CN117027522A - Steering wheel device and automobile transfer robot - Google Patents
Steering wheel device and automobile transfer robot Download PDFInfo
- Publication number
- CN117027522A CN117027522A CN202311137119.9A CN202311137119A CN117027522A CN 117027522 A CN117027522 A CN 117027522A CN 202311137119 A CN202311137119 A CN 202311137119A CN 117027522 A CN117027522 A CN 117027522A
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- China
- Prior art keywords
- driving
- steering
- turntable
- motor
- steering wheel
- Prior art date
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- 230000005540 biological transmission Effects 0.000 claims abstract description 11
- 238000011065 in-situ storage Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
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- 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
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
The application discloses a steering wheel device and an automobile transfer robot, relates to the technical field of automobile transfer robots, and aims to solve the problem of improving the movement performance of steering wheels. The application comprises an outer frame, wherein a chassis is arranged on the inner side of the outer frame, a steering assembly is arranged on the chassis, and the steering assembly is connected with a driving assembly; the steering assembly comprises a steering motor and a turntable which is horizontally arranged, the turntable is in rotary connection with the chassis, an annular rack is arranged on the lower surface of the turntable, the steering motor is in transmission connection with the annular rack, and the steering motor is horizontally arranged on the outer side of the annular rack; the driving component is arranged below the turntable and is positioned on the inner side of the annular rack; the driving assembly comprises two driving wheels and two driving motors, and the driving motors are connected and used for driving the driving wheels.
Description
Technical Field
The application relates to the technical field of automobile transfer robots, in particular to a steering wheel device and an automobile transfer robot.
Background
The automobile carrying robot is special equipment applied to a stereo garage and used for parking vehicles. Generally, the robot is flat and has small overall height, and can directly drill below an automobile chassis to carry out automobile carrying action, for example, chinese patent publication No. CN111622562A discloses a wireless split intelligent automobile carrying robot. The movement of the automobile carrier is driven by steering wheels, and mainly faces the following problems: firstly, in order to improve the storage quantity and the area utilization rate of the stereo garage, enough space for parking is not reserved in the garage, so that higher requirements on the mobility of steering wheels can be provided; the overall height of the steering wheel device influences the height of the whole automobile carrying robot, and a flatter structure is needed to be improved. By combining the two points, the application aims to at least solve the problem of improving the movement performance of the steering wheel.
Disclosure of Invention
The application provides a steering wheel, which comprises an outer frame, wherein a chassis is arranged on the inner side of the outer frame, a steering assembly is arranged on the chassis, and the steering assembly is connected with a driving assembly;
the steering assembly comprises a steering motor and a turntable which is horizontally arranged, the turntable is in rotary connection with the chassis, an annular rack is arranged on the lower surface of the turntable, the steering motor is in transmission connection with the annular rack, and the steering motor is horizontally arranged on the outer side of the annular rack;
the driving component is arranged below the turntable and is positioned on the inner side of the annular rack;
the driving assembly comprises two driving wheels and two driving motors, and the driving motors are connected and used for driving the driving wheels.
The application is further provided with: the chassis comprises a supporting plate, side vertical plates, sliding rails and sliding ways, wherein the side vertical plates are provided with two side plates and are respectively arranged on two sides of the supporting plate, the sliding rails are vertically arranged on the outer side surfaces of the side vertical plates, and the sliding ways are arranged on the outer frames and are matched with the sliding rails.
The application is further provided with: the chassis comprises a first connecting piece, a second connecting piece and a spring, wherein the spring is vertically arranged, and two ends of the spring respectively prop against the first connecting piece and the second connecting piece; the first connecting piece and the second connecting piece are respectively fixedly connected with the supporting plate and the outer frame; the first connecting piece, the spring and the second connecting piece are at least three and uniformly distributed around the supporting plate.
