Vehicle steering device and single-wheel guide trolley

Abstract

The utility model relates to a vehicle steering device and a single-wheel guide trolley, which belong to the field of guide wheel steering and comprise a transmission mechanism, a speed reduction assembly, a detection assembly and a guide wheel, the transmission mechanism is arranged on the speed reduction assembly, is connected with a bearing of the speed reduction assembly and is used for driving the speed reduction assembly to rotate to control the steering of the guide wheel; and the speed reduction assembly is arranged between the transmission mechanism and the detection assembly and is used for driving the detection assembly to rotate and increasing the rotation resistance of the guide wheel. The driving angle of the guide wheel is difficult to change through the speed reduction assembly, and the detection assembly detects the angle of the guide wheel at any time and provides the changed angle of the guide wheel for the transmission mechanism, so that the speed reduction assembly is driven by the transmission mechanism to rotate by the same angle in the opposite direction; and meanwhile, the speed reduction assembly drives the detection assembly and the guide wheel to rotate by the same angle, so that the driving angle of the guide wheel is aligned, and the effect that the vehicle keeps straight driving is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of guide wheel steering, in particular to a vehicle steering device and a one-wheel guide vehicle. Background Art

[0002] At present, most tricycles on the market achieve vehicle steering by turning the steering handle manually, and a few tricycles achieve unmanned steering through control. However, during the driving process of the tricycle, the impact of the road surface has a great influence on the posture of the front wheel. Traditional tricycles need to use manpower to ensure the posture of the front wheel, and unmanned tricycles cannot use external force to ensure that the front wheel is not changed. It is only after the posture of the front wheel changes that the control sends instructions to restore the front wheel to the posture before the change. In this way, during the driving process of the vehicle, the control will continue to send instructions to adjust the posture of the front wheel, and the vehicle will not be able to maintain the ability to drive in a straight line. In addition, the space occupancy rate of the steering system of the unmanned tricycle is relatively large, which is not friendly to the layout of the entire vehicle. Therefore, a vehicle steering device is proposed to solve the above problems. Utility Model Content

[0003] In view of one or more of the above defects or improvement requirements in the prior art, the utility model provides a vehicle steering device having the advantage of automatic return of the guide wheel.

[0004] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: A vehicle steering device comprises: a transmission mechanism, a reduction assembly, a detection assembly and a guide wheel;

[0005] The transmission mechanism is arranged on the reduction assembly and connected to the bearing of the reduction assembly, and is used to drive the reduction assembly to rotate and control the steering direction of the guide wheel;

[0006] The speed reduction assembly is arranged between the transmission mechanism and the detection assembly, and is used to drive the rotation of the detection assembly and increase the rotation resistance of the guide wheel;

[0007] The detection assembly is connected to the guide wheel and is used to provide the transmission mechanism with a rotation angle of the guide wheel, which can drive the guide wheel to rotate;

[0008] As a further improvement of the utility model, the transmission mechanism includes: an integrated control motor, a connecting shaft, a driving wheel, a fixing seat, a synchronous belt, and a driven wheel;

[0009] A fixed seat, arranged on one side of the reduction assembly, for carrying an integrated control motor, a connecting shaft and a driving wheel;

[0010] The integrated control motor is arranged at the lower end of the fixed seat, the driving wheel is arranged inside the fixed seat, and the driving wheel is connected to the integrated control motor through a connecting shaft, so as to drive the driving wheel to rotate through the integrated control motor;

[0011] The driven wheel is arranged above the reduction assembly, and the driven wheel is connected to the driving wheel through a synchronous belt transmission.

[0012] As a further improvement of the utility model, the transmission mechanism further includes: a tensioning wheel, an adjusting bolt and a fixing column;

[0013] A fixed column, arranged on the fixed seat, for supporting the adjusting bolt and the tensioning wheel;

[0014] The adjusting bolt is arranged on the fixing column, and a tensioning wheel is connected to one end close to the synchronous belt. The tensioning wheel fits the synchronous belt and is used to adjust the tightness of the synchronous belt.

