Vertical steering wheel

Abstract

The utility model provides a vertical steering wheel. The vertical steering wheel comprises a steering driving assembly, a connecting frame, a rotary driving assembly and a wheel body. The steering driving assembly comprises a first motor and a harmonic reducer; the power output end of the first motor is connected with the harmonic speed reducer; the power output end of the harmonic speed reducer is connected with the connecting frame; the rotary driving assembly comprises a second motor, a transmission case and a planetary reducer; the transmission box is fixed to the lower left portion of the connecting frame. The second motor is fixed on one side of the upper part of the transmission box; the planetary reducer is fixed on one side of the lower part of the transmission case; the transmission case transmits the power of the second motor to the planetary reducer; the wheels are mounted at the power output end of the planetary reducer; the harmonic speed reducer is controlled to work through the first motor, the harmonic speed reducer directly controls the connecting frame to rotate, so that steering of the wheel is achieved, the control precision of the harmonic speed reducer is higher than the meshing transmission precision of a planetary speed reducer and a gear, steering of the steering wheel can be controlled in a high-precision mode, and the steering wheel is suitable for application scenes with the high requirement for steering precision.

Description

Technical Field

[0001] The utility model relates to the technical field of AGV, in particular to a vertical steering wheel. Background Art

[0002] During use, the steering wheel is controlled by a steering drive device, and then the operation of the wheel is controlled by a rotary drive device. The current method of controlling wheel steering is usually to use a motor to control the rotation of the gear, and the gear is then connected to the slewing support bearing, and the wheel bracket is connected through the slewing support bearing to achieve steering control, or a planetary reducer is used to control the steering. However, the steering control accuracy of these methods is not high enough. For AGV vehicles with high control accuracy requirements in the application environment, this structure cannot meet the application requirements. Utility Model Content

[0003] The purpose of the utility model is to provide a vertical steering wheel to solve the problems mentioned in the background technology.

[0004] In order to achieve the above purpose, the present invention provides the following technical solutions:

[0005] A vertical steering wheel includes a steering drive assembly, a connecting frame, a rotation drive assembly and a wheel; the steering drive assembly includes a first motor and a harmonic reducer; the power output end of the first motor is connected to the harmonic reducer; the power output end of the harmonic reducer is connected to the connecting frame; the rotation drive assembly includes a second motor, a transmission box and a planetary reducer; the transmission box is fixed to the lower left of the connecting frame; the second motor is fixed to one side of the upper part of the transmission box; the planetary reducer is fixed to one side of the lower part of the transmission box; the transmission box transmits the power of the second motor to the planetary reducer; and the wheel is installed at the power output end of the planetary reducer.

[0006] Further description of the utility model: a pulley device is provided in the transmission box; the pulley device includes a driving gear, a driven gear and a transmission belt; the driving gear is installed at the power output end of the second motor; the driven gear is installed on the input shaft of the planetary reducer; and the transmission belt is installed between the driving gear and the driven gear.

[0007] To further describe the present invention, both the first motor and the second motor are servo motors.

[0008] Further description of the present invention: the connecting frame includes a top plate, a front side plate and a rear side plate; the front side plate and the rear side plate are respectively fixed to the bottom of the front and rear sides of the top plate; the right end of the top plate extends to the right side of the front side plate and the rear side plate; the right end surface of the upper part of the transmission box contacts the left end surfaces of the front side plate and the rear side plate, and the upper end surface of the transmission box contacts the bottom surface of the top plate; in the vertical direction, the top plate is fixedly connected to the transmission box by a first screw; in the horizontal direction, the transmission box is respectively connected to the front side plate and the rear side plate by a second screw.

[0009] Further description of the present invention: wire holes are provided at the middle positions of the front side plate and the rear side plate.

[0010] The beneficial effects of the utility model are:

[0011] This design uses the first motor to control the operation of the harmonic reducer, which directly controls the rotation of the connecting frame to achieve wheel steering. The control accuracy of the harmonic reducer is higher than that of the planetary reducer and the gear meshing transmission accuracy. It can control the steering of the steering wheel with high precision and is suitable for application scenarios with high steering accuracy requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is the overall structural diagram of the utility model;

[0013] Figure 2 It is a structural diagram of the connecting frame of the utility model;

[0014] Figure 3 It is an exploded view of the transmission case of the present invention. DETAILED DESCRIPTION

[0015] The present invention will be further described below with reference to the accompanying drawings:

