CN210235145U

CN210235145U - Steering system

Info

Publication number: CN210235145U
Application number: CN201920459847.4U
Authority: CN
Inventors: Haiwei Yu; 于海威; Bin Zhou; 周斌; Lei Ding; 丁磊
Original assignee: Yun Dynasty Shanghai Automotive Technology Co ltd
Current assignee: Yun Dynasty Shanghai Automotive Technology Co ltd
Priority date: 2019-04-08
Filing date: 2019-04-08
Publication date: 2020-04-03
Anticipated expiration: 2029-04-08

Abstract

The utility model discloses a steering system, it includes: the device comprises a driving device, a steering executing device and a speed reducing device. The speed reducer comprises a harmonic speed reducer, the input end of the harmonic speed reducer is in transmission connection with the output shaft of the driving device, and the output end of the harmonic speed reducer is in transmission connection with the steering executing device, so that the driving device can rotate around a steering axis through the harmonic speed reducer in a linkage mode to realize steering of the steering executing device. The utility model discloses in, harmonic reducer's transmission precision is higher, can be so that turn to actuating device turn to the precision higher. In addition, the transmission ratio of the harmonic reducer is large, and the steering executing device can be prevented from swinging left and right when bearing acting force to a certain degree, so that the steering executing device can be steered more stably. In addition, the harmonic reducer has the advantages of large bearing capacity, high transmission efficiency, stable transmission, convenience in installation and the like, so that the steering system is safer and more efficient, and can well meet various complex working conditions.

Description

Steering system

Technical Field

The utility model relates to a mechanical transmission field especially relates to a steering system.

Background

With the rapid development of artificial intelligence technology, automobile intelligent driving has become a hotspot of research of numerous scholars at home and abroad, a steering system is an indispensable part in automobile intelligent driving, particularly in an automobile intelligent driving simulation system, relative motion relative to a detected vehicle is completed by controlling the steering of wheels of an AGV (automatic Guided Vehicles), and in the process of realizing the corresponding sensing and control system of the detected vehicle, the AGV is used as test hardware and needs independent motion of a single wheel, so that the AGV needs high maneuverability to perform limit working condition simulation, and thus the test coverage is improved. However, the transmission precision of the speed reducer adopted by the steering system in the prior art is low, so that the steering precision of the wheels is low.

Specifically, in the prior art, a steering control device is disclosed in chinese utility model with an authorization publication number of CN 208360285U. As shown in fig. 1-2, the electric power steering system EPS comprises a chassis 1, a speed reducer 2, a wheel fixing frame 3 and an electric power steering system EPS4, wherein the speed reducer is fixedly mounted on the chassis 1 through a speed reducer base, the wheel fixing frame 3 comprises a speed reducer connecting part 31, a connecting plate 32 and a wheel connecting part 33, one end of the speed reducer connecting part 31 is arranged on a horizontal part 321 of the connecting plate 32, the other end of the speed reducer connecting part is connected with an output hole of the speed reducer 2, the speed reducer connecting part 31 is connected on the chassis 1 through a bearing, and an output shaft of the electric power steering system EPS4 is connected with the. However, the steering system adopting such a structure has the following drawbacks: the adopted speed reducer has lower transmission precision, so that the steering precision of the wheels is lower.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the lower problem of the steering accuracy that steering system among the prior art has the wheel. Therefore, the utility model provides a steering system can make to turn to actuating device turn to the precision higher.

In order to solve the above problem, an embodiment of the present invention discloses a steering system, which includes: the speed reduction device comprises a harmonic speed reducer, the input end of the harmonic speed reducer is in transmission connection with the output shaft of the driving device, and the output end of the harmonic speed reducer is in transmission connection with the steering execution device, so that the driving device is linked with the steering execution device through the harmonic speed reducer and rotates around a steering axis to realize steering of the steering execution device.

Adopt above-mentioned technical scheme, the utility model discloses well decelerator sets up to the harmonic speed reducer ware, and the transmission precision of harmonic speed reducer ware is higher to can make to turn to actuating device turn to the precision higher.

In addition, the transmission ratio of the harmonic reducer is large, and the steering executing device can be prevented from swinging left and right when bearing a certain acting force, so that the steering executing device is prevented from swinging left and right due to vibration when the steering executing device rotates at a high speed, and the steering executing device is enabled to steer more stably.

In addition, the harmonic reducer has the advantages of large bearing capacity, small volume, light weight, high transmission efficiency, stable transmission, no noise, convenience in installation and the like, so that the steering system is safer and more efficient, and can well deal with various complex working conditions.

