Coaxial differential steering wheel mechanism and automatic navigation device

Abstract

The invention discloses a coaxial differential steering wheel mechanism and an automatic navigation device. The coaxial differential steering wheel mechanism comprises a rotary supporting assembly. The rotary connecting assembly is rotationally connected to the rotary supporting assembly; the first driving wheel assembly and the second driving wheel assembly are coaxially and rotationally connected to the two opposite sides of the rotary connecting assembly correspondingly; the encoder assembly is arranged on the rotary supporting assembly; the rotary connecting assembly comprises a large-aperture bearing and a roller bearing; an outer ring of the large-aperture bearing is arranged on the rotary supporting assembly, and an inner ring of the large-aperture bearing is fixedly connected with the second driving wheel assembly; the outer ring of the roller bearing is arranged in the inner ring of the large-aperture bearing, and the inner ring of the roller bearing is fixedly connected with the second driving wheel assembly; the supporting plate is fixedly connected with the outer ring of the roller bearing and the first driving wheel assembly. Through cooperation of the rotary supporting assembly, the rotary connecting assembly and the two driving wheel assemblies, the problems that an existing differential steering wheel structure is large in size and large in weight are effectively solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of differential steering wheel, and particularly relates to a coaxial differential steering wheel mechanism and an automatic navigation device. BACKGROUND

[0002] The automatic navigation device (Automated Guided Vehicle, AGV for short) provides power through a single or multiple steering wheels to perform transfer operation. The steering wheel is a power module with the ability to drive forward and backward and actively steer.

[0003] In the prior art, the differential steering wheel on the AGV is generally composed of two groups of motors and wheels to complete the walking and steering action of the differential steering wheel. The load is applied to the reducer or motor structure through the wheels, making the reducer or motor structure heavy and not conducive to lightweight design. For example, the differential drive steering wheel provided in CN110316278A includes a steering wheel mounting plate, a driving device, and an anti-suspension device. The driving device includes a base, a first actuator, and a second actuator. The first actuator and the second actuator are both mounted on the base. The first actuator drives the first drive wheel to rotate, and the second actuator drives the second drive wheel to rotate. The first drive wheel and the second drive wheel are located on the two sides of the base, respectively. The anti-suspension device includes a base connecting assembly and a first connecting plate connected to the steering wheel mounting plate. The base connecting assembly is hingedly connected to the first connecting plate. The base connecting assembly connects the two sides of the base.

[0004] In the prior art, some AGV steering wheels also use a rotating motor structure and a walking motor structure to form a single steering wheel. The load is applied to the reducer through the wheels, and the energy utilization rate is low. When the walking motor structure is working, the rotating motor structure needs to be powered continuously to maintain the steering wheel angle. For example, the AGV steering wheel provided in CN111301517A includes a steering gear, a steering wheel mounting plate, a drive wheel mounted on the steering wheel mounting plate, a steering motor for driving the drive wheel to steer, and a drive motor for driving the drive wheel to walk. It also includes a steering wheel control unit for controlling the steering motor and the drive motor to act. A conductive slip ring is arranged in the inner hole of the steering gear. The stator of the conductive slip ring is used for conductive connection with the power supply on the vehicle body. The rotor of the conductive slip ring is fixed on the steering wheel mounting plate and is conductively connected with the steering motor, the drive motor, and the steering wheel control unit. A wireless transmitter and a wireless receiver are provided. The wireless transmitter is used for receiving the control signal of the vehicle control unit, and the wireless receiver is connected with the steering wheel control unit.

[0005] The AGV differential steering wheel in the prior art adopts a conventional motor-reducer combination, wheel load needs to be transferred to the reducer or the motor structure body, and the structure size is large and the weight is large, which cannot meet the lightweight design requirement; the motor of the single steering wheel has large energy consumption, which is not conducive to the endurance of the AGV, and the existing differential steering wheel has the problems of large size and high cost; therefore, a coaxial differential steering wheel mechanism and an automatic navigation device are provided to solve the above problems. SUMMARY

[0006] One of the purposes of the present application is to provide a coaxial differential steering wheel mechanism and an automatic navigation device to solve the problem of large structure size and large weight of the existing differential steering wheel.

