Integrated shock-absorbing steerable wheel drive system

Abstract

The present invention discloses an integrated shock-absorbing steering wheel drive system, which includes a steering system, a shock-absorbing system, and a drive system. The steering system includes a mounting plate, a steering motor, a limit switch, a limiter, a first-stage gear reducer, and a second-stage gear reducer; the shock-absorbing system includes a top plate, two connecting plates, a left side plate, a right side plate, and a shock-absorbing mechanism; the drive system includes a drive motor, a speed reducer, a drive wheel of the steering wheel body, and a brake; the shock-absorbing mechanism includes a guide rod and an elastic component. The upper end of the guide rod is connected to the connecting plate, and elastic components are provided inside the front and rear ends of the left side plate and the right side plate. The guide rod penetrates through the left side plate and the right side plate, and the lower end of the guide rod is connected to the lower end of the elastic component. The elastic component drives the guide rod to move up and down relative to the left side plate and the right side plate. This steering wheel drive system reduces the overall installation height of the steering wheel and the suspension device, mitigates the impact between components, and ensures the stability of vehicle operation and the grip of the wheels.

Description

Technical Field

[0001] The present invention relates to the technical field of mobile robots, and particularly relates to an integrated shock-absorbing steering wheel drive system. Background Art

[0002] AGV robots are widely used in flexible manufacturing systems and automated warehousing systems. The steering wheel is a key component for realizing its autonomous operation and is also one of the core technologies of AGV robots.

[0003] The patent with the publication number CN206282138U and the name of a highly integrated drive and steering integrated steering wheel system discloses a highly integrated drive and steering integrated steering wheel system, which includes a servo driver, a drive motor, a steering motor, a planetary reducer, a first-stage gear reducer, a second-stage gear reducer, a limit switch, a drive wheel and a bearing of the steering wheel body. The servo driver is respectively connected to the drive motor, the steering motor, a first encoder and a second encoder. The integrated steering wheel system disclosed in this patent cannot reduce the impact between the vehicle body and the steering wheel during the operation of the AGV.

[0004] In order to reduce the impact between the vehicle body and the steering wheel during the operation of the AGV and prevent the steering wheel from being suspended and one end from tilting up when the road surface is uneven, a suspension device is generally designed between the steering wheel and the vehicle body. This method requires different suspensions to be designed for different vehicle bodies, with poor versatility, and will significantly increase the height of the whole vehicle, and the application field is limited. Summary of the Invention

[0005] The purpose of the present invention is to provide an integrated shock-absorbing steering wheel drive system, which reduces the overall installation height of the steering wheel and the suspension device, reduces the impact between components, and ensures the stability of vehicle operation and the grip of the wheels.

[0006] The technical solution for realizing the purpose of the present invention is: an integrated shock-absorbing steering wheel drive system, which includes a steering system, a shock-absorbing system and a drive system. The steering system includes a mounting plate, a steering motor, a limit switch, a limiter, a first-stage gear reducer and a second-stage gear reducer; the shock-absorbing system includes a top plate, 2 connecting plates, a left side plate, a right side plate and a shock-absorbing mechanism; the drive system includes a drive motor, a reducer, a drive wheel of the steering wheel body and a brake; wherein:

[0007] The steering motor, the limit switch, the limiter and the first-stage gear reducer of the steering system are all fixedly connected to the mounting plate. The second-stage gear reducer is located above the mounting plate, is connected to the output shaft of the steering motor, and meshes with the first-stage gear reducer;

[0008] The top plate of the shock absorption system is connected to the mounting plate of the steering system. The left plate and the right plate are respectively connected to the output shafts of the speed reducers of the drive system. Connecting plates are respectively arranged on the left and right sides below the top plate. Shock absorption mechanisms are respectively arranged at the front and rear ends of the connecting plates. The shock absorption mechanism includes a guide rod and an elastic component. The upper end of the guide rod is connected to the connecting plate. Elastic components are arranged inside the front and rear ends of the left plate and the right plate. The guide rod penetrates through the left plate and the right plate, and the lower end of the guide rod is connected to the lower end of the elastic component. The elastic component drives the guide rod to move up and down relative to the left plate and the right plate.

[0009] The output shaft of the drive motor of the drive system is connected to the speed reducer. The speed reducer is connected to the drive wheel. The brake is connected to the drive motor and is relatively installed on both sides of the steering wheel body.

[0010] Furthermore, the shock absorption mechanism further includes a top cover plate, a linear bearing, a bottom cover plate, a bottom retaining piece and a guiding cover plate. The upper end of the guide rod is connected to one end of the connecting plate through the top cover plate, and the upper end of the guide rod is limited on the top plate. A guiding cover plate is arranged on the top of the elastic component. The upper side of the guiding cover plate is connected to the linear bearing. Bottom cover plates are arranged at the bottoms of the front and rear ends of the left plate and the right plate. The downward movement of the bottom cover plate is limited by the bottom retaining piece. The lower end of the elastic component is connected to the bottom cover plate. The guide rod penetrates through the left plate and the right plate through the linear bearing, and the lower end of the guide rod is connected to the bottom cover plate. The bottom cover plate moves up and down with the elastic component, driving the guide rod to move up and down relative to the left plate and the right plate.

