Servo steering wheel

Abstract

The utility model provides a servo steering wheel, and relates to the field of AGV logistics vehicle power transmission, a slewing bearing comprises an inner ring and an outer ring which are rotatably connected, a mounting plate is fixed above the inner ring, and a bottom plate is fixed below the outer ring; the upper ends of two connecting plates in the steering assembly are fixed below the mounting plate at intervals, a steering gear is arranged between the two connecting plates, a fixing plate is arranged below the connecting plates, the steering gear is meshed with the outer ring, a steering motor is connected with a steering speed reducer, and the steering speed reducer is coaxially connected with the steering gear and fixed below the fixing plate; in the walking assembly, a reduction gearbox body and a supporting plate are arranged at the lower end of a bottom plate in a spaced mode, walking wheels are arranged between the reduction gearbox body and the supporting plate, a servo motor is fixed to the reduction gearbox body, an intermediate gear is externally meshed with a planetary gear train, a motor gear is fixed to the servo motor, the motor gear is meshed with the intermediate gear, and the walking wheels are fixed to the planetary gear train. The structure is small in size, better in strength and rigidity, large in torque, small in turning radius and higher in walking precision.

Description

Technical Field

[0001] The utility model relates to the technical field of power transmission of an AGV logistics vehicle, in particular to a servo steering wheel. Background Art

[0002] With the rapid popularization of AGV robot technology in China in recent years, various forms of AGV have emerged one after another, the body structure is becoming more and more compact, and the degree of automation control is getting higher and higher, which also puts higher requirements on AGV manufacturers. Especially in the fields of electric forklifts, construction robots, cleaning robots, etc., the demand for AGV power systems with high carrying capacity, small space structure and easy control is becoming more and more urgent.

[0003] In the prior art, the traditional horizontal steering wheel has the problem of large turning radius and non-compact structure; the traditional vertical steering wheel has the problem of high height and low precision of servo steering wheel. Therefore, there is an urgent need for a servo steering wheel with a more compact overall structure, small turning radius and high turning precision. Utility Model Content

[0004] In view of this, an embodiment of the utility model provides a servo steering wheel, aiming to solve the problems of the existing servo steering wheel having a non-compact structure, a large turning radius and low precision.

[0005] An embodiment of the utility model provides a servo steering wheel, comprising:

[0006] The slewing bearing comprises an inner ring and an outer ring which are rotatably connected, a mounting plate is fixed above the inner ring, and a bottom plate is fixed below the outer ring;

[0007] A steering assembly, comprising two connecting plates, a steering gear, a steering reducer and a steering motor, wherein the upper ends of the two connecting plates are fixed at intervals below the mounting plate, a fixing plate is fixed to the lower end of the connecting plate, the steering gear is located between the connecting plate and the fixing plate, the steering gear is meshed with the outer ring, the steering motor is connected to the steering reducer, and the steering reducer is coaxially connected to the steering gear and fixed below the fixing plate; and,

[0008] The walking assembly includes a reduction gear box, a servo motor, a support plate and a walking wheel. The reduction gear box and the support plate are arranged in parallel at the lower end of the base plate, and the walking wheel is arranged between the reduction gear box and the support plate. The servo motor is fixed to the upper end of the reduction gear box on one side close to the support plate. The reduction gear box is provided with a motor gear and an intermediate gear. A planetary gear system is meshed outside the intermediate gear. The motor gear is fixed on the driving shaft of the servo motor. The motor gear is meshed with the intermediate gear, and the walking wheel is fixed on the planetary gear system.

[0009] Furthermore, the planetary gear train includes a planetary carrier and a sun gear rotatably arranged on the planetary carrier, an input gear, a ring gear and three planetary gears. The sun gear and the input gear are formed as a whole by a press-fit process. The input gear is meshed with the intermediate gear. The three planetary gears are all meshed with the outside of the sun gear. The ring gear is meshed with the inside of the three planetary gears. The traveling wheel is coaxially fixed to the outside of the ring gear.

[0010] Furthermore, the planet carrier is connected and fixed to the support plate via an end cover.

[0011] Furthermore, the motor gear, the intermediate gear and the planetary gear train all adopt helical gears.

[0012] Furthermore, the helical gears are connected to the inner wall of the reduction box through deep groove ball bearings.

[0013] Furthermore, the steering motor is equipped with a multi-turn absolute encoder.

[0014] Furthermore, a detachable zero point positioning pin is provided on the mounting plate.

[0015] Furthermore, the bottom plate and the outer ring, as well as the bottom plate and the reduction gear box body are fixed by screws.

[0016] Furthermore, the screws are all coated with fastening glue.

