Z-direction constraint multi-assembly cooperative buffering steering wheel suspension system

Abstract

The invention relates to a steering wheel suspension system, in particular to a Z-direction constraint multi-assembly cooperative buffering steering wheel suspension system which comprises a large gear mounting piece and a hub motor support connecting piece, and a plurality of sets of integrated spring damping mechanisms evenly distributed in the circumferential direction are arranged between the large gear mounting piece and the hub motor support connecting piece. A plurality of groups of sliding rail connecting rod mechanisms which are uniformly distributed in the circumferential direction are arranged between the large gear mounting piece and the hub motor bracket connecting piece; the sliding rail connecting rod mechanism comprises a guide rail and a connecting rod seat, the guide rail is fixedly connected to the large gear installation piece, the connecting rod seat is fixedly connected to the hub motor support connecting piece, a sliding block installation piece is connected to the guide rail in a sliding mode, and a connecting rod is rotationally connected between the sliding block installation piece and the connecting rod seat. Accurate Z-direction guiding can be provided, and deflection in the X-Y direction is reduced.

Description

Technical Field

[0001] This invention relates to a steering wheel suspension system, and more specifically to a Z-direction constrained multi-component cooperative buffering steering wheel suspension system. Background Technology

[0002] Automated Guided Vehicles (AGVs) are intelligent transportation devices equipped with automatic guidance systems, capable of traveling along designated paths and performing transfer functions. The steering wheel, as the core drive and steering component of an AGV, integrates drive, steering, and deceleration functions; its performance directly affects the AGV's operational stability, positioning accuracy, and load-bearing capacity.

[0003] Traditional AGV steering wheel suspension systems are prone to horizontal yaw (XY direction) in addition to the vertical (Z-axis) when subjected to loads and traveling on uneven surfaces. This yaw causes changes in the relative position between the wheel hub and the drive gear, leading to problems such as transmission instability, abnormal wear, and increased noise. It also affects the overall motion accuracy and trajectory tracking performance of the AGV. Summary of the Invention

[0004] The purpose of this invention is to provide a Z-direction constrained multi-component cooperative buffer steering wheel suspension system that can provide precise Z-direction guidance and reduce XY-direction yaw.

[0005] The objective of this invention is achieved through the following technical solution:

[0006] A Z-axis constrained multi-component collaborative buffer steering wheel suspension system includes a large gear mounting component and a hub motor bracket connector. Multiple sets of integrated spring damping mechanisms are evenly distributed in the circumferential direction between the large gear mounting component and the hub motor bracket connector. Multiple sets of slide rail linkage mechanisms are evenly distributed in the circumferential direction between the large gear mounting component and the hub motor bracket connector.

[0007] The slide rail linkage mechanism includes a guide rail and a linkage seat. The guide rail is fixedly connected to the large gear mounting component, and the linkage seat is fixedly connected to the hub motor bracket connector. A slider mounting component is slidably connected to the guide rail, and a linkage is rotatably connected between the slider mounting component and the linkage seat.

[0008] One end of the connecting rod is rotatably connected to the slider mounting component via a deep groove ball bearing and a double-ended internal thread optical shaft, and the other end of the connecting rod is rotatably connected to the connecting rod seat via a deep groove ball bearing and a double-ended internal thread optical shaft.

[0009] The guide rail is equipped with a slider limiter to limit the sliding limit position of the slider mounting component.

[0010] A yaw gear is fixedly connected to the large gear mounting component, and the yaw gear is rotatably connected to the rudder wheel mounting plate.

[0011] An encoder mounting component is fixedly connected to the steering wheel mounting plate, and an encoder is mounted on the encoder mounting component.

[0012] A yaw motor is fixedly connected to the steering wheel mounting plate, and a yaw pinion is fixedly connected to the output shaft of the yaw motor. The yaw pinion and the large gear are meshed and driven. The encoder is connected to the yaw motor, and the steering wheel mounting plate is mounted on the AGV chassis.

[0013] The integrated spring damping mechanism is provided in three sets, and the slide rail linkage mechanism is provided in three sets. The integrated spring damping mechanism is fixedly connected between the large gear mounting part and the hub motor bracket connecting part by screws.

[0014] A hub motor bracket is fixedly connected to the hub motor bracket connector, and a hub motor is fixedly connected to the hub motor bracket.

[0015] A wire harness printer is fixedly connected to the middle of the upper side of the hub motor bracket.