Further, the utility model discloses an embodiment discloses a steering system, the steering axis with drive arrangement the axis of output shaft is parallel or is located same straight line.

Adopt above-mentioned technical scheme, turn to actuating device's the axis that turns to the axis and the output shaft of drive arrangement is parallel or be located same straight line, and this kind of structure need not to set up the switching-over drive mechanism, can reduce the power loss that drive arrangement caused when turning to actuating device transmission power, is favorable to improving the utility model provides a steering system power take off efficiency.

In addition, the steering system with the structure has smaller transverse occupied space and more compact structure, and can be suitable for occasions with higher requirements on transverse space.

Further, the utility model discloses an embodiment discloses a steering system, steering system still includes connecting device, the harmonic speed reducer has the rigid wheel, the rigid wheel is fixed in connecting device.

Adopt above-mentioned technical scheme, connecting device's setting can be convenient the utility model discloses in the fixing of a steering system to and the dismouting of the harmonic speed reducer ware of being convenient for, thereby make a steering system turn to the in-process more steady, and the structure is simpler.

Further, an embodiment of the present invention discloses a steering system, wherein the connecting device includes a connecting seat, the connecting seat is configured as a hollow structure having a receiving cavity, and a length direction of the receiving cavity is parallel to or on the same straight line with an axis direction of the output shaft of the driving device;

at least part of the driving device is positioned in the accommodating cavity, a shell of the driving device is detachably and fixedly connected to the connecting seat, and the rigid wheel is detachably and fixedly connected to the connecting seat.

By adopting the technical scheme, the connecting seat is arranged to be a hollow structure with the accommodating cavity, so that the driving device can be conveniently installed.

In addition, the length direction of the accommodating cavity is parallel to the axial direction of the output shaft of the driving device or is positioned on the same straight line, and the structure can ensure that the driving device is conveniently connected with the harmonic reducer after being fixed on the connecting seat. Thereby make the utility model provides a steering system's equipment process is simpler.

In addition, the setting of this kind of structure has not only reduced the holistic occupation space of a steering system, makes the utility model provides a steering system's structure is compacter, still is favorable to reducing the power loss of drive arrangement and harmonic reduction gear in power transmission process, thereby makes the utility model provides a steering system's work efficiency is higher.

Further, an embodiment of the present invention discloses a steering system, wherein the harmonic reducer has a rigid gear and a flexible gear, the flexible gear includes a flexible gear body and an outer flange, one end of the flexible gear body is embedded in the rigid gear and engaged with the rigid gear, and the outer flange extends outward from an outer wall surface of the other end of the flexible gear body in a radial direction of the flexible gear body;

the steering executing device comprises a steering support, the steering support comprises a first portion and a second portion which are intersected, the length direction of the first portion is perpendicular to the axial direction of the output shaft of the driving device, the length direction of the second portion is parallel to the axial direction of the output shaft of the driving device, and the outer flange of the flexible wheel is detachably and fixedly connected to the first portion of the steering support.

Adopt above-mentioned technical scheme, because the outer flange that sets up on the flexbile gear can make the harmonic speed reducer ware more firm with turning to the support connection, thereby make the utility model provides a steering system's working property is more stable, the structure is compacter.

In addition, the outer flange in the flexbile gear can be dismantled and connect on the first portion that turns to the support, and this kind of structure can make the utility model discloses well a steering system's installation procedure is simpler, the maintenance is more convenient.

Further, the utility model discloses an embodiment discloses a steering system, the harmonic speed reducer ware still includes the bearing, the inner circle fixed connection of bearing in the rigid wheel is close to a side of outward flange, the outer lane fixed connection of bearing in on the outward flange.

Adopt above-mentioned technical scheme, the utility model provides a bearing includes inner circle and outer lane, and this bearing is located between flexbile gear and the rigid wheel, and matches with flexbile gear and rigid wheel. The bearing of this kind of structure can make the utility model provides a steering system bears the load of all directions such as axial load, radial load and overturning moment simultaneously, is favorable to further improving the utility model provides a steering system's the performance that turns to. And can make the flexbile gear among the harmonic speed reducer ware more steady when rotating for the rigid wheel to make the performance of harmonic speed reducer ware more stable, be favorable to improving the utility model provides a steering system turn to precision and stability. Additionally, the utility model provides a bearing appearance is compact, and its occupation space is less, can make the utility model provides a steering system structure is compacter.

Further, the utility model discloses an embodiment discloses a steering system, the first portion with the junction of second portion is provided with the strengthening rib.

