Steering wheel system with high integration level

Abstract

The utility model discloses a high-integration-level steering wheel system, which relates to the technical field of mobile robots and comprises a hub motor, a wheel carrier, a driver, a bleeder resistor, a side cover, a rotating shaft, a limiting disc, a right-angle speed reducer and a steering motor. The hub motor comprises a rubber wheel, a steel ring, a driving motor front cover, a driving motor rear cover, a front bearing, a rear bearing, a split type encoder, a motor shaft, a corrugated gasket, a motor stator, a motor rotor and a framework oil seal. The utility model has the characteristics of good sealing performance, strong anti-vibration capability, high integration level and low cost, and is suitable for outdoor occasions with strict spatial dimension requirements. The system can adapt to various outdoor environments, and the product integration degree is further improved.

Description

Technical Field

[0001] This utility model relates to the field of mobile robot technology, and in particular to a low-cost, highly integrated steering wheel system with good environmental adaptability. Background Technology

[0002] With the development of technology, steering wheel products have penetrated deeper into various application fields, expanding from industrial applications to commercial applications, and their scale has gradually increased. In particular, for common outdoor application environments such as lawns and muddy ground, there are requirements for high environmental adaptability, low cost, and small installation space. However, existing conventional products, such as the following utility models, cannot meet these needs, and there is an urgent need for a low-cost, highly integrated steering wheel system with good environmental adaptability to meet market demands.

[0003] For example, the patent with application number CN210634385U: Robot chassis and drive mechanism. This patent also uses a motor as a power source and achieves driving and steering functions through a reduction mechanism. However, the driver needs to be installed separately externally, which occupies additional space. In addition, the driver needs a separate waterproof housing and waterproof connector, etc., which increases the cost. Utility Model Content

[0004] In order to solve the above-mentioned technical problems, this utility model aims to provide a low-cost, highly integrated steering wheel system with good environmental adaptability.

[0005] To achieve the above objectives, the embodiments of this utility model adopt the following technical solution: a highly integrated steering wheel system, the steering wheel system comprising a hub motor, a wheel frame, a driver, a rotating shaft, a right-angle planetary reducer, and a steering motor;

[0006] The wheel frame is equipped with a rotating shaft, which is connected to the vehicle body; a right-angle planetary reducer is connected to the rotating shaft, and the steering motor is perpendicular to the rotating shaft and connected to the right-angle planetary reducer to form a steering module;

[0007] The hub motor is equipped with a split encoder. The driver is placed inside the wheel frame, and the split encoder is set inside the hollow hole of the hub motor shaft.

[0008] Furthermore, the hub motor includes a rubber wheel, a steel rim, a bearing, a motor shaft, and a motor stator and rotor;

[0009] The motor rotor magnet is attached to the inner surface of the steel ring and is axially positioned by the positioning steps reserved in the steel ring; the motor stator is press-fitted onto the motor shaft, and bearings are provided at both ends of the motor shaft for support.

[0010] Furthermore, the motor shaft is hollow, and the split encoder is installed at the front end of the motor shaft with screws. The stator of the split encoder is glued to a pre-cut slot inside the front cover of the drive motor.

[0011] Furthermore, the hub motor mounting interface is in the form of a flange, and it is mounted to the wheel frame with screws.

[0012] Furthermore, the cables of the split encoder and the motor cable pass through the hollow hole in the motor shaft, and the wire cores are soldered into the pre-drilled soldering holes on the driver. The cables are then fixed to the cable tie fixing seats on the wheel frame with cable ties.

[0013] Furthermore, the steering wheel system also includes a bleed resistor, which is installed on the side cover with screws. The side cover is installed on the wheel frame with screws, and a sealing strip is provided between the side cover and the wheel frame for sealing.

[0014] Furthermore, the power supply and communication of the driver are combined into a custom cable, one end of which is soldered to the driver, and the other end passes through a circular hole of a certain diameter on the wheel frame and exits from the hollow hole in the shaft.

[0015] Furthermore, the cable is protected by a cable guard on the left side of the wheel frame. The protrusion on the upper part of the cable guard slides directly into the groove on the left side of the wheel frame, and then the cable guard is connected with countersunk screws on the side.

[0016] Furthermore, the steering motor and the right-angle reducer are connected by screws, and the right-angle reducer reduces speed, increases torque, and changes the direction of the rotation axis.

[0017] The right-angle reducer is a hollow mechanism, with its bottom inserted into the upper side of the rotating shaft flange. The top of the rotating shaft has an M16 thread. The rotating shaft and the right-angle reducer are pressed together, and the steering is limited by the limit plate and the slotted headless shaft screw installed on the top of the right-angle reducer.

[0018] Compared with conventional products on the market, the main advantages of this utility model are:

[0019] (1) The hub motor has a smaller thickness. Conventional hub motors have bearings and encoders installed in series, resulting in a larger hub motor thickness. This utility model customizes a miniaturized high-temperature resistant encoder, which is set inside the hollow hole of the motor shaft, saving axial space;

[0020] (2) The driver for controlling the hub motor is integrated inside the wheel frame. Compared with the conventional steering wheel where the driver is external, this saves the installation space of the driver, improves the system integration, reduces the number of twisted cables, and saves the cost of the driver housing and waterproof connectors.

