Self-balancing type light steering wheel for complex terrains

Abstract

The invention discloses a self-balancing type light steering wheel for complex terrains. The self-balancing type light steering wheel comprises a wheel carrier, a steering assembly, a driving assembly and a suspension system. The steering assembly drives tires to steer through a motor via a three-stage gear pair. The driving assembly drives tires through a motor and a speed reducer; the suspension system is connected between the driving mounting plate and the wheel carrier and comprises a parallel connecting rod mechanism and symmetrically arranged spring suspension units, self-adaptive buffering is achieved through a compression spring and a fisheye knuckle bearing, and it is ensured that the tire continuously touches the ground on a rugged road surface; the driving speed reducer is integrated in the tire, the driving motor is arranged between the wheel carrier and the tire, and the whole steering assembly does not exceed the turning radius of the tire. The device is compact in structure, has good terrain adaptability and motion stability, and is suitable for an outdoor mobile robot system.

Description

Technical Field

[0001] This invention relates to mobile robot technology, and more specifically to a self-balancing lightweight steering wheel for complex terrain. Background Technology

[0002] With the acceleration of global urbanization, the traditional construction industry is facing triple pressures: efficiency improvement, cost control, and safety compliance. Simultaneously, the continuous innovation of electromechanical engineering, computer information technology, and artificial intelligence, along with the shortcomings exposed in traditional construction work models, is accelerating the profound transformation of the construction industry from traditional mechanization to automation, intelligence, modularization, and generalization. Mobile robots, as one of the hallmarks of intelligence, are the preferred choice for the intelligent transformation of the construction industry, with the steering wheel being a core driving component. This invention, considering the special working conditions and environment of this industry, specifically designs a self-balancing lightweight steering wheel for complex terrain. This invention is also applicable to other application scenarios with harsh environments, complex ground conditions, and limited working spaces. Summary of the Invention

[0003] Embodiments of the present invention provide a self-balancing lightweight steering wheel for complex terrain.

[0004] The technical solution for achieving the objective of this invention is: a self-balancing lightweight steering wheel for complex terrain, comprising a wheel frame, a steering assembly, a drive assembly, and a suspension system, wherein:

[0005] The steering assembly includes a steering motor, a steering reducer, a steering pinion, a middle gear, and a steering gear. The steering motor is connected to the steering reducer and drives the steering pinion. The steering pinion transmits torque to the steering gear through the middle gear to achieve tire steering. The three-gear pair formed by the steering pinion, middle gear, and steering gear is fixed to the top of the wheel frame and covered with a gear cover.

[0006] The drive assembly includes a drive motor, a drive reducer, and a tire, wherein the drive motor is connected to the drive reducer to drive the tire; the drive reducer is connected to the drive mounting plate via a flange.

[0007] The suspension system connects the drive mounting plate and the wheel frame, and includes a linkage mechanism and a spring suspension mechanism. The linkage mechanism includes two sets of parallel linkages, with each set of linkages connected at both ends to the side shoulder of the drive mounting plate and the side of the wheel frame via screws. The spring suspension mechanism includes two sets of symmetrically arranged suspension units, each of which includes a spring sleeve, a spring spindle, a compression spring, and a spherical bearing. One end of the spherical bearing is connected to the top of the drive mounting plate, and the other end is connected to the lower surface of the top of the wheel frame via a suspension mounting block. The compression spring is disposed between the two spring sleeves and connected to the spherical bearing via the spring spindle.

[0008] The drive reducer is integrated inside the tire, the drive motor is located in the space between the wheel frame and the tire, and the steering assembly as a whole does not exceed the turning radius of the tire.

[0009] Furthermore, the drive mounting plate is annular, with its inner ring protrusion connected to the flange face of the drive reducer, two holes on the top for connecting the spring suspension mechanism, and protruding shoulders on both sides for connecting the connecting rod.

[0010] Furthermore, a self-lubricating washer is provided between the connecting rod and the plug screw, and a copper sleeve is pressed into the connecting rod.