By adopting the technical scheme, the reinforcing ribs are arranged at the connecting positions of the first part and the second part, so that the first part and the second part in the steering support are connected more firmly. The working performance of the steering support is improved.

In addition, the design of this kind of structure can make the utility model provides a steering system turns to more steadily, is favorable to prolonging steering system's life.

Further, the utility model discloses an embodiment discloses a steering system, turn to final controlling element still includes the wheel, the first portion with the second part junction forms an installation space, the wheel is located in the installation space, and with the second part is connected.

Adopt above-mentioned technical scheme, installation space's setting can be so that to turn to the final controlling element structure compacter, thereby makes the utility model discloses well a steering system can be used to the work occasion of difference.

Further, the utility model discloses an embodiment discloses a steering system, steering system still includes the adjustment portion, the adjustment portion is in detachably fixed connection in the axis direction of output shaft in the harmonic speed reducer ware with turn to between the final controlling element.

Adopt above-mentioned technical scheme, the adjustable steering system's of adjustment portion height, so that the utility model provides a steering system can be used to the occasion of various differences to make steering system use more extensively.

the steering executing device comprises a steering support, the steering support comprises a first part and a second part which are intersected, the length direction of the first part is perpendicular to the axial direction of the output shaft of the driving device, and the length direction of the second part is parallel to the axial direction of the output shaft of the driving device;

the adjusting part is an annular adjusting cushion block, the adjusting cushion block is respectively and fixedly connected with the outer flange on the flexible gear and the first part of the steering support in a detachable mode, and the adjusting cushion block is located between the outer flange and the first part.

Adopt above-mentioned technical scheme, adjustment portion sets up to annular adjustment cushion, and such structure is favorable to alleviateing the utility model provides a steering system's weight to improve steering system's power transmission efficiency, make steering system's structure simpler.

In addition, the adjusting cushion block is detachably and fixedly connected between the outer flange and the first portion, the structure can facilitate the adjusting cushion block to adjust the height of the steering system, and the adjusting cushion block is convenient to mount and dismount.

In addition, the structure phase-match of structure and the adjustment cushion of outward flange can be so that the harmonic speed reducer ware is more firm with the adjustment cushion is connected, thereby makes the utility model provides a steering system's working property is more stable.

Further, an embodiment of the present invention discloses a steering system, wherein the harmonic reducer has a wave generator, the output shaft of the driving device is inserted into the wave generator and is in key connection with the wave generator, so as to fix the wave generator relative to the output shaft of the driving device in the circumferential direction of the output shaft;

the speed reducer further comprises a limiting part, wherein the limiting part is detachably fixed on the output shaft, and the limiting part abuts against the end face of the wave generator so as to limit the relative movement of the wave generator and the output shaft in the axial direction of the output shaft.

By adopting the technical scheme, the wave generator is connected with the output shaft in a key mode, so that the relative rotation between the wave generator and the output shaft along the circumferential direction of the output shaft can be limited, and the motion and the torque of the output shaft of the driving device can be more reliably transmitted to the wave generator; spacing portion can restrict wave generator and output shaft and remove on the axial direction of output shaft, and this kind of structure can make wave generator and output shaft more reliable, is favorable to improving the transmission efficiency when drive arrangement transmits power to the harmonic speed reducer ware, thereby makes the utility model provides a steering system's work efficiency is higher.

Further, an embodiment of the present invention discloses a steering system, wherein the limiting portion includes a limiting gasket and a fastening member; the fastening piece penetrates through the limiting gasket to be detachably and fixedly connected with the output shaft, and the limiting gasket abuts against the end face of the wave generator under the fastening action of the fastening piece.

Adopt above-mentioned technical scheme, the setting up of spacing gasket and fastener can restrict wave generator and output shaft and remove on the axial direction of output shaft for wave generator and output shaft are connected more reliably, thereby performance is more stable when making drive arrangement to harmonic reduction gear transmission power, and is favorable to improving the transmission efficiency of drive arrangement when transmitting power to harmonic reduction gear, can make steering system's work efficiency is higher.

Other features and corresponding advantages of the invention are set forth in the following part of the specification, and it is to be understood that at least some of the advantages become apparent from the description of the invention.

