CN212959705U

CN212959705U - Steering wheel

Info

Publication number: CN212959705U
Application number: CN202021481079.1U
Authority: CN
Inventors: 朱忠
Original assignee: Dongguan Zhuolan Automation Equipment Co ltd
Current assignee: Dongguan Zhuolan Automation Equipment Co ltd
Priority date: 2020-07-24
Filing date: 2020-07-24
Publication date: 2021-04-13
Anticipated expiration: 2030-07-24

Abstract

The utility model discloses a steering wheel, which comprises a speed reducer, a bracket and a steering module, wherein the speed reducer comprises an input shaft, an output gear ring and a transmission component, the speed reducer is a planetary speed reducer with more than two stages, and the transmission component comprises a first transmission component and a second transmission component; the support includes annular stake body, and the stake body includes first stake body and second stake body, and first stake body has first cavity, and the second stake body has the second cavity. This steering wheel, the input shaft of reduction gear is connected first motor, the input shaft passes through transmission part with power transmission to output ring gear, realize the travel drive of steering wheel, wherein the reduction gear adopts the planetary reducer more than the second grade, great reduction ratio has, through set up first cavity and second cavity on the stake body, hold first transmission part of installation and second transmission part respectively, overall structure is compact, it is small to occupy, steering of steering wheel is realized through turning to the module, this utility model is used for the steering wheel field.

Description

Steering wheel

Technical Field

The utility model relates to a steering wheel field especially relates to a steering wheel.

Background

The steering part of the existing AGV (automatic guided vehicle) is realized by the differential speed of two driving wheels, and the problem of lower steering control precision exists due to the adoption of differential steering; and a part of the AGV bogie adopts a steering wheel to control steering, the steering wheel generally integrates a speed reducer, but the speed reducer used by the existing steering wheel generally only adopts a one-stage speed reducer due to the volume limitation of the AGV trolley, and the speed reduction transmission is small.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to solve one of the technical problem that exists among the prior art at least, provide a rudder wheel, adopt multistage reduction gear to compact structure.

According to the utility model discloses an embodiment provides a steering wheel, include:

the speed reducer comprises an input shaft, an output gear ring and a transmission part in transmission connection between the input shaft and the output gear ring, the speed reducer is a planetary speed reducer with more than two stages, the transmission part comprises a first transmission part and a second transmission part, the periphery of the output gear ring is connected with a rubber coating layer, and the input shaft is directly or indirectly connected with a first motor;

the bracket comprises an annular bracket body and an installation part fixedly connected with the bracket body, the bracket body comprises a first bracket body and a second bracket body which are coaxially arranged, the first bracket body is provided with a first cavity for accommodating the first transmission part, and the second bracket body is provided with a second cavity for accommodating the second transmission part; and

and the steering module is arranged on the mounting part.

The steering wheel has at least the following beneficial effects: the input shaft of reduction gear connects first motor, the input shaft passes through transmission part with power transmission to output ring gear, the encapsulating layer is connected to the output ring gear, thereby it is rotatory to drive the encapsulating layer, realize the walking drive of steering wheel, wherein the reduction gear adopts the planetary reducer more than the second grade, great reduction ratio has, transmission part includes first transmission part and second transmission part, through set up first cavity and second cavity on the stake body, hold first transmission part of installation and second transmission part respectively, overall structure is compact, it is small to occupy, the turning to of steering wheel is realized through turning to the module.

According to the utility model discloses the helm, the reduction gear is second grade planetary reducer, be equipped with the fixed first ring gear that sets up in the first cavity, first drive disk assembly includes first sun gear, a plurality of first planetary gear, planet carrier, the input shaft drives first sun gear is rotatory, first planetary gear with first sun gear meshes, the internal tooth of first ring gear with first planetary gear meshes, each first planetary gear respectively with planet carrier is articulated, second drive disk assembly includes second sun gear and a plurality of second planetary gear, planet carrier with the coaxial fixed connection of second sun gear, second planetary gear with second sun gear meshes, the internal tooth of output ring gear with second planetary gear meshes.