The application is further provided with: the utility model discloses a rotary table, including the backup pad, the backup pad middle part is provided with the installing port, the side of carousel is provided with annular slide rail, annular slide rail is located the below of carousel, turn to the subassembly and include two at least support pieces, support piece with the backup pad is connected and is supported annular slide rail.
The application is further provided with: the steering assembly comprises a motor seat, wherein the motor seat is fixedly connected with the supporting plate, and the steering motor is fixed on the motor seat.
The application is further provided with: the driving assembly comprises two power units which are symmetrically arranged with reference to the central axis of the turntable.
The application is further provided with: the power unit comprises the driving motor, the driving wheel, a supporting block and a mounting plate; the mounting block is fixed on the lower surface of the turntable; the driving wheel and the driving motor are respectively arranged at two sides of the supporting block; the supporting block is provided with a gear groove, two meshed transmission gears are arranged in the gear groove, and the two transmission gears are respectively connected with the driving motor and the driving wheel.
The application also provides an automobile carrying robot which comprises a vehicle body, wherein the vehicle body is provided with two steering wheel devices.
The beneficial effects of the application are as follows:
the rotation control of the two driving wheels by the two driving motors is matched with the control of the steering assembly on the direction of the driving wheels, so that the whole steering wheel device can realize various traveling modes such as forward movement, horizontal transverse movement, traveling turning, in-situ turning and the like, and can meet various traveling demands.
The whole device has compact and flat structure, and other structural parts except the driving wheel can be arranged in the range of the outer frame, so that the device can be better applied to the automobile transfer robot.
Drawings
FIG. 1 is an isometric view of a steering wheel of the present application;
FIG. 2 is another isometric view of a steering wheel of the present application;
FIG. 3 is an exploded view of the steering wheel of the present application;
FIG. 4 is an exploded view of the steering assembly of the present application;
FIG. 5 is an exploded view of the drive assembly of the present application;
FIG. 6 is an enlarged view of a portion of FIG. 1 at A;
FIG. 7 is a partial enlarged view at B in FIG. 2;
FIG. 8 is a schematic view of the structure of an AGV of the present application.
Reference numerals: 1. an outer frame; 11. an outer end plate; 12. an outer panel; 2. a chassis; 21. a support plate; 22. a side vertical plate; 23. a linear slide rail; 24. a slideway; 25. a first connector; 26. a spring; 27. a second connector; 28. a mounting port; 3. a steering assembly; 31. a turntable; 311. an annular slide rail; 312. an annular rack; 32. a support; 33. a steering motor; 34. a motor base; 4. a drive assembly; 41. a driving motor; 42. a driving wheel; 43. a support block; 44. a gear groove; 45. and (3) mounting a plate.
Detailed Description
Preferred embodiments of the present application are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present application, and are not intended to limit the scope of the present application.
Example 1
Referring to fig. 1 and 2, the present embodiment proposes a steering wheel device, which includes an outer frame 1, a chassis 2, a steering assembly 3, and a driving assembly 4.
The outer frame 1 is of a rectangular structure and comprises two end plates and two side plates.
Referring to fig. 3 and 6, the chassis 2 is disposed inside the outer frame 1, and the chassis 2 includes a support plate 21, side plates 22, slide rails, a slide 24, a first connecting member 25, a second connecting member 27, and a spring 26. The support plate 21 is horizontally disposed, and a mounting opening 28 is provided at the center thereof. The side vertical plates 22 are provided with two side vertical plates which are respectively arranged at two sides of the supporting plate 21 and fixedly connected with the supporting plate 21. Two vertically arranged slide rails are fixed on the outer side surface of each supporting plate 21, and the slide rails 24 are fixed on the two side plates of the outer frame 1 and matched with the slide rails, so that the supporting plates 21 can move up and down. The first connecting member 25, the second connecting member 27 and the springs 26 are all provided in four and uniformly distributed around the support plate 21. Wherein the spring 26 is vertically arranged, the bottom end of the spring 26 is welded and fixed with the first connecting piece 25, and the top end of the spring 26 is welded and fixed with the second connecting piece 27. The first and second connection members 25 and 27 are fixedly connected to the support plate 21 and the side plate by welding, respectively. The support plate 21 can reciprocate up and down to perform a shock filtering function.