Drawings

Fig. 1 is a perspective view of a steering system in the prior art;

fig. 2 is a schematic view of an internal structure of a wheel holder of the steering system shown in fig. 1;

fig. 3 is an exploded view of a steering system according to an embodiment of the present invention;

fig. 4 is a schematic perspective view of a steering system in an embodiment of the present invention;

fig. 5 is a rear view schematic structural diagram of a steering system in an embodiment of the present invention;

fig. 6 is a schematic view of an internal structure of a steering system according to an embodiment of the present invention;

fig. 7 is a schematic diagram of an internal structure of a harmonic reducer in a steering system according to an embodiment of the present invention.

Description of reference numerals:

the prior art is as follows:

1: a chassis; 2: a speed reducer; 3: a wheel fixing frame; 31: a reducer connecting portion; 32: a connecting plate; 321: a horizontal portion; 33: a wheel connecting portion; 4: an electric power steering system EPS.

The utility model discloses:

100: a drive device; 101: an output shaft;

200: a harmonic reducer; 201: a wave generator; 202: a limiting part; 2021: a limiting gasket; 2022: a fastener; 203: a flexible gear; 2031: a flexspline body; 2032: an outer flange; 204: a rigid wheel; 205: a bearing;

300: a steering actuator; 301: a steering bracket; 3011: a first portion; 3012: a second portion; 3013: reinforcing ribs; 302: a wheel;

400: a connecting device; 401: a connecting seat; 402: a connecting portion;

500: an adjusting part.

Detailed Description

The following description is provided for illustrative embodiments of the present invention, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure herein. While the invention will be described in conjunction with the preferred embodiments, it is not intended that features of the invention be limited to only those embodiments. On the contrary, the intention of implementing the novel features described in connection with the embodiments is to cover other alternatives or modifications which may be extended based on the claims of the present invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be practiced without these particulars. Furthermore, some of the specific details are omitted from the description so as not to obscure or obscure the present invention. It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict.

It should be noted that in this specification, like reference numerals and letters refer to like items in the following drawings, and thus, once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings.

The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. 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.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In order to make the objects, technical solutions and advantages of the present invention clearer, embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

An embodiment of the present invention provides a steering system, as shown in fig. 3 to 4, the steering system including: a drive device 100, a steering actuator 300 and a reduction gear. Wherein the reduction device is provided as a harmonic reducer 200.

Specifically, the input end of the harmonic reducer 200 is in transmission connection with the output shaft 101 of the driving device 100, and the output end of the harmonic reducer 200 is in transmission connection with the steering actuator 300.

In operation, the power output by the driving device 100 is transmitted to the harmonic reducer 200, the harmonic reducer 200 decelerates the power output by the driving device 100, and finally the harmonic reducer 200 transmits the decelerated power to the steering actuator 300, so that the steering actuator 300 steers around the steering axis.

More specifically, the speed reducer is configured as the harmonic reducer 200 in the present embodiment, and since the harmonic reducer 200 has an advantage of high transmission precision, the steering precision of the steering actuator 300 in the present embodiment can be made higher.

In addition, the transmission ratio of the harmonic reducer 200 is relatively large, so that the steering executing device 300 can be prevented from swinging left and right when bearing a certain acting force, the steering executing device 300 can be prevented from swinging left and right due to vibration when the steering executing device 300 rotates at a high speed, and the steering of the steering executing device 300 is more stable.

In addition, the harmonic reducer 200 also has the advantages of large bearing capacity, small volume, light weight, high transmission efficiency, stable transmission, no noise, convenient installation and the like, so that the steering system is safer and more efficient, and can well deal with various complex working conditions.

More specifically, the harmonic reducer in the present embodiment may be any one of various types of harmonic reducers, such as an HMCS-series harmonic reducer, an HMHS-series harmonic reducer, and the like, which are commonly known to those skilled in the art.

The driving device in the present embodiment may be any one of various driving devices such as an electric motor, a hydraulic motor, and the like, which are commonly known to those skilled in the art.

It should be understood that the specific type of the harmonic reducer and the driving device can be set according to the actual design and the use requirement, and the embodiment is not limited thereto.

Further, as shown in fig. 3 to 6, the steering axis of the steering actuator 300 and the axis of the output shaft 101 in the steering system in the present embodiment are located on or parallel to the same straight line.

Specifically, the steering system in this embodiment does not need to provide a reversing transmission mechanism, and the driving device 100 can transmit power to the steering actuator 300, so that the power loss caused when the driving device 100 transmits power to the steering actuator 300 can be reduced, which is beneficial to improving the power output efficiency of the steering system in this embodiment.

In addition, the steering system provided in this embodiment has the advantages of small lateral occupied space and compact structure because the steering axis of the steering actuator 300 and the axis of the output shaft 101 are located on or parallel to the same straight line, so that the steering system in this embodiment can be applied to some occasions with high requirements on lateral space.

