CN209814148U - Differential steering heavy electric driven steering wheel - Google Patents
Differential steering heavy electric driven steering wheel Download PDFInfo
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- CN209814148U CN209814148U CN201822130344.0U CN201822130344U CN209814148U CN 209814148 U CN209814148 U CN 209814148U CN 201822130344 U CN201822130344 U CN 201822130344U CN 209814148 U CN209814148 U CN 209814148U
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Abstract
The utility model provides a differential steering's heavy electric drive steering wheel adopts differential steering technique, directly utilizes driving motor to turn to, does not need to arrange in addition a steering gear, and its structure is succinct, compact, is favorable to reducing the height of steering wheel, the technical scheme of the utility model comprises a fixed support, a slewing bearing, a bogie, suspension arms and wheel components, the fixed support is connected with the bogie through the slewing bearing, two sets of suspension arms are arranged below the bogie, and each set of suspension arm is provided with a set of wheel components; one end of each of the two suspension arms is hinged with the lower surface of the bogie through a pin shaft, the other end of each suspension arm is a cantilever end, and each wheel assembly comprises a wheel, a built-in hub speed reducer connected with the wheel and a driving motor connected with the built-in hub speed reducer.
Description
Technical Field
The utility model relates to a steering wheel mechanism specifically is a differential steering's heavy electric drive steering wheel.
Background
The omni-directional wheel type mobile robot has started to be applied in a large amount in the industrial manufacturing field. The light-load omni-directional wheeled mobile robot is generally used for moving a work platform, patrolling a field, performing work, and the like.
Heavy-duty omni-directional wheeled mobile robots, generally referred to as omni-directional trucks, can be used for the transportation of large parts, semi-finished parts and finished parts in the manufacturing areas of warehouses and workshops.
In general, a driving system of an Omni-directional wheeled mobile robot may be composed of a plurality of steering wheels, or a plurality of Omni wheels (Omni wheels), or a plurality of Mecanum wheels (Mecanum wheels), etc., and is driven by a motor, and the load of a single wheel is generally not more than 3 tons.
The steering wheel, omni wheel and mecanum wheel each have their advantages and disadvantages. In contrast, the omnidirectional wheel and the Mecanum wheel have low load, high requirement on road flatness and high maintenance cost, and have the advantages of few components of a driving system, compact structure, smaller required arrangement space and lower chassis. The steering wheel has the advantages of large load, low requirement on road surface flatness and low maintenance cost.
SUMMERY OF THE UTILITY MODEL
The utility model provides a differential heavy electric drive steering wheel who turns to adopts the differential technique that turns to, directly utilizes driving motor to turn to, need not arrange in addition and turns to the device, and its structure is succinct, compact, is favorable to reducing the height of steering wheel.
The technical scheme of the utility model lies in:
the bogie comprises a fixed support, a slewing bearing, a bogie, suspension arms and wheel assemblies, wherein the fixed support is connected with the bogie through the slewing bearing;
one end of each of the two suspension arms is hinged with the lower surface of the bogie through a pin shaft, the other end of each suspension arm is a cantilever end, and each wheel assembly comprises a wheel, a built-in hub speed reducer connected with the wheel and a driving motor connected with the built-in hub speed reducer.
Preferably, the fixed support is arranged above the bogie, and the fixed support and the bogie are connected through a slewing bearing.
Preferably, two sets of shaft sleeves are arranged on the rear side of the lower surface of the bogie, each set of shaft sleeve is fixedly connected with the bogie through support lugs arranged at two ends, the suspension arm comprises two parallel side plates, the rear ends of the two side plates are fixedly connected through a pin shaft, the pin shaft is arranged in the shaft sleeves in a penetrating mode, and the wheels are arranged between the two side plates.
Preferably, two groups of buffer mechanisms are arranged on the front side of the lower surface of the bogie and respectively correspond to the front sides of the two groups of suspension arms, each buffer mechanism comprises an upper support, a lower support and a compression spring, the compression springs are connected between the upper support and the lower support, the upper supports are fixed on the front side of the lower surface of the revolving frame, and one lower support is fixed on the front side of each group of suspension arms.