[0021] (3) In the conventional method of combining a speed reducer with a single gear pair, the steering motor needs to be set below the mounting surface and rotate with the steering wheel. In this utility model, the steering speed reducer adopts the form of right angle speed reduction, and the steering motor can be horizontally fixed above the mounting surface, saving the turning space. Moreover, the cable will not twist and move with the steering wheel rotation, thus improving the system life and reliability.

[0022] (4) The steering part, namely the steering motor and the right-angle reduction mechanism, can form a separate steering module, which is easy to adapt to different models of hub motors and is easy to disassemble and assemble. It can be disassembled by simply unscrewing the nut on the top of the right-angle reduction mechanism, and it is easy to maintain.

[0023] (5) Lightweight, the shell material is mainly aluminum alloy, the motor rotor has a weight reduction hole, the wheel frame, the front cover of the drive motor and the rear cover of the drive motor are thinned and reinforced with ribs, and the overall weight is controlled to be within 10kg. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 A three-dimensional schematic diagram of the steering wheel system provided in an embodiment of this utility model;

[0026] Figure 2 A cross-sectional view of the steering wheel system provided in an embodiment of this utility model;

[0027] Figure 3 A schematic diagram of the driver arrangement provided for an embodiment of this utility model;

[0028] In the diagram, 1-hub motor, 2-wheel frame, 3-driver, 4-bleeding resistor, 5-side cover, 6-cable protector, 7-shaft, 8-limiting disc, 9-right-angle planetary reducer, 10-steering motor;

[0029] 101-Rubber wheel, 102-Steel ring, 103-Drive motor front cover, 104-Drive motor rear cover, 105-Front bearing, 106-Rear bearing, 107-Split encoder, 108-Motor shaft, 109-Corrugated gasket, 110-Motor stator and rotor, 111-Skeleton oil seal. Detailed Implementation

[0030] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0031] This utility model embodiment provides a highly integrated steering wheel system, mainly including a hub motor 1, a wheel frame 2, a driver 3, a bleeder resistor 4, a side cover 5, a cable protection cover 6, a rotating shaft 7, a limit disc 8, a right-angle planetary reducer 9, and a steering motor 10. The hub motor 1 mainly includes a rubber wheel 101, a steel rim 102, a front cover 103 for the drive motor, a rear cover 104 for the drive motor, a front bearing 105, a rear bearing 106, a split encoder 107, a motor shaft 108, a corrugated gasket 109, a motor stator and rotor 110, and a skeleton oil seal 111.

[0032] The hub motor 1 is an external rotor type. The inner surface of the tire rim 102 is attached to the motor rotor magnet, and axial positioning is achieved by a positioning step reserved inside the rim 102. The surface of the motor shaft 108 is knurled, and the motor stator is press-fitted onto the motor shaft 108. The two ends of the motor shaft 108 are supported by a front bearing 105 and a rear bearing 106. The drive motor front cover 103 and drive motor rear cover 104 are respectively installed on both sides of the rim 102 with screws. A positioning step is provided at the connection between the drive motor front cover 103 and drive motor rear cover 104 and the rim 102, and an O-ring is provided at the groove of the step for sealing. A corrugated gasket 109 is provided between the drive motor rear cover 104 and the rear bearing 106 to adjust the clearance, and a skeleton oil seal 111 is provided between the drive motor front cover 103 and the motor shaft 108 for sealing. The motor shaft 108 is hollow. The split encoder 107pcb is installed on the front end of the motor shaft 108 with screws. The stator of the split encoder 107 is glued to a pre-cut slot inside the front cover 103 of the drive motor.

[0033] The hub motor 1 is mounted via a flange-type mechanical interface and is screwed to the wheel frame 2. The encoder and motor cables pass through the hollow hole in the motor shaft 108, and the wire cores are directly soldered into pre-drilled soldering holes on the driver 3 PCB. The cables are then secured to the cable tie mounting bracket on the wheel frame 2 with cable ties. The bleed resistor 4 is screwed to the side cover 5, which is in turn screwed to the wheel frame 2. A sealing strip is used between the side cover 5 and the wheel frame 2 for sealing. The cable for the bleed resistor 4 is also soldered into pre-drilled soldering holes on the driver 3 PCB. The power and communication of the driver 3 are combined into a custom cable, one end soldered to the driver 3 PCB, and the other end passing through a 10mm diameter hole in the wheel frame 2, exiting from the hollow hole in the shaft 7. After the cables are soldered and bundled, the driver 3 is potted with potting compound to prevent the cables and components from falling off due to vibration. The cable is protected by a cable guard 6 on the left side of the wheel frame 2. The protrusion on the upper part of the cable guard 6 can slide directly into the groove on the left side of the wheel frame 2, and then the cable guard 6 is connected with countersunk screws on the side. The top of the wheel frame 2 is connected to a rotating shaft 7, and the steering module, which provides steering power, is mounted on the rotating shaft 7.

