Horizontal type precise driving steering wheel

Abstract

The utility model discloses a horizontal type precise driving steering wheel which comprises a supporting base, a slewing bearing, a transmission, a brake and a walking servo motor, and is characterized in that the supporting base is provided with the slewing bearing through a steering fixing plate, and a steering speed reducer of the slewing bearing is in meshed connection with a gear on a steering encoder; the steering speed reducer and the steering encoder are located on the side face of the supporting base, the supporting base is installed on the polyurethane wheel, the transmission is arranged in the polyurethane wheel, the end cover and the walking servo motor are installed at the two ends of the transmission respectively, and the brake is installed on the end cover. The ground washing vehicle can walk on a plane, control the speed, turn and turn around in different application scenes. Therefore, the application of the ground washing vehicle equipment is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of steering wheels, in particular to a steering wheel for horizontal precise driving applied to a floor washing vehicle. Background Art

[0002] A steering wheel is an omnidirectional moving wheel integrating a driving motor, a steering motor, a reducer, etc., integrating functions of walking, traction and steering, and can load and tow heavy goods. Steering wheels are widely used in scenarios such as medical service robots, food delivery robots, logistics robots, etc., bringing convenience to people's work and life. Compared with wheel systems such as Mecanum wheels and omnidirectional wheels that achieve omnidirectional movement by synthesizing parallel speeds, steering wheels have the advantages of stronger load capacity, stronger power output, and higher integration.

[0003] In the traditional steering wheel structure, during the contact with the ground, the running noise is large, the uneven ground will cause the vehicle body to shake, the running is not stable, the steering is prone to vibration, and the positioning and braking are not precise. For this problem, we propose a horizontal precise driving steering wheel. Summary of the Utility Model

[0004] The technical problem to be solved by the utility model is to provide a horizontal precise driving steering wheel with a compact structure, stable operation, flexibility and reliability.

[0005] To solve the above existing technical problems, the utility model adopts the following scheme: A horizontal precise driving steering wheel, including a support base, a slewing bearing, a transmission, a brake and a walking servo motor, characterized in that: the support base is installed with a slewing support through a steering fixing plate, the slewing support is meshed and connected with the gears on the steering reducer and the steering encoder, the steering reducer and the steering encoder are located on the side of the support base, the support base is installed on a polyurethane wheel, a transmission is built in the polyurethane wheel, end covers and a walking servo motor are respectively installed at both ends of the transmission, and a brake is installed on the end cover.

[0006] Preferably, the support base is composed of a first support block, a second support block and a number of retaining wheel blocks, wherein the first support block and the second support block are respectively arranged on both sides of the polyurethane wheel, a number of "L"-shaped limiting blocks are provided on both the first support block and the second support block, the retaining wheel blocks are abutted against the sides of the "L"-shaped limiting blocks, and the retaining wheel blocks are connected and fixed to the "L"-shaped limiting blocks by bolts.

[0007] Preferably, the steering fixing plate is provided with a first through hole and a second through hole, wherein the first through hole is sleeved at the bottom of the gear of the steering reducer, and the second through hole is sleeved at the bottom of the gear of the steering encoder.

[0008] Preferably, a first limiting seat is arranged inside the first support block, and the first limiting seat is installed on the support seat on the side of the end cover.

[0009] Preferably, a second limiting seat is arranged inside the second support block, and the second limiting seat is installed on the transmission.

[0010] Preferably, a plurality of mounting holes are arranged on both sides of the polyurethane wheel, and the polyurethane wheel is respectively installed on the end cover and the transmission through the mounting holes on both sides.

[0011] The utility model adopts the above technical solution to provide a horizontal precision drive steering wheel. Compared with the existing technology, it has the following advantages:

[0012] 1. The outer teeth of the slewing bearing are equipped with a precise absolute encoder, which can precisely control the steering angle accuracy.

[0013] 2. The internal gears of the transmission are processed by a high-precision grinding machine to meet very fine surface roughness requirements, with low noise and stable operation.

[0014] 3. Both sides of the polyurethane wheel are designed as symmetric support blocks on both sides, so that the force is evenly distributed to ensure stable driving and steering. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a structural schematic diagram of the utility model,

[0016] Figure 2 is an exploded schematic diagram of the utility model.

[0017] In the figure, support base 1, slewing bearing 2, transmission 3, brake 4, traveling servo motor 5, steering fixing plate 6, steering speed reducer 7, steering encoder 8, polyurethane wheel 9, end cover 10, first support block 11, second support block 12, retaining wheel block 13, "L"-shaped limiting block 14, first through hole 15, second through hole 16, first limiting seat 17, support seat 18, second limiting seat 19, mounting hole 20. DETAILED DESCRIPTION OF THE INVENTION