[0011] Furthermore, the wheel frame has an elongated oval hole on its side to accommodate the drive motor and ensure its movement space during suspension compression.

[0012] Furthermore, a suspension limiting block is provided on the side of the wheel frame between the two connecting rods to limit the swing angle of the connecting rods.

[0013] Furthermore, the maximum rotation angle of the connecting rod is limited by the suspension limiting block to 7°, corresponding to a maximum compression distance of 13.5mm between the wheel frame and the tire.

[0014] Furthermore, a limit switch and a cable guard are installed on the large steering gear, and a zero-position locking screw for locking the steering zero position is installed on the medium steering gear.

[0015] Furthermore, a tire guard is provided on the side of the tire to prevent the screws and elastic pins connecting the output shaft of the drive reducer to the tire from coming loose.

[0016] Furthermore, the wheel frame is L-shaped as a whole, formed by welding and machining, with a weight-reducing groove on the top and reinforcing ribs between the sides and the top.

[0017] A mobile robot comprising at least one of the aforementioned self-balancing lightweight steering wheels as its drive unit.

[0018] Compared with existing technologies, the significant advantages of this invention are: 1) It is equipped with an integrated suspension system, which, through compression springs and linkage mechanisms, ensures that the mobile robot's tires remain on the ground even when traversing ditches and bumps, and on complex road surfaces. 2) The overall structure is compact, small in size, lightweight, and has a small turning radius. The drive reducer is integrated inside the tire, the drive motor is integrated between the wheel frame and the tire, and the tire is integrated at the bottom of the wheel frame. The steering part basically does not exceed the tire's turning radius, and the side of the large steering gear only slightly protrudes from the tire surface. This results in high space utilization, which is conducive to the miniaturization of the mobile robot and is suitable for applications with complex conditions and limited working spaces. Attached Figure Description

[0019] Figure 1 This is a first-view structural schematic diagram of the steering wheel provided in an embodiment of the present invention.

[0020] Figure 2 This is a structural schematic diagram of the steering wheel from a second perspective, provided in an embodiment of the present invention.

[0021] Figure 3 This is an exploded view of the suspension system provided in an embodiment of the present invention.

[0022] Figure 4 This is a schematic diagram of the driver mounting plate provided in an embodiment of the present invention. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] like Figures 1-4 As shown, a self-balancing lightweight steering wheel for complex terrain includes a wheel frame 1, a small steering gear 2, a medium gear 3, a large steering gear 4, a gear cover 5, a limiter 6, a cable guard ring 7, a steering motor 8, a steering reducer 9, a zero-position locking screw 10, a drive mounting plate 11, a suspension limit block 12, a connecting rod 13, a plug screw 14, a self-lubricating gasket 15, a copper sleeve 16, a spring sleeve 17, a spring spindle 18, a compression spring 19, a spherical bearing 20, a suspension mounting block 21, a drive motor 22, a drive reducer 23, a tire 24, and a tire guard 25.

[0025] In the steering section, the steering motor 8 is connected to the steering reducer 9 and the steering pinion 2, which is fixed to the wheel frame 1. The torque is transmitted to the steering gear 4 through the intermediate gear 3. The limiter 6 and the cable guard ring 7 are installed on the steering gear 4, and the gear cover 5 is installed on the wheel frame 1.

[0026] In the drive section, the drive motor 22 is connected to the drive reducer 23 and the tire 24. The drive reducer 23 is connected to the drive mounting plate 11 via a flange.

[0027] The suspension system includes a linkage mechanism and a spring suspension mechanism, used to connect the drive mounting plate 11 and the wheel carrier 1. Specifically:

[0028] There are four connecting rods 13, arranged in parallel pairs. The two ends of the connecting rods 13 are connected by plug screws 14, self-lubricating washers 15 and copper sleeves 16 to ensure smooth rotation without jamming. A suspension limit block 12 is provided between two connecting rods 13 on the wheel frame 1 to limit the suspension by contacting the connecting rods 13.