More specifically, in this embodiment, the steering axis of the steering actuator 300 and the axis of the output shaft 101 may be located on or parallel to the same straight line, and the specific arrangement manner of this embodiment is not limited, and may be set according to actual design and use requirements.

Further, as shown in fig. 3 to 7, the steering system in the present embodiment further includes a connecting device 400, and the harmonic reducer 200 has a rigid wheel 204. Wherein the rigid wheel 204 is fixed to the connecting device 400.

Specifically, the rigid gear 204 serves as a fixed gear of the harmonic reducer 200, and the connection device 400 can fix the rigid gear 204 and thus the harmonic reducer 200. This structure can make the steering system in the present embodiment smoother during steering.

In addition, the steering system in this embodiment can be conveniently fixed by the connecting device 400, so that the steering system can be used in different situations, and the steering system in this embodiment also has the advantage of wide application.

Further, as shown in fig. 3 to 7, the connection device 400 in the steering system in the present embodiment further includes a connection seat 401, and a receiving cavity is provided on the connection seat 401, and the receiving cavity is configured as a hollow structure. And the length direction of the accommodating cavity is parallel to the axial direction of the output shaft 101 or on the same straight line.

Specifically, at least a portion of the driving device 100 is disposed in the accommodating cavity, the housing of the driving device 100 is detachably and fixedly connected to the connecting seat 401, and the rigid wheel 204 is detachably and fixedly connected to one side of the connecting seat 401.

More specifically, the connecting socket 401 is provided as a hollow structure having a receiving cavity to facilitate the installation of the driving device, thereby making the structure of the steering system in this embodiment simpler.

In addition, the length direction of the accommodating cavity is parallel to or in the same line with the axial direction of the output shaft 101 of the driving device 100, and the structure can make the driving device 100 more conveniently connected with the harmonic reducer 200 after being fixed on the connecting seat 401. Thereby making the assembly process of the steering system in this embodiment simpler.

In addition, the driving device 100 of the steering system in this embodiment is disposed in the accommodating cavity, and the arrangement of this structure not only reduces the overall occupied space of the steering system, so that the structure of the steering system in this embodiment is more compact, but also is beneficial to reducing the power loss of the driving device 100 and the harmonic reducer 200 in the power transmission process, so that the working efficiency of the steering system in this embodiment is higher.

More specifically, in this embodiment, the length direction of the accommodating cavity is parallel to the axial direction of the output shaft or is located on the same straight line, and the specific arrangement mode of this embodiment is not limited, and can be set according to actual design and use requirements.

Furthermore, the connecting device 400 in this embodiment further includes a connecting portion 402, specifically, the connecting portion 402 may be two connecting plates, the two connecting plates are detachably connected or integrally formed, and threaded holes are formed in the two connecting plates, so that the steering system in this embodiment is connected to the chassis of the vehicle or other devices requiring steering movement through the connecting portion 402 of the connecting device 400.

More specifically, the specific shape and arrangement of the connecting portion 402 may be set according to actual design and use requirements, which are not limited in this embodiment.

Further, as shown in fig. 3 and 7, the harmonic reducer 200 in the steering system in the present embodiment has a rigid gear 204 and a flexible gear 203. And the flexspline 203 further includes a flexspline body 2031 and an outer flange 2032.

Specifically, one end of the flexspline body 2031 is embedded in the circular spline 204 and engaged with the circular spline 204, and the outer flange 2032 extends outward in the same direction as the outer wall surface of the other end of the flexspline body 2031 in the radial direction of the flexspline body 2031.

More specifically, the outer flange 2032 provided on the flexspline 203 can make the connection between the harmonic reducer 200 and the steering actuator 300 more secure, so that the axial system provided by the embodiment has more stable working performance and more compact structure.

More specifically, the steering actuator 300 includes a steering bracket 301, the steering bracket 301 includes a first portion 3011 and a second portion 3012, and the first portion 3011 and the second portion 3012 intersect and are connected.

The length direction of the first portion 3011 is perpendicular to the axial direction of the output shaft 101 of the driving device 100, and the length direction of the second portion 3012 is parallel to the axial direction of the output shaft 101 of the driving device 100. An outer flange 2032 in the flexspline 203 is removably fixedly attached to the first portion 3011.

More specifically, the first portion 3011 and the second portion 3012 may be configured to be plate-shaped, and may also be configured to be other shapes, which may be specifically set according to actual design and use requirements, and this embodiment does not limit this.