[0015] As a further improvement of the utility model, the reduction assembly includes: a reduction device and a reduction gear bracket;

[0016] The reduction device is arranged at the lower end of the driven wheel, and the central axis of the reduction device and the central axis of the driven wheel are located on the same longitudinal axis;

[0017] The reducer bracket is arranged at the lower end of the reduction device and is used to support the reduction device.

[0018] As a further improvement of the utility model, the reduction gear is further provided with a pair of large angular contact bearings.

[0019] As a further improvement of the utility model, the detection assembly includes: a fixed bracket, a suspension connecting piece, a coupling and an absolute encoder;

[0020] A fixed bracket is provided at the lower end of the reducer bracket and is used to support the absolute encoder;

[0021] A suspension connecting member, one end of which is arranged below the reducer bracket and the other end of which is connected to the frame of the guide wheel;

[0022] A coupling, provided at the lower end of the suspension connecting member;

[0023] The absolute value encoder is arranged on the coupling and is fixedly connected to the suspension connecting member through the coupling, and is used to detect the change of the driving angle of the guide wheel.

[0024] As a further improvement of the utility model, a positioning hole is provided on the suspension connecting piece, a positioning shaft is provided on the reduction device, and the suspension connecting piece and the reduction device are matched through the shaft hole.

[0025] As a further improvement of the utility model, the reduction device and the reducer bracket are connected through an axial hole, and the fixed bracket is fixed to the reducer bracket through positioning pins and bolts.

[0026] As a further improvement of the utility model, a shock absorber assembly is provided on the frame of the guide wheel, and the shock absorber assembly is used to achieve a shock absorbing effect on the guide wheel.

[0027] As a further improvement of the utility model, a vehicle steering device and a one-wheeled guided vehicle include a vehicle frame, a non-guide wheel and a guide wheel, and also include a vehicle steering device connected to the guide wheel through the vehicle frame for controlling the steering of the guide wheel.

[0028] In general, compared with the prior art, the above technical solutions conceived by the utility model have the following beneficial effects:

[0029] When the vehicle encounters an obstacle during driving, the direction of the guide wheel will change. The reduction assembly will make it difficult for the guide wheel's driving angle to change, and the detection assembly will always detect the angle of the guide wheel. When the guide wheel's driving angle changes, the detection assembly will provide the transmission mechanism with the guide wheel's changed angle, thereby driving the reduction assembly to rotate in the opposite direction by the same angle through the transmission mechanism. At the same time, the reduction assembly drives the detection assembly and the guide wheel to rotate by the same angle, thereby returning the guide wheel's driving angle to normal, thereby achieving the effect of the vehicle maintaining straight driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the structure of the utility model;

[0031] Figure 2 This is a schematic diagram of the structure of an embodiment of the detection assembly of the utility model;

[0032] Figure 3 This is a schematic diagram of the structure of an embodiment of the transmission mechanism of the utility model;

[0033] Figure 4 This is a schematic diagram of the structure of the fixed bracket of the utility model.

[0034] In all the drawings, the same figure marks represent the same technical features, specifically: A. transmission mechanism; 1. integrated control motor; 2. connecting shaft; 3. driving wheel; 4. fixed seat; 5. synchronous belt; 6. tensioning wheel; 7. adjusting bolt; 8. fixing column; 9. driven wheel; B. reduction assembly; 10. reduction device; 11. reduction gear bracket; C. detection assembly; 12. fixing bracket; 13. suspension connecting part; 14. coupling; 15. absolute encoder; 16. shock absorber assembly; 17. guide wheel. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0036] In the embodiment, Figure 1-2 Provided is a vehicle steering device, which may optionally include but is not limited to: a transmission mechanism A, a reduction assembly B, a detection assembly C and a guide wheel 17;

[0037] The transmission mechanism A is provided on the reduction assembly B and connected to the bearing of the reduction assembly B, and is used to drive the reduction assembly B to rotate and control the direction of the guide wheel 17;

[0038] The reduction assembly B is provided between the transmission mechanism A and the detection assembly C, and is used to drive the rotation of the detection assembly C and increase the rotation resistance of the guide wheel 17;

[0039] The detection assembly C is connected to the guide wheel and is used to provide the transmission mechanism A with a rotation angle of the guide wheel 17, which can drive the guide wheel 17 to rotate;

[0040] The guide wheel 17 has frames on both sides, and the frames are connected to the detection assembly C.