Preferably, as above-mentioned scheme, the upper bracket includes fixed plate, bedplate, stand and spring holder, the fixed plate is fixed in the revolving rack lower surface, and two stands longitudinal fixation are on the fixed plate, and the spring holder is fixed in on the fixed plate, and is located between two stands, the spring holder lower extreme is the awl point structure, and outside the awl point structure was located to compression spring upper end cover, bedplate is fixed in two stand lower extremes, and bedplate central authorities were equipped with the through-hole that is used for compression spring to pass, the lower bracket includes a lower bedplate, and lower bedplate central authorities are equipped with the through-hole that is used for compression spring to pass, be equipped with the buffer block that an elastic material made on the lower bedplate, compression spring passes this buffer block downwards.
Preferably, the suspension arm comprises a front support plate and a rear support plate, the front support plate and the rear support plate are arranged between two side plates, the wheel is positioned between the front support plate and the rear support plate, a support block is arranged at the lower part of the front side of the front support plate, the lower support is arranged on the support block, and the pin shaft is arranged at the rear side of the rear support plate; the front side of the upper support is bent downwards, and the front side of the lower support is bent upwards.
Preferably, two suspension limiting plates are fixedly arranged on two sides of the bogie respectively, the upper ends of the suspension limiting plates are fixed at the front part of the side face of the bogie, the lower ends of the suspension limiting plates extend to the outer sides of the two groups of suspension arms, a limiting column is arranged on one side, opposite to the suspension limiting plates, of each suspension arm and is located on the front side of the corresponding suspension limiting plate, and the lower ends of the suspension limiting plates are bent towards the front side to form an L-shaped structure.
Preferably, a through hole is formed in the center of the fixed support, a bracket extending to the center of the through hole is arranged on the side wall of the through hole, and an angle sensor is arranged at the cantilever end of the bracket and used for monitoring the steering angle of the heavy-duty electric-driven steering wheel.
Preferably, the heavy electrically-driven steering wheel further comprises a motor control box which is arranged in the area between the two sets of shaft sleeves on the lower surface of the bogie.
The beneficial effect of above-mentioned structure lies in:
(1) the maximum rated load of the single steering wheel can reach 25 tons, the length, width and height of a required arrangement space are only 1250mm multiplied by 600mm, the load density can reach 16 tons per square meter, and a space arrangement lifting platform with enough height is reserved.
(2) The steering wheel adopts a differential steering technology, directly utilizes the driving motor to steer, does not need to arrange a steering device additionally, has simpler and more compact structure, is beneficial to reducing the height of the steering wheel and effectively reduces the cost.
(3) The steering wheel comprises a spring suspension device, so that the height difference of the road surface can be compensated, and the requirement on the flatness of the road surface is low.
(4) The steering wheel adopts the modularized design, is convenient for expand, and the carrier uses this steering wheel of a plurality of to constitute actuating system according to total load demand, can easily satisfy load 100 and supplyes 1000 tons' demand.
Drawings
Fig. 1 is a schematic diagram of the explosion structure of the present invention.
Fig. 2 is a schematic structural view of the suspension arm of the present invention.
Fig. 3 is a schematic structural view of the upper support of the present invention.
Fig. 4 is a front view of the present invention.
Fig. 5 is a left side view of fig. 4.
Fig. 6 is a right side view of fig. 4.
Fig. 7 is a top view of fig. 4.
Fig. 8 is a bottom view of fig. 4.
Detailed Description
Embodiments of the present invention are described in detail below with reference to the accompanying drawings.
It should be noted that, in the present embodiment, for convenience of description of the positional relationship between the structures, it is assumed that the side of the suspension arm 10 where the pin 13 is located is the front side, and the side where the lower support 9 is installed is the rear side.
