Lightweight steering wheel set mechanism with high mechanical efficiency

Abstract

The utility model discloses a light-weight steering wheel set mechanism with high mechanical efficiency. The light-weight steering wheel set mechanism comprises a rudder direction module (1), a heading module (2) and an electromechanical integrated plate (3). The upper end of the rudder module (1) is connected with the lower portion of a robot body, the upper side of the rudder module (1) is fixedly connected with the electromechanical integrated plate (3), the lower side of the rudder module (1) is fixedly connected with the heading module (2), and the rudder module (1) is used for driving the heading module (2) to steer. The inner ring is connected with a main structural member, a flange edge is arranged below the inner ring to realize lower limiting of the bearing, a main body part of the shaft is in interference fit with a through hole of the inner ring of the bearing to realize radial limiting, and an upper threaded hole is connected with an upper limiting plate to finish connection with the bearing; a round groove with the depth of one millmeter is milled in the motor fixing side plate and used for positioning a course driving motor, and the flange mandrel is hollow and used for storing and protecting a motor and an electronic speed controller connecting wire.

Description

Technical Field

[0001] The utility model relates to a lightweight steering wheel assembly mechanism with high mechanical efficiency, belonging to the technical field of robots. Background Art

[0002] The mechanical structure of a mobile robot is relatively simple: a moving mechanism (wheel train or tracks) mounted on a frame. The moving mechanism moves at a set speed, and the entire robot is in motion. As you can see, the two key components of a mobile robot are the moving mechanism and the frame.

[0003] Existing technologies include feeder wheels, ball wheels, and universal wheels. Currently, the most widely used is the Mecanum wheel, which consists of a hub and a series of peripheral rollers. The actual motion is a combination of the hub's rotation and the rollers' rotation. The gaps between the outer rollers of a Mecanum wheel cause slight oscillations during motion, which also affects the continuity of motion. Mecanum wheels also have a weak load capacity because the entire robot's weight "presses" on the roller shafts, and the roller shafts have a small diameter, so they can only bear a small amount of weight. The Mecanum wheel's construction and manufacturing process are more complex than other wheels, and the rollers are prone to wear, resulting in higher costs. Because the Mecanum wheel's motion relies on the movement of the rollers, the rollers can easily become stuck in debris when used outdoors in unstructured environments, such as mud and weeds, preventing them from rotating passively. Therefore, Mecanum wheels are primarily used on structured surfaces, such as concrete.

[0004] However, for robots that require mechanized operations, especially agricultural robots for fertilization and irrigation, the operating environment is complex and the requirements for the mobile mechanism are higher. Therefore, the above-mentioned Mecanum wheel cannot adapt to the complex operating environment.

[0005] There are currently two mainstream steering wheel assembly solutions, both of which suffer from heavy weight and low energy efficiency. One utilizes a small motor and a planetary gearbox, while the other uses a larger motor to deliver sufficient power. In the first solution, the individual gearboxes are extremely heavy, and the multi-stage transmission of the planetary gearbox also reduces mechanical efficiency and energy efficiency. In the second solution, the weight of the motor itself is equal to the weight of the small motor and gearbox combined. In addition to the weight added by these components, the complex structure increases the number of parts, resulting in increased weight. This increased weight, in turn, increases energy consumption.

[0006] Therefore, a lightweight and mechanically efficient steering wheel assembly is needed to improve the above problems. Utility Model Content

[0007] The utility model overcomes the deficiencies of the prior art and provides a lightweight steering wheel assembly mechanism with high mechanical efficiency, high efficiency, energy saving and long endurance.

[0008] In order to solve the above technical problems, the technical solution adopted by the present invention is as follows: a lightweight steering wheel assembly mechanism with high mechanical efficiency is provided at the four corners of the robot body, including a rudder module, a heading module and an electromechanical integrated board; the upper end of the rudder module is connected to the lower part of the robot body, the upper side of the rudder module is fixedly connected to the electromechanical integrated board, and the lower side of the rudder module is fixedly connected to the heading module; the rudder module is used to drive the heading module to steer;

[0009] The structure of the rudder module is as follows: it includes an inner load-bearing part, an outer load-bearing part and a cross-roller bearing; the inner ring of the cross-roller bearing is connected to the inner load-bearing part, and the outer ring of the cross-roller bearing is connected to the outer load-bearing part; the inner load-bearing part is connected downward to the heading module; the outer load-bearing part is connected upward to the mechatronics board; by driving the inner load-bearing part to rotate, the inner load-bearing part drives the heading module to rotate.

[0010] Furthermore, the external bearing part includes a main bearing member, a lower limit plate, a steering drive motor and a suspension connection sheet metal; a cross roller bearing is arranged on the inner side of the main bearing member, the main bearing member is connected to the lower limit plate at the bottom, the main bearing member is connected to the steering drive motor and the mechatronics board at the top, and the side and bottom of the main bearing member are connected to the suspension connection sheet metal.