[0041] In this embodiment, a vehicle steering device of the utility model is provided. When the vehicle encounters an obstacle during driving, the driving direction of the guide wheel 17 will change. The reduction assembly B makes it difficult for the driving angle of the guide wheel 17 to change, and the detection assembly C always detects the angle of the guide wheel 17. When the driving angle of the guide wheel 17 changes, the detection assembly C provides the changed angle of the guide wheel 17 to the transmission mechanism A, thereby driving the reduction assembly B to rotate in the opposite direction by the same angle through the transmission mechanism A. At the same time, the reduction assembly B drives the detection assembly C and the guide wheel 17 to rotate by the same angle, thereby returning the driving angle of the guide wheel 17 to normal, so as to achieve the effect of the vehicle maintaining straight driving.

[0042] 1. Transmission mechanism A

[0043] Preferably, Figure 1 As shown, the transmission mechanism A may optionally include but is not limited to: an integrated control motor 1, a connecting shaft 2, a driving wheel 3, a fixing seat 4, a synchronous belt 5, and a driven wheel 9;

[0044] The fixing seat 4 is arranged on one side of the reduction assembly B and is used to carry the integrated control motor 1, the connecting shaft 2 and the driving wheel 3;

[0045] The integrated control motor 1 is arranged at the lower end of the fixed seat 4, the driving wheel 3 is arranged inside the fixed seat 4, and the driving wheel 3 is connected to the integrated control motor 1 through a connecting shaft 2, which is used to drive the driving wheel 3 to rotate through the integrated control motor 1;

[0046] The driven wheel 9 is arranged above the reduction assembly B, and the driven wheel 9 is connected to the driving wheel 3 through a synchronous belt 5.

[0047] More preferably, Figure 2-3 As shown, the transmission mechanism A may also optionally include but is not limited to: a tension wheel 6, an adjusting bolt 7 and a fixing column 8;

[0048] A fixing column 8 is provided on the fixing seat 4 and is used to support the adjusting bolt 7 and the tensioning wheel 6;

[0049] The adjusting bolt 7 is arranged on the fixing column 8 , and one end close to the synchronous belt 5 is connected with a tensioning wheel 6 , and the tensioning wheel 6 fits with the synchronous belt 5 to adjust the tightness of the synchronous belt 5 .

[0050] In this embodiment, multiple specific embodiments of the transmission mechanism A are given. The detection assembly C detects that the guide wheel 17 changes the driving angle and sends an angle to the integrated control motor 1, so that the integrated control motor 1 issues a steering command, thereby controlling the connecting shaft 2 to drive the driving wheel 3 to rotate in the opposite direction at the same angle, and the driven wheel 9 is driven by the synchronous belt 5 to rotate with the driving wheel 3, thereby driving the reduction assembly B and the detection assembly C to rotate, so that the connected guide wheel 17 returns to the original driving angle, and a more compact effect is achieved in space through the transmission structure between the driving wheel 3, the driven wheel 9 and the synchronous belt 5; and the tensioning wheel 6 can be adjusted by adjusting the bolt 7 to squeeze the synchronous belt 5, so as to adjust the tightness of the synchronous belt 5 during the transmission process, which can effectively avoid the phenomenon of shaking and noise of the synchronous belt 5 during the transmission process.

[0051] 2. Speed ​​reduction assembly B

[0052] Preferably, Figure 3 As shown, the reduction assembly B may optionally include but is not limited to: a reduction device 10 and a reduction gear bracket 11;

[0053] The reduction gear 10 is disposed at the lower end of the driven wheel 9, and the central axis of the reduction gear 10 and the central axis of the driven wheel 9 are located on the same longitudinal axis;

[0054] The reducer bracket 11 is disposed at the lower end of the reduction device 10 and is used to support the reduction device 10 .