According to the utility model discloses rudder wheel, the periphery of second stake body is connected with first bearing, the outer lane of first bearing is connected the output ring gear, first bearing has two, two first bearing sets up the both sides of the internal tooth of output ring gear.

According to the utility model discloses rudder wheel, be equipped with a plurality of slotted holes that run through on the circumference of second stake body, each second planetary gear install in corresponding in the slotted hole, second planetary gear with the second stake body is articulated.

According to the utility model discloses rudder wheel, turn to the module and include mounting panel, slewing bearing, first gear and second motor, slewing bearing's inner circle with mounting panel fixed connection, the mounting panel with the installation department fixed connection of support, slewing bearing's outer lane has the gear tooth, first gear with slewing bearing's outer lane meshing, the second motor is used for the drive first gear is rotatory, first gear with the second motor is fixed in on the mounting panel.

According to the utility model discloses the helm, be equipped with the circular shape positioning disk on the installation department of support, be equipped with on the mounting panel with positioning disk complex locating hole, slewing bearing's inner circle with the positioning disk cooperation.

According to the utility model discloses the steering wheel, turn to the module and still include second gear and encoder, the second gear with slewing bearing's outer lane meshing, the encoder with the second gear is connected, the second gear with the encoder is fixed in on the mounting panel.

According to the utility model discloses the helm be fixed with the stopper on slewing bearing's the outer lane be equipped with travel switch on the mounting panel, the mounting panel is rotatory to reach predetermined angle and makes the stopper with the travel switch contact.

According to the utility model discloses rudder wheel, the input shaft is kept away from the one end of first motor is connected with the stopper.

Drawings

The present invention will be further explained with reference to the accompanying drawings:

fig. 1 is a schematic structural diagram of a first viewing angle of a steering wheel according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a second viewing angle of the steering wheel according to the embodiment of the present invention;

FIG. 3 is a schematic view of the overall structure of the speed reducer and the bracket according to the embodiment of the present invention;

FIG. 4 is a schematic sectional view of the reducer and the bracket according to the embodiment of the present invention;

fig. 5 is a schematic structural view of a first viewing angle of a bracket according to an embodiment of the present invention;

fig. 6 is a schematic structural view of a second viewing angle of a bracket according to an embodiment of the present invention;

fig. 7 is a schematic plan view of a bracket according to an embodiment of the present invention;

fig. 8 is a schematic structural view of the second planetary gear mounted on the carrier according to the embodiment of the present invention;

FIG. 9 is a schematic structural diagram of a reducer according to an embodiment of the present invention;

FIG. 10 is a schematic structural diagram of a transmission part of a speed reducer according to an embodiment of the present invention;

FIG. 11 is a schematic structural diagram of a transmission component adopting a three-stage planetary reducer according to an embodiment of the present invention;

fig. 12 is a schematic structural diagram of a first view angle of a steering module according to an embodiment of the present invention;

fig. 13 is a schematic structural view illustrating a mounting plate of a steering module according to an embodiment of the present invention mounted on a bracket;

fig. 14 is a schematic structural diagram of a second view angle of the steering module according to the embodiment of the present invention;

reference numerals: the transmission device comprises a speed reducer 10, an input shaft 11, an output gear ring 12, a first gear ring 13, a first transmission component 14, a first sun gear 141, a first planetary gear 142, a planetary gear carrier 143, a second transmission component 15, a second sun gear 151, a second planetary gear 152, an encapsulating layer 16, a coupling component 17, a first bearing 18, a bracket 20, a bracket body 21, a first bracket body 211, a second bracket body 212, a first cavity 213, a second cavity 214, a slotted hole 215, an installation part 22, a positioning disc 221, a steering module 30, an installation plate 31, a positioning hole 311, a rotary support 32, an inner ring 321, an outer ring 322, a first gear 33, a second motor 34, a second gear 35, an encoder 36, a limiting block 37, a travel switch 38, a first motor 40 and a brake 50.