In addition, the structure can make the harmonic reducer 200 and the steering executing device 300 more convenient to assemble and disassemble, and can make the installation process of the steering system in the embodiment simpler and the maintenance more convenient.

Further, as shown in fig. 7, the harmonic reducer 200 in the present embodiment further includes a bearing 205. Specifically, the inner ring of the bearing 205 is connected to the side surface of the rigid wheel 204 close to the outer flange 2032, and is fixedly connected to the side surface of the rigid wheel 204; the outer race of the bearing 205 is connected to the outer flange 2032 and is fixedly connected to the outer flange 2032.

Specifically, the bearing 205 in this embodiment includes an inner race and an outer race, and is located between the flexspline 203 and the circular spline 204. And with supporting with flexspline 203 and circular spline 204, the bearing 205 of this kind of structure can make the steering system in this embodiment bear the load of all directions such as axial load, radial load and overturning moment simultaneously, is favorable to further improving the utility model provides a steering system's steering performance.

In addition, the bearing 205 in this embodiment also has high rigidity, rotational accuracy, and composite bearing capacity; the flexspline 203 in the harmonic reducer 200 can rotate more stably relative to the rigid spline 204, so that the performance of the harmonic reducer 200 is more stable, and the steering precision and stability of the steering system in the embodiment can be improved.

In addition, the bearing 205 in this embodiment has a compact shape, and occupies a small space, so that the structure of the steering system in this embodiment can be more compact.

Furthermore, the bearing 205 in this embodiment is further provided with a mounting hole, and the mounting hole is provided to facilitate the connection between the bearing 205 and the flexible gear 203 and the rigid gear 204, so that the structure of the steering system in this embodiment is simpler.

Further, the bearing in this embodiment may be a cylindrical roller bearing, wherein the rolling elements in the cylindrical roller bearing are cylindrical rollers which are uniformly arranged in the V-shaped raceway at 90 ° to each other. The bearing with the structure can bear loads in all directions such as axial load, radial load, overturning moment and the like, and is beneficial to improving the steering performance of the steering system in the embodiment.

Further, the bearing in the present embodiment may also be various types of bearings such as a thrust ball bearing, which is common to those skilled in the art, and the specific type of the bearing may be set according to the actual design and the use requirement.

Further, as shown in fig. 3, a reinforcing rib 3013 is provided at the junction of the first part 3011 and the second part 3012 in the steering system in the present embodiment.

Specifically, the reinforcing ribs 3013 are disposed at the connection between the first portion 3011 and the second portion 3012, so that the first portion 3011 and the second portion 3012 of the steering bracket 301 can be connected more firmly. Which is advantageous for improving the workability of the steering bracket 301.

In addition, the design of the structure can make the steering system in the embodiment turn more smoothly, and is beneficial to prolonging the service life of the steering system.

Further, as shown in fig. 3, the steering actuator 300 in the steering system in the present embodiment further includes a wheel 302, a mounting space is formed at a connection portion of the first portion 3011 and the second portion 3012, and the wheel 302 is located in the mounting space and connected to the second portion 3012.

Specifically, the installation space formed by the first portion 3011 and the second portion 3012 can facilitate the installation of the wheel 302 and can limit the wheel 302 from being affected by external factors during the rotation process.

Therefore, this structure can make the operating performance of the steering system in the present embodiment more stable. And the structure of the steering actuator 300 in the steering system is made more compact, so that the steering system in the present embodiment can be used for different fields.

Further, as shown in fig. 3 to 7, the steering system of the present embodiment further includes an adjusting part 500, and the adjusting part 500 is detachably and fixedly connected between the harmonic reducer 200 and the steering actuator 300 in the axial direction of the output shaft 101.

Specifically, the adjusting part 500 may be used to adjust the height of the steering system, so that the steering system of the present embodiment may be used in various different situations, thereby making the steering system more widely used.

More specifically, the adjusting part 500 may be provided in a block shape or a sheet shape, and the specific shape thereof may be set according to actual design and use requirements, which is not limited in this embodiment.

Further, as shown in fig. 3 to 7, the harmonic reducer 200 in the steering system in the present embodiment has a rigid gear 204 and a flexible gear 203. And the flexspline 203 further includes a flexspline body 2031 and an outer flange 2032.

Further, the adjusting portion 500 in the steering system in the present embodiment is provided as an annular adjusting block, which is detachably and fixedly connected to the outer flange 2032 on the flexspline 203 and the first portion 3011 on the steering bracket 301, respectively, and is located between the outer flange 2032 and the first portion 3011.