[0017] The beneficial effects of the technical solution provided by the embodiment of the utility model are as follows: the steering wheel structure adopts two-stage deceleration, the first stage is to use precision gearbox deceleration, the second stage is to use planetary gear system deceleration, and the planetary gear system is placed inside the wheel, the travel servo motor is placed horizontally in the space between the wheel and the mounting base plate, the steering reducer and the steering motor are vertically installed on the side of the travel wheel, the high rigidity of the gearbox is used as the main support of the travel wheel, a support plate is added on the side as an auxiliary support, the main support and the auxiliary support are connected by a connecting plate, and are fixedly connected to the outer ring of the slewing support. This design ensures that the overall structure size of the servo steering wheel is small, the structural strength and rigidity are better, the torque is large, the turning radius is small, and the travel accuracy is higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of the servo steering wheel provided by the utility model;

[0019] Figure 2 yes Figure 1 A schematic diagram of the structure from another perspective;

[0020] Figure 3 yes Figure 1 Schematic diagram of the internal structure.

[0021] In the figure: 1. Mounting plate; 2. Slewing bearing; 3. Bottom plate; 4. Zero point positioning pin; 5. Steering reducer; 6. Connecting plate; 7. Steering gear; 8. Steering motor; 9. Reducer box; 10. Travel wheel; 11. Servo motor; 12. Motor gear; 13. Intermediate gear; 14. Input gear; 15. Sun gear; 16. Planet carrier; 17. Ring gear; 18. End cover; 19. Support plate. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the utility model clearer, the implementation mode of the utility model will be further described below in conjunction with the accompanying drawings.

[0023] Please refer to Figure 1-Figure 3 As shown, a servo steering wheel provided by an embodiment of the utility model includes a slewing bearing 2, a steering assembly and a traveling assembly. The slewing bearing 2 includes an inner ring and an outer ring that are rotatably connected, a mounting plate 1 is fixed above the inner ring, and a bottom plate 3 is fixed below the outer ring; the steering assembly includes two connecting plates 6, a steering gear 7, a steering reducer 5 and a steering motor 8, the upper ends of the two connecting plates 6 are fixed below the mounting plate 1 at intervals, a fixing plate is fixed at the lower end of the connecting plate 6, the steering gear 7 is located between the connecting plate 6 and the fixing plate, the steering gear 7 is meshed with the outer ring, the steering motor 8 is connected to the steering reducer 5, and the steering reducer 5 is coaxially connected to the steering gear 7 and fixed below the fixing plate; and the traveling assembly includes a reduction gear The housing 9, the servo motor 11, the support plate 19 and the travel wheel 10, the reduction housing 9 and the support plate 19 are arranged in parallel at the lower end of the base plate 3, the travel wheel 10 is arranged between the reduction housing 9 and the support plate 19, the servo motor 11 is fixed to the upper end of the reduction housing 9 close to the support plate 19, the reduction housing 9 is provided with a motor gear 12 and an intermediate gear 13, the intermediate gear 13 is meshed with a planetary gear train, the motor gear 12 is fixed on the driving shaft of the servo motor 11, the planetary gear train is meshed with the motor gear 12 through the intermediate gear 13, and the travel wheel 10 is fixed on the planetary gear train.

[0024] The steering wheel structure adopts two-stage deceleration, the first stage is to use precision gearbox deceleration, the second stage is to use planetary gear system deceleration, and the planetary gear system is placed inside the wheel, the travel servo motor 11 is placed horizontally in the space between the wheel and the mounting base plate 3, the steering reducer 5 and the steering motor 8 are vertically installed on the side of the travel wheel 10, the high rigidity of the gearbox is used as the main support of the travel wheel 10, and a support plate 19 is added on the side as an auxiliary support. The main support and the auxiliary support are connected by a connecting plate 6 and fixedly connected to the outer ring of the slewing bearing 2. This design ensures that the overall structure of the servo steering wheel is small in size, the structural strength and rigidity are better, the torque is large, the turning radius is small, and the travel accuracy is higher.

[0025] The driving motor in the above-mentioned walking assembly adopts a high-power and high-precision servo motor 11 to ensure strong power and accurate walking position.

[0026] In the above structure, the components in the servo steering wheel adopt a reduction combination of the planetary reducer primary steering gear 7 and the outer ring gear of the slewing support to form a larger reduction ratio, which can realize the steering driven by a small motor.

[0027] Specifically, the planetary gear train includes a planet carrier 16 and a sun gear 15 rotatably arranged on the planet carrier 16, an input gear 14, a ring gear 17 and three planetary gears. The sun gear 15 and the input gear 14 are formed as a whole by a press-fit process. The input gear 14 is meshed with the intermediate gear 13. The three planetary gears are evenly meshed on the outside of the sun gear 15. The ring gear 17 is meshed with the three planetary gears. The traveling wheel 10 is coaxially fixed on the outside of the ring gear 17.

[0028] The planetary gear train is fixed by a highly rigid planetary carrier 16 and output by a ring gear 17, so as to further decelerate the running wheel 10. Here, the output of the gear box and the input of the planetary gear train are press-fitted into an integral structure.