[0029] The spring suspension mechanism includes two sets of suspensions, each set consisting of a spring sleeve 17, a spring spindle 18, a compression spring 19, a fisheye joint bearing 20, and a suspension mounting block 21. The fisheye joint bearings 20 at both ends are connected at one end to the drive mounting plate 11 and at the other end to the lower top surface of the wheel frame 1 via the suspension mounting block 12. Both fisheye joint bearings 20 are externally threaded. Each fisheye joint bearing 20 is connected to the spring sleeve 17 via a nut. The compression spring 19 and the spring spindle 18 are sandwiched between the two spring sleeves 17.

[0030] Furthermore, the drive mounting plate 11 is in the form of a ring, with the inner ring protrusion connected to the flange face of the drive reducer 23, the two holes at the top connected to the suspension system, and the protruding shoulders on both sides connected to the four connecting rods 13.

[0031] Furthermore, the wheel frame 1 is machined after welding, and is L-shaped in general. An elongated oval hole is opened on the side to accommodate the drive motor 22, ensuring the movement space of the motor when the suspension is compressed. A weight reduction groove is opened on the top, and reinforcing ribs are set on both sides to support the top and sides of the wheel frame 1. It is lightweight, small in size, and low in cost.

[0032] The specific assembly sequence includes:

[0033] The outer flange of the drive reducer 23 is connected to the drive mounting plate 11 by screws. The output shaft screws and elastic pins are connected to the tire 24. Tire guards 25 are provided on the side of the tire 24 to prevent the screws and pins from coming out. The drive motor 22 is flanged and mounted on the drive reducer 23. Its tail end passes through the wheel frame 1, and the cable exits from the back of the wheel frame 1.

[0034] First, press the copper sleeve 16 into the connecting rod 13, then screw the locking screw 14 into both ends of the connecting rod 13. Install both ends of the connecting rod 13 onto the shaft shoulders on both sides of the drive mounting plate 11 and the side of the wheel frame 1, respectively. Place a self-lubricating washer 15 between the locking screw 14 and the connecting rod 13. Install rectangular suspension limit blocks 12 on both sides of the wheel frame 1 between the two connecting rods 13 to ensure a maximum rotation angle of 7° for the connecting rod 13, corresponding to a compression distance of 13.5mm between the wheel frame 1 and the tire 24.

[0035] Two suspension systems are installed on the top of the drive mounting plate 11. A spherical bearing 20 is mounted to the drive mounting plate 11 using a screw 14 (externally threaded). A nut is first inserted, then a spring sleeve 17 is placed inside, and the spherical bearing 20 is screwed into the internal threaded hole of a spring spindle 18. A compression spring 19 is placed around the outer ring of the spring spindle 18. The other end of the spherical bearing 20 also has external threads. Two nuts secure another spring sleeve 17, which presses against the other end of the compression spring 19. This side of the spherical bearing 20 is then mounted to the suspension mounting block 21 using the screw 14. The suspension mounting block 21 is installed in the long groove on the lower top of the wheel frame 1.

[0036] A steering pinion 2, a medium gear 3, and a steering large gear 4 are installed on the top side of the wheel frame 1 to form a three-gear pair. A limiter 6 is installed at the bottom of the steering large gear 4, and a zero-position locking screw 10 and a cable guard ring 7 are installed at the top. A gear cover 5 covers the three-gear pair. A steering reducer 9 and a steering motor 8 are installed in sequence at the bottom of the pinion 2.

[0037] The steering motor 8 achieves tire steering through the steering reducer 9 and the three-gear pair, while the drive motor 22 achieves tire forward and backward movement through the drive reducer 23. The suspension function is achieved through the suspension system, the link 13, and the wheel frame 1. When encountering uneven ground or crossing ditches and obstacles, the compression spring 19 of the suspension system generates thrust or is compressed, causing the corresponding link 13 to swing up and down, ensuring that the tire 24 always keeps its ground contact and preventing the tire 24 from spinning freely and getting stuck on the vehicle body.