Detailed Description

This section will describe in detail the embodiments of the present invention, preferred embodiments of the present invention are shown in the attached drawings, which are used to supplement the description of the text part of the specification with figures, so that one can intuitively and vividly understand each technical feature and the whole technical solution of the present invention, but they cannot be understood as the limitation of the protection scope of the present invention.

In the description of the present invention, it should be understood that the orientation or positional relationship indicated with respect to the orientation description, such as up, down, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does 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.

In the description of the present invention, a plurality of means are one or more, a plurality of means are two or more, and the terms greater than, less than, exceeding, etc. are understood as not including the number, and the terms greater than, less than, within, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present invention, unless there is an explicit limitation, the words such as setting, installation, connection, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in combination with the specific contents of the technical solution.

Referring to fig. 1 to 10, an embodiment of the present invention provides a steering wheel, including a speed reducer 10, a bracket 20 and a steering module 30, wherein the speed reducer 10 includes an input shaft 11, an output gear ring 12 and a transmission component in transmission connection between the input shaft 11 and the output gear ring 12, the speed reducer 10 is a planetary speed reducer with more than two stages, the transmission component includes a first transmission component 14 and a second transmission component 15, the periphery of the output gear ring 12 is connected with an encapsulating layer 16, and the input shaft 11 is directly or indirectly connected with a first motor 40; the bracket 20 comprises an annular bracket body 21 and a mounting part 22 fixedly connected with the bracket body 21, the bracket body 21 comprises a first bracket body 211 and a second bracket body 212 which are coaxially arranged, the first bracket body 211 is provided with a first cavity 213 for accommodating the first transmission component 14, and the second bracket body 212 is provided with a second cavity 214 for accommodating the second transmission component 15; the steering module 30 is mounted on the mounting portion 22 to steer the drive bracket 20 and the reducer 10.

The steering wheel of this embodiment, first motor 40 is connected to the input shaft 11 of reduction gear 10, input shaft 11 passes through transmission part with power transmission to output ring gear 12, output ring gear 12 is connected the rubber coating layer 16, thereby it is rotatory to drive rubber coating layer 16, realize the walking drive of steering wheel, wherein reduction gear 10 adopts the planetary reducer more than the second grade, great reduction ratio has, transmission part includes first drive disk assembly 14 and second drive disk assembly 15, through set up first cavity 213 and second cavity 214 on stake body 21, hold first drive disk assembly 14 of installation and second drive disk assembly 15 respectively, overall structure is compact, it is small to occupy, steering wheel's turning to realize through turning to module 30.

Referring to fig. 4, 9 and 10, in the present embodiment, the reducer 10 is a two-stage planetary reducer, the first cavity 213 is provided with the first ring gear 13 fixedly disposed with respect to the carrier 20, the first transmission member 14 includes a first sun gear 141, the input shaft 11 drives the first sun gear 141 to rotate, the first planet gears 142 are meshed with the first sun gear 141, the internal teeth of the first ring gear 13 are meshed with the first planet gears 142, each first planet gear 142 is hinged to the planet carrier 143, the second transmission member 15 comprises a second sun gear 151 and a plurality of second planet gears 152, the planet carrier 143 is coaxially and fixedly connected with the second sun gear 151, the second planet gears 152 are meshed with the second sun gear 151, the internal teeth of the output ring gear 12 are meshed with the second planet gears 152, and the second sun gear 151 is provided with a through hole for the input shaft 11 to pass through.

Specifically, there are 3 first planetary gears 142, and 3 first planetary gears 142 are uniformly distributed around the first sun gear 141; there are 3 second planetary gears 152, and 3 second planetary gears 152 are uniformly distributed around the second sun gear 151.

