CN209814148U - Differential steering heavy electric driven steering wheel - Google Patents

Abstract

The utility model provides a differential steering's heavy electric drive steering wheel adopts differential steering technique, directly utilizes driving motor to turn to, does not need to arrange in addition a steering gear, and its structure is succinct, compact, is favorable to reducing the height of steering wheel, the technical scheme of the utility model comprises a fixed support, a slewing bearing, a bogie, suspension arms and wheel components, the fixed support is connected with the bogie through the slewing bearing, two sets of suspension arms are arranged below the bogie, and each set of suspension arm is provided with a set of wheel components; one end of each of the two suspension arms is hinged with the lower surface of the bogie through a pin shaft, the other end of each suspension arm is a cantilever end, and each wheel assembly comprises a wheel, a built-in hub speed reducer connected with the wheel and a driving motor connected with the built-in hub speed reducer.

Description

A heavy-duty electrically driven steering wheel with differential steering

technical field

The utility model relates to a steering wheel mechanism, in particular to a heavy-duty electric-driven steering wheel with differential steering.

Background technique

Omni-directional wheeled mobile robots have been widely used in the field of industrial manufacturing. Light-loaded omnidirectional wheeled mobile robots are usually used for mobile work platforms, site patrols, etc.

Heavy-duty omnidirectional wheeled mobile robots, usually referred to as omnidirectional transport vehicles, can be used for the transportation of large parts, semi-finished products and finished parts in the warehouse and workshop manufacturing area.

Generally speaking, the driving system of an omnidirectional wheeled mobile robot can be composed of multiple steering wheels, or multiple omniwheels (Omniwheel), or multiple Mecanum wheels, etc., and is driven by a motor, and the load of a single wheel is generally Not more than 3 tons.

Steering wheels, omni wheels, and mecanum wheels each have their pros and cons. Relatively speaking, omnidirectional wheels and mecanum wheels have lower loads, higher requirements for road surface smoothness, and higher maintenance costs. Their advantages lie in that the drive system has fewer components, compact structure, less layout space, and a lower chassis. The rudder wheel has more components and requires a larger layout space. It has the advantages of large load, low requirements for road surface smoothness, and low maintenance costs.

Utility model content

The utility model provides a heavy-duty electric-driven steering wheel with differential steering. The differential steering technology is used to directly use the driving motor to steer without additional steering devices. The structure is simple and compact, which is beneficial to reduce the height of the steering wheel.

The technical scheme of the utility model is:

It includes fixed support, slewing support, bogie, suspension arm and wheel assembly. The fixed support is connected to the bogie through the slewing support. Two sets of suspension arms are arranged under the bogie, and a set of wheels is arranged on each set of suspension arms. components;

One end of the two sets of suspension arms is hinged to the lower surface of the bogie through a pin shaft, and the other end is a cantilever end. The wheel assembly includes a wheel, a built-in hub reducer connected to the wheel, and a drive motor connected to the built-in hub reducer.

As a preference of the above solution, the fixed support is arranged above the bogie, and the two are connected by a slewing support.

As a preference of the above solution, two sets of bushings are provided on the rear side of the lower surface of the bogie, and each set of bushings is fixedly connected to the bogie through lugs arranged at both ends, and the suspension arm includes two parallel side plates, The rear ends of the two side plates are fixedly connected by pin shafts, the pin shafts are passed through the bushings, and the wheels are arranged between the two side plates.

As a preference of the above scheme, two groups of buffer mechanisms are provided on the front side of the lower surface of the bogie, corresponding to the front sides of the two groups of suspension arms respectively. The buffer mechanisms include upper supports, lower supports and compression springs, and the compression springs are connected Between the upper support and the lower support, the upper support is fixed on the front side of the lower surface of the slewing frame, and one lower support is fixed on the front side of each set of suspension arms.

As a preference of the above scheme, the upper support includes a fixed plate, a support plate, a column and a spring seat, the fixed plate is fixed on the lower surface of the slewing frame, two columns are longitudinally fixed on the fixed plate, and the spring seat is fixed on the fixed The lower end of the spring seat is a cone-shaped structure, and the upper end of the compression spring is sleeved outside the cone-shaped structure. The support plate is fixed on the lower ends of the two columns. The through hole through which the compression spring passes, the lower support includes a lower support plate, the center of the lower support plate is provided with a through hole for the compression spring to pass through, and the lower support plate is provided with a piece of elastic material. Formed buffer block, the compression spring passes down through the buffer block.