The technical scheme of the embodiment comprises a fixed support 1, a slewing bearing 3, a bogie 4, suspension arms 10 and wheel assemblies, wherein the fixed support 1 is connected with the bogie 4 through the slewing bearing 3, two groups of suspension arms 10 are arranged below the bogie 4, and one group of wheel assemblies is arranged on each group of suspension arms 10;
one end of each of the two suspension arms 10 is hinged with the lower surface of the bogie 4 through a pin shaft 13, the other end of each suspension arm is a cantilever end, and each wheel assembly comprises a wheel 12, a built-in hub speed reducer connected with the wheel and a driving motor 11 connected with the built-in hub speed reducer.
In this embodiment, the fixed support 1 is disposed above the bogie 4, and the two are connected by the slewing bearing 3.
In this embodiment, two sets of shaft sleeves 15 are disposed on the rear side of the lower surface of the bogie 4, each set of shaft sleeve 15 is fixedly connected to the bogie 4 through lugs disposed at two ends, the suspension arm 10 includes two parallel side plates 101, the rear ends of the two side plates 101 are fixedly connected through a pin 13, the pin 13 is disposed in the shaft sleeve 15, and the wheels are disposed between the two side plates 101.
In this embodiment, two sets of buffer mechanisms are arranged on the front side of the lower surface of the bogie 4, and respectively correspond to the front sides of the two sets of suspension arms 10, each buffer mechanism includes an upper support 6, a lower support 9 and a compression spring 7, the compression spring 7 is connected between the upper support 6 and the lower support 9, the upper support 6 is fixed on the front side of the lower surface of the revolving frame, and one lower support 9 is fixed on the front side of each set of suspension arm 10.
In this embodiment, the upper support 6 includes a fixed plate 601, a support plate 604, two columns 602 and a spring seat 603, the fixed plate 601 is fixed to the lower surface of the revolving frame, the two columns 602 are longitudinally fixed to the fixed plate 601, the spring seat 603 is fixed to the fixed plate 601 and located between the two columns 602, the lower end of the spring seat 603 is of a conical tip structure, the upper end of the compression spring 7 is sleeved outside the conical tip structure, the support plate 604 is fixed to the lower ends of the two columns 602, a through hole for the compression spring 7 to pass through is formed in the center of the support plate 604, the lower support 9 includes a lower support 9 plate, a through hole for the compression spring 7 to pass through is formed in the center of the lower support 9 plate, a buffer block 8 made of an elastic material is formed in the lower support 9 plate, and the compression.
In this embodiment, the suspension arm 10 includes a front support plate 102 and a rear support plate 104, the front support plate 104 and the rear support plate 104 are disposed between the two side plates 101, the wheel is located between the front support plate 104 and the rear support plate 104, a support block is disposed at the lower portion of the front side of the front support plate 102, the lower support 9 is disposed on the support block, and the pin 13 is disposed at the rear side of the rear support plate 104; the front side of the support plate of the upper support 6 is bent downwards, and the front side of the lower support 9 is bent upwards.
In this embodiment, two sides of the bogie 4 are respectively and fixedly provided with one suspension limiting plate 5, the upper end of each suspension limiting plate 5 is fixed at the front part of the side surface of the bogie 4, the lower end of each suspension limiting plate 5 extends to the outer sides of two groups of suspension arms 10, one side of each suspension arm 10 opposite to the corresponding suspension limiting plate 5 is provided with a limiting column 103, the limiting column 103 is located at the front side of the corresponding suspension limiting plate 5, and the lower end of each suspension limiting plate 5 is bent towards the front side to form an L-shaped structure.
In this embodiment, a through hole is formed in the center of the fixing support 1, a bracket 16 extending to the center of the through hole is formed on the side wall of the through hole, and an angle sensor 2 is arranged at the cantilever end of the bracket and used for monitoring the steering angle of the heavy electrically-driven steering wheel.
In this embodiment, the heavy duty electrically driven steering wheel further comprises a motor control box 14 disposed in the area between the two sets of bushings 15 on the lower surface of the bogie 4.
In the structure, the fixed support 1 is fixed on the frame through bolts, and the revolving frame can rotate around the center of the revolving support 3.