[0018] As Figure 1 、 2As shown in the figure, a horizontal precision drive steering wheel includes a support base 1, a slewing bearing 2, a transmission 3, a brake 4, and a traveling servo motor 5. The support base 1 is provided with a slewing bearing 2 through a steering fixing plate 6. The slewing bearing 2 is meshed and connected with the gears on the steering reduction gear 7 and the steering encoder 8. The steering reduction gear 7 and the steering encoder 8 are located on the side of the support base 1. The support base 1 is installed on a polyurethane wheel 9. A transmission 3 is built into the polyurethane wheel 9. End caps 10 and the traveling servo motor 5 are respectively installed at both ends of the transmission 3. The brake 4 is installed on the end cap 10. The support base 1 is composed of a first support block 11, a second support block 12, and a number of retaining wheel blocks 13. Among them, the first support block 11 and the second support block 12 are respectively arranged on both sides of the polyurethane wheel 9. A number of "L"-shaped limiting blocks 14 are provided on both the first support block 11 and the second support block 12. The retaining wheel blocks 13 are abutted against the sides of the "L"-shaped limiting blocks 14, and the retaining wheel blocks 13 are connected and fixed to the "L"-shaped limiting blocks 14 by bolts. Through holes 15 and 16 are provided on the steering fixing plate 6. Among them, the through hole 15 is sleeved on the bottom of the gear of the steering reduction gear 7, and the through hole 16 is sleeved on the bottom of the gear of the steering encoder 8. A first limiting seat 17 is provided inside the first support block 11, and the first limiting seat 17 is installed on the support seat 18 on the side of the end cap 10. A second limiting seat 19 is provided inside the second support block 12, and the second limiting seat 19 is installed on the transmission 3. A number of mounting holes 20 are provided on both sides of the polyurethane wheel 9. The polyurethane wheel 9 is respectively installed on the end cap 10 and the transmission 3 through the mounting holes 20 on both sides.

[0019] During actual operation: The slewing bearing 2 is installed on a floor washer. When the floor washer is working, the polyurethane wheel 9 is driven to rotate by the traveling servo motor 5. A transmission 3 is installed inside the polyurethane wheel 9. The transmission 3 is a planetary transmission. Through processing by a high-precision grinding machine, very fine surface roughness requirements can be achieved, with the effects of low noise and stable operation. Through the reduction transmission ratio of the transmission 3, the traveling speed and positioning accuracy can be accurately controlled. The first support block 11 and the second support block 12 are symmetrically installed on both sides of the polyurethane wheel 9, making the overall force more uniform and ensuring stable drive and steering. Retaining wheel blocks 13 are installed on the outer sides of the first support block 11 and the second support block 12, which can play a role in limiting and stabilizing the polyurethane wheel 9. The steering reduction gear 7 and the steering encoder 8 are meshed and installed on the gear of the slewing bearing 2. Every time the steering reduction gear 7 rotates one circle, it will be reflected on the steering encoder 8, achieving the effect of accurately controlling the steering angle accuracy and being more convenient to use.

[0020] The specific embodiments described herein are merely illustrative of the spirit of the present utility model. Those skilled in the art to which the present utility model pertains may make various modifications or supplements to the described specific embodiments or use similar means for substitution, but they will not deviate from the spirit of the present utility model or exceed the scope defined by the appended claims.

Claims

1. A horizontal precision-driven steering wheel, comprising a support base (1), a slewing support (2), a transmission (3), a brake (4) and a travel servo motor (5), characterized in that: The support base (1) is provided with a slewing support (2) via a steering fixing plate (6); the slewing support (2) is meshedly connected with the gears on a steering reducer (7) and a steering encoder (8); the steering reducer (7) and the steering encoder (8) are located on the side of the support base (1); the support base (1) is installed on a polyurethane wheel (9); the polyurethane wheel (9) has a transmission (3) built in; end covers (10) and a travel servo motor (5) are respectively installed at both ends of the transmission (3); and a brake (4) is installed on the end cover (10).

2. The horizontal precision-driven steering wheel according to claim 1, characterized in that: The support base (1) is composed of a support block 1 (11), a support block 2 (12) and a plurality of wheel blocking blocks (13), wherein the support block 1 (11) and the support block 2 (12) are respectively arranged on both sides of the polyurethane wheel (9), and a plurality of "L"-shaped limit blocks (14) are arranged on the support block 1 (11) and the support block 2 (12), and the wheel blocking block (13) is against the side of the "L"-shaped limit block (14), and the wheel blocking block (13) is connected and fixed to the "L"-shaped limit block (14) by bolts.

3. The horizontal precision-driven steering wheel according to claim 1, characterized in that: The steering fixing plate (6) is provided with a through hole 1 (15) and a through hole 2 (16), wherein the through hole 1 (15) is sleeved on the bottom of the gear of the steering reducer (7), and the through hole 2 (16) is sleeved on the bottom of the gear of the steering encoder (8).

4. The horizontal precision-driven steering wheel according to claim 2, characterized in that: A limiting seat (17) is provided on the inner side of the supporting block (11), and the limiting seat (17) is installed on the supporting seat (18) on the side of the end cover (10).

5. The horizontal precision-driven steering wheel according to claim 2, characterized in that: A second limiting seat (19) is provided inside the second supporting block (12), and the second limiting seat (19) is mounted on the transmission (3).

6. The horizontal precision-driven steering wheel according to claim 1, characterized in that: A plurality of mounting holes (20) are provided on both sides of the polyurethane wheel (9), and the polyurethane wheel (9) is respectively mounted on the end cover (10) and the transmission (3) through the mounting holes (20) on both sides.

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