CN213291976U - Auxiliary steering mechanism of steering wheel drive assembly - Google Patents
Auxiliary steering mechanism of steering wheel drive assembly Download PDFInfo
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- CN213291976U CN213291976U CN202021951621.5U CN202021951621U CN213291976U CN 213291976 U CN213291976 U CN 213291976U CN 202021951621 U CN202021951621 U CN 202021951621U CN 213291976 U CN213291976 U CN 213291976U
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Abstract
The utility model relates to a steering wheel drive assembly auxiliary steering mechanism, which comprises a central control system, a steering motor, a steering gear ring, a steering wheel bracket which can rotate relative to a vehicle body and a drive wheel assembly arranged on the steering wheel bracket; the steering motor can be connected with the central control system and drives the steering wheel bracket to rotate; the steering motor is connected with an incremental coding assembly for detecting the steering angle of the motor, and the steering gear ring is provided with a coding assembly for detecting the actual steering angle absolute value of the steering wheel support; the central control system can be connected with the incremental coding component and the absolute value coding component and controls the steering wheel support to adjust the actual steering angle according to the data deviation value of the incremental coding component and the absolute value coding component. According to the scheme, the absolute value coding assembly is arranged on the steering gear ring, the incremental encoder used for detecting the steering angle of the motor is assisted to confirm the actual steering angle of the steering wheel support, and the central control system can control the driving motor to adjust the actual steering angle of the steering wheel support according to the data deviation value of the incremental coding assembly and the absolute value coding assembly.
Description
Technical Field
The utility model relates to a drive assembly field especially relates to a steering mechanism is assisted to helm drive assembly.
Background
An AGV (automated Guided vehicle) is a transport vehicle equipped with an electromagnetic or optical automatic guidance device, which can follow a predetermined guidance route, and does not require a driver to drive the AGV during transportation, but uses a computer to control the traveling route and behavior thereof, or uses an electromagnetic rail attached to a floor to guide the AGV. Because the AGV mainly depends on the combination of the driving wheel and the driven wheel, compared with other non-wheel type mobile robots, the AGV has the advantages of quick action, flexibility, high efficiency, good safety and the like.
The steering wheel drive assembly of most AGV transport vechicles among the prior art has and turns to the precision low, and the error is big, often leads to AGV transport vechicles to appear deviating course and can not in time make the phenomenon of feedback to emergency in the automatic driving process, and the performance of traveling is heavily influenced to equipment, has the potential safety hazard.
Disclosure of Invention
In order to solve the problem, the utility model aims to provide a steering wheel drive assembly auxiliary steering mechanism which has high steering precision, simple structure and convenient installation.
In order to achieve the above purpose, the utility model adopts the following technical scheme: an auxiliary steering mechanism of a steering wheel drive assembly comprises a central control system, a steering motor, a steering gear ring, a steering wheel support capable of rotating relative to a vehicle body and a drive wheel assembly arranged on the steering wheel support; the steering motor can be connected with the central control system and drives the steering wheel bracket to rotate; the steering motor is connected with an incremental coding assembly for detecting the steering angle of the motor, and the steering gear ring is provided with a coding assembly for detecting the actual steering angle absolute value of the steering wheel support; the central control system can be connected with the incremental coding component and the absolute value coding component and controls the steering wheel support to adjust the actual steering angle according to the data deviation value of the incremental coding component and the absolute value coding component. According to the scheme, the steering gear ring is provided with the encoding assembly for detecting the actual steering angle absolute value of the steering wheel support, the incremental encoder for detecting the steering angle of the motor is assisted to confirm the actual steering angle of the steering wheel support, and the central control system can control the driving motor to adjust the actual steering angle of the steering wheel support according to the data deviation value of the incremental encoding assembly and the absolute value encoding assembly.
Furthermore, the steering gear ring comprises an inner ring fixed at the upper end of the steering wheel bracket and an outer ring fixed on the vehicle body, the inner ring is positioned at the inner side of the outer ring, and the inner ring can rotate relative to the outer ring; the absolute value coding assembly comprises an absolute value coder and an induction magnet, the absolute value coder is fixed on the outer ring, and the induction magnet is fixed on the inner ring, so that the induction magnet moves relative to the absolute value coder. The absolute value encoder and the induction magnet are respectively arranged on the outer ring and the inner ring of the steering gear ring, so that the induction magnet moves relative to the absolute value encoder, the induction magnet is fixed on the steering wheel support, and then the absolute value encoder detects the steering angle of the steering wheel support relative to the vehicle body by detecting the movement of the induction magnet.