As a preference of the above solution, the suspension arm includes a front support plate and a rear support plate, the front and rear support plates are arranged between two side plates, the wheels are located between the front and rear support plates, and the front and rear support plates are arranged between the two side plates. A support block is provided on the lower front side of the support plate, the lower support is arranged on the support block, and the pin is arranged on the rear side of the rear support plate; the front side of the upper support is bent downward, The front side of the lower support is bent upwards.

As a preference of the above solution, a suspension limit plate is fixed on both sides of the bogie, the upper end of the suspension limit plate is fixed on the front part of the side of the bogie, and the lower end extends to the outside of the two sets of suspension arms. A limit column is arranged on the side opposite to the suspension limit plate on the arm, the limit column is located at the front side of the suspension limit plate, and the lower end of the suspension limit plate is bent forward to form an L-shaped structure.

As a preference for the above scheme, a through hole is provided in the center of the fixed support, a bracket extending to the center of the through hole is provided on the side wall of the through hole, and an angle sensor is provided at the cantilever end of the bracket for monitoring the heavy-duty Steering angle of the electric drive steering wheel.

As a preference of the above solution, the heavy-duty electric drive steering wheel further includes a motor control box, which is arranged in the area between the two sets of bushings on the lower surface of the bogie.

The beneficial effect of above-mentioned structure is:

(1) The maximum rated load of a single steering wheel can reach 25 tons, the required layout space is only 1250mm×1250mm×600mm in length, width and height, the load density can reach 16 tons per square meter, and sufficient height space is reserved for the layout of the lifting platform.

(2) The steering wheel adopts differential steering technology, which directly utilizes the driving motor for steering, and does not need to arrange additional steering devices. Its structure is more concise and compact, which is conducive to reducing the height of the steering wheel and effectively reducing costs.

(3) The steering wheel includes a spring suspension device, which can compensate for the height difference of the road surface, and has lower requirements on the smoothness of the road surface.

(4) The steering wheel adopts a modular design, which is easy to expand. The truck uses several steering wheels to form a drive system according to the total load requirements, which can easily meet the load requirements of 100-1000 tons.

Description of drawings

Fig. 1 is a schematic diagram of the explosion structure of the present invention.

Fig. 2 is a structural schematic diagram of the suspension arm in the utility model.

Fig. 3 is a structural schematic diagram of the upper support of the utility model.

Fig. 4 is the front view of the utility model.

Fig. 5 is a left side view of Fig. 4 .

Fig. 6 is a right side view of Fig. 4 .

FIG. 7 is a top view of FIG. 4 .

FIG. 8 is a bottom view of FIG. 4 .

Detailed ways

Describe the embodiment of the utility model in detail below in conjunction with accompanying drawing.

It should be noted that, in this embodiment, in order to facilitate the description of the positional relationship between the various structures, it is agreed that the side where the pin shaft 13 on the suspension arm 10 is located is the front side, and the side where the lower support 9 is installed is the rear side.

The technical solution of this embodiment includes a fixed support 1, a slewing support 3, a bogie 4, a suspension arm 10, and a wheel assembly. The fixed support 1 is connected to the bogie 4 through the slewing support 3, and a Two groups of suspension arms 10, each group of suspension arms 10 is provided with a group of wheel assemblies;

One end of the two sets of suspension arms 10 is hinged to the lower surface of the bogie 4 through a pin shaft 13, and the other end is a cantilever end. The wheel assembly includes a wheel 12, a built-in hub reducer connected to the wheel, and a drive motor connected to the built-in hub reducer. 11.

In this embodiment, the fixed support 1 is arranged above the bogie 4 , and the two are connected by a slewing support 3 .

In this embodiment, two sets of bushings 15 are provided on the rear side of the lower surface of the bogie 4, and each set of bushings 15 is fixedly connected to the bogie 4 through lugs arranged at both ends. The suspension arm 10 includes two The parallel side plates 101 are fixedly connected to the rear ends of the two side plates 101 through pin shafts 13 , the pin shafts 13 pass through the bushings 15 , and the wheels are arranged between the two side plates 101 .

In this embodiment, two groups of buffer mechanisms are provided on the front side of the lower surface of the bogie 4, respectively corresponding to the front sides of the two groups of suspension arms 10. The buffer mechanisms include an upper support 6, a lower support 9 and a compression spring 7. The compression spring 7 is connected between the upper support 6 and the lower support 9, the upper support 6 is fixed on the front side of the lower surface of the slewing frame, and the front side of each set of suspension arms 10 is fixed with a lower support 9.