[0029] The traveling wheel 10 adopts a power transmission scheme of a combination of a single-stage gear box and a planetary gear train, and the entire power transmission is more precise, efficient and stable.

[0030] Specifically, the planet carrier 16 is connected and fixed to the support plate 19 through the end cover 18. The planet carrier 16 is connected to the support plate 19, which is convenient for arranging the planetary gear train in the planetary gear, and using the support plate 19 as an auxiliary support.

[0031] Preferably, the motor gear 12, the intermediate gear 13 and the planetary gear train are all helical gears.

[0032] Specifically, the helical gears are connected to the inner wall of the reduction box 9 through deep groove ball bearings for support. The deep groove ball bearings are all provided with sealing structures, and such bearings belong to the application of the prior art, and will not be described in detail here.

[0033] Furthermore, the steering motor 8 is equipped with a multi-turn absolute encoder, which can record the steering angle and has a power-off memory function. The steering angle at the time of shutdown can be recorded when the motor is restarted each time after shutdown, without the need for manual zeroing operation. The technology of configuring an encoder for this motor is existing technology and will not be elaborated on here.

[0034] Furthermore, a detachable zero point positioning pin 4 is provided on the mounting plate 1 for finding the absolute mechanical zero point during installation. Based on this zero point, the encoder zero point of the steering motor 8 is set to ensure the absolute reference position for assembly and debugging.

[0035] Specifically, the bottom plate 3 and the outer ring, and the bottom plate 3 and the reduction box body 9 are fixed by screws. Furthermore, the screws are coated with fastening glue. The screws coated with fastening glue are fixed more firmly.

[0036] In this embodiment, a mechanical limiter can also be set on the steering assembly to prevent the steering angle from exceeding the safety range in an unexpected situation, causing the motor cable to break and the vehicle to lose control. Among them, the mechanical limiter structure is more common in the steering wheel structure and will not be described in detail here.

[0037] In this document, the directional words such as front, back, top, and bottom are defined by the positions of the components in the drawings and the positions of the components relative to each other, and are only for the sake of clarity and convenience in expressing the technical solution. It should be understood that the use of the directional words should not limit the scope of protection claimed in this application.

[0038] In the absence of conflict, the above embodiments and features in the embodiments may be combined with each other.

[0039] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A servo steering wheel, characterized in that: include: The slewing bearing comprises an inner ring and an outer ring which are rotatably connected, a mounting plate is fixed above the inner ring, and a bottom plate is fixed below the outer ring; A steering assembly, comprising two connecting plates, a steering gear, a steering reducer and a steering motor, wherein the upper ends of the two connecting plates are fixed at intervals below the mounting plate, a fixing plate is fixed to the lower end of the connecting plate, the steering gear is located between the connecting plate and the fixing plate, the steering gear is meshed with the outer ring, the steering motor is connected to the steering reducer, and the steering reducer is coaxially connected to the steering gear and fixed below the fixing plate; and, The walking assembly includes a reduction gear box, a servo motor, a support plate and a walking wheel. The reduction gear box and the support plate are arranged in parallel at the lower end of the base plate, and the walking wheel is arranged between the reduction gear box and the support plate. The servo motor is fixed to the upper end of the reduction gear box on one side close to the support plate. The reduction gear box is provided with a motor gear and an intermediate gear. A planetary gear system is meshed outside the intermediate gear. The motor gear is fixed on the driving shaft of the servo motor. The motor gear is meshed with the intermediate gear, and the walking wheel is fixed on the planetary gear system.

2. The servo steering wheel according to claim 1, characterized in that: The planetary gear system includes a planetary carrier and a sun gear rotatably arranged on the planetary carrier, an input gear, a ring gear and three planetary gears. The sun gear and the input gear are integrated as a whole by a press-fitting process. The input gear is meshed with the intermediate gear. The three planetary gears are all meshed with the outside of the sun gear. The ring gear is meshed with the inside of the three planetary gears. The traveling wheel is coaxially fixed on the outside of the ring gear.

3. The servo steering wheel according to claim 2, characterized in that: The planet carrier is connected and fixed to the support plate through an end cover.

4. The servo steering wheel according to claim 1, characterized in that: The motor gear, the intermediate gear and the planetary gear train all adopt helical gears.

5. The servo steering wheel according to claim 4, characterized in that: The helical gears are connected to the inner wall of the reduction box through deep groove ball bearings.

6. The servo steering wheel according to claim 1, characterized in that: The steering motor is equipped with a multi-turn absolute encoder.

7. The servo steering wheel according to claim 1, characterized in that: The mounting plate is provided with a detachable zero point positioning pin.

8. The servo steering wheel according to claim 1, characterized in that: The bottom plate and the outer ring, as well as the bottom plate and the reduction box body are fixed by screws.

9. The servo steering wheel according to claim 8, characterized in that: The screws are all coated with fastening glue.

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