[0011] Furthermore, the inner load-bearing part is composed of a photoelectric gate, a steering driven gear, an upper limit plate and an inner ring connected to the main structure from top to bottom; the inner ring connected to the main structure is embedded with a cross roller bearing, and the inner ring connected to the main structure is connected to the upper limit plate, the steering driven gear and the photoelectric gate in sequence upward, and the inner ring connected to the main structure is connected to the heading module downward.

[0012] Furthermore, the heading module includes: a hub part and a lateral drive part, the lateral drive part is upwardly connected to the rudder module, and the lateral drive part is downwardly connected to the hub part.

[0013] Furthermore, the lateral drive part includes: a motor fixed side plate, an electric adjustment fixed side plate, a heading drive motor, a heading drive electric adjustment and a flange spindle; the motor fixed side plate is connected to the inner ring connection main structure upward, and the motor fixed side plate is connected to the flange spindle downward, and the motor fixed side plate laterally fixes the heading drive motor; the electric adjustment fixed side plate is connected to the inner ring connection main structure upward, and the electric adjustment fixed side plate is connected to the flange spindle downward, and the electric adjustment fixed side plate laterally fixes the heading drive electric adjustment.

[0014] Furthermore, the hub part includes: from left to right, a limiting sleeve, a bearing limiting plate, an inner wheel bearing, a wheel and an internal gear. The inner wheel bearing, the bearing limiting plate and the internal gear are distributed on the flange shaft in sequence. The wheel center shaft is sleeved with two inner wheel bearings. The left and right covers of the wheel are covered with bearing limiting plates. The internal gear is positioned and matched with the circular groove on the wheel and is connected and fixed with the corresponding threaded hole on the wheel; the internal gear is connected and matched with the 0.6 module gear on the heading drive motor.

[0015] Compared with the prior art, the present invention has the following beneficial effects.

[0016] 1. The inner ring of the present invention is connected to the main structural member, and a flange edge is provided at the bottom to realize the lower limit of the bearing. The main part of the shaft is interference fit with the through hole of the inner ring of the bearing to realize radial limit. The upper threaded hole is connected to the upper limit plate to complete the connection with the bearing; a circular groove with a depth of one millimeter is milled on the fixed side plate of the motor for positioning the heading drive motor. The flange core shaft is hollow for storing and protecting the connecting wires between the motor and the electric control.

[0017] 2. The wheel hub described in this invention consists of, from left to right, a stop sleeve, a bearing stop plate, an inner wheel bearing, a wheel, an inner wheel bearing, and a bearing stop plate, all arranged in sequence on the flanged spindle. The wheel axle is fitted with two inner wheel bearings, and the bearing stop plates are placed on both sides. Specifically, the flanged spindle passes through the 24mm hole in the motor mounting plate, through the wheel hub module, through the sleeve, and finally through the ESC mounting plate, where it is secured with a top nut.

[0018] 3. The central flange shaft of the utility model passes through the 24mm hole of the motor fixed side plate, passes through the wheel hub module, passes through the shaft sleeve, and then passes through the electric adjustment fixed side plate, and finally screws on the top nut to prevent loosening; the driven internal gear is positioned and matched with the circular groove on the wheel, and is connected and fixed with the corresponding threaded hole on the wheel; the driven internal gear is connected and matched with the 0.6 module gear on the heading drive motor; the wheel is a machined milling part with a cylindrical shape and a hollow central axis for installing two wheel inner bearings. A steering wheel rubber layer is provided on the outside to protect the wheel hub, facilitate movement and overall shock absorption. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further described below with reference to the accompanying drawings.

[0020] Figure 1 It is a structural diagram of the present utility model.

[0021] Figure 2 It is a schematic diagram of the top structure of the utility model.

[0022] Figure 3 It is a structural schematic diagram of the inner bearing part in the utility model.

[0023] Figure 4 It is a front structural schematic diagram of the lateral driving part in the utility model.

[0024] Figure 5 It is a side view structural diagram of the lateral driving part in the utility model.

[0025] Figure 6 This is a schematic structural diagram of the hub portion of the present invention.

[0026] In the figure: 1 is the rudder module, 11 is the inner load-bearing part, 111 is the photoelectric gate, 112 is the rudder driven gear, 113 is the upper limit plate, 114 is the inner ring connecting the main structure, 12 is the outer load-bearing part, 121 is the main load-bearing part, 122 is the lower limit plate, 123 is the rudder drive motor, 124 is the suspension connection sheet metal, 13 is the cross roller bearing, 2 is the heading module, 21 is the hub part, 211 is the limit sleeve, 212 is the bearing limit plate, 213 is the wheel inner bearing, 214 is the wheel, 215 is the internal gear 215, 22 is the lateral drive part, 221 is the motor fixed side plate, 222 is the electric adjustment fixed side plate, 223 is the heading drive motor, 224 is the heading drive electric adjustment 224, 225 is the flange spindle, and 3 is the mechatronics board. DETAILED DESCRIPTION

[0027] The present invention will be further described below with reference to specific embodiments.

