Speed reducer and motor integrated double-swing-arm full-vector steering device

Abstract

The utility model relates to the technical field of drive-by-wire chassis steering, in particular to a speed reducer and motor integrated double-swing-arm full-vector steering device. Comprising a steering mechanism and a damping mechanism, the steering mechanism comprises a first-stage speed reduction assembly, a second-stage speed reduction assembly and a steering motor, the first-stage speed reduction assembly comprises a small gear and a large gear which are arranged in a first-stage speed reduction shell, and the second-stage speed reduction assembly comprises a worm shaft and a worm wheel shaft which are arranged in a second-stage speed reduction shell; the damping mechanism comprises an upper swing arm, a lower swing arm, a damper and a vehicle body mounting assembly. When the drive-by-wire chassis is applied to the drive-by-wire chassis, omnidirectional driving of the drive-by-wire chassis can be achieved, the drive-by-wire chassis is suitable for different working conditions, the speed reducer motor is designed to be integrated, disassembly and assembly are convenient, the drive-by-wire chassis can be suitable for drive-by-wire chassis with different bearing requirements, and the drive-by-wire chassis has the positive effects of being high in practicability and wide in application range.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of chassis -by -wire chassis steering, especially belongs to a kind of double swing arm full vector steering device of speed reducer motor integrated. BACKGROUND

[0002] In recent years, as a new concept of new energy technology, chassis -by -wire chassis is gradually promoted by new forces at home and abroad, and it has a role in promoting the popularization of new energy vehicles. The existing chassis -by -wire steering device has obvious defects in design and function, which mainly reflects the following points: 1. The traditional chassis -by -wire steering device cannot realize omnidirectional driving, and cannot effectively work under complex road conditions. 2. The traditional chassis -by -wire steering device can only perform simple front wheel steering and rear wheel steering, and cannot work in complex conditions, such as factories and logistics parks. 3. The traditional chassis -by -wire steering device is only suitable for corresponding chassis -by -wire chassis, and cannot be replaced according to requirements. 4. The traditional chassis -by -wire steering device is complex to disassemble and assemble, and cannot be disassembled as a whole. SUMMARY

[0003] The utility model aims at providing a kind of double swing arm full vector steering device of speed reducer motor integrated, which can make chassis -by -wire chassis not be restricted by terrain conditions to make vehicle work, and the speed reducer motor is designed as an integrated type, which is easy to disassemble and assemble, so as to achieve the purpose of being suitable for different load requirements of chassis -by -wire chassis and omnidirectional driving without terrain restrictions.

[0004] The utility model provides a kind of double swing arm full vector steering device of speed reducer motor integrated, characterized by comprising steering mechanism and damping mechanism, wherein,

[0005] The steering mechanism comprises a speed reducer primary assembly, a speed reducer secondary assembly and a steering motor. The speed reducer primary assembly comprises a pinion and a large gear arranged inside a speed reducer primary housing. The speed reducer secondary assembly comprises a worm shaft and a worm gear shaft arranged inside a speed reducer secondary housing. The speed reducer primary housing is connected to the speed reducer secondary housing. The steering motor is connected to the speed reducer primary assembly. The pinion is installed on the output shaft of the steering motor. The end portion one of the worm shaft extends into the speed reducer primary housing. Bearings are respectively assembled on the pinion and the end portion one of the worm shaft. The pinion is engaged with the large gear. The large gear is installed on the end portion one of the worm shaft. Bearings are respectively assembled on the two ends of the worm shaft inside the speed reducer secondary housing and the two ends of the worm gear. The end portion two of the worm shaft is assembled with a steering encoder. The worm gear shaft is sleeved with a worm gear shaft protection sleeve. The worm gear shaft protection sleeve is connected to the speed reducer secondary housing. Swing arm mounting seats are respectively connected to the two ends of the worm gear shaft.

[0006] The damping mechanism comprises an upper swing arm, a lower swing arm, a shock absorber, a vehicle body mounting assembly, the lower end of the shock absorber is connected with the lower swing arm, the upper end of the shock absorber is connected with the vehicle body mounting assembly, one end of the upper swing arm and the lower swing arm is provided with a bearing, the other end of the upper swing arm and the lower swing arm is provided with a rubber sleeve, the upper swing arm is connected with the vehicle body mounting assembly, the one end of the upper swing arm mounting bearing and the one end of the lower swing arm mounting bearing are respectively connected with a swing arm mounting seat.

[0007] Further, the output shaft of the steering encoder is arranged in the inner cavity of the two end portions of the worm shaft, and is connected with the second-stage reduction shell.

[0008] Further, the second-stage reduction shell is further connected with a hub motor mounting plate.