[0016] The beneficial effects of this invention are as follows:

[0017] Through the coordinated operation of three sets of evenly distributed circumferential sliding rail linkage mechanisms and an integrated spring damping mechanism, the Z-axis elastic buffering is achieved while effectively limiting the horizontal sway of the suspension system, thereby significantly improving the AGV's attitude stability and trajectory tracking accuracy during operation. The overall structure adopts a compact modular layout, highly integrating guiding, buffering, and driving functions within the limited space between the hub and the large gear. This not only reduces the system's footprint on the AGV chassis but also makes miniaturization and lightweight design of the AGV possible. Standardized and adjustable connection and fixing methods, such as double-threaded optical shafts, pre-tensioned adjustable spring mechanisms, and detachable slider limiters, make the system more convenient in terms of assembly, maintenance, and performance adjustment, which helps reduce production and usage costs. Through symmetrically distributed three-point supports and rigid guide rails, the load is evenly distributed among multiple sets of springs, avoiding local overload or wear caused by uneven loading, further enhancing the system's reliability and service life. Attached Figure Description

[0018] The present invention will now be described in further detail with reference to the accompanying drawings and specific implementation methods.

[0019] Figure 1 This is a schematic diagram of the Z-direction constrained multi-component cooperative buffer steering wheel suspension system of the present invention.

[0020] In the diagram: Encoder 1; Encoder mounting part 2; Steering wheel mounting plate 3; Heading gear 4; Gear mounting part 5; Slider limit part 6; Slider mounting part 7; Connecting rod 8; Integrated spring damping mechanism 9; Connecting rod seat 10; Hub motor bracket connector 11; Hub motor bracket 12; Hub motor 13; Cable harness printing part 14; Deep groove ball bearing 15; Double-ended internal thread optical shaft 16; Guide rail 17; Heading pinion 18; Heading motor 19. Detailed Implementation

[0021] The present invention will now be described in further detail with reference to the accompanying drawings.

[0022] like Figure 1 As shown below, the structure and function of a Z-axis constrained multi-component cooperative buffer steering wheel suspension system will be described in detail.

[0023] like Figure 1 As shown, this embodiment provides a Z-axis constrained multi-component collaborative buffer steering wheel suspension system. The system includes a large gear mounting component 5 and a hub motor bracket connector 11, with three sets of integrated spring damping mechanisms 9 and three sets of slide rail linkage mechanisms evenly distributed along the circumferential direction between them.

[0024] The slide rail linkage mechanism includes a guide rail 17 and a linkage seat 10. The guide rail 17 is fixedly connected to the large gear mounting component 5, and the linkage seat 10 is fixedly connected to the hub motor bracket connector 11. A slider mounting component 7 is slidably connected to the guide rail 17, and a connecting rod 8 is rotatably connected between the slider mounting component 7 and the linkage seat 10.

[0025] One end of the connecting rod 8 is rotatably connected to the slider mounting part 7 via a deep groove ball bearing 15 and a double-ended internal thread optical shaft 16, and the other end of the connecting rod 8 is rotatably connected to the connecting rod seat 10 via a deep groove ball bearing 15 and a double-ended internal thread optical shaft 16.

[0026] The guide rail 17 is provided with a slider limiter 6, which is used to limit the sliding range of the slider mounting part 7.

[0027] A yaw gear 4 is fixedly mounted on the large gear mounting piece 5 by screws. A yaw motor 19 is fixedly connected to the steering wheel mounting plate 3. A yaw pinion 18 is fixedly connected to the output shaft of the yaw motor 19. The yaw pinion 18 and the large gear mounting piece 5 mesh and drive each other. The encoder 1 is connected to the yaw motor 19.

[0028] The large yaw gear 4 meshes with the small yaw gear 18 on the output shaft of the yaw motor 19 to achieve steering drive. The encoder 1 is fixed to the steering wheel mounting plate 3 via the encoder mounting piece 2 and is used to detect the steering angle. The hub motor bracket connector 11 secures the hub motor bracket 12 with bolts. The hub motor 13, which is a hub-integrated motor type steering wheel, is mounted on the hub motor bracket 12 and provides driving force. A cable management printout 14 is located in the middle of the hub motor bracket 12 for organizing and protecting cables.