An angle sensor 2 is arranged between the bogie 4 and the fixed support 1, and can monitor the steering angle of the steering wheel, so that the steering wheel corner closed-loop control is realized.
The tail ends of the two suspension arms 10 are mounted on the lugs below the bogie 4 through respective pin shafts 13, and are symmetrical left and right, and the suspension arms 10 can swing along the respective pin shafts 13.
The front end of the suspension arm 10 is supported by an elastic element consisting of an upper support 6, a compression spring 7, a buffer block 8 and a lower support 9.
Install on the bogie 4 and hang limiting plate 5, hang limiting plate 5 and be the plate structure of lower extreme area L shape kink, be equipped with spacing post 103 on the curb plate 101 that hangs arm 10, when hanging arm 10 for the swing down of reversing frame, can play limiting displacement to the swing angle that hangs arm 10, prevent to hang that the pivot angle that hangs arm 10 is too big, keep suspension spring pressurized all the time, avoid it to deviate from.
The suspension arm 10, the pin shaft 13, the upper support 6, the compression spring 7, the buffer block 8, the lower support 9 and the suspension limiting plate 5 jointly form a longitudinal arm spring suspension, the two sets of suspensions are arranged in bilateral symmetry and swing independently, and the suspension device has certain pavement compensation capacity.
The driving motor, the wheel, the built-in hub reducer and the motor control box jointly form a driving device of the steering wheel, the wheel and the built-in hub reducer are installed in the middle of the suspension arm 10, the driving motor is installed on the inward side of the suspension arm 10 and is coaxially installed with the wheel, the motor control box is installed below the bogie 4, the two suspension arms 10 are connected with the two driving motors through cables, the rotating speeds of the left driving motor and the right driving motor can be respectively controlled, the torque output by the driving motors is amplified by the built-in hub reducer and then drives the wheel to rotate, and the walking function is achieved.
The steering wheel adopts a differential steering technology, and the steering function is realized by accurately controlling the rotating speed of the left driving motor and the rotating speed of the right driving motor. When the rotating speeds of the left wheel and the right wheel are equal and the directions are the same, the steering wheel keeps the current steering angle to walk straight line unchanged; when the rotating speeds of the left wheel and the right wheel are equal and the directions are opposite, the steering wheel stays in place to rotate; when the rotating speeds of the left wheel and the right wheel are not equal, the steering wheel can steer in walking.
The steering wheel adopts the modularized design, can use a plurality of steering wheels to form a driving system as required, satisfies the load 100 and the demand of 1000 tons.
The steering wheel does not comprise a lifting device, and if the carrying vehicle needs a lifting function, an independent lifting device can be designed. The rotation sweep range of the steering wheel is a circular area with the diameter phi 1120, and a lifting oil cylinder can be arranged at the interval of the circular area; the arrangement height of the steering wheel is only 600mm, and a lifting platform can be arranged above the steering wheel. The whole height of the truck can be controlled within 1 meter.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A heavy electric driven steering wheel with differential steering is characterized in that: the bogie comprises a fixed support, a slewing bearing, a bogie, suspension arms and wheel assemblies, wherein the fixed support is connected with the bogie through the slewing bearing;
one end of each of the two suspension arms is hinged with the lower surface of the bogie through a pin shaft, the other end of each suspension arm is a cantilever end, and each wheel assembly comprises a wheel, a built-in hub speed reducer connected with the wheel and a driving motor connected with the built-in hub speed reducer.
2. The heavy duty electrically driven rudder wheel according to claim 1, wherein: the fixed support is arranged above the bogie and is connected with the bogie through a slewing bearing.
3. A heavy duty electrically driven tiller wheel as claimed in claim 2, wherein: the rear side of the lower surface of the bogie is provided with two groups of shaft sleeves, each group of shaft sleeves is fixedly connected with the bogie through support lugs arranged at two ends, the suspension arm comprises two parallel side plates, the rear ends of the two side plates are fixedly connected through a pin shaft, the pin shaft penetrates through the shaft sleeves, and the wheels are arranged between the two side plates.
