Wheel steering mechanism adopting harmonic speed reducer

Abstract

The utility model discloses a wheel steering mechanism adopting a harmonic speed reducer, which comprises a steel wheel bogie, a steering motor and the harmonic speed reducer, the steering motor and the harmonic speed reducer are arranged in the steel wheel bogie, and a rotor of the steering motor is connected with the harmonic speed reducer. Compared with the prior art, the wheel steering mechanism adopting the harmonic speed reducer has the advantages that the steering motor and the harmonic speed reducer are ingeniously combined, so that the structure is simple, the size is small, the space of the whole wheel steering mechanism is reduced, and the assembly is convenient.

Description

Technical Field

[0001] The utility model relates to a wheel steering mechanism, in particular to a wheel steering mechanism adopting a harmonic reducer. Background Art

[0002] The existing wheel steering mechanism is generally connected to the AGV vehicle body in a structure where a small gear drives a large gear ring. In order to obtain a large reduction ratio and thus a large steering torque, the size of the large gear ring will be very large. Therefore, the wheel steering mechanism including the small gear and the large gear ring has a large size and occupies a large space. Summary of the Invention

[0003] The technical problem to be solved by the utility model is to overcome the above defects of the prior art and provide a wheel steering mechanism adopting a harmonic reducer, so that its structure is simple and its size is small.

[0004] The technical solution adopted by the utility model to solve the above technical problem is as follows:

[0005] A wheel steering mechanism adopting a harmonic reducer includes a steel wheel bogie, a steering motor, and a harmonic reducer. The steering motor and the harmonic reducer are arranged inside the steel wheel bogie, and the rotor of the steering motor is connected to the harmonic reducer.

[0006] Preferably, the steering motor includes a steering motor stator, a steering motor rotor, an upper bearing seat, a locking nut, and a lower bearing seat. The steel wheel bogie is provided with a through hole for accommodating some components of the steering motor and the harmonic reducer. The steering motor stator is embedded in the through hole, the steering motor rotor is placed inside the motor stator, the upper part of the steering motor rotor is rotationally supported by the upper bearing seat through an upper bearing and locked by the locking nut, and the lower part of the steering motor rotor is rotationally supported by the lower bearing seat through a lower bearing.

[0007] The harmonic reducer includes a flexspline, a circular spline, a flexure bearing, and a steering motor rotor. The circular spline is arranged in the through hole of the steel wheel bogie, the flexspline meshes with the circular spline, the steering motor rotor is fixed to the flexure bearing, and the flexspline is fixed to the lower motor bracket.

[0008] Preferably, the lower motor bracket, the flexspline, and the lower bearing seat are concentrically connected.

[0009] Preferably, balls are also arranged between the bottom surface of the steel wheel bogie and the top surface of the lower motor bracket, and the two can rotate along the circumference through the balls.

[0010] Compared with the prior art, the advantages of the utility model are as follows: The wheel steering mechanism adopting a harmonic reducer combines the steering motor and the harmonic reducer skillfully, so that its structure is simple and its volume is small, thereby reducing the space occupied by the entire wheel steering mechanism, and the assembly is convenient. Brief Description of the Drawings

[0011] Figure 1 This is a schematic diagram of a wheel steering mechanism using a harmonic reducer in an embodiment of the present utility model.

[0012] Figure 2 This is an exploded schematic diagram of a wheel steering mechanism using a harmonic reducer in an embodiment of the present utility model.

[0013] Figure 3 This is a schematic diagram of a rigid wheel bogie of a wheel steering mechanism using a harmonic reducer in an embodiment of the present utility model.

[0014] Figure 4 This is a schematic diagram of the structure of a wheel steering mechanism using a harmonic reducer in an embodiment of the present utility model after connecting to a wheel. Detailed implementation manners

[0015] The present utility model will be further described below in conjunction with the accompanying drawings and embodiments.