[0028] like Figures 1 to 6 As shown, the present invention provides a lightweight steering wheel assembly mechanism with high mechanical efficiency, which is arranged at the four corners of the robot body and includes a steering module 1, a heading module 2, and an electromechanical integrated board 3. The upper end of the steering module 1 is connected to the lower part of the robot body, the upper side of the steering module 1 is fixedly connected to the electromechanical integrated board 3, and the lower side of the steering module 1 is fixedly connected to the heading module 2. The steering module 1 is used to drive the heading module 2 to steer.

[0029] The structure of the steering module 1 is as follows: it includes an inner load-bearing part 11, an outer load-bearing part 12 and a cross roller bearing 13; the inner ring of the cross roller bearing 13 is connected to the inner load-bearing part 11, and the outer ring of the cross roller bearing 13 is connected to the outer load-bearing part 12; the inner load-bearing part 11 is downwardly connected to the heading module 2; the outer load-bearing part 12 is upwardly connected to the mechatronic board 3; by driving the inner load-bearing part 11 to rotate, the inner load-bearing part 11 drives the heading module 2 to rotate;

[0030] The outer bearing portion 12 includes a main bearing member 121, a lower limit plate 122, a steering drive motor 123, and a suspension connection sheet metal 124. A cross roller bearing 13 is provided inside the main bearing member 121. The main bearing member 121 is connected to the lower limit plate 122 at the bottom. The main bearing member 121 is connected to the steering drive motor 123 and the electromechanical integration board 3 at the top. The main bearing member 121 is connected to the suspension connection sheet metal 124 on the sides and bottom.

[0031] The inner bearing portion 11 comprises, from top to bottom, a photoelectric gate 111, a steering driven gear 112, an upper limit plate 113, and an inner ring connecting main structure 114. The inner ring connecting main structure 114 is embedded with a cross roller bearing 13. The inner ring connecting main structure 114 is upwardly connected to the upper limit plate 113, the steering driven gear 112, and the photoelectric gate 111, and downwardly connected to the heading module 2.

[0032] The heading module 2 includes: a hub part 21 and a lateral drive part 22, the lateral drive part 22 is connected to the rudder module 1 upward, and the lateral drive part 22 is connected to the hub part 21 downward; the lateral drive part 22 includes: a motor fixed side plate 221, an electric adjustment fixed side plate 222, a heading drive motor 223, a heading drive electric adjustment 224 and a flange spindle 225; the motor fixed side plate 221 is connected to the inner ring connection main structure 114 upward, and the motor fixed side plate 221 is connected to the flange spindle 225 downward, and the motor fixed side plate 221 laterally fixes the heading drive motor 223; the electric adjustment fixed side plate 222 is connected to the inner ring connection main structure 114 upward, and the electric adjustment fixed side plate 222 is connected to the flange spindle 225 downward, and the electric adjustment fixed side plate 222 laterally fixes the heading drive electric adjustment 224.

[0033] The hub part 21 includes: from left to right, a limiting sleeve 211, a bearing limiting plate 212, an inner wheel bearing 213, a wheel 214 and an internal gear 215. The inner wheel bearing 213, the bearing limiting plate 212 and the internal gear 215 are distributed on the flange shaft 225 in sequence. The center shaft of the wheel 214 is sleeved with two inner wheel bearings 213. The left and right covers of the wheel 214 are covered with bearing limiting plates 212. The internal gear 215 is positioned and matched with the circular groove on the wheel 214 and is connected and fixed with the corresponding threaded hole on the wheel 214; the internal gear 215 is connected and matched with the 0.6 module gear on the heading drive motor 223.

[0034] The main bearing member 121 in this utility model is a machined part and serves as the primary connector for the outer bearing portion 12. It is connected to the electromechanical integrated board 3 via copper studs. A flange is provided at the upper end of the center hole to provide an upper limit for the bearing. Corresponding threaded holes on the lower side connect to the lower limit plate 122, wrapping and clamping the exterior of the cross-roller bearing 13. The main bearing member 121 has a motor positioning hole that transitions with the motor boss for positioning.

