Differential horizontal rudder wheel assembly

Abstract

The application relates to the technical field of intelligent mobile devices, in particular to a differential horizontal rudder wheel assembly which comprises a walking motor module, a steering motor module, a planetary reducer module and an optimized mechanical connection assembly. The walking motor and the steering motor are both servo motors, high-torque output and accurate control are realized by combining the planetary reducer; the mechanical structure is compact, the installation height is 340 mm, and the integration degree is high; the wheel body is made of polyurethane material, can bear 1500 kg and is suitable for complex working conditions; NPN normally open proximity switches are configured to realize closed-loop control. The application can provide high-precision and high-performance driving, is suitable for automatic devices such as intelligent logistics vehicles and AGV trolleys, meets the demand of complex working conditions and improves the operation reliability.

Description

Technical Field

[0001] This utility model belongs to the technical field of intelligent mobile device drive devices, specifically a high-precision, high-performance differential horizontal steering wheel assembly. Background Technology

[0002] In the fields of intelligent equipment and automated transportation, steering wheel assemblies, as key components, are widely used in automated guided vehicles (AGVs), unmanned transport vehicles, mobile robots, and other equipment. Their performance directly affects the equipment's operating efficiency, load-bearing capacity, and control precision. Existing steering wheel assemblies typically consist of a travel motor, a steering motor, a reducer, and wheels, using a servo motor to achieve precise speed control and steering angle adjustment. However, existing steering wheel assemblies still have many shortcomings in practical applications.

[0003] On the one hand, the traditional steering wheel assembly has a complex structural design, resulting in a high installation height, which makes it difficult to meet the needs of low-chassis equipment. At the same time, due to its low integration, the matching between components is poor, easily leading to operational instability. On the other hand, the load-bearing capacity of existing steering wheel assemblies is limited, especially under high-load conditions. The hardness and load-bearing capacity of polyurethane wheels often cannot be balanced, easily leading to wheel deformation or accelerated wear, thus affecting service life and operational stability. Furthermore, the existing products typically use ordinary grease for gearbox lubrication, which is ineffective under extreme temperature conditions, limiting the equipment's applicability in harsh environments.

[0004] Meanwhile, the current control system of the steering wheel assembly still has room for improvement in terms of dynamic response and accuracy. For example, the design of the maximum steering angle and rotational gear ratio of the steering motor often cannot fully meet the needs of omnidirectional mobile equipment, resulting in insufficient steering flexibility. Furthermore, an unreasonable match between the traction force and speed parameters of the travel motor may cause a decrease in traction capacity when the equipment is running at high speeds, affecting overall operational efficiency. Therefore, how to optimize the structural design of the steering wheel assembly, improve its load-bearing capacity and operational stability, while simultaneously enhancing its adaptability and control performance, has become an urgent technical challenge to be addressed.

[0005] Based on the above problems, this utility model aims to provide a differential horizontal steering wheel assembly, which optimizes the installation height, improves the load-bearing capacity, improves the lubrication method, and enhances the dynamic response characteristics of the control system to meet the needs of modern intelligent equipment for efficient, stable and reliable operation. Utility Model Content

[0006] This invention addresses the technical problems of existing steering wheel assemblies in smart mobile device applications, such as complex structure, low integration, insufficient motion accuracy, and poor adaptability, by providing a differential horizontal steering wheel assembly. The steering wheel assembly integrates a travel motor and a steering motor, and combines them with a planetary reducer to achieve torque transmission and speed control, thereby meeting the requirements for high-precision and high-performance drive.

[0007] This invention provides a differential horizontal steering wheel assembly suitable for intelligent mobile devices, including a travel motor module, a steering motor module, a planetary reducer module, and structurally optimized mechanical connection components. Specifically, the travel motor module uses a servo motor as its power source, with a rated power of 2500 W, a rated voltage of 48 V, a rated current of 61 A, a rated torque of 7.96 Nm, and a rated speed of 3000 r / min. The travel motor module, through the planetary reducer module, increases the output torque to 258 Nm, achieving a traction force of 2150 N and a reference traction weight of 2800 kg. The planetary reducer module has a speed ratio of 36, and its output end is directly connected to the wheel body, ensuring smooth and reliable motion transmission. Furthermore, the steering motor module also uses a servo motor as its power source, with a rated power of 750 W, a rated voltage of 48 V, a rated current of 19.9 A, a rated torque of 2.39 Nm, and a rated speed of 3000 r / min. The steering motor module achieves precise angle control through a reducer speed ratio of 50+(08:27) and a slewing gear ratio of 1:4, with a maximum steering angle of 360°, supporting omnidirectional rotation. Specifically, the steering motor module is equipped with an NPN normally open proximity switch to detect the steering angle and feed it back to the control system, thereby achieving closed-loop control.