4. A heavy duty electrically driven tiller wheel as claimed in claim 3, wherein: the front side of the lower surface of the bogie is provided with two groups of buffer mechanisms which respectively correspond to the front sides of the two groups of suspension arms, each buffer mechanism comprises an upper support, a lower support and a compression spring, the compression springs are connected between the upper supports and the lower supports, the upper supports are fixed on the front side of the lower surface of the revolving frame, and the front side of each group of suspension arms is fixed with one lower support.
5. The heavy duty electrically driven rudder wheel according to claim 4, wherein: the upper bracket comprises a fixed plate, a support plate, stand columns and spring seats, wherein the fixed plate is fixed on the lower surface of the rotary frame, the two stand columns are longitudinally fixed on the fixed plate, the spring seats are fixed on the fixed plate and are located between the two stand columns, the lower ends of the spring seats are of conical tip structures, the upper end of each compression spring is sleeved outside the conical tip structures, the support plate is fixed at the lower ends of the two stand columns, a through hole for the compression spring to pass through is formed in the center of the support plate, the lower support comprises a lower support plate, the center of the lower support plate is provided with a through hole for the compression spring to pass through, a buffer block made of elastic material is arranged on the lower support plate.
6. The heavy duty electrically driven rudder wheel according to claim 5, wherein: the suspension arm comprises a front support plate and a rear support plate, the front support plate and the rear support plate are arranged between two side plates, the wheel is positioned between the front support plate and the rear support plate, the lower part of the front side of the front support plate is provided with a support block, the lower support is arranged on the support block, and the pin shaft is arranged at the rear side of the rear support plate; the front side of the upper support is bent downwards, and the front side of the lower support is bent upwards.
7. The heavy duty electrically driven rudder wheel according to claim 1, wherein: the bogie is characterized in that two sides of the bogie are respectively and fixedly provided with a suspension limiting plate, the upper end of each suspension limiting plate is fixed at the front part of the side face of the bogie, the lower end of each suspension limiting plate extends to the outer sides of two groups of suspension arms, one side of each suspension arm, which is opposite to the suspension limiting plate, is provided with a limiting column, the limiting column is positioned at the front side of the suspension limiting plate, and the lower end of each suspension limiting plate is bent towards the front side.
8. The heavy duty electrically driven rudder wheel according to claim 1, wherein: the center of the fixed support is provided with a through hole, the side wall of the through hole is provided with a support extending to the center of the through hole, and the cantilever end of the support is provided with an angle sensor used for monitoring the steering angle of the heavy electric driving steering wheel.
9. The heavy duty electrically driven rudder wheel according to claim 1, wherein: the heavy electric driving steering wheel further comprises a motor control box which is arranged in the area between the two groups of shaft sleeves on the lower surface of the bogie.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822130344.0U CN209814148U (en) | 2018-12-19 | 2018-12-19 | Differential steering heavy electric driven steering wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822130344.0U CN209814148U (en) | 2018-12-19 | 2018-12-19 | Differential steering heavy electric driven steering wheel |
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| Publication Number | Publication Date |
|---|---|
| CN209814148U true CN209814148U (en) | 2019-12-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822130344.0U Active CN209814148U (en) | 2018-12-19 | 2018-12-19 | Differential steering heavy electric driven steering wheel |
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| Country | Link |
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| CN (1) | CN209814148U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109383664A (en) * | 2018-12-19 | 2019-02-26 | 湖北三江航天万山特种车辆有限公司 | A kind of heavy electric drive steering wheel of differential steering |
-
2018
- 2018-12-19 CN CN201822130344.0U patent/CN209814148U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109383664A (en) * | 2018-12-19 | 2019-02-26 | 湖北三江航天万山特种车辆有限公司 | A kind of heavy electric drive steering wheel of differential steering |
| CN109383664B (en) * | 2018-12-19 | 2024-07-05 | 湖北三江航天万山特种车辆有限公司 | Differential steering heavy-duty electrically-driven steering wheel |
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