[0007] The coaxial differential steering wheel mechanism and the automatic navigation device can be realized through the following technical solutions: The coaxial differential steering wheel mechanism comprises a rotating support assembly, a rotating connection assembly rotatably connected to the rotating support assembly, a first drive wheel assembly and a second drive wheel assembly rotatably connected to opposite sides of the rotating connection assembly, and an encoder assembly arranged on the rotating support assembly. The rotating connection assembly comprises a large-aperture bearing and a roller bearing. The outer ring of the large-aperture bearing is arranged on the rotating support assembly, and the inner ring is fixedly connected to the second drive wheel assembly. The outer ring of the roller bearing is arranged in the inner ring of the large-aperture bearing, and the inner ring is fixedly connected to the second drive wheel assembly. A support plate is fixedly connected to the outer ring of the roller bearing and the first drive wheel assembly.

[0008] In one embodiment, the first drive wheel assembly comprises a first drive motor fixedly connected to one end of the rotating support assembly, and a first tire body fixedly connected to the support plate and in transmission connection with the first drive motor.

[0009] In one embodiment, the second drive wheel assembly comprises a second drive motor fixedly connected to one end of the rotating support assembly and arranged opposite to the first drive motor, and a second tire body fixedly connected to the inner ring of the large-aperture bearing and the inner ring of the roller bearing and in transmission connection with the second drive motor.

[0010] In one embodiment, the first drive motor and the second drive motor are both torque reduction motors.

[0011] In one embodiment, the rotating support assembly comprises a support mechanism, a rotating bearing arranged on the support mechanism, and a connecting plate arranged on the rotating bearing. The outer ring of the rotating bearing is fixedly connected to the support mechanism, and the inner ring is fixedly connected to the connecting plate.

[0012] In one of the embodiments, the supporting mechanism comprises a supporting frame and two connecting side plates fixedly arranged on opposite sides of the supporting frame respectively; the large-aperture bearing is rotatably arranged on the supporting frame; one end of the first driving wheel assembly and the second driving wheel assembly is fixedly connected to the corresponding connecting side plate respectively.

[0013] In one of the embodiments, a plurality of fixing holes are arranged through the connecting plate; the connecting plate is fixedly connected to the inner ring of the rotary bearing through the corresponding fixing hole; the encoder assembly is fixedly connected to the connecting plate through the corresponding fixing hole.

[0014] In one of the embodiments, the encoder assembly comprises a mounting plate fixedly mounted on the connecting plate through the corresponding fixing hole; an encoder main body arranged on the mounting plate; and a rotating member fixedly connected to the rotating shaft of the encoder main body and in contact with the outer ring of the rotary bearing.

[0015] In one of the embodiments, the rotating member is a rubber-coated rotating shaft in contact with the outer ring of the rotary bearing.

[0016] The automatic navigation device comprises the coaxial differential steering wheel mechanism of any one of the above.

[0017] Compared with the prior art, the coaxial differential steering wheel mechanism and the automatic navigation device have the following advantages: The coaxial differential steering wheel mechanism and the automatic navigation device of the present application realize the transmission of the load weight to the two tire bodies through the rotary supporting assembly and the rotating connecting assembly in sequence, instead of the driving motor in the prior art, so that the driving motor can be designed to be lightweight, thereby realizing the requirements of smaller size, lighter weight and smaller steering resistance of the differential steering wheel mechanism to some extent, and greatly improving the energy utilization efficiency of the driving motor; meanwhile, the driving motor is a torque reduction motor, which provides driving force to the tire body, and the torque reduction motor has the characteristics of low speed and large torque, thereby further realizing the requirements of smaller size, lighter weight and smaller steering resistance of the differential steering wheel mechanism. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiments will be briefly introduced as follows, and it should be understood that the following drawings only show some embodiments of the present application, and should not be regarded as a limitation on the scope, and other related drawings can also be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0019] Figure 1 is a structural schematic diagram of a coaxial differential rudder wheel mechanism of the present application; Figure 2 is a sectional structural schematic diagram of a coaxial differential rudder wheel mechanism of the present application; Figure 3 is an exploded structural schematic diagram of a coaxial differential rudder wheel mechanism of the present application, comprising a rotating support assembly and a rotating connection assembly; Figure 4 is an exploded structural schematic diagram of the rotating support assembly shown in Figure 3 ; Figure 5 is an exploded structural schematic diagram of the rotating connection assembly shown in Figure 3 ;