[0055] More preferably, the reduction device 10 can be optionally but not limited to being set as a 10CRV-80E reducer, which has a large speed ratio and requires a large torque at the output end to make it rotate, and is used to reduce the impact of the vehicle on the road surface, causing a large degree of change in the posture of the guide wheel 17.

[0056] More preferably, the reduction device 10 itself has a small transmission gap. Under the condition of a large speed ratio, the gap at the output end will become very small, so that the problem of poor control accuracy will not be caused by the excessive gap.

[0057] More preferably, the reduction device 10 may optionally but not limited to be provided with a pair of large angular contact bearings, so that the entire device can withstand greater axial impact and bending moment, thereby ensuring the service life of the entire device.

[0058] In this embodiment, a plurality of specific embodiments of the reduction assembly B are provided. When the guide wheel 17 encounters a road obstacle, the high speed ratio of the reduction device 10 makes it difficult for the guide wheel 17 to detect a large degree of steering. When the reduction device 10 is driven to move by the driven wheel 9, the transmission clearance of the reduction device 10 itself is small, so that when the detection assembly C and the guide wheel 17 are driven to rotate, the control accuracy is better.

[0059] 3. Detection Assembly C

[0060] Preferably, Figure 2-4 As shown, the detection assembly C may optionally include but is not limited to: a fixed bracket 12, a suspension connecting member 13, a coupling 14 and an absolute encoder 15;

[0061] The fixed bracket 12 is arranged at the lower end of the reducer bracket 11 and is used to support the absolute encoder 15;

[0062] A suspension connecting member 13, one end of which is disposed below the reducer bracket 11, and the other end of which is connected to the frame of the guide wheel 17;

[0063] A coupling 14 is provided at the lower end of the suspension connecting member 13;

[0064] The absolute encoder 15 is disposed on the coupling 14 and is fixedly connected to the suspension connecting member 13 through the coupling 14 , and is used to detect the change in the driving angle of the guide wheel 17 .

[0065] More preferably, the suspension connector 13 may optionally but not limited to be provided with a positioning hole, and the reduction gear 10 may optionally but not limited to be provided with a positioning shaft, and the suspension connector 13 and the reduction gear 10 are matched with each other through a shaft hole.

[0066] More preferably, the reduction device 10 and the reducer bracket 11 may be connected via an axial hole, but not limited thereto, and the fixed bracket 12 may be fixedly connected to the reducer bracket 11 via positioning pins and bolts, but not limited thereto.

[0067] In this embodiment, a plurality of specific embodiments of the detection assembly C are given. When the reduction device 10 rotates, the axial hole connection between the positioning shaft and the positioning hole is used to ensure the coaxiality between the absolute encoder 15 and the reduction device 10. In the process of steering control, the steering angle can be realized more accurately, forming a perfect closed-loop control.

[0068] More preferably, Figure 4As shown, the frame of the guide wheel 17 may optionally but not limited to be provided with a shock absorber assembly 16 , and the shock absorber assembly 16 is used to achieve a shock absorbing effect on the guide wheel 17 .

[0069] More preferably, a one-wheeled guided vehicle may optionally include but is not limited to: a vehicle frame, a non-guide wheel and a guide wheel 17, and also include a vehicle steering device of any of the above embodiments, which is connected to the guide wheel 17 through the vehicle frame and is used to control the steering of the guide wheel 17.

[0070] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0071] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A vehicle steering device, characterized in that: include: Transmission mechanism (A), reduction assembly (B), detection assembly (C) and guide wheel (17); The transmission mechanism (A) is arranged on the reduction assembly (B) and connected to the bearing of the reduction assembly (B), and is used to drive the reduction assembly (B) to rotate and control the direction of the guide wheel (17); The speed reduction assembly (B) is arranged between the transmission mechanism (A) and the detection assembly (C) and is used to drive the detection assembly (C) to rotate and increase the rotation resistance of the guide wheel (17); The detection assembly (C) is connected to the guide wheel and is used to provide the transmission mechanism (A) with a rotation angle of the guide wheel (17), thereby driving the guide wheel (17) to rotate.

