bottom cover is installed at the bottom of the shell, and a steering base which extends out of the bottom cover and is connected with the support is arranged at the bottom of the spindle flange;
the connector is connected to the outer wall of the housing.
3. The steering wheel according to claim 2, wherein the outer rotor core is a 36-slot outer rotor core, and copper wires are wound around the outer rotor core.
4. A steering wheel according to claim 3, wherein the outer rotor core has an outer diameter of 81 mm and a thickness of 20 mm.
5. A steerable wheel according to any of claims 2-4, wherein the bottom of the conical bearing cap is provided with an upper cap.
6. A steering wheel according to claim 5, wherein the tops of three of said planetary gears are covered with a planetary gear housing fitted around the periphery of said fixed bearing.
7. A steerable wheel according to claim 6, wherein two conical bearings are juxtaposed one above the other.
CN202110460059.9A 2021-04-27 2021-04-27 Steering wheel Pending CN113147889A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110460059.9A CN113147889A (en) 2021-04-27 2021-04-27 Steering wheel

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110460059.9A CN113147889A (en) 2021-04-27 2021-04-27 Steering wheel

Publications (1)

Publication Number Publication Date
CN113147889A true CN113147889A (en) 2021-07-23

Family

ID=76871544

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110460059.9A Pending CN113147889A (en) 2021-04-27 2021-04-27 Steering wheel

Country Status (1)

Country Link
CN (1) CN113147889A (en)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20100013503A (en) * 2008-07-31 2010-02-10 그린모텍(주) Electromotive forklift truck travelling steering apparatus
CN204948801U (en) * 2015-07-31 2016-01-13 西北农林科技大学 A mobile robot platform for kiwi fruit is picked
CN107933684A (en) * 2017-11-22 2018-04-20 山东理工大学 The electronic automatic steering system of agricultural machinery
CN108340768A (en) * 2018-04-09 2018-07-31 清华大学 A kind of electronic wheel assembly of integrated wheel hub motor
CN109278539A (en) * 2018-11-05 2019-01-29 中国科学院沈阳自动化研究所 A kind of wheeled robot Omni-mobile chassis
CN110829716A (en) * 2019-12-09 2020-02-21 深圳市万至达电机制造有限公司 Integrated structure of brushless outer rotor motor and planetary reduction gearbox
CN111645777A (en) * 2020-05-27 2020-09-11 农业农村部南京农业机械化研究所 Wheeled agricultural robot with self-adaptive wheel track adjusting function and adjusting method thereof
CN215475340U (en) * 2021-04-27 2022-01-11 苏州邦弘智能科技有限公司 Steering wheel

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20100013503A (en) * 2008-07-31 2010-02-10 그린모텍(주) Electromotive forklift truck travelling steering apparatus
CN204948801U (en) * 2015-07-31 2016-01-13 西北农林科技大学 A mobile robot platform for kiwi fruit is picked
CN107933684A (en) * 2017-11-22 2018-04-20 山东理工大学 The electronic automatic steering system of agricultural machinery
CN108340768A (en) * 2018-04-09 2018-07-31 清华大学 A kind of electronic wheel assembly of integrated wheel hub motor
CN109278539A (en) * 2018-11-05 2019-01-29 中国科学院沈阳自动化研究所 A kind of wheeled robot Omni-mobile chassis
CN110829716A (en) * 2019-12-09 2020-02-21 深圳市万至达电机制造有限公司 Integrated structure of brushless outer rotor motor and planetary reduction gearbox
CN111645777A (en) * 2020-05-27 2020-09-11 农业农村部南京农业机械化研究所 Wheeled agricultural robot with self-adaptive wheel track adjusting function and adjusting method thereof
CN215475340U (en) * 2021-04-27 2022-01-11 苏州邦弘智能科技有限公司 Steering wheel

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