[0016] like Figure 1-3As shown, a vertical steering wheel includes a steering drive assembly 1, a connecting frame 2, a rotation drive assembly 3 and a wheel 4; the steering drive assembly 1 includes a first motor 11 and a harmonic reducer 12; the power output end of the first motor 11 is connected to the harmonic reducer 12; the power output end of the harmonic reducer 12 is connected to the connecting frame 2; the rotation drive assembly 3 includes a second motor 31, a transmission box 32 and a planetary reducer 33; the transmission box 32 is fixed to the lower left of the connecting frame 2; the second motor 31 is fixed to one side of the upper part of the transmission box 32; the planetary reducer 33 is fixed to the transmission box One side of the lower part of 32; the transmission box 32 transmits the power of the second motor 31 to the planetary reducer 33; the wheel 4 is installed at the power output end of the planetary reducer 33; the steering drive assembly 1 is fixed on the AGV vehicle. When the first motor 11 is working, it drives the harmonic reducer 12 to control the rotation of the connecting frame 2 to realize the steering function of the AGV vehicle when it is walking. The second motor 31 controls the planetary reducer 33 to work through the transmission box 32, and the planetary reducer 33 controls the rotation of the wheel 4 to realize the walking function of the AGV vehicle. This design controls the steering through the harmonic reducer 12, and the steering control accuracy is high.

[0017] A pulley device 321 is provided in the transmission box 32; the pulley device 321 includes a driving gear 3211, a driven gear 3212 and a transmission belt 3213; the driving gear 3211 is installed at the power output end of the second motor 31; the driven gear 3212 is installed on the input shaft of the planetary reducer 33; the transmission belt 3213 is installed between the driving gear 3211 and the driven gear 3212. The traveling function is transmitted by the pulley device 321, which can greatly reduce costs.

[0018] In this design, both the first motor 11 and the second motor 31 are servo motors, which provide more precise control.

[0019] The connecting frame 2 includes a top plate 21, a front side plate 22 and a rear side plate 23; the front side plate 22 and the rear side plate 23 are respectively fixed to the bottom of the front and rear sides of the top plate 21; the right end of the top plate 21 extends to the right side of the front side plate 22 and the rear side plate 23; the right end surface of the upper part of the transmission box 32 contacts the left end surface of the front side plate 22 and the rear side plate 23, and the upper end surface of the transmission box 32 contacts the bottom surface of the top plate 21; in the vertical direction, the top plate 21 is fixedly connected to the transmission box 32 by a first screw 01; in the horizontal direction, the transmission box 32 is fixedly connected to the top plate 21 by a first screw 01. The transmission box 32 is connected to the front side plate 22 and the rear side plate 23 respectively by the second screw 02, wherein the transmission box 32 includes a left box body 322 and a right box body 323, and the left box body 322 and the right box body 323 are connected by the third screw 03. A pad 324 is provided between the left box body 322 and the right box body 323, and the left box body 322 and the right box body 323 are also positioned by a positioning pin 325. The second screw 02 is locked on the right box body 323 and the front side plate 22, and the right box body 323 and the rear side plate 23; the structure has high stability and avoids loosening.

[0020] Wire holes 221 and 231 are provided at the middle of the front side plate 22 and the rear side plate 23 for passing the power supply wires.

[0021] The above description does not limit the technical scope of the present invention. Any modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A vertical steering wheel, comprising a steering drive assembly, a connecting frame, a rotation drive assembly, and a wheel; characterized in that: The steering drive assembly includes a first motor and a harmonic reducer; the power output end of the first motor is connected to the harmonic reducer; the power output end of the harmonic reducer is connected to the connecting frame; the rotation drive assembly includes a second motor, a transmission box and a planetary reducer; the transmission box is fixed to the lower left of the connecting frame; the second motor is fixed to one side of the upper part of the transmission box; the planetary reducer is fixed to one side of the lower part of the transmission box; the transmission box transmits the power of the second motor to the planetary reducer; The wheel is installed at the power output end of the planetary reducer.

2. A vertical steering wheel according to claim 1, characterized in that: A pulley device is provided in the transmission box; the pulley device includes a driving gear, a driven gear and a transmission belt; the driving gear is installed at the power output end of the second motor; the driven gear is installed on the input shaft of the planetary reducer; and the transmission belt is installed between the driving gear and the driven gear.

3. The vertical steering wheel according to claim 1, characterized in that: The first motor and the second motor are both servo motors.

4. The vertical steering wheel according to claim 1, characterized in that: The connecting frame includes a top plate, a front side plate and a rear side plate; the front side plate and the rear side plate are respectively fixed to the bottom of the front and rear sides of the top plate; the right end of the top plate extends to the right side of the front side plate and the rear side plate; the right end surface of the upper part of the transmission box contacts the left end surfaces of the front side plate and the rear side plate, and the upper end surface of the transmission box contacts the bottom surface of the top plate; in the vertical direction, the top plate is fixedly connected to the transmission box by a first screw; in the horizontal direction, the transmission box is respectively connected to the front side plate and the rear side plate by a second screw.

5. The vertical steering wheel according to claim 4, characterized in that: Wire holes are provided at the middle positions of the front side plate and the rear side plate.

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