2. The vehicle steering device according to claim 1, characterized in that: The transmission mechanism (A) comprises: an integrated control motor (1), a connecting shaft (2), a driving wheel (3), a fixing seat (4), a synchronous belt (5), and a driven wheel (9); A fixed seat (4) is arranged on one side of the reduction assembly (B) and is used to carry the integrated control motor (1), the connecting shaft (2) and the driving wheel (3); The integrated control motor (1) is arranged at the lower end of the fixed seat (4), and the driving wheel (3) is arranged inside the fixed seat (4). The driving wheel (3) and the integrated control motor (1) are connected via a connecting shaft (2) so as to drive the driving wheel (3) to rotate via the integrated control motor (1); The driven wheel (9) is arranged above the reduction assembly (B), and the driven wheel (9) is connected to the driving wheel (3) through a synchronous belt (5).

3. The vehicle steering device according to claim 2, characterized in that: The transmission mechanism (A) further comprises: a tensioning wheel (6), an adjusting bolt (7) and a fixing column (8); A fixing column (8) is arranged on the fixing seat (4) and is used to support the adjusting bolt (7) and the tensioning wheel (6); The adjusting bolt (7) is arranged on the fixing column (8), and one end close to the synchronous belt (5) is connected with a tensioning wheel (6), and the tensioning wheel (6) and the synchronous belt (5) are in close contact with each other and are used to adjust the tightness of the synchronous belt (5).

4. The vehicle steering device according to claim 1, characterized in that: The reduction assembly (B) comprises: a reduction device (10) and a reduction gear support (11); The reduction device (10) is arranged at the lower end of the driven wheel (9), and the central axis of the reduction device (10) and the central axis of the driven wheel (9) are located on the same longitudinal axis; The reducer bracket (11) is arranged at the lower end of the reduction device (10) and is used to support the reduction device (10).

5. The vehicle steering device according to claim 4, characterized in that: The speed reduction device (10) is also provided with a pair of large angular contact bearings.

6. The vehicle steering device according to claim 1, characterized in that: A detection assembly (C), comprising: a fixed bracket (12), a suspension connecting member (13), a coupling (14) and an absolute encoder (15); A fixed bracket (12) is arranged at the lower end of the reducer bracket (11) and is used to support the absolute encoder (15); A suspension connecting member (13), one end of which is arranged below the reducer bracket (11) and the other end of which is connected to the frame of the guide wheel (17); A coupling (14) is arranged at the lower end of the suspension connecting member (13); The absolute value encoder (15) is arranged on the coupling (14) and is fixedly connected to the suspension connecting member (13) through the coupling (14) and is used to detect the change of the travel angle of the guide wheel (17).

7. The vehicle steering device according to claim 6, characterized in that: A positioning hole is provided on the suspension connecting member (13), a positioning shaft is provided on the reduction device (10), and the suspension connecting member (13) and the reduction device (10) are matched via the shaft hole.

8. The vehicle steering device according to claim 7, characterized in that: The speed reduction device (10) and the speed reducer bracket (11) are connected via an axial hole, and the fixed bracket (12) is fixedly connected to the speed reducer bracket (11) via positioning pins and bolts.

9. The vehicle steering device according to claim 1, characterized in that: A shock absorber assembly (16) is provided on the frame of the guide wheel (17), and the shock absorber assembly (16) is used to achieve a shock absorbing effect on the guide wheel (17).

10. A one-wheeled guided vehicle, comprising a vehicle frame, a non-guided wheel and a guide wheel (17), characterized in that: It also comprises a vehicle steering device as described in any one of claims 1 to 9, which is connected to the guide wheel (17) through the vehicle frame and is used to control the steering of the guide wheel (17).

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