[0009] Further, the first-stage reduction shell is provided with an oil injection hole on the outer side, and the oil injection hole is assembled with an oil seal to prevent the lubricating oil from leaking out, and the oil seal is in interference fit with the oil injection hole.

[0010] Further, the worm shaft is a stepped shaft, and the two ends of the worm shaft are provided with shaft shoulders and limiting bolt holes.

[0011] Further, a limiting sleeve is arranged between the large gear and the bearing at one end of the worm shaft in the second-stage reduction shell.

[0012] Further, a bearing and an oil seal are arranged at the lower end inside the worm shaft protection sleeve, and the bearing and the oil seal are mounted on the worm shaft and arranged coaxially with the worm shaft.

[0013] Further, the swing arm mounting seat is provided with a welding positioning groove.

[0014] Further, the inside of the worm shaft protection sleeve is a stepped through hole, and is provided with a snap spring groove, the connecting end of the worm shaft protection sleeve is provided with a bearing concentric mounting hole, and the bearing concentric mounting hole is matched with the mounting of the lower end bearing of the worm on the worm shaft.

[0015] Further, the vehicle body mounting assembly is a connecting body in a frame structure, and has multiple connecting holes, wherein, the vehicle body mounting assembly is formed with a mounting groove near the connecting side of the upper swing arm, the upper swing arm extends into the mounting groove and is connected with the vehicle body mounting assembly through bolts, a limiting mounting plate is arranged in the mounting groove, the limiting mounting plate is matched with a limiting bolt, and the limiting mounting plate is arranged below the connecting position of the upper swing arm in the mounting groove.

[0016] The utility model provides a kind of double swing arm full vector steering device of speed reducer motor integrated type, pass through steering motor output torque, utilize pinion and gear to enlarge and transmit motor torque to worm shaft, the amplified torque is amplified again and transmitted to worm shaft by worm shaft and worm shaft, and is output by the rotation of worm shaft, can be omnidirectional by the rotation of worm shaft.The device can make the line control chassis not be restricted by terrain condition to make vehicle work, greatly enhance the applicability of line control chassis, greatly reduce the difficulty of work, the passability of line control chassis and the applicability of complex road condition have greatly improved.The device sets speed reducer motor as integrated type, overall dismounting, hub motor mounting plate is set as detachable type, convenient to replace, and strong applicability.Specifically, the utility model is applied to line control chassis, can realize omnidirectional travel of line control chassis, to adapt to different working conditions, and design speed reducer motor as integrated type, dismounting is convenient, can be applicable to line control chassis of different bearing requirements, with strong practicality, and the positive effect of wide range of application. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is the overall structure schematic diagram of the utility model;

[0018] Figure 2 It is the structure schematic diagram of the steering mechanism of the utility model;

[0019] Figure 3 It is the partial structure schematic diagram of the torque output of the steering mechanism of the utility model;

[0020] Figure 4 It is the partial structure schematic diagram of the steering mechanism torque output of the utility model;

[0021] Figure 5 It is the structure schematic diagram of the damping mechanism of the utility model;

[0022] Figure 6 It is the structure schematic diagram of the swing arm mounting seat of the utility model;

[0023] Figure 7 It is the structure schematic diagram of the worm shaft protection sleeve of the utility model;

[0024] Figure 8 It is the cross section structure schematic diagram of the worm shaft protection sleeve of the utility model;

[0025] Figure 9 It is the structure schematic diagram of the worm shaft of the utility model;

[0026] Figure 10 It is the structure schematic diagram of the worm shaft of the utility model. DETAILED DESCRIPTION