In this embodiment, the upper support 6 includes a fixed plate 601, a support plate 604, a column 602 and a spring seat 603, the fixed plate 601 is fixed on the lower surface of the slewing frame, and two columns 602 are longitudinally fixed on the fixed plate 601, the spring seat 603 is fixed on the fixed plate 601 and is located between the two columns 602. The lower end of the spring seat 603 is a cone-point structure, and the upper end of the compression spring 7 is sleeved outside the cone-point structure. The support plate 604 is fixed on the lower ends of two columns 602, and the center of the support plate 604 is provided with a through hole for the compression spring 7 to pass through. The through hole through which the spring 7 passes, a buffer block 8 made of elastic material is arranged on the lower support 9 , and the compression spring 7 passes through the buffer block 8 downward.

In this embodiment, the suspension arm 10 includes a front support plate 102 and a rear support plate 104, the front and rear support plates 104 are arranged between the two side plates 101, and the wheels are positioned at the front and rear support plates 104 Between, the front lower portion of the front support plate 102 is provided with a support block, the lower support 9 is located on the support block, the pin 13 is located on the rear side of the rear support plate 104; The front side of the bearing plate of the bearing 6 is bent downward, and the front side of the lower bearing 9 is bent upward.

In this embodiment, a suspension limit plate 5 is fixed on both sides of the bogie 4, the upper end of the suspension limit plate 5 is fixed on the front part of the side of the bogie 4, and the lower end extends to two groups of suspension arms 10. On the outside, the side opposite to the suspension limit plate 5 on the suspension arm 10 is provided with a limit column 103, the limit column 103 is located on the front side of the suspension limit plate 5, and the lower end of the suspension limit plate 5 is forward to the side Bend to form an L-shaped structure.

In this embodiment, the center of the fixed support 1 is provided with a through hole, the side wall of the through hole is provided with a bracket 16 extending to the center of the through hole, and the cantilever end of the bracket is provided with an angle sensor 2 for monitoring Steering angle of the heavy-duty electric drive steering wheel.

In this embodiment, the heavy-duty electrically driven steering wheel further includes a motor control box 14, which is arranged in the area between the two sets of bushings 15 on the lower surface of the bogie 4.

In the above structure, the fixed support 1 is fixed on the vehicle frame by bolts, and the slewing frame can rotate around the center of the slewing support 3 .

An angle sensor 2 is installed between the bogie 4 and the fixed support 1, which can monitor the steering angle of the steering wheel and realize closed-loop control of the steering wheel angle.

The tail ends of the two suspension arms 10 are installed on the lugs below the bogie 4 through their respective pin shafts 13 , which are bilaterally symmetrical, and the suspension arms 10 can swing along the respective pin shafts 13 .

The front end of the suspension arm 10 is supported by an elastic element consisting of an upper support 6, a compression spring 7, a buffer block 8 and a lower support 9.

The bogie 4 is equipped with a suspension limit plate 5, the suspension limit plate 5 is a plate structure with an L-shaped bending portion at the lower end, and a limit column 103 is provided on the side plate 101 of the suspension arm 10. When the slewing frame swings downward, it can limit the swing angle of the suspension arm 10, prevent the suspension arm 10 from being too large in swing angle, keep the suspension spring under pressure all the time, and prevent it from coming out.

The suspension arm 10, the pin shaft 13, the upper support 6, the compression spring 7, the buffer block 8, the lower support 9, and the suspension limit plate 5 together form the longitudinal arm spring suspension. , has a certain road surface compensation ability.

Drive motor, wheel, built-in hub reducer and motor control box together form the driving device of the steering wheel, the wheel and built-in hub reducer are installed in the middle of the suspension arm 10, and the drive motor is installed on the inner side of the suspension arm 10, which is the same as the wheel. Shaft installation, the motor control box is installed under the bogie 4, between the two suspension arms 10, connected with the two drive motors through cables, can control the speed of the left and right drive motors respectively, and the torque output by the drive motors is decelerated by the built-in hub After the machine is enlarged, the wheel is driven to rotate to realize the walking function.

The steering wheel adopts differential steering technology, and the steering function is realized by precisely controlling the speed of the left and right driving motors. When the speed of the left and right wheels is equal and the direction is the same, the steering wheel keeps the current steering angle and walks in a straight line; when the speed of the left and right wheels is equal and the direction is opposite, the steering wheel will stay in place and rotate; Turn in.