[0034] The steering motor 10 and the right-angle reducer 9 are connected by four screws. The right-angle reducer 9 reduces speed and increases torque, changing the direction of the rotating shaft 7. The right-angle reducer 9 is a hollow mechanism, with its bottom fitting into the upper side of the flange of the rotating shaft 7 in a mortise-and-tenon joint-like manner. The top of the rotating shaft 7 has an M16 thread. The rotating shaft 7 and the right-angle reducer 9 are pressed together by nuts and washers. A limit plate 8 is installed under the washers, and the steering is limited by the slotted headless shaft screw installed on the top of the right-angle reducer 9. The mounting surface of the steering wheel to the vehicle body is as follows. Figure 2 As shown.

[0035] All gaskets use double-tooth disc washers for anti-loosening. Screws and gasket surfaces are coated with Dacromet. All housings are made of aluminum alloy with a black hard anodized finish. The motor shaft 108 surface is powder-coated for salt spray protection.

[0036] The general working principle of the environmentally adaptable, low-cost, highly integrated steering wheel system of this utility model embodiment is as follows.

[0037] Drive Working Principle: After receiving control commands from the upper-level controller, the driver 3 controls the rotation of the motor rotor, which in turn drives the tire to rotate. Simultaneously, the drive encoder provides real-time feedback on the motor's magnetic pole position. This feedback is compared with the command and then used for PID calculation to achieve two-loop closed-loop control. Steering Working Principle: After receiving control commands from the upper-level controller, the driver 3 controls the rotation of the steering motor 10 shaft. This rotation is achieved through the right-angle reducer 9, which drives the rotating shaft 7, thus rotating the drive unit. Simultaneously, the internal encoder of the steering motor 10 provides real-time feedback on the output position. This feedback is compared with the command and then used for PID calculation to achieve closed-loop control. Steering Limit: When the steering angle exceeds the hard limit angle (125°) of the steering wheel, the edge of the limit disc 8 will collide with the slotted headless shaft screw. After the overcurrent protection of the steering motor 10 is activated, the steering wheel stops rotating to prevent cable damage in abnormal situations.

Claims

1. A high integration rudder system, characterized by, The rudder wheel system comprises a wheel hub motor, a wheel frame, a driver, a rotating shaft, a right-angle planetary reducer and a steering motor; The rotating shaft is arranged on the wheel frame and connected with the vehicle body; the right-angle planetary reducer is connected with the rotating shaft; and the steering motor is perpendicular to the rotating shaft and connected with the right-angle planetary reducer to form a steering module. The wheel hub motor is provided with a split encoder; the driver is arranged inside the wheel frame; and the split encoder is arranged in the hollow hole of the wheel hub motor shaft.

2. A high integration rudder system according to claim 1, characterized in that, The wheel hub motor comprises a rubber wheel, a steel ring, bearings, a motor shaft and a motor stator and rotor. The motor rotor magnet is attached to the inner surface of the steel ring and axially positioned by a positioning step reserved in the steel ring; the motor stator is press-fitted on the motor shaft; and bearings are arranged at both ends of the motor shaft to support the motor.

3. A high integration rudder system according to claim 2, characterized in that, The motor shaft is hollow; the split encoder is screwed on the front end of the motor shaft; and the split encoder stator is glued in a groove in the front cover of the driving motor.

4. A high integration rudder system according to claim 2, wherein The mechanical interface of the wheel hub motor is in the form of a flange, which is screwed with the wheel frame.

5. A high integration rudder system according to claim 2, wherein The cable of the split encoder and the motor cable are pulled out of the hollow hole of the motor shaft, welded to the welding hole reserved in the driver, and fixed to the cable fixing seat on the wheel frame by a cable tie.

6. A high integration rudder system according to claim 2, wherein The rudder wheel system further comprises a bleeder resistor, which is screwed on the side cover and the side cover is screwed on the wheel frame; and a sealing strip is arranged between the side cover and the wheel frame to seal them.

7. A high integration rudder system according to claim 2, wherein The power supply and communication of the driver are combined into a customized cable, which is welded to the driver at one end and pulled out of the hollow hole of the rotating shaft at the other end.

8. A high integration rudder system according to claim 2, wherein The left side of the wheel frame is protected by a wire cover, the protrusion on the upper part of the wire cover is directly inserted into the groove on the left side of the wheel frame, and then the wire cover is connected by a countersunk screw on the side of the wire cover.

9. A high integration rudder system according to claim 1, wherein The steering motor and the right-angle reducer are connected by screws, the right-angle reducer is used to reduce the speed, increase the distance and change the direction of rotation; The right-angle reducer is a hollow mechanism, the bottom is inserted into the upper side of the rotating shaft flange, the top of the rotating shaft is an M16 thread, the rotating shaft and the right-angle reducer are pressed tightly, and the steering is limited by the limit disc and the slotted headless shaft position screw installed on the top of the right