[0027] As Figures 1-10The utility model provides a kind of double swing arm full vector steering device of speed reducer motor integrated type, mainly by steering mechanism 1 and damping mechanism 2 are constituted. Among them, steering mechanism 1 includes reduction one assembly 110, reduction two assembly 111, steering motor 101, steering encoder 106, worm shaft protection sleeve 107, swing arm mounting seat 108, wheel hub motor mounting plate 109, reduction one assembly 110 includes the pinion 102 being arranged in reduction one casing, the gear 103, reduction two assembly 111 includes the worm shaft 104 being arranged in reduction two casing, worm shaft 105, reduction one casing is connected with reduction two casing by bolt. Specifically, steering motor 101 is connected with reduction one assembly 110 by bolt, pinion 102 is installed on the output shaft of steering motor 101 by flat key, the end portion one A of worm shaft 104 extends to the inside of reduction one casing, bearing is assembled on pinion 102 and the end portion one A of worm shaft 104, there is oil hole outside reduction one casing, oil hole is assembled with oil seal, prevent lubricating oil from leaking, and oil seal and oil hole are interference fit. Pinion 102 is engaged with the gear 103, the gear 103 is installed on the end portion one A of worm shaft 104 by flat key, the both ends of worm shaft 104 in reduction two casing and the both ends of worm 116 on worm shaft 105 are respectively assembled with bearing, and the bearing of the both ends of worm shaft 104 is coaxially arranged with worm shaft 104, the bearing of the both ends of worm 116 on worm shaft 105 is coaxially arranged with worm shaft 105. The gear 103 and the bearing between the one end of worm shaft 104 in reduction two casing are provided with limit sleeve 112, and the limit sleeve can axially limit the gear 103 and bearing on its two sides, the end portion two B of worm shaft 104 is connected with steering encoder 106, the output shaft of steering encoder 106 is placed in the inner cavity of the end portion two B of worm shaft 104, rotates with worm shaft 104, and steering encoder 106 is connected and fixed with reduction two casing by bolt, the both ends of worm shaft 105 are connected with swing arm mounting seat 108, worm shaft 105 in the embodiment adopts stepped shaft, and the both ends of worm shaft 105 are provided with shaft shoulder and limit bolt hole, for the fixation and limit of swing arm mounting seat 108. Worm shaft protection sleeve 107 is installed outside worm shaft 105, for protecting worm shaft 105, worm shaft protection sleeve 107 is coaxially arranged with worm shaft 105, and is connected with reduction two casing by bolt, bearing and oil seal are arranged in the lower end inside worm shaft protection sleeve 107, bearing and oil seal are installed on worm shaft 105, and are coaxially arranged with worm shaft 105.

[0028] The speed reducer motor of the device is integrated, easy to disassemble and assemble, can save rotation space well, and reduce the transverse size and longitudinal size of the chassis.

[0029] In the preferred embodiment of the utility model, the swing arm mounting seat 108 is provided with a welding positioning groove 113, so that the swing arm mounting seat 108 can be welded accurately without needing to be processed by a machining center, thereby saving manpower.

[0030] In the preferred embodiment of the utility model, the worm shaft protection sleeve 107 is internally provided with a stepped through hole, which can axially limit the bearing inside the worm shaft protection sleeve 107, and is also provided with a snap spring groove 114, which can prevent the bearing from falling off; the connecting end of the worm shaft protection sleeve 107 and the reduction secondary shell is provided with a bearing concentric mounting hole 115 to adapt to the installation of the lower end bearing of the worm 116 on the worm shaft 105, which can axially limit the bearing of the worm 116 at the lower end of the worm shaft 105 inside the reduction secondary shell and ensure the concentricity of the worm shaft protection sleeve 107 and the worm shaft 105.

[0031] In the preferred embodiment of the utility model, the hub motor mounting plate 109 is designed as a detachable structure, the upper end of the hub motor mounting plate 109 is connected to the reduction secondary shell through bolts, and the lower end is connected to the hub motor through bolts, which is convenient to replace and has strong applicability.

[0032] The damping mechanism 2 comprises an upper swing arm 201, a lower swing arm 202, a shock absorber 203, a vehicle body mounting assembly 204 and a vehicle limiting bolt mounting plate 205; the lower end of the shock absorber 203 is connected to the lower swing arm 202 through bolts; the upper end of the shock absorber 203 is connected to the vehicle body mounting assembly 204 through bolts; one end of each of the upper swing arm 201 and the lower swing arm 202 is provided with a bearing; the other end of each of the upper swing arm 201 and the lower swing arm 202 is provided with a rubber sleeve; the bearing and the rubber sleeve are installed in the mounting holes at the two ends of the upper swing arm 201 and the lower swing arm 202; the rubber sleeve is installed in an interference fit; the upper swing arm 201 is connected to the vehicle body mounting assembly 204 through bolts; one end of the upper swing arm 201, one end of the lower swing arm 202 and the swing arm mounting seat 108 are connected through bolts.

[0033] In the preferred embodiment of the utility model, the vehicle body mounting assembly 204 is a connecting body in a frame structure and has multiple connecting holes; the vehicle body mounting assembly 204 is formed with an installation groove near the connecting side of the upper swing arm 201; the upper swing arm 201 extends into the installation groove and is connected to the vehicle body mounting assembly 204 through bolts; the limiting installation plate 205 is arranged in the installation groove and cooperates with the limiting bolt; the limiting installation plate 205 is arranged below the connecting position of the upper swing arm 201 in the installation groove, so that the problem that the shock absorber 203 is damaged due to excessive jumping of the wire control chassis can be effectively prevented, thereby preventing the device from being damaged.