Referring to fig. 3, 4 and 7, the steering assembly 3 includes a turntable 31, a support 32, a motor base 34 and a steering motor 33. The side of carousel 31 has set firmly annular slide rail 311, and the bottom surface of carousel 31 is provided with annular rack 312, and the tooth of annular rack 312 is downwardly extending. The turntable 31 is disposed in the mounting opening 28, and the annular slide rail 311 abuts against the lower surface of the support plate 21. The support members 32 are provided in three and uniformly distributed around the turntable 31. The support 32 is fixedly coupled to the lower surface of the support plate 21 and serves to support the annular slide rail 311 such that the turntable 31 is rotatable within the mounting port 28. The motor cabinet 34 is fixedly connected with the side edge of the supporting plate 21, and the steering motor 33 is arranged on the motor cabinet 34. The steering motor 33 is horizontally arranged and positioned outside the annular rack 312, and an output shaft of the steering motor 33 is meshed with the annular rack 312 through a gear to realize transmission connection. The steering motor 33 can drive the turntable 31 to rotate.
With reference to fig. 3 and 5, the driving assembly 4 is disposed below the turntable 31 and inside the annular rack 312. The driving assembly 4 includes two power units symmetrically disposed with reference to the central axis of the turntable 31. The power unit includes a drive motor 41, a drive wheel 42, a support block 43 and a mounting plate 45. The supporting block 43 is a rectangular block, and the supporting block 43 is fixed to the lower surface of the turntable 31. The driving wheel 42 and the driving motor 41 are provided separately on both sides of the supporting block 43. The support block 43 is provided with a gear groove 44, two transmission gears meshed with each other are arranged in the gear groove 44, and the two transmission gears are respectively connected with the driving motor 41 and the driving wheel 42. The transmission gear is omitted from the drawings. A mounting plate 45 is secured to the support block 43 for capping the gear groove 44. The drive motor 41 and the drive wheel 42 are fixed to the support block 43 and the mounting plate 45, respectively.
For the drive assembly 4, the rotation of the two drive wheels 42 can be controlled by two drive motors 41, respectively. The two driving wheels 42 rotate at the same speed and in the same direction, so that the two driving wheels 42 can move linearly, and the two driving wheels 42 rotate reversely, so that the vehicle can turn in situ. And the steering assembly 3 is matched with the control of the steering assembly to the direction of the driving wheel 42, so that the whole steering wheel device can realize various traveling modes such as forward movement, horizontal transverse movement, traveling turning, in-situ turning and the like, and can meet various traveling requirements.
In addition, the whole device has the characteristics of compactness and flatness, and other structural members besides the driving wheel 42 can be arranged in the range of the outer frame 1, so that the device can be well applied to an automobile carrying robot.
Example 2
Referring to fig. 8, this embodiment proposes an automobile transfer robot, which includes a vehicle body provided with two steering wheel devices as described in embodiment 1, four driving wheels 42 in total supporting the vehicle body, and two steering wheel devices controlling the form of the entire vehicle body, and has all the technical effects of embodiment 1.
While the application has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the application, and in particular, the technical features set forth in the various embodiments may be combined in any manner so long as there is no structural conflict. The present application is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions falling within the scope of the claims.
In the description of the present application, terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like, which indicate a direction or a positional relationship, are based on the direction or the positional relationship shown in the drawings, are merely for convenience of description, and do not indicate or imply that the apparatus or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus are not to be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Furthermore, it should be noted that, in the description of the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application can be understood by those skilled in the art according to the specific circumstances.
The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, article, or apparatus/means that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, article, or apparatus/means.