The speed reducer 10 adopts a two-stage planetary speed reducer, wherein the input shaft 11 rotates, the input shaft 11 drives the first sun gear 141 to rotate, and because the first gear ring 13 is fixedly arranged, the first sun gear 141 drives each first planetary gear 142 to rotate, and simultaneously each first planetary gear 142 also revolves around the input shaft 11, so as to drive the planetary gear carrier 143 to rotate, the planetary gear carrier 143 drives the second sun gear 151 to rotate, the second sun gear 151 drives the second planetary gear 152 to rotate, and finally the second planetary gear 152 drives the output gear ring 12 to rotate, so that the speed reduction transmission of the planetary speed reducer is realized. The first motor 40 rotates with the input shaft 11 via the coupling member 17.

It is understood that the reducer 10 may also adopt a planetary reducer with more than three stages, and thus, the planetary reducer includes a plurality of first transmission members 14 and a second transmission member 15 which are arranged in series, and similarly, the plurality of first transmission members 14 are installed in the first cavity 213, the second transmission member 15 is installed in the second cavity 214, and the plurality of first transmission members 14 and the second transmission member 15 sequentially transmit the power. Referring to fig. 11, the transmission member of the three-stage planetary reducer includes two first transmission members 14 and one second transmission member 15.

Referring to fig. 4, in the present embodiment, the first bearings 18 are connected to the outer periphery of the second carrier body 212, the outer race of the first bearing 18 is connected to the output ring gear 12, two first bearings 18 are provided, and the two first bearings 18 are provided on both sides of the inner teeth of the output ring gear 12.

In some embodiments, the second bracket body 212 is provided with a plurality of slots 215 extending therethrough on the circumference thereof, each slot 215 corresponds to each second planetary gear 152, each second planetary gear 152 is installed in the corresponding slot 215, and the second planetary gears 152 are hinged to the second bracket body 212, as shown in fig. 8. The second sun gear 151 rotates the second planetary gears 152, and since the second planetary gears 152 are hinged to the second carrier body 212, the second planetary gears 152 cannot revolve around the second sun gear 151 but rotate, and thus it rotates the output ring gear 12.

Referring to fig. 12 to 14, in the present embodiment, the steering module 30 includes a mounting plate 31, a slewing bearing 32, a first gear 33 and a second motor 34, the slewing bearing 32 includes an inner ring 321 and an outer ring 322, the inner ring 321 and the outer ring 322 are relatively rotatable, wherein the inner ring 321 of the slewing bearing 32 is fixedly connected to the mounting plate 31, the mounting plate 31 is fixedly connected to the mounting portion 22 of the bracket 20, the outer ring 322 of the slewing bearing 32 has gear teeth, the first gear 33 is engaged with the outer ring 322 of the slewing bearing 32, the second motor 34 is configured to drive the first gear 33 to rotate, and the first gear 33 and the second motor 34 are fixed to the mounting plate 31.

The inner ring 321 of the slewing bearing 32 is fixedly connected with the mounting plate 31, the inner ring 321 and the mounting plate 31 can rotate relative to the outer ring 322, the outer ring 322 is fixed on the AGV trolley, the second motor 34 drives the first gear 33 to rotate, the first gear 33 is meshed with the gear teeth of the outer ring 322, and the first gear 33 and the second motor 34 are fixed on the mounting plate 31, so that the first gear 33 can revolve around the outer ring 322 and drive the mounting plate 31 and the inner ring 321 to rotate, the mounting plate 31 simultaneously drives the bracket 20 to horizontally rotate, and the steering of the bracket 20 and the speed reducer 10 is realized.

In some embodiments, the mounting portion 22 of the bracket 20 is provided with a circular positioning plate 221, the mounting plate 31 is provided with a positioning hole 311 matched with the positioning plate 221, and the inner ring 321 of the pivoting support 32 is matched with the positioning plate 221. By arranging the positioning disc 221 on the mounting portion 22, the mounting and positioning of the mounting plate 31 and the inner ring 321 of the slewing bearing 32 are realized, and the mounting accuracy is ensured.