[0008] Furthermore, the mechanical structure design of the steering wheel assembly achieves compactness and high integration. The steering wheel assembly has an installation height of 340 mm, a top diameter of Φ240 mm, a center hole diameter of Φ16 mm, and a tolerance of -0.01 mm. Eight M12×25 mm bolt holes are evenly distributed in a circle around the center hole for securing the steering wheel assembly. The steering wheel body has an outer diameter of Φ310 mm and a thickness of 20 mm. Several key dimensions are provided at the bottom, including a length of 320 mm, a width of 155 mm, and auxiliary positioning dimensions of 70 mm, 266 mm, and 45 mm. The rotation diameter at the bottom of the steering wheel is Φ350 mm, and the bolt hole distribution angles are marked at 45° and 15° to ensure precise positioning during installation. Specifically, the wheel body of the steering wheel assembly is made of polyurethane material, with a load-bearing capacity of 1500 kg, a hardness of 95±1°, and excellent wear resistance and impact resistance, enabling it to adapt to high-load operation requirements under complex working conditions.

[0009] Furthermore, the planetary reducer module is lubricated using high-performance grease, with a suitable temperature range of -20°C to 200°C, enabling it to maintain stable operating performance in extreme environments. The grease is selected based on its high-temperature resistance, low-temperature resistance, and long lifespan, ensuring that the reducer's performance will not degrade due to lubrication failure during prolonged operation. Specifically, the output end of the planetary reducer module is connected to the wheel body via a flange. The flange has multiple bolt holes, the distribution of which corresponds to the bolt hole positions on the bottom of the wheel body, enabling rapid assembly and precise positioning.

[0010] Furthermore, the steering wheel assembly has the model number ZL-CFWS-340-25008-7508-62.8, and its naming convention is clear and unique. In this model number, "ZL" represents the brand name, "CFWS" represents the differential horizontal structure, "340" represents the installation height of 340 mm, "2500" represents the travel motor power of 2500 W, "750" represents the steering motor power of 750 W, and "62.8" represents the travel speed of 62.8 m / min. This model number naming convention facilitates users' quick identification of product specifications and technical parameters.

[0011] The beneficial effects of this utility model are achieved through the following technical solutions: S1: By using a servo motor as the power source for both the walking motor and the steering motor, combined with a planetary reducer module, high torque output and precise speed control are achieved; S2: By optimizing the mechanical structure design, the steering wheel assembly is made compact and highly integrated, with an installation height of only 340mm, making it easy to integrate into various intelligent equipment; S3: By configuring an NPN normally open proximity switch, precise detection and closed-loop control of the steering angle are achieved; S4: By selecting high-performance polyurethane materials and wide-temperature grease, the long-term stable operation of the steering wheel assembly in harsh environments is ensured; S5: Through precise dimensional design and bolt hole distribution, rapid assembly and precise positioning of the steering wheel assembly are achieved.

[0012] In particular, the differential horizontal steering wheel assembly of this invention exhibits significant technical advantages in practical applications. By integrating a high-precision servo motor and a planetary reducer, the steering wheel assembly can achieve precise motion control under complex working conditions, meeting the high-performance drive requirements of intelligent logistics vehicles, AGVs, and other automated mobile devices. Furthermore, the compact design and high reliability of the steering wheel assembly make it widely applicable in various application scenarios.

[0013] In summary, this utility model solves the technical problems of existing steering wheel assemblies in terms of structural complexity, motion accuracy, and adaptability by integrating a servo motor, a planetary reducer, and an optimized mechanical structure design. It provides a high-precision, high-performance, and high-reliability differential horizontal steering wheel assembly that can be widely used in the field of intelligent mobile devices. Attached Figure Description

[0014] Figure 1 This is a top view of the differential horizontal steering wheel assembly of this utility model, showing the center hole diameter Φ16 mm (tolerance -0.01 mm), top diameter Φ240 mm, length 320 mm and width 155 mm; Figure 2 This is a front view of the differential horizontal steering wheel assembly of this utility model, with the following dimensions marked: installation height 340 mm, main body outer diameter Φ310 mm, thickness 20 mm, and other auxiliary dimensions (240 mm, 70 mm, 266 mm, 45 mm). Figure 3 This is a bottom view of the differential horizontal steering wheel assembly of this utility model, showing the distribution of the wheel rotation diameter Φ350 mm, the eight M12×25 mm bolt holes, and their angle markings (45° and 15°). Figure 4 This is a parameter table for the differential horizontal steering wheel assembly of this utility model, including steering motor parameters (model SMC80S-0075-30WAK-5DSU, rated power 750 W, etc.), travel motor parameters (model SMC130D-0250-30WBK-4DSH, rated power 2500 W, etc.), reducer parameters (speed ratio 36, torque 258 Nm, etc.) and other technical parameters.