Thus far, the technical solution of the present application has been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of protection of the present application is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present application, and such modifications and substitutions will fall within the scope of the present application.
Claims (8)
1. A steering wheel device, characterized in that: the novel steering device comprises an outer frame (1), wherein a chassis (2) is arranged on the inner side of the outer frame (1), a steering assembly (3) is arranged on the chassis (2), and the steering assembly (3) is connected with a driving assembly (4);
the steering assembly (3) comprises a steering motor (33) and a horizontally arranged turntable (31), the turntable (31) is in rotary connection with the chassis (2), an annular rack (312) is arranged on the lower surface of the turntable (31), the steering motor (33) is in transmission connection with the annular rack (312), and the steering motor (33) is horizontally arranged on the outer side of the annular rack (312);
the driving assembly (4) is arranged below the turntable (31) and is positioned on the inner side of the annular rack (312);
the driving assembly (4) comprises two driving wheels (42) and two driving motors (41), wherein the driving motors (41) are connected and used for driving the driving wheels (42).
2. Steering wheel arrangement according to claim 1, characterized in that: the chassis (2) comprises a supporting plate (21), side vertical plates (22), sliding rails and sliding ways (24), wherein the side vertical plates (22) are arranged on two sides of the supporting plate (21) respectively, the sliding rails are vertically arranged on the outer side surfaces of the side vertical plates (22), and the sliding ways (24) are arranged on the outer side frames (1) and are matched with the sliding rails.
3. Steering wheel arrangement according to claim 2, characterized in that: the chassis (2) comprises a first connecting piece (25), a second connecting piece (27) and a spring (26), wherein the spring (26) is vertically arranged, and two ends of the spring are respectively propped against the first connecting piece (25) and the second connecting piece (27); the first connecting piece (25) and the second connecting piece (27) are fixedly connected with the supporting plate (21) and the outer frame (1) respectively; the first connecting piece (25), the spring (26) and the second connecting piece (27) are at least three and uniformly distributed around the supporting plate (21).
4. Steering wheel arrangement according to claim 2, characterized in that: the middle part of backup pad (21) is provided with installing port (28), the side of carousel (31) is provided with annular slide rail (311), annular slide rail (311) are located the below of carousel (31), turn to subassembly (3) including two at least support piece (32), support piece (32) with backup pad (21) are connected and are supported annular slide rail (311).
5. The steering wheel device according to claim 4, wherein: the steering assembly (3) comprises a motor base (34), the motor base (34) is fixedly connected with the supporting plate (21), and the steering motor (33) is fixed on the motor base (34).
6. The steering wheel device according to claim 4, wherein: the driving assembly (4) comprises two power units which are symmetrically arranged with reference to the central axis of the turntable (31).
7. The steering wheel device according to claim 4, wherein: the power unit comprises the driving motor (41), the driving wheel (42), a supporting block (43) and a mounting plate (45); the mounting block is fixed on the lower surface of the turntable (31); the driving wheel (42) and the driving motor (41) are respectively arranged at two sides of the supporting block (43); the support block (43) is provided with a gear groove (44), two meshed transmission gears are arranged in the gear groove (44), and the two transmission gears are respectively connected with the driving motor (41) and the driving wheel (42).
8. An automobile transfer robot, includes automobile body, its characterized in that: the vehicle body is provided with two steering wheel arrangements as claimed in any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311137119.9A CN117027522A (en) | 2023-09-05 | 2023-09-05 | Steering wheel device and automobile transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311137119.9A CN117027522A (en) | 2023-09-05 | 2023-09-05 | Steering wheel device and automobile transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117027522A true CN117027522A (en) | 2023-11-10 |
Family
ID=88637376
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311137119.9A Pending CN117027522A (en) | 2023-09-05 | 2023-09-05 | Steering wheel device and automobile transfer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117027522A (en) |
-
2023
- 2023-09-05 CN CN202311137119.9A patent/CN117027522A/en active Pending
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