[0011] Furthermore, the guide rod and the elastic component are perpendicular to the mounting plate.

[0012] Furthermore, both the steering motor and the drive motor are permanent magnet synchronous motors.

[0013] Furthermore, the first-stage gear reducer, the second-stage gear reducer, the limit switch and the drive wheel of the steering wheel body are of an integrated structure.

[0014] Furthermore, a magnetic navigation sensor is also installed on the mounting plate.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] (1) When the steering wheel system of the present invention encounters a concave point or a convex point during driving, the elastic components in the shock absorption system are in a stretched or compressed state, and the whole steering system is driven to move up and down through the guide rod and the linear bearing, so as to achieve the shock absorption effect. During the up and down movement of the steering wheel system, the shock absorption elastic components filter the vibrations caused by the road surface through continuous compression and release, and can fully match the use performance of the AGV vehicle.

[0017] (2) The steering wheel system and the shock absorption system are integrated structures, which improve the problem that traditional steering wheels require additional design of suspension shock absorption devices. They have a beautiful appearance and strong shock absorption ability, and do not need to be used in conjunction with other devices, providing the greatest convenience for users.

[0018] (3) Compared with the steering wheel system with additional suspension of the same size, the present invention effectively reduces the installation height and has the characteristics of small size and convenient installation. Description of the Drawings

[0019] Figure 1 It is a schematic structural diagram of a shock-absorbing steering wheel drive system of the present invention.

[0020] Figure 2 It is a cross-sectional view of the structure of a shock-absorbing steering wheel drive system of the present invention. Detailed Embodiments

[0021] The following will further describe in detail the specific embodiments of the present invention in conjunction with the drawings and embodiments. The following embodiments are used to illustrate the present invention, but are not used to limit the scope of the present invention.

[0022] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "upper", "lower", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0023] In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] The steering wheel is the core component to realize the autonomous operation of the AGV. In order to reduce the impact between the vehicle body and the steering wheel during the operation of the AGV and prevent the phenomenon of the steering wheel being suspended, an integrated steering wheel drive system is designed. Combining Figure 1 and Figure 2, the integrated shock-absorbing steering wheel drive system includes a steering system, a shock-absorbing system, and a drive system. The steering system includes a mounting plate 1, a steering motor 11, a limit switch 12, a limiter 13, a first-stage gear reducer 14, and a second-stage gear reducer 15; the shock-absorbing system includes a top plate 2, two connecting plates 3, a top cover plate 4, a guide rod 5, a linear bearing 6, a bottom cover plate 7, a bottom stop 8, a left side plate 9, a right side plate 10, a guiding cover plate 20, and an elastic member 21; the drive system includes a drive motor 16, a speed reducer 17, a drive wheel 18 of the steering wheel body, and a brake 19; wherein:

[0025] The steering motor 11, the limit switch 12, the limiter 13, and the first-stage gear reducer 14 of the steering system are all fixedly connected to the mounting plate 1. The second-stage gear reducer 15 is located above the mounting plate 1, connected to the output shaft of the steering motor 11, and meshed with the first-stage gear reducer 14;

[0026] The top plate 2 of the shock-absorbing system is connected to the mounting plate 1 of the steering system. The left side plate 9 and the right side plate 10 are respectively connected to the output shafts of the speed reducer 17 of the drive system. Connecting plates 3 are respectively arranged on the left and right sides below the top plate 2, and shock-absorbing mechanisms are respectively arranged at the front and rear ends of the connecting plates 3; the shock-absorbing mechanism includes a top cover plate 4, a guide rod 5, a linear bearing 6, a bottom cover plate 7, a bottom stop 8, a guiding cover plate 20, and an elastic member 21; the upper end of the top cover plate 4 is connected to one end of the connecting plate 3, and the lower end is connected to the upper end of the guide rod 5, limiting the upper end of the guide rod 5 on the top plate 2. A guiding cover plate 20 is arranged at the top of the elastic member 21, and the upper side of the guiding cover plate 20 is connected to the linear bearing 6. Bottom cover plates 7 are arranged at the bottoms of the front and rear ends of the left side plate 9 and the right side plate 10. The downward movement of the bottom cover plate 7 is limited by the bottom stop 8. Elastic members 21 are arranged inside the left side plate 9 and the right side plate 10, and the lower ends of the elastic members 21 are connected to the bottom cover plate 7. The guide rod 5 passes through the left side plate 9 and the right side plate 10 through the linear bearing 6, and the lower end of the guide rod 5 is connected to the bottom cover plate 7. The bottom cover plate 7 moves up and down with the elastic member 21, driving the guide rod 5 to move up and down relative to the left side plate 9 and the right side plate 10. The shock-absorbing system drives the steering system to move up and down, which can effectively reduce the impact force of the load on the components of the steering wheel, especially the instantaneous pressure during the loading process;

[0027] The output shaft of the drive motor 16 of the drive system is connected to the speed reducer 17, the speed reducer 17 is connected to the drive wheel 18, and the brake 19 is connected to the drive motor 16 and is relatively installed on both sides of the steering wheel body.