The rudder wheel adopts a modular design, and several rudder wheels can be used to form a drive system as required to meet the load requirements of 100-1000 tons.

The steering wheel does not include a lifting device. If the truck needs lifting function, an independent lifting device can be designed. The sweeping range of the steering wheel is a circular area with a diameter of φ1120, and the lifting cylinder can be arranged at the interval; the height of the steering wheel is only 600mm, and the lifting platform can be arranged above it. The overall height of the truck can be controlled within 1 meter.

The above are only preferred embodiments of the utility model, and are not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present utility model shall be included in the protection scope of the present utility model.

Claims (9)

1. A heavy electric driven steering wheel with differential steering is characterized in that: the bogie comprises a fixed support, a slewing bearing, a bogie, suspension arms and wheel assemblies, wherein the fixed support is connected with the bogie through the slewing bearing;

one end of each of the two suspension arms is hinged with the lower surface of the bogie through a pin shaft, the other end of each suspension arm is a cantilever end, and each wheel assembly comprises a wheel, a built-in hub speed reducer connected with the wheel and a driving motor connected with the built-in hub speed reducer.

2. The heavy duty electrically driven rudder wheel according to claim 1, wherein: the fixed support is arranged above the bogie and is connected with the bogie through a slewing bearing.

3. A heavy duty electrically driven tiller wheel as claimed in claim 2, wherein: the rear side of the lower surface of the bogie is provided with two groups of shaft sleeves, each group of shaft sleeves is fixedly connected with the bogie through support lugs arranged at two ends, the suspension arm comprises two parallel side plates, the rear ends of the two side plates are fixedly connected through a pin shaft, the pin shaft penetrates through the shaft sleeves, and the wheels are arranged between the two side plates.

4. A heavy duty electrically driven tiller wheel as claimed in claim 3, wherein: the front side of the lower surface of the bogie is provided with two groups of buffer mechanisms which respectively correspond to the front sides of the two groups of suspension arms, each buffer mechanism comprises an upper support, a lower support and a compression spring, the compression springs are connected between the upper supports and the lower supports, the upper supports are fixed on the front side of the lower surface of the revolving frame, and the front side of each group of suspension arms is fixed with one lower support.

5. The heavy duty electrically driven rudder wheel according to claim 4, wherein: the upper bracket comprises a fixed plate, a support plate, stand columns and spring seats, wherein the fixed plate is fixed on the lower surface of the rotary frame, the two stand columns are longitudinally fixed on the fixed plate, the spring seats are fixed on the fixed plate and are located between the two stand columns, the lower ends of the spring seats are of conical tip structures, the upper end of each compression spring is sleeved outside the conical tip structures, the support plate is fixed at the lower ends of the two stand columns, a through hole for the compression spring to pass through is formed in the center of the support plate, the lower support comprises a lower support plate, the center of the lower support plate is provided with a through hole for the compression spring to pass through, a buffer block made of elastic material is arranged on the lower support plate.

6. The heavy duty electrically driven rudder wheel according to claim 5, wherein: the suspension arm comprises a front support plate and a rear support plate, the front support plate and the rear support plate are arranged between two side plates, the wheel is positioned between the front support plate and the rear support plate, the lower part of the front side of the front support plate is provided with a support block, the lower support is arranged on the support block, and the pin shaft is arranged at the rear side of the rear support plate; the front side of the upper support is bent downwards, and the front side of the lower support is bent upwards.

7. The heavy duty electrically driven rudder wheel according to claim 1, wherein: the bogie is characterized in that two sides of the bogie are respectively and fixedly provided with a suspension limiting plate, the upper end of each suspension limiting plate is fixed at the front part of the side face of the bogie, the lower end of each suspension limiting plate extends to the outer sides of two groups of suspension arms, one side of each suspension arm, which is opposite to the suspension limiting plate, is provided with a limiting column, the limiting column is positioned at the front side of the suspension limiting plate, and the lower end of each suspension limiting plate is bent towards the front side.

8. The heavy duty electrically driven rudder wheel according to claim 1, wherein: the center of the fixed support is provided with a through hole, the side wall of the through hole is provided with a support extending to the center of the through hole, and the cantilever end of the support is provided with an angle sensor used for monitoring the steering angle of the heavy electric driving steering wheel.

9. The heavy duty electrically driven rudder wheel according to claim 1, wherein: the heavy electric driving steering wheel further comprises a motor control box which is arranged in the area between the two groups of shaft sleeves on the lower surface of the bogie.