Furthermore, an absolute value encoder mounting bracket is arranged on the outer ring, and an induction magnet mounting bracket is arranged on the inner ring, so that the induction magnet is positioned on the lower side of the absolute value encoder and rotates in the induction area of the absolute value encoder. The basic principle of the absolute value encoder is that a Hall effect is utilized, a magnetic field perpendicular to the direction of current is added to a semiconductor, electrons and holes in the semiconductor are subjected to Lorentz forces in different directions and are gathered in different directions, an electric field is generated between the gathered electrons and holes, the electrons and holes are not gathered after the electric field force and the Lorentz force are balanced, the subsequent electrons and holes are subjected to the action of the electric field force by the electric field force at the moment and balance the Lorentz force generated by the magnetic field, and the subsequent electrons and holes can smoothly pass through without deviation, and the phenomenon is called the Hall effect. And the resulting built-in voltage is referred to as the hall voltage. The absolute value encoder can judge the actual rotation angle through a custom algorithm according to the potential difference value.
Furthermore, the steering motor is fixedly arranged on the steering wheel support, a steering gear is arranged at the shaft extending end of the steering motor, and the steering gear can be meshed with the steering gear ring to drive the steering wheel support to rotate. According to the scheme, the steering motor is fixed on the steering wheel support, the steering gear at the shaft extension end of the steering motor is meshed with the outer ring of the steering gear ring, the outer ring of the steering gear is fixed on the vehicle body, and the steering gear is driven to move around the outer ring by the reaction force, so that the steering wheel support and the steering motor rotate relative to the outer ring.
Further, the incremental coding assembly comprises an incremental encoder connected to the lower end part of the steering motor and an initial position assembly used for judging the integral initial position of the steering wheel bracket.
Further, the initial position assembly comprises a metal proximity switch and a sensing strip; the metal proximity switch is fixed on the steering wheel support, and the induction strip is fixed on the outer ring, so that the induction strip of the steering wheel support can pass through an induction area of the metal proximity switch in the rotating process. The metal induction strip is arranged on the outer ring, and the metal proximity switch is arranged on the steering wheel support, so that when the steering wheel support moves relative to the outer ring, the induction strip on the outer ring can pass through the induction area of the metal proximity switch, and then the initial position is judged.
Further, the driving wheel assembly includes a driving wheel and a driving motor installed at one side of the driving wheel. The driving motor is arranged on one side of the driving wheel, so that the whole driving structure is compact.
Through the technical scheme, the utility model discloses a set up on turning to the ring gear and be equipped with absolute value coding subassembly, the supplementary incremental encoder that is used for detecting the motor steering angle confirms the actual angle that turns to of steering wheel support, and central control system can control the actual angle that turns to of driving motor adjustment steering wheel support adjustment according to the data deviation value of incremental coding subassembly and absolute value coding subassembly.
Drawings
Fig. 1 is an explanatory view of the present invention.
Fig. 2 is an explanatory view of the initial position assembly of the present invention.
Fig. 3 is an installation schematic diagram of the guide wheel assembly of the present invention.
Fig. 4 is an explanatory diagram of the absolute value encoding module according to the present invention.
Fig. 5 is a horizontal view of the present invention.
In the figure: the steering wheel comprises a steering wheel support 1, a metal proximity switch 11, a steering gear ring 2, an outer ring 21, an absolute value encoder mounting support 211, an absolute value encoder 212, an induction bar 213, an inner ring 22, an induction magnet mounting support 221, an induction magnet 222, a driving wheel assembly 3, a driving wheel 31, a driving motor 32, a steering motor 4, a steering gear 42 and an incremental encoder 41.
Detailed Description
Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise" 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 to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, unless otherwise specified, "a plurality" means two or more unless explicitly defined otherwise.
Example 1: as shown in fig. 1, an auxiliary steering mechanism of a steering wheel drive assembly comprises a central control system, a steering motor 4, a steering gear ring 2 for connecting a vehicle body and a steering wheel support 1, the steering wheel support 1 capable of rotating relative to the vehicle body and a driving wheel 31 assembly 3 mounted on the steering wheel support 1; the steering motor 4 can be connected with a central control system to drive the steering wheel bracket 1 to rotate; the steering motor 4 is connected with an incremental coding component for detecting the steering angle of the motor, and the steering gear ring 2 is provided with a coding component for detecting the absolute value of the actual steering angle of the steering wheel bracket 1; the central control system can be connected with the incremental coding component and the absolute value coding component and controls the steering wheel support 1 to adjust the actual steering angle according to the data deviation value of the incremental coding component and the absolute value coding component. According to the scheme, the steering gear ring 2 is provided with the encoding assembly for detecting the actual steering angle absolute value of the steering wheel support 1, the incremental encoder 41 for detecting the motor steering angle is assisted to confirm the actual steering angle of the steering wheel support 1, and the central control system can control the driving motor 32 to adjust the actual steering angle of the steering wheel support 1 according to the data deviation value of the incremental encoding assembly and the absolute value encoding assembly.