Specifically, the adjusting part 500 is provided as an annular adjusting pad, which is beneficial to reduce the weight of the steering system in the embodiment, thereby improving the power transmission efficiency of the steering system. And the structure of the steering system can be made simpler.

In addition, the spacer block is removably fixedly attached between the outer flange 2032 and the first portion 3011, which facilitates height adjustment of the steering system by the spacer block and facilitates installation and removal of the spacer block.

In addition, the structure of the outer flange 2032 matches the structure of the adjustment block, so that the harmonic reducer 200 and the adjustment block are more firmly connected, and the working performance of the steering system in this embodiment is more stable.

More specifically, the specific shape and size of the adjusting pad in this embodiment may be set according to actual design and use requirements, which is not limited in this embodiment.

Further, as shown in fig. 3 to 7, the harmonic reducer 200 in the present embodiment has a wave generator 201. Wherein, output shaft 101 of drive arrangement 100 wears to locate wave generator 201, and with wave generator 201 key-type connection to realize wave generator 201 and fix in the circumference of output shaft 101 relative to output shaft 101 of drive arrangement 100. The wave generator is connected with the output shaft in a key mode, relative rotation between the wave generator and the output shaft along the circumferential direction of the output shaft can be limited, and therefore motion and torque of the output shaft of the driving device can be transmitted to the wave generator more reliably.

Specifically, in this embodiment, one of the output shaft 101 and the wave generator 201 is provided with a key, and the other is provided with a groove, so as to realize the key connection of the output shaft 101 and the wave generator 201, and the specific setting mode can be set according to the actual design and the use requirement, which is not limited in this embodiment.

Furthermore, the reduction gear in this embodiment further includes a limiting portion 202, the limiting portion 202 is detachably and fixedly connected to the output shaft 101, and the limiting portion 202 abuts against an end surface of the wave generator 201, so as to limit the relative movement between the wave generator 201 and the output shaft 101 in the harmonic reducer 200 in the axial direction of the output shaft 101.

Specifically, the limiting portion 202 is disposed at a connection position of the wave generator 201 and the output shaft 101 to limit the wave generator 201 and the output shaft 101 from moving in the axial direction of the output shaft 101, and this structure can make the connection between the wave generator 201 and the output shaft 101 more reliable, which is beneficial to improving the transmission efficiency when the driving device 100 transmits power to the harmonic reducer 200, so that the working efficiency of the steering system in this embodiment is higher.

More specifically, the limiting portion 202 may be a gasket, and in the working process, the gasket fixes the wave generator 201 on the output shaft 101 to limit the looseness of the output shaft 101 and the wave generator 201 in the rotation process of the output shaft 101.

More specifically, the position-limiting portion 202 in the present embodiment may also be other types of position-limiting portions, and the specific type thereof may be set according to actual design and use requirements, which is not limited in the present embodiment.

Further, as shown in fig. 6 to 7, the limiting portion 202 includes a limiting washer 2021 and a fastener 2022, wherein the fastener 2022 passes through the limiting washer 2021 to be detachably and fixedly connected with the output shaft 101, and the limiting washer 2021 abuts against the end surface of the wave generator 201 under the fastening action of the fastener 2022.

Specifically, the diameter of the limiting washer 2021 in this embodiment is larger than the inner diameter of the wave generator 201 and smaller than the diameter of the flexible gear 203, which is not specifically limited in this embodiment.

More specifically, the fastening element 2022 in this embodiment may be a bolt, or may be another type of fastening element, and may be specifically set according to actual design and use requirements, which is not limited in this embodiment.

More specifically, the arrangement of the limiting washer 2021 and the fastening member 2022 can limit the wave generator 201 and the output shaft 101 to move in the axial direction of the output shaft 101, so that the wave generator 201 is more reliably connected to the output shaft 101, and the performance of the driving device 100 is more stable when transmitting power to the harmonic reducer 200, and the transmission efficiency of the driving device 100 when transmitting power to the harmonic reducer 200 is improved, and the working efficiency of the steering system in this embodiment is higher.

It should be understood that the detachable fixed connection in the present embodiment may be any one of various detachable fixed connections, such as a bolt connection, a snap connection, etc., which are commonly known to those skilled in the art, and the specific connection form of the detachable fixed connection may be set according to the actual design and the use requirement, which is not limited in the present embodiment.