[0038] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0039] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these modifications and improvements all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A self-balancing lightweight steering wheel for complex terrain, characterized in that, Includes wheel frame (1), steering assembly, drive assembly and suspension system, wherein: The steering assembly includes a steering motor (8), a steering reducer (9), a steering pinion (2), a middle gear (3), and a steering gear (4). The steering motor (8) is connected to the steering reducer (9) and drives the steering pinion (2). The steering pinion (2) transmits torque to the steering gear (4) through the middle gear (3) to achieve steering of the tire (24). The three-gear pair formed by the steering pinion (2), the middle gear (3), and the steering gear (4) is fixed to the top of the wheel frame (1) and covered with a gear cover (5). The drive assembly includes a drive motor (22), a drive reducer (23), and a tire (24), wherein the drive motor (22) is connected to the drive reducer (23) to drive the tire (24); the drive reducer (23) is connected to the drive mounting plate (11) via a flange. The suspension system is connected between the drive mounting plate (11) and the wheel frame (1), and includes a linkage mechanism and a spring suspension mechanism. The linkage mechanism includes two sets of parallel connecting rods (13). The two ends of each set of connecting rods (13) are connected to the side shoulder of the drive mounting plate (11) and the side of the wheel frame (1) by plug screws (14). The spring suspension mechanism includes two sets of symmetrically arranged suspension units. Each suspension unit includes a spring sleeve (17), a spring spindle (18), a compression spring (19), and a fisheye joint bearing (20). One end of the fisheye joint bearing (20) is connected to the top of the drive mounting plate (11), and the other end is connected to the lower surface of the top of the wheel frame (1) through the suspension mounting block (21). The compression spring (19) is located between the two spring sleeves (17) and is connected to the fisheye joint bearing (20) through the spring spindle (18). The drive reducer (23) is integrated inside the tire (24), and the drive motor (22) is located in the space between the wheel frame (1) and the tire (24). The steering assembly as a whole does not exceed the turning radius of the tire (24).

2. The self-balancing lightweight steering wheel according to claim 1, characterized in that, The drive mounting plate (11) is annular, with its inner ring protrusion connected to the flange face of the drive reducer (23). It has two holes at the top for connecting the spring suspension mechanism, and protruding shoulders on both sides for connecting the connecting rod (13).

3. The self-balancing lightweight steering wheel according to claim 1 or 2, characterized in that, A self-lubricating gasket (15) is provided between the connecting rod (13) and the plug screw (14), and a copper sleeve (16) is pressed into the connecting rod (13).

4. The self-balancing lightweight steering wheel according to claim 1, characterized in that, The wheel frame (1) has an elongated oval hole on its side to accommodate the drive motor (22) and ensure its movement space during suspension compression.

5. The self-balancing lightweight steering wheel according to claim 1, characterized in that, The side of the wheel frame (1) is provided with a suspension limit block (12) between the two connecting rods (13) to limit the swing angle of the connecting rods (13).

6. The self-balancing lightweight steering wheel according to claim 5, characterized in that, The suspension limiting block (12) limits the maximum rotation angle of the connecting rod (13) to 7°, corresponding to a maximum compression distance of 13.5mm between the wheel frame (1) and the tire (24).

7. The self-balancing lightweight steering wheel according to claim 1, characterized in that, The steering gear (4) is equipped with a limiter (6) and a guard ring (7), and the steering gear (4) is equipped with a zero-position locking screw (10) for locking the steering zero position.

8. The self-balancing lightweight steering wheel according to claim 1, characterized in that, The tire (24) is provided with a tire baffle (25) on its side to prevent the screws and elastic pins connecting the output shaft of the drive reducer (23) and the tire (24) from coming loose.

9. The self-balancing lightweight steering wheel according to claim 1, characterized in that, The wheel frame (1) is L-shaped as a whole, formed by welding and machining, with a weight-reducing groove on the top and reinforcing ribs between the side and the top.

10. A mobile robot, characterized in that, It includes at least one self-balancing lightweight steering wheel as described in any one of claims 1 to 9 as its drive unit.

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