[0035] The suspension connection sheet metal 124 in this utility model has corresponding mounting holes for the linear guide mechanism and corresponding holes for the damping shock absorber. The linear guide mechanism's slide rail and the other end of the shock absorber are used to connect to the robot. The suspension connection sheet metal 124 utilizes sheet metal processing, which reuses multiple functions. This reduces the number of parts, optimizes the overall steering wheel assembly through structural design, and reduces maintenance. Furthermore, the sheet metal is aluminum, which reduces weight to a certain extent.

[0036] In the present invention, the driven gear 112 cooperates with the 0.6 module gear on the rudder driving motor 123, and the inner bearing part 11 to which the rudder driving gear belongs is connected to the heading module 2, thereby realizing the rudder rotation of the heading module 2.

[0037] The embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the scope of knowledge possessed by ordinary technicians in this field without departing from the purpose of the present invention.

Claims

1. A lightweight steering wheel assembly with high mechanical efficiency, located at the four corners of the robot body, characterized in that: The robot comprises a steering module (1), a heading module (2) and an electromechanical integrated board (3); the upper end of the steering module (1) is connected to the lower part of the robot body, the upper side of the steering module (1) is fixedly connected to the electromechanical integrated board (3), and the lower side of the steering module (1) is fixedly connected to the heading module (2); the steering module (1) is used to drive the heading module (2) to steer; The structure of the rudder module (1) is as follows: it includes an inner bearing part (11), an outer bearing part (12) and a cross roller bearing (13); the inner ring of the cross roller bearing (13) is connected to the inner bearing part (11), and the outer ring of the cross roller bearing (13) is connected to the outer bearing part (12); the inner bearing part (11) is connected downwardly to the heading module (2); the outer bearing part (12) is connected upwardly to the electromechanical integrated board (3); by driving the inner bearing part (11) to rotate, the inner bearing part (11) drives the heading module (2) to rotate.

2. A lightweight steering wheel assembly mechanism with high mechanical efficiency according to claim 1, characterized in that: The outer bearing part (12) comprises a main bearing member (121), a lower limit plate (122), a steering drive motor (123) and a suspension connection sheet metal (124); a cross roller bearing (13) is provided inside the main bearing member (121); the main bearing member (121) is connected to the lower limit plate (122) at the bottom; the main bearing member (121) is connected to the steering drive motor (123) and the electromechanical integrated board (3) at the top; and the main bearing member (121) is connected to the suspension connection sheet metal (124) at the side and bottom.

3. A lightweight steering wheel assembly mechanism with high mechanical efficiency according to claim 1 or 2, characterized in that: The inner bearing portion (11) comprises, from top to bottom, a photoelectric gate (111), a steering driven gear (112), an upper limit plate (113), and an inner ring connecting main structure (114); the inner ring connecting main structure (114) is embedded with a cross roller bearing (13); the inner ring connecting main structure (114) is upwardly connected to the upper limit plate (113), the steering driven gear (112), and the photoelectric gate (111); and the inner ring connecting main structure (114) is downwardly connected to the heading module (2).

4. A lightweight steering wheel assembly mechanism with high mechanical efficiency according to claim 3, characterized in that: The heading module (2) comprises a hub portion (21) and a lateral drive portion (22), wherein the lateral drive portion (22) is upwardly connected to the rudder module (1), and the lateral drive portion (22) is downwardly connected to the hub portion (21).

5. A lightweight steering wheel assembly mechanism with high mechanical efficiency according to claim 4, characterized in that: The lateral drive part (22) comprises: a motor fixing side plate (221), an electric adjustment fixing side plate (222), a heading drive motor (223), a heading drive electric adjustment (224) and a flange core shaft (225); the motor fixing side plate (221) is upwardly connected to the inner ring connecting main structure (114), the motor fixing side plate (221) is downwardly connected to the flange core shaft (225), and the motor fixing side plate (221) laterally fixes the heading drive motor (223); the electric adjustment fixing side plate (222) is upwardly connected to the inner ring connecting main structure (114), the electric adjustment fixing side plate (222) is downwardly connected to the flange core shaft (225), and the electric adjustment fixing side plate (222) laterally fixes the heading drive electric adjustment (224).

6. A lightweight steering wheel assembly mechanism with high mechanical efficiency according to claim 5, characterized in that: The hub portion (21) comprises, from left to right, a limiting sleeve (211), a bearing limiting plate (212), a wheel inner bearing (213), a wheel (214) and an internal gear (215). The wheel inner bearing (213), the bearing limiting plate (212) and the internal gear (215) are sequentially distributed on the flange spindle (225). The center axis of the wheel (214) is sleeved with two wheel inner bearings (213). The left and right covers of the wheel (214) are covered with bearing limiting plates (212). The internal gear (215) is positioned and matched with the circular groove on the wheel (214) and is connected and fixed with the corresponding threaded hole on the wheel (214); the internal gear (215) is connected and matched with the 0.6 module gear on the heading drive motor (223).

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