[0016] As Figures 1-4 shown, a wheel steering mechanism using a harmonic reducer includes a rigid wheel bogie 11, a steering motor, and a harmonic reducer. The steering motor and the harmonic reducer are disposed within the rigid wheel bogie 11, and the rotor of the steering motor is connected to the harmonic reducer.

[0017] The steering motor includes a steering motor stator 17, a steering motor rotor 18, an upper bearing seat 19, a locking nut 20, and a lower bearing seat 15.

[0018] The rigid wheel bogie 11 is provided with a through hole for accommodating some components of the steering motor and the harmonic reducer. The steering motor stator 17 is embedded in the through hole. The steering motor rotor 18 is disposed within the motor stator 17. The upper part of the steering motor rotor 18 is rotationally supported by an upper bearing by the upper bearing seat 19 and locked by the locking nut 20. The lower part of the steering motor rotor 18 is rotationally supported by a lower bearing by the lower bearing seat 15.

[0019] The harmonic reducer includes a flexspline 14, a circular spline 111, a flexure bearing 16, and a steering motor rotor 18. The circular spline 111 is disposed in the through hole of the rigid wheel bogie 11. The flexspline 14 meshes with the circular spline 111. The shaft of the steering motor rotor 18 is assembled with the flexure bearing 16.

[0020] The flexspline 14 of this embodiment is cap-shaped, and its brim is fixed to the lower motor bracket 13 by screws.

[0021] The lower motor bracket 13, the flexspline 14, and the lower bearing seat 15 are kept concentrically connected.

[0022] A ball 12 is further disposed between the bottom surface of the rigid wheel bogie 11 and the top surface of the lower motor bracket 13, and the two can rotate along the circumference through the ball 12.

[0023] The lower motor bracket 13 is connected to the wheel 21.

[0024] When the steering motor operates, the harmonic reducer composed of the rigid gear 111, the flexible gear 14, the flexible bearing 16 and the steering motor rotor 18 enables the wheel to turn, so the entire wheel steering mechanism has a simple structure.

Claims

1. A wheel steering mechanism using a harmonic reducer, characterized in that: The invention comprises a steel wheel bogie, a steering motor and a harmonic reducer. The steering motor and the harmonic reducer are arranged in the steel wheel bogie, and the rotor of the steering motor is connected with the harmonic reducer.

2. The wheel steering mechanism using a harmonic reducer according to claim 1, characterized in that: The steering motor comprises a steering motor stator, a steering motor rotor, an upper bearing seat and a locking nut, and a lower bearing seat. The steel wheel bogie is provided with a through hole for accommodating the steering motor and some components of the harmonic reducer. The steering motor stator is embedded in the through hole. The steering motor rotor is placed in the motor stator. The upper part of the steering motor rotor is rotatably supported by the upper bearing seat through an upper bearing and locked by a locking nut. The lower part of the steering motor rotor is rotatably supported by the lower bearing seat through a lower bearing.

3. The wheel steering mechanism using a harmonic reducer according to claim 1, characterized in that: The harmonic reducer includes a flexible wheel, a rigid wheel, a flexible bearing and a steering motor rotor. The rigid wheel is arranged in a through hole of a rigid wheel bogie, the flexible wheel meshes with the rigid wheel, the steering motor rotor is fixed to the flexible bearing, and the flexible wheel is fixed to a lower motor bracket.

4. The wheel steering mechanism using a harmonic reducer according to claim 3, characterized in that: The flexible wheel is in a cap shape, and its cap edge is fixed to the lower motor bracket by screws.

5. The wheel steering mechanism using a harmonic reducer according to claim 3, characterized in that: The lower motor bracket, the flexible wheel and the lower bearing seat are connected concentrically.

6. The wheel steering mechanism using a harmonic reducer according to claim 1, characterized in that: A ball bearing is also arranged between the bottom surface of the steel wheel bogie and the top surface of the lower motor bracket, and the two rotate along the circumference through the ball bearing.

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