The embodiment of the present invention provides a steering system, wherein, as shown in fig. 3 to fig. 7, the driving device 100 may be a motor, the speed reducer may be a harmonic reducer 200, the adjusting unit 500 may be an adjusting pad, and the steering actuator 400 includes a steering bracket 301 and a wheel 302.

Specifically, the motor is installed at one end of the connecting device 400, the other end of the connecting device 400 can be connected with a chassis of the vehicle body, an output shaft of the motor is fixedly connected with the wave generator 201 in the harmonic reducer 200 through a key and a gasket, the flexible gear 203 in the harmonic reducer 200 is connected with the steering bracket 301 through an adjusting cushion block, the rigid gear 204 in the harmonic reducer 200 is connected with the connecting device 400, and the wheels 302 are installed on the steering bracket 301.

In the working process, the motor can be controlled through the remote terminal, so that the motor drives the harmonic reducer 200 to rotate, the steering support 301 connected with the harmonic reducer 200 and the wheels 302 are steered together, and the steering movement of the vehicle body is realized.

The steering system with the structure can avoid the swinging problem of the wheels when the wheels run at high speed through the speed reduction of the harmonic reducer with large transmission ratio.

In addition, the harmonic reducer has the advantages of large bearing capacity, small volume, light weight, high transmission efficiency, stable transmission, no noise, convenience in installation and the like, so that the steering system is safer and more efficient, and can well cope with various complex working conditions.

Further, the steering actuator in this embodiment may be a wheel, a manipulator, or another mechanism requiring steering movement. That is, the steering system in the present embodiment is applicable to various mechanisms requiring steering movement, and has high steering accuracy, stable performance, and wide application.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.

Claims

1. A steering system including a driving device and a steering actuator, characterized by further comprising:

the speed reducer comprises a harmonic speed reducer, the input end of the harmonic speed reducer is in transmission connection with the output shaft of the driving device, and the output end of the harmonic speed reducer is in transmission connection with the steering execution device, so that the driving device is linked with the steering execution device through the harmonic speed reducer and rotates around a steering axis to realize steering of the steering execution device.

2. A steering system according to claim 1, wherein the steering axis is parallel or collinear with the axis of the output shaft of the drive means.

3. A steering system according to claim 1 or 2, further comprising a connecting device, wherein the harmonic reducer has a rigid wheel fixed to the connecting device.

4. The steering system according to claim 3, wherein the connecting means includes a connecting seat provided as a hollow structure having a receiving chamber whose length direction is parallel to or on the same straight line as an axial direction of the output shaft of the driving means;

5. The steering system according to claim 1 or 2, wherein the harmonic reducer has a rigid gear and a flexible gear, the flexible gear includes a flexible gear body, one end of the flexible gear body is embedded in the rigid gear and engaged with the rigid gear, and an outer flange extends from an outer wall surface of the other end of the flexible gear body radially outward of the flexible gear body;

6. The steering system of claim 5, wherein the harmonic reducer further comprises a bearing, an inner race of the bearing being fixedly attached to a side of the rigid wheel adjacent the outer flange, and an outer race of the bearing being fixedly attached to the outer flange.

7. A steering system according to claim 5, wherein the junction of the first and second portions is provided with reinforcing ribs.

8. The steering system according to claim 5, wherein the steering actuator further comprises a wheel, a mounting space is formed at a junction of the first portion and the second portion, and the wheel is located in the mounting space and is connected to the second portion.

9. The steering system according to claim 1 or 2, further comprising an adjusting portion that is detachably fixedly connected between the harmonic speed reducer and the steering actuator in the axial direction of the output shaft.

10. The steering system according to claim 9, wherein the harmonic reducer has a rigid gear and a flexible gear, the flexible gear including a flexible gear body having one end embedded in the rigid gear and engaged with the rigid gear, and an outer flange extending radially outward from an outer wall surface of the other end of the flexible gear body;

11. A steering system according to claim 1 or 2, wherein the harmonic reducer has a wave generator, the output shaft of the drive device is inserted through the wave generator and is keyed with the wave generator to achieve fixation of the wave generator relative to the output shaft of the drive device in a circumferential direction of the output shaft;

the speed reducer further comprises a limiting part, wherein the limiting part is detachably and fixedly connected to the output shaft, and the limiting part abuts against the end face of the wave generator to limit the relative movement of the wave generator and the output shaft in the axial direction of the output shaft.

12. The steering system of claim 11, wherein the restraint portion includes a restraint washer and a fastener; the fastening piece penetrates through the limiting gasket to be detachably and fixedly connected with the output shaft, and the limiting gasket abuts against the end face of the wave generator under the fastening action of the fastening piece.