As shown in fig. 3 to 5, the steering gear ring 2 includes an inner ring 22 fixed at the upper end of the steering wheel support 1 and an outer ring 21 fixed on the vehicle body, the inner ring 22 is located inside the outer ring 21, and the inner ring 22 can rotate relative to the outer ring 21; the absolute value encoding assembly comprises an absolute value encoder 212 and a sensing magnet 222, wherein the absolute value encoder 212 is fixed on the outer ring 21, and the sensing magnet 222 is fixed on the inner ring 22, so that the sensing magnet 222 moves relative to the absolute value encoder 212. The absolute value encoder 212 and the induction magnet 222 are provided on the outer ring 21 and the inner ring 22 of the steering ring gear 2, respectively, so that the induction magnet 222 moves relative to the absolute value encoder 212, the induction magnet 222 is fixed to the steering wheel bracket 1, and the absolute value encoder 212 detects the movement of the induction magnet 222, thereby detecting the steering angle of the steering wheel bracket 1 relative to the vehicle body. The outer ring 21 is provided with an absolute value encoder mounting bracket 211, and the inner ring 22 is provided with an induction magnet mounting bracket 221, so that the induction magnet 222 is positioned below the absolute value encoder 212, and the induction magnet 222 rotates in the induction area of the absolute value encoder 212. The basic principle of the absolute value encoder 212 is that a hall effect is utilized, a magnetic field perpendicular to the direction of current is applied to a semiconductor, so that electrons and holes in the semiconductor are subjected to lorentz forces in different directions to be gathered in different directions, an electric field is generated between the gathered electrons and holes, the electrons and holes are not gathered after the electric field force and the lorentz force are balanced, the subsequent electrons and holes are subjected to the action of the electric field force to balance the lorentz force generated by the magnetic field, the subsequent electrons and holes can smoothly pass through the electronic device without deviation, and the phenomenon is called the hall effect. And the resulting built-in voltage is referred to as the hall voltage. And judging the actual rotation angle through a self-defined algorithm according to the potential difference value.
As shown in fig. 1, 3 and 5, the steering motor 4 is fixedly arranged on the steering wheel support 1, and a steering gear 42 is arranged at the shaft extension end of the steering motor, and the steering gear 42 can be meshed with the steering gear ring 2 to drive the steering wheel support 1 to rotate. According to the scheme, the steering motor 4 is fixed on the steering wheel support 1, the steering gear 42 at the shaft extension end of the steering motor is meshed with the outer ring 21 of the steering gear ring 2, the outer ring 21 of the steering gear 42 is fixed on a vehicle body, and the steering gear 42 is driven to move around the outer ring 21 by reaction force, so that the steering wheel support 1 and the steering motor 4 rotate relative to the outer ring 21. The incremental encoder assembly includes an incremental encoder 41 connected to a lower end portion of the steering motor 4 and an initial position assembly for determining an overall initial position of the steering wheel frame 1. The initial position assembly includes a metal proximity switch 11 and a sensor strip 213; the metal proximity switch 11 is fixed on the steering wheel support 1, and the induction strip 213 is fixed on the outer ring 21, so that the induction strip 213 can pass through the induction area of the metal proximity switch 11 during the rotation of the steering wheel support 1. By providing the metal inductive strip 213 on the outer ring 21 and providing the metal proximity switch 11 on the steering wheel support 1, when the steering wheel support 1 moves relative to the outer ring 21, the inductive strip 213 on the outer ring 21 can pass through the inductive area of the metal proximity switch 11, thereby determining the initial position.
The driving wheel 31 assembly 3 includes a driving wheel 31 and a driving motor 32 installed at one side of the driving wheel 31. By installing the driving motor 32 on the driving wheel 31 side, the entire driving structure is made compact.
Turning: the controller outputs a steering instruction according to the angle which needs to be rotated actually, the steering motor 4 executes steering action, the incremental encoder 41 determines the actual steering angle of the steering motor 4, the metal proximity switch 11 judges the initial position of the whole driving body through the induction bar 213, the absolute value encoder 212 adjusts the final actual rotating angle through the induction magnet 222 which is arranged on the mounting bracket of the inner ring 22 of the steering gear ring and rotates along with the whole driving body, and feeds the final actual rotating angle back to the controller, and the controller adjusts according to the deviation, so that the aim of improving the integral steering precision is fulfilled.