[0015] The attached diagram is labeled as follows: 1. Center hole (Φ16 mm, tolerance -0.01 mm); 2. Top diameter (Φ240 mm); 3. Installation height (340 mm); 4. Main body outer diameter (Φ310 mm); 5. Wheel rotation diameter (Φ350 mm); 6. Bolt holes (8 M12×25 mm). Detailed Implementation

[0016] This utility model discloses a differential horizontal steering wheel assembly, which is a highly integrated and high-performance drive device suitable for intelligent mobile devices such as AGVs and intelligent logistics vehicles. The specific embodiments of this utility model are described in detail below with reference to the accompanying drawings and detailed technical parameters.

[0017] First, the differential horizontal steering wheel assembly of this utility model consists of a travel motor module, a steering motor module, a planetary reducer module, and mechanical connection components. In practical applications, the travel motor module uses a servo motor as the power source, model SMC130D-0250-30WBK-4DSH, with a rated power of 2500 W, a rated voltage of 48 V, a rated current of 61 A, a rated torque of 7.96 Nm, and a rated speed of 3000 r / min. The travel motor module achieves torque transmission and speed control through the planetary reducer module, which has a speed ratio of 36 and an output torque of 258 Nm. This design ensures a traction force of 2150 N and a traction weight reference value of 2800 kg, meeting the requirements of high-load operation. (See attached...) Figure 1 As can be seen, the top diameter Φ240 mm corresponds to the installation position of the travel motor module, while the diameter of the center hole 1 is Φ16 mm with a tolerance of -0.01 mm, used to precisely position the steering wheel assembly. In addition, there are 8 M12×25 mm bolt holes 6 distributed evenly in a circle on the top for fixing the steering wheel assembly.

[0018] The steering motor module also uses a servo motor as its power source, model SMC80S-0075-30WAK-5DSU, with a rated power of 750 W, rated voltage of 48 V, rated current of 19.9 A, rated torque of 2.39 Nm, and rated speed of 3000 r / min. The steering motor module achieves precise angle control through a reducer ratio of 50+ (08:27) and a slewing gear ratio of 1:4, with a maximum steering angle of 360°, supporting omnidirectional rotation. To achieve closed-loop control, the steering motor module is equipped with an NPN normally open proximity switch, which can detect the steering angle and feed it back to the control system. (See attached image) Figure 3 The bottom view shows the wheel's rotation diameter as Φ350 mm, and also indicates the bolt hole distribution angles as 45° and 15°. These angles ensure precise positioning during installation. The output end of the steering motor module is connected to the wheel body via a flange. The flange has multiple bolt holes that correspond to the bolt holes on the bottom of the wheel body, facilitating quick assembly and positioning.

[0019] In terms of mechanical structure design, this utility model achieves compactness and high integration. According to the appendix... Figure 2The front view shows the steering wheel assembly with a mounting height of 340 mm, a main body outer diameter of Φ310 mm, and a thickness of 20 mm. These dimensions are optimized to ensure a compact size and easy integration into various intelligent equipment. Furthermore, the attached diagram shows a length of 320 mm, a width of 155 mm, and other auxiliary dimensions such as 70 mm, 266 mm, and 45 mm. These dimensions collectively define the steering wheel assembly's outline and provide stable support for its application in complex working conditions. Specifically, the wheel body is made of polyurethane material with a load-bearing capacity of 1500 kg and a hardness of 95±1°. This material possesses excellent wear resistance and impact resistance, meeting the high-load operating requirements under complex conditions.

[0020] The planetary gear reducer module uses high-performance grease for lubrication, with a suitable temperature range of -20°C to 200°C. The grease was chosen based on its high-temperature resistance, low-temperature resistance, and long lifespan, ensuring that the reducer's performance will not degrade due to lubrication failure during long-term operation. (See attached image) Figure 4 The technical details of the reducer are shown in the parameter table, including key parameters such as a speed ratio of 36 and a torque of 258 Nm. The output end of the planetary reducer module is connected to the wheel body via a flange. The bolt holes on the flange correspond to the bolt hole positions on the bottom of the wheel body, further improving assembly efficiency and positioning accuracy.