[0028] The guide rod 5 and the elastic member 21 are parallel to each other and both perpendicular to the mounting plate 1.

[0029] The steering motor 11 and the drive motor 16 are both permanent magnet synchronous motors; the first-stage gear reducer 14, the second-stage gear reducer 15, the limit switch 12, and the drive wheel 18 of the steering wheel body are of an integrated structure; a magnetic navigation sensor is further installed on the mounting plate 1, which outputs a navigation position signal and transmits it to an external controller.

[0030] In this embodiment, the main function of the elastic member 21 of the shock absorption device is to reduce the impact between mechanical components and play a buffering role when a load acts on the second-stage gear reducer 15.

[0031] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. Integrated shock-absorbing steering wheel drive system, Characterized in that, It includes a steering system, a shock-absorbing system and a drive system. The steering system includes a mounting plate (1), a steering motor (11), a limit switch (12), a limiter (13), a first-stage gear reducer (14) and a second-stage gear reducer (15); the shock-absorbing system includes a top plate (2), two connecting plates (3), a left side plate (9), a right side plate (10) and a shock-absorbing mechanism; the drive system includes a drive motor (16), a reducer (17), a drive wheel (18) of the steering wheel body and a brake (19); wherein: The steering motor (11), the limit switch (12), the limiter (13) and the first-stage gear reducer (14) of the steering system are all fixedly connected to the mounting plate (1). The second-stage gear reducer (15) is located above the mounting plate (1), connected to the output shaft of the steering motor (11), and meshed with the first-stage gear reducer (14); The top plate (2) of the shock-absorbing system is connected to the mounting plate (1) of the steering system. The left side plate (9) and the right side plate (10) are respectively connected to the output shafts of the reducer (17) of the drive system. Connecting plates (3) are respectively arranged on the left and right sides below the top plate (2). Shock-absorbing mechanisms are respectively arranged at the front and rear ends of the connecting plates (3); the shock-absorbing mechanism includes a guide rod (5) and an elastic member (21). The upper end of the guide rod (5) is connected to the connecting plate (3), and elastic members (21) are arranged inside the front and rear ends of the left side plate (9) and the right side plate (10). The guide rod (5) penetrates through the left side plate (9) and the right side plate (10), and the lower end of the guide rod (5) is connected to the lower end of the elastic member (21). The elastic member (21) drives the guide rod (5) to move up and down relative to the left side plate (9) and the right side plate (10); The output shaft of the drive motor (16) of the drive system is connected to the reducer (17), the reducer (17) is connected to the drive wheel (18), and the brake (19) is connected to the drive motor (16) and is relatively installed on both sides of the steering wheel body; The shock-absorbing mechanism further includes a top cover plate (4), a linear bearing (6), a bottom cover plate (7), a bottom retaining piece (8) and a guiding cover plate (20); the upper end of the guide rod (5) is connected to one end of the connecting plate (3) through the top cover plate (4), limiting the upper end of the guide rod (5) on the top plate (2). A guiding cover plate (20) is arranged on the top of the elastic member (21), the upper side of the guiding cover plate (20) is connected to the linear bearing (6), bottom cover plates (7) are arranged at the bottoms of the front and rear ends of the left side plate (9) and the right side plate (10), the downward movement of the bottom cover plate (7) is limited by the bottom retaining piece (8), the lower end of the elastic member (21) is connected to the bottom cover plate (7), the guide rod (5) penetrates through the left side plate (9) and the right side plate (10) through the linear bearing (6), the lower end of the guide rod (5) is connected to the bottom cover plate (7), and the bottom cover plate (7) moves up and down with the elastic member (21), driving the guide rod (5) to move up and down relative to the left side plate (9) and the right side plate (10).

2. The integrated shock-absorbing steering wheel drive system according to claim 1, Characterized in that, The guide rod (5) and the elastic component (21) are perpendicular to the mounting plate (1).

3. The integrated shock-absorbing steering wheel drive system according to claim 1, characterized in that both the steering motor (11) and the drive motor (16) are permanent magnet synchronous motors.

4. The integrated shock-absorbing steering wheel drive system according to claim 1, characterized in that the first-stage gear reducer (14), the second-stage gear reducer (15), the limit switch (12), and the drive wheel (18) of the steering wheel body are of an integrated structure.

5. The integrated shock-absorbing steering wheel drive system according to claim 1, characterized in that a magnetic navigation sensor is further installed on the mounting plate (1).

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