The steering process central control system controls the driving motor 32 to adjust the actual steering angle of the steering wheel support 1 on the basis of data of the incremental coding component and the absolute value coding component, namely, the process of detecting for many times is actually used for adjusting the actual steering angle of the steering wheel support 1, the steering wheel support is not adjusted to the correct steering angle in one step after being measured once, but is adjusted once after being measured once and then adjusted again after being measured, the measurement precision range is higher and higher, and the whole adjusting process is finished until the deviation value measured last is below the required highest precision.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be 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 according to specific situations by those skilled in the art.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that changes, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art without departing from the principles and spirit of the present invention.
Claims (7)
1. The utility model provides a steering mechanism is assisted to rudder wheel drive assembly which characterized in that: the steering gear wheel assembly comprises a central control system, a steering motor, a steering gear ring, a steering wheel bracket capable of rotating relative to a vehicle body and a driving wheel assembly arranged on the steering wheel bracket; the steering motor can be connected with the central control system and drives the steering wheel bracket to rotate; the steering motor is connected with an incremental coding assembly for detecting the steering angle of the motor, and the steering gear ring is provided with a coding assembly for detecting the actual steering angle absolute value of the steering wheel support; the central control system can be connected with the incremental coding component and the absolute value coding component and controls the steering wheel support to adjust the actual steering angle according to the data deviation value of the incremental coding component and the absolute value coding component.
2. A steering gear assisted by a steering wheel drive assembly as claimed in claim 1, wherein: the steering gear ring comprises an inner ring fixed at the upper end of the steering wheel bracket and an outer ring fixed on the vehicle body, the inner ring is positioned at the inner side of the outer ring, and the inner ring can rotate relative to the outer ring; the absolute value coding assembly comprises an absolute value coder and an induction magnet, the absolute value coder is fixed on the outer ring, and the induction magnet is fixed on the inner ring, so that the induction magnet moves relative to the absolute value coder.
3. A steering gear assisted by a steering wheel drive assembly as claimed in claim 2, wherein: the outer ring is provided with an absolute value encoder mounting bracket, and the inner ring is provided with an induction magnet mounting bracket, so that the induction magnet is positioned at the lower side of the absolute value encoder and rotates in an induction area of the absolute value encoder.
4. A steering gear assisted by a steering wheel drive assembly as claimed in claim 1, wherein: the steering motor is fixedly arranged on the steering wheel support, a steering gear is arranged at the shaft extension end of the steering motor, and the steering gear can be meshed with the steering gear ring to drive the steering wheel support to rotate.
5. A steering gear assisted by a steering wheel drive assembly as claimed in claim 1, wherein: the incremental coding assembly comprises an incremental coder connected to the lower end part of the steering motor and an initial position assembly used for judging the integral initial position of the steering wheel bracket.
6. A steering gear assisted by a steering wheel drive assembly according to claim 5 characterised in that: the initial position assembly comprises a metal proximity switch and an induction bar; the metal proximity switch is fixed on the steering wheel support, and the induction strip is fixed on the outer ring, so that the induction strip of the steering wheel support can pass through an induction area of the metal proximity switch in the rotating process.
7. A steering gear assisted by a steering wheel drive assembly as claimed in claim 1, wherein: the driving wheel assembly comprises a driving wheel and a driving motor arranged on one side of the driving wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021951621.5U CN213291976U (en) | 2020-09-08 | 2020-09-08 | Auxiliary steering mechanism of steering wheel drive assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021951621.5U CN213291976U (en) | 2020-09-08 | 2020-09-08 | Auxiliary steering mechanism of steering wheel drive assembly |
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| Publication Number | Publication Date |
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| CN213291976U true CN213291976U (en) | 2021-05-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202021951621.5U Active CN213291976U (en) | 2020-09-08 | 2020-09-08 | Auxiliary steering mechanism of steering wheel drive assembly |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114194285A (en) * | 2021-12-31 | 2022-03-18 | 上海仙途智能科技有限公司 | Steering control method and system of unmanned intelligent floor washing machine |
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2020
- 2020-09-08 CN CN202021951621.5U patent/CN213291976U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114194285A (en) * | 2021-12-31 | 2022-03-18 | 上海仙途智能科技有限公司 | Steering control method and system of unmanned intelligent floor washing machine |
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