[0021] In actual operation, the differential horizontal steering wheel assembly works as follows: When the intelligent mobile device needs to travel in a straight line, the travel motor module starts, and the servo motor transmits power to the planetary reducer module. The reducer increases the output torque to 258 Nm through a speed ratio of 36, thereby driving the wheel to rotate and enabling the device to move forward or backward. At this time, the steering motor module remains stationary, and the direction of the wheel remains unchanged. If the device needs to turn or adjust its direction, the steering motor module starts, and the servo motor achieves precise angle control through a reducer speed ratio of 50+(08:27) and a rotational gear ratio of 1:4. The proximity switch detects the steering angle in real time and feeds the signal back to the control system. The control system adjusts the motor output based on the feedback information to ensure the accuracy of the steering action. Since the maximum steering angle is 360°, the device can complete omnidirectional rotation operations and adapt to complex motion trajectory requirements.

[0022] The differential horizontal steering wheel assembly of this invention demonstrates significant advantages in practical applications. For example, in intelligent logistics vehicles, the combination of the steering wheel assembly's high-precision servo motor and planetary reducer enables it to achieve flexible steering and precise positioning in confined spaces. Simultaneously, the steering wheel assembly's compact design and high reliability make it an ideal choice for automated mobile equipment. Particularly in the warehousing and logistics sector, where equipment frequently needs to handle goods and plan routes, the steering wheel assembly's efficient drive and precise control capabilities greatly improve operational efficiency.

[0023] Furthermore, the model naming convention of this utility model is clear and unique. Taking ZL-CFWS-340-25008-7508-62.8 as an example, "ZL" represents the brand name, "CFWS" represents the differential horizontal structure, "340" represents the installation height of 340mm, "2500" represents the power of the walking motor of 2500 W, "750" represents the power of the steering motor of 750 W, and "62.8" represents the walking speed of 62.8 m / min. This naming convention facilitates users' quick identification of product specifications and technical parameters, simplifying the selection process.

[0024] In summary, this utility model, through the integration of a servo motor, a planetary reducer, and an optimized mechanical structure design, solves the technical problems of existing steering wheel assemblies in terms of structural complexity, motion accuracy, and adaptability, and provides a high-precision, high-performance, and high-reliability differential horizontal steering wheel assembly. (Appendix) Figure 1 To be continued Figure 4 The various components and their technical parameters of the steering wheel assembly are shown in detail. With the above specific implementation method, technicians can fully understand the technical solution of this utility model and realize its manufacturing and application.

Claims

1. A differential horizontal steering wheel assembly, comprising a travel motor module, a steering motor module, a planetary reducer module, and mechanical connection components, characterized in that: The walking motor module uses a servo motor as its power source, with a rated power of 2500 W, a rated voltage of 48 V, a rated current of 61 A, a rated torque of 7.96 Nm, and a rated speed of 3000 r / min. The planetary reducer module has a speed ratio of 36 and an output torque of 258 Nm, which is used to drive the wheel rotation. The steering motor module uses a servo motor as its power source, with a rated power of 750 W, a rated voltage of 48 V, a rated current of 19.9 A, a rated torque of 2.39 Nm, and a rated speed of 3000 r / min. Angle control is achieved through a reducer speed ratio of 50+(08:27) and a rotational gear ratio of 1:4, with a maximum steering angle of 360°.

2. The differential horizontal steering wheel assembly according to claim 1, characterized in that: The mechanical connection assembly includes a central hole (1) with a diameter of Φ16 mm and a tolerance of -0.01 mm, and a top diameter (2) of Φ240 mm, with eight M12×25 mm bolt holes (6) evenly distributed on the top.

3. The differential horizontal steering wheel assembly according to claim 2, characterized in that... Further specified: the mounting height (3) of the steering wheel assembly is 340 mm, the outer diameter (4) of the main body is Φ310 mm, the thickness is 20 mm, the bottom is provided with a wheel rotation diameter (5) of Φ350 mm, and the bolt hole distribution angle is marked as 45° and 15°.

4. The differential horizontal steering wheel assembly according to claim 1, characterized in that: The wheel body is made of polyurethane material, with a load-bearing capacity of 1500 kg and a hardness of 95±1°; the planetary reducer module is lubricated with high-performance grease, with an applicable temperature range of -20°C to 200°C.

Images