In this embodiment, the steering module 30 further includes a second gear 35 and an encoder 36, the second gear 35 is engaged with the outer ring 322 of the slewing bearing 32, the encoder 36 is connected to the second gear 35, the second gear 35 and the encoder 36 are fixed to the mounting plate 31, the second gear 35 revolves around the outer ring 322 of the slewing bearing 32 along with the rotation of the mounting plate 31 when the steering module 30 steers, the rotation angle of the second gear 35 is fed back to the encoder 36, the second gear 35 and the outer ring 322 of the slewing bearing 32 have a certain transmission ratio, and the revolution angle of the second gear 35 around the outer ring 322 of the slewing bearing 32, that is, the steering angle can be calculated, so that closed-loop control can be realized.

In some embodiments, a limit block 37 is fixed on the outer ring 322 of the slewing bearing 32, a travel switch 38 is arranged on the mounting plate 31, the mounting plate 31 rotates to reach a preset angle to enable the limit block 37 to be in contact with the travel switch 38, and when the limit block 37 is in contact with the travel switch 38, the second motor 34 is controlled to stop, so that the maximum steering angle of the steering module 30 can be limited by setting the relative positions of the travel switch 38 and the limit block 37.

In some embodiments, a brake 50 is connected to an end of the input shaft 11 away from the first motor 40, and after the first motor 40 is stopped, the brake 50 can be used to brake the input shaft 11, so that the input shaft 11 and the steering wheel are stopped as soon as possible.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.

Claims

1. A steering wheel, comprising:

and the steering module is arranged on the mounting part.

2. Rudder wheel according to claim 1, wherein: the speed reducer is a two-stage planetary speed reducer, a first gear ring fixedly arranged in the first cavity body is arranged, the first transmission component comprises a first central gear, a plurality of first planetary gears and a planetary gear carrier, the input shaft drives the first central gear to rotate, the first planetary gears are meshed with the first central gear, internal teeth of the first gear ring are meshed with the first planetary gears, each first planetary gear is hinged to the planetary gear carrier respectively, the second transmission component comprises a second central gear and a plurality of second planetary gears, the planetary gear carrier is coaxially and fixedly connected with the second central gear, the second planetary gears are meshed with the second central gear, and internal teeth of the output gear ring are meshed with the second planetary gears.

3. Rudder wheel according to claim 2, wherein: the periphery of the second support body is connected with first bearings, the outer ring of the first bearings is connected with the output gear ring, the number of the first bearings is two, and the first bearings are arranged on two sides of the inner teeth of the output gear ring.

4. Rudder wheel according to claim 2, wherein: the circumference of the second support body is provided with a plurality of through slotted holes, each second planetary gear is arranged in the corresponding slotted hole, and the second planetary gears are hinged with the second support body.

5. Rudder wheel according to any of claims 1-4, wherein: the steering module comprises a mounting plate, a slewing bearing, a first gear and a second motor, the inner ring of the slewing bearing is fixedly connected with the mounting plate, the mounting plate is fixedly connected with the mounting part of the support, the outer ring of the slewing bearing is provided with gear teeth, the first gear is meshed with the outer ring of the slewing bearing, the second motor is used for driving the first gear to rotate, and the first gear and the second motor are fixed on the mounting plate.

6. Rudder wheel according to claim 5, wherein: the mounting portion of the support is provided with a circular positioning disc, the mounting plate is provided with a positioning hole matched with the positioning disc, and the inner ring of the slewing bearing is matched with the positioning disc.

7. Rudder wheel according to claim 5, wherein: the steering module further comprises a second gear and an encoder, the second gear is meshed with the outer ring of the slewing bearing, the encoder is connected with the second gear, and the second gear and the encoder are fixed on the mounting plate.

8. Rudder wheel according to claim 5, wherein: the outer ring of the slewing bearing is fixed with a limiting block, the mounting plate is provided with a travel switch, and the mounting plate rotates to a preset angle to enable the limiting block to be in contact with the travel switch.

9. Rudder wheel according to claim 1, wherein: and one end of the input shaft, which is far away from the first motor, is connected with a brake.