[0029] The steering wheel mounting plate 3 is fixed to the AGV chassis. When the AGV moves via the steering wheel, the integrated shock-absorbing spring mechanism 9 provides shock absorption. This structure also occupies little space, which helps reduce the overall size of the AGV. When the AGV travels on uneven surfaces or experiences load changes, the hub motor bracket 12 experiences a vertical reaction force from the ground. This reaction force is transmitted to the hub motor bracket connector 11 via the hub motor 13, driving it to move along the Z-axis. This movement is absorbed by three evenly distributed integrated spring shock-absorbing mechanisms 9. The springs generate a counterforce through compression or tension, achieving elastic buffering and thus reducing the impact on the upper structure. During Z-axis movement, the hub motor bracket connector 11 drives the linkage seat 10 to move synchronously. The linkage seat 10 is connected to the slider mounting component 7 via three sets of connecting rods 8. Under the constraint of the guide rail 17, the slider mounting component 7 can only translate along the Z-axis and cannot move horizontally. The guide rail 17 limits its sliding stroke through the slider limiter 6 to prevent overload or detachment. Because the three sets of slide rail linkage mechanisms are symmetrically distributed in the circumferential direction, a stable triangular constraint structure is formed, which can effectively suppress X-axis and Y-axis sway caused by uneven load or skewed impact direction. The yaw motor 19 meshes with the yaw gear 4 through the yaw pinion 18. The output shaft of the yaw motor 19 drives the yaw pinion 18 to rotate, which in turn drives the yaw gear 4 to rotate, driving the yaw gear mounting part 5 and the guide rail 17 fixed thereto to rotate as a whole, realizing the precise steering of the hub motor bracket 12. The encoder 1 detects the steering angle in real time and provides feedback control. This suspension system, through the Z-axis constraint mechanism, ensures that the relative position between the yaw gear 4 and the yaw pinion 18 remains stable during steering, avoiding changes in meshing clearance caused by suspension sway, thereby improving transmission accuracy and reducing wear and noise. The integrated spring damping mechanism 9 and the slide rail linkage mechanism are arranged in coordination in space, achieving both vertical buffering and providing horizontal rigid constraint. This design enables the suspension system to maintain a stable motion trajectory even under complex working conditions, making it particularly suitable for AGV applications that require high positioning accuracy and smooth operation.

[0030] Through the above structural design and working principle, this system achieves efficient buffering and precise guidance within a limited space, possessing advantages such as compact structure, uniform load-bearing capacity, stable movement, and ease of maintenance. The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A Z-axis constrained multi-component collaborative buffer steering wheel suspension system, comprising a large gear mounting component (5) and a hub motor bracket connector (11), wherein multiple sets of integrated spring damping mechanisms (9) are evenly distributed in the circumferential direction between the large gear mounting component (5) and the hub motor bracket connector (11), characterized in that: Multiple sets of slide rail linkage mechanisms are evenly distributed in the circumferential direction between the large gear mounting component (5) and the hub motor bracket connector (11).

2. The Z-axis constrained multi-component cooperative buffer steering wheel suspension system according to claim 1, characterized in that: The slide rail linkage mechanism includes a guide rail (17) and a linkage seat (10). The guide rail (17) is fixedly connected to the large gear mounting part (5), and the linkage seat (10) is fixedly connected to the hub motor bracket connector (11). A slider mounting part (7) is slidably connected on the guide rail (17), and a connecting rod (8) is rotatably connected between the slider mounting part (7) and the linkage seat (10).

3. The Z-axis constrained multi-component cooperative buffer steering wheel suspension system according to claim 2, characterized in that: One end of the connecting rod (8) is rotatably connected to the slider mounting part (7) via a deep groove ball bearing (15) and a double-ended internal thread optical shaft (16), and the other end of the connecting rod (8) is rotatably connected to the connecting rod seat (10) via a deep groove ball bearing (15) and a double-ended internal thread optical shaft (16).

4. The Z-axis constrained multi-component cooperative buffer steering wheel suspension system according to claim 2, characterized in that: The guide rail (17) is equipped with a slider limiter (6) to limit the sliding limit position of the slider mounting part (7).

5. The Z-axis constrained multi-component cooperative buffer steering wheel suspension system according to claim 1, characterized in that: A yaw gear (4) is fixedly connected to the large gear mounting component (5), and the yaw gear (4) is rotatably connected to the steering wheel mounting plate (3).

6. A Z-axis constrained multi-component cooperative buffer steering wheel suspension system according to claim 5, characterized in that: An encoder mounting component (2) is fixedly connected to the steering wheel mounting plate (3), and an encoder (1) is mounted on the encoder mounting component (2).

7. A Z-axis constrained multi-component cooperative buffer steering wheel suspension system according to claim 6, characterized in that: A yaw motor (19) is fixedly connected to the steering wheel mounting plate (3). A yaw pinion (18) is fixedly connected to the output shaft of the yaw motor (19). The yaw pinion (18) and the large gear mounting piece (5) mesh and drive each other. The encoder (1) is connected to the yaw motor (19). The steering wheel mounting plate (3) is mounted on the AGV chassis.

8. A Z-axis constrained multi-component cooperative buffer steering wheel suspension system according to claim 1, characterized in that: The integrated spring damping mechanism (9) is provided in three sets, and the slide rail linkage mechanism is provided in three sets. The integrated spring damping mechanism (9) is fixedly connected between the large gear mounting part (5) and the hub motor bracket connecting part (11) by screws.

9. A Z-axis constrained multi-component cooperative buffer steering wheel suspension system according to claim 1, characterized in that: A hub motor bracket (12) is fixedly connected to the hub motor bracket connector (11), and a hub motor (13) is fixedly connected to the hub motor bracket (12).

10. A Z-axis constrained multi-component cooperative buffer steering wheel suspension system according to claim 9, characterized in that: A wire harness printer (14) is fixedly connected to the middle of the upper side of the hub motor bracket (12).

Images