[0034] The steering control principle of the device. The steering motor 101 starts to work, and the steering encoder 106 can identify the steering angle of the worm shaft 104, and feedback the steering angle to the steering controller, so as to realize accurate steering. The output shaft of the steering motor 101 drives the pinion 102, the pinion 102 is meshed with the gear 103, the pinion 102 drives the gear 103 to move, at the same time, the torque of the steering motor 101 is amplified and transmitted to the worm shaft 104, the worm shaft 104 cooperates with the worm shaft 105 to amplify the torque again, and the torque is transmitted through the worm shaft 105. The device can realize omnidirectional movement through the rotation of the worm shaft 104 around the worm shaft 104.

Claims

1. A dual swing arm full vector steering device of a reduction gear motor integrated type, characterized in that, The steering mechanism and the damping mechanism are included, The steering mechanism includes a deceleration first assembly, a deceleration second assembly and a steering motor. The deceleration first assembly includes a pinion and a gear wheel arranged inside a deceleration first casing. The deceleration second assembly includes a worm shaft and a worm wheel shaft arranged inside a deceleration second casing. The deceleration first casing is connected with the deceleration second casing. The steering motor is connected with the deceleration first assembly. The pinion is installed on an output shaft of the steering motor. The end of the worm shaft extends into the deceleration first casing. Bearings are respectively arranged on the pinion and the end of the worm shaft. The gear wheel is installed on the end of the worm shaft. Bearings are respectively arranged on the two ends of the worm shaft in the deceleration second casing and the two ends of the worm wheel. The end of the worm shaft is provided with a steering encoder. The worm wheel shaft is sleeved with a worm wheel shaft protection sleeve. The worm wheel shaft protection sleeve is connected with the deceleration second casing. The two ends of the worm wheel shaft are respectively connected with swing arm mounting seats. The damping mechanism includes an upper swing arm, a lower swing arm, a shock absorber and a vehicle body mounting assembly. The lower end of the shock absorber is connected with the lower swing arm. The upper end of the shock absorber is connected with the vehicle body mounting assembly. Bearings are arranged on one end of the upper swing arm and the lower swing arm. Rubber sleeves are arranged on the other end of the upper swing arm and the lower swing arm. The upper swing arm is connected with the vehicle body mounting assembly. The end of the upper swing arm provided with the bearing and the end of the lower swing arm provided with the bearing are respectively connected with the swing arm mounting seats.

2. The dual swing arm full vector steering apparatus of claim 1, further characterized by, The output shaft of the steering encoder is arranged in the inner cavity of the end of the worm shaft and is connected with the deceleration second casing. The steering encoder circuit is connected with the control circuit of the wire control chassis.

3. The dual swing arm full vector steering apparatus of claim 2, further characterized by, The deceleration second casing is further connected with a wheel hub motor mounting plate.

4. The dual swing arm full vector steering apparatus of claim 3, further characterized by, An oil injection hole is arranged on the outside of the deceleration first casing. The oil injection hole is provided with an oil seal to prevent the lubricating oil from leaking out. The oil seal is in interference fit with the oil injection hole.

5. The dual swing arm full vector steering apparatus of claim 4, further characterized by, The worm wheel shaft is a stepped shaft. Axle shoulders and limiting bolt holes are arranged on the two ends of the worm wheel shaft.

6. The dual swing arm full vector steering apparatus of claim 5, further characterized by, A limiting sleeve is arranged between the gear wheel and the bearing of the end of the worm shaft in the deceleration second casing.

7. The dual swing arm full vector steering apparatus of claim 6, further characterized by, Bearings and oil seals are arranged on the lower end of the worm wheel shaft protection sleeve. The bearings and the oil seals are arranged on the worm wheel shaft coaxially.

8. The dual swing arm full vector steering apparatus of claim 7, further characterized by, Welding positioning grooves are arranged on the swing arm mounting seats.

9. The dual swing arm full vector steering apparatus of claim 8, further characterized by, The inside of the worm wheel shaft protection sleeve is provided with a stepped through hole and a snap spring groove. Bearings concentric mounting holes are arranged on the connecting end of the worm wheel shaft protection sleeve. The bearings concentric mounting holes are matched with the bearings arranged on the lower end of the worm wheel.

10. The dual swing arm full vector steering apparatus of claim 9, further characterized by, The vehicle body mounting assembly is a connecting body with a frame structure and multiple connecting holes. An installation groove is arranged on the side of the vehicle body mounting assembly close to the upper swing arm. The upper swing arm extends into the installation groove and is connected with the vehicle body mounting assembly through bolts. A limiting installation plate is arranged in the installation groove. The limiting installation plate is matched with limiting bolts. The limiting installation plate is arranged below the connection position of the upper swing arm in the installation groove.

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