[0020] In the figure: 10, coaxial differential rudder wheel mechanism; 11, rotating support assembly; 111, support mechanism; 1111, support frame; 11111, connecting hole; 1112, connecting side plate; 112, rotating bearing; 113, connecting plate; 1131, fixing hole; 12, rotating connection assembly; 121, large-diameter bearing; 122, roller bearing; 123, support plate; 13, first drive wheel assembly; 131, first drive motor; 132, first tire body; 14, second drive wheel assembly; 141, second drive motor; 142, second tire body; 15, encoder assembly; 151, mounting plate; 152, encoder body; 153, rotating part. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0022] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed application, but only represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative labor are within the scope of protection of the present application.

[0023] Please refer to Figures 1-3As shown in the figure, the coaxial differential rudder wheel mechanism 10 mainly comprises a rotating support assembly 11, a rotating connection assembly 12, a first driving wheel assembly 13, a second driving wheel assembly 14 and an encoder assembly 15; the rotating support assembly 11 is rotationally connected with the automatic navigation device main body; the rotating connection assembly 12 is rotationally connected on the rotating support assembly 11; the first driving wheel assembly 13 and the second driving wheel assembly 14 are coaxially connected on the opposite sides of the rotating connection assembly 12 respectively, and the walking and steering operations are realized through the cooperation of the first driving wheel assembly 13 and the second driving wheel assembly 14; the encoder assembly 15 is arranged on the rotating support assembly 11, and the positioning operation of the steering of the coaxial differential rudder wheel mechanism 10 is realized through the encoder assembly 15.

[0024] As shown in the figure, Figures 1-4 As shown in the figure, in the embodiment, the rotating support assembly 11 comprises a support mechanism 111, a first rotating bearing 112 and a connecting plate 113; the support mechanism 111 is a support main body, the rotating connection assembly 12, the first driving wheel assembly 13 and the second driving wheel assembly 14 are arranged on the support mechanism 111 respectively; the rotating bearing 112 and the connecting plate 113 are arranged on the support mechanism 111 in sequence, the outer ring of the rotating bearing 112 is fixedly connected with the support mechanism 111, the inner ring thereof is fixedly connected with the connecting plate 113, the connecting plate 113 is fixedly connected with the automatic navigation device main body, and the support mechanism 111 can be rotationally operated relative to the connecting plate 113 through the rotating bearing 112; the encoder assembly 15 is arranged on the connecting plate 113 and is in contact connection with the outer ring of the rotating bearing 112, so that the positioning operation of the steering of the coaxial differential rudder wheel mechanism 10 is realized.

[0025] As shown in the figure, Figure 4 As shown in the figure, in the embodiment, the support mechanism 111 comprises a support frame 1111 and two connecting side plates 1112; the rotating connection assembly 12 is rotationally arranged on the support frame 1111; the two connecting side plates 1112 are fixedly arranged on the opposite sides of the support frame 1111, and one end of the first driving wheel assembly 13 and the second driving wheel assembly 14 is fixedly connected with the corresponding connecting side plate 1112 respectively. Specifically, the support frame 1111 is provided with a connecting hole 11111, and the rotating connection assembly 12 is arranged on the support frame 1111 through the connecting hole 11111; a plurality of fixing holes 1131 are arranged in the connecting plate 113 in a penetrating manner, the connecting plate 113 is fixedly connected with the inner ring of the rotating bearing 112 through the corresponding fixing hole 1131, and the encoder assembly 15 is fixedly connected on the connecting plate 113 through the corresponding fixing hole 1131.

[0026] As shown in the figure, Figure 2 , Figure 3 and Figure 5As shown, in this embodiment, the rotating connection assembly 12 includes a large-bore bearing 121, a roller bearing 122, and a support plate 123. The outer ring of the large-bore bearing 121 is mounted on the support frame 1111 through a connecting hole 11111, and its inner ring is fixedly connected to the second drive wheel assembly 14. The outer ring of the roller bearing 122 is disposed in the inner ring of the large-bore bearing 121 and is fixedly connected to the support plate 123, and its inner ring is fixedly connected to the second drive wheel assembly 14. The support plate 123 is fixedly connected to the first drive wheel assembly 13. Through the cooperation of the large-bore bearing 121, the roller bearing 122, and the support plate 123, the first drive wheel assembly 13 and the second drive wheel assembly 14 are coaxially arranged on opposite sides of the roller bearing 122.

[0027] Please see Figure 3 As shown, in this embodiment, the first drive wheel assembly 13 includes a first drive motor 131 and a first tire body 132; one end of the first drive motor 131 is fixedly connected to the corresponding connecting side plate 1112; the first tire body 132 is driven by the first drive motor 131 and fixedly connected to the support plate 123, and the first drive motor 131 drives the first tire body 132 to rotate. In this embodiment, the second drive wheel assembly 14 includes a second drive motor 141 and a second tire body 142; one end of the second drive motor 141 is fixedly connected to the corresponding connecting side plate 1112 and is disposed opposite to the drive motor 131; the second tire body 142 is driven by the second drive motor 141 and is respectively connected to the inner ring of the large-bore bearing 121 and the inner ring of the roller bearing 122, and the second drive motor 141 drives the second tire body 142 to rotate. Specifically, both the first drive motor 131 and the second drive motor 141 are torque reduction motors. By utilizing the low-speed, high-torque characteristics of torque reduction motors, the requirements for minimizing the size, reducing the weight, and minimizing the steering resistance of the coaxial differential steering wheel mechanism 10 can be achieved to a certain extent.

[0028] Please see Figures 1-3As shown, in the embodiment, the encoder assembly 15 comprises a mounting plate 151, an encoder main body 152 and a rotating piece 153; the mounting plate 151 is fixedly installed on the connecting plate 113 through a corresponding fixing hole 1131; the encoder main body 152 is arranged on the mounting plate 151; the rotating piece 153 is fixedly connected to a rotating shaft of the encoder main body 152 and is in contact connection with the outer ring of the rotating bearing 112, and the rotating condition of the outer ring of the rotating bearing 112 is monitored in real time through the rotating piece 153, so that the positioning operation of the steering of the coaxial differential rudder wheel mechanism 10 is realized. Specifically, the encoder main body 152 adopts the prior art, and therefore the specific working process and product model thereof are not described here, and only need to meet the present application; the rotating piece 153 adopts a rubber-coated rotating shaft, which is precisely fitted with the outer ring of the rotating bearing 112, so that the encoder assembly 15 and the rotating bearing 112 follow the rotation with zero clearance, thereby improving the steering positioning accuracy of the coaxial differential rudder wheel mechanism 10.

[0029] The automatic navigation device comprises the coaxial differential rudder wheel mechanism 10 of any one of the above.

[0030] It should be noted that the specific working process of the coaxial differential rudder wheel mechanism and the automatic navigation device is as follows: when the automatic navigation device needs to steer, the automatic navigation device body controls the first driving wheel assembly 13 and the second driving wheel assembly 14 to move differentially, and simultaneously controls the encoder assembly 15 to perform real-time steering positioning operation, so that the steering operation of the automatic navigation device is realized; when the automatic navigation device needs to move straight, the automatic navigation device body controls the first driving wheel assembly 13 and the second driving wheel assembly 14 to move at the same speed, so that the straight movement operation of the automatic navigation device is realized.

[0031] The technical features of the above-described embodiments can be combined arbitrarily, and in order to make the description simple, all possible combinations of the technical features in the embodiments are not described, however, as long as the combinations of the technical features do not exist contradictory, it should be considered that it is within the scope of the present application.

[0032] The above-described embodiments only express several embodiments of the present application, the description is more specific and detailed, but it cannot be understood as a limitation on the scope of the patent. It should be noted that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of the present application. Therefore, the protection scope of the present application patent should be subject to the appended claims.

Claims

1. A coaxial differential steering wheel mechanism, characterized in that, include: Rotary support assembly; A rotatable connection assembly, which is rotatably connected to the rotatable support assembly; The first drive wheel assembly and the second drive wheel assembly are rotatably connected coaxially to opposite sides of the rotatable connection assembly. An encoder assembly is disposed on the rotary support assembly; The rotating connection assembly includes a large-bore bearing and a roller bearing; the outer ring of the large-bore bearing is disposed on the rotating support assembly, and its inner ring is fixedly connected to the second drive wheel assembly; the outer ring of the roller bearing is disposed in the inner ring of the large-bore bearing, and its inner ring is fixedly connected to the second drive wheel assembly; and a support plate is fixedly connected to the outer ring of the roller bearing and the first drive wheel assembly respectively.

2. The coaxial differential steering wheel mechanism according to claim 1, characterized in that, The first drive wheel assembly includes a first drive motor, one end of which is fixedly connected to the rotary support assembly; and a first tire body that is driven by the first drive motor and is fixedly connected to the support plate.

3. The coaxial differential steering wheel mechanism according to claim 2, characterized in that, The second drive wheel assembly includes a second drive motor, one end of which is fixedly connected to the rotary support assembly and disposed opposite to the first drive motor; and a second tire body that is driven by the second drive motor and is fixedly connected to the inner ring of the large-bore bearing and the inner ring of the roller bearing, respectively.

4. A coaxial differential steering wheel mechanism according to claim 3, characterized in that, Both the first drive motor and the second drive motor are torque reduction motors.

5. A coaxial differential steering wheel mechanism according to claim 1, characterized in that, The rotating support assembly includes a support mechanism and a rotating bearing and a connecting plate sequentially arranged on the support mechanism; the outer ring of the rotating bearing is fixedly connected to the support mechanism, and its inner ring is fixedly connected to the connecting plate.

6. A coaxial differential steering wheel mechanism according to claim 5, characterized in that, The support mechanism includes a support frame and two connecting side plates respectively fixedly disposed on opposite sides of the support frame; the large-diameter bearing is rotatably disposed on the support frame; one end of the first drive wheel assembly and the second drive wheel assembly are respectively fixedly connected to the corresponding connecting side plates.

7. A coaxial differential steering wheel mechanism according to claim 5, characterized in that, The connecting plate has multiple fixing holes through it. The connecting plate is fixedly connected to the inner ring of the rotary bearing through the corresponding fixing holes. The encoder assembly is fixedly connected to the connecting plate through the corresponding fixing holes.

8. A coaxial differential steering wheel mechanism according to claim 7, characterized in that, The encoder assembly includes a mounting plate, which is fixedly mounted on the connecting plate through corresponding fixing holes; an encoder body disposed on the mounting plate; and a rotating component fixedly connected to the encoder body shaft and in contact with the outer ring of the rotary bearing.

9. A coaxial differential steering wheel mechanism according to claim 8, characterized in that, The rotating component is a rubber-coated shaft, which is fitted and connected to the outer ring of the rotary bearing.

10. An automatic navigation device, characterized in that, The coaxial differential steering wheel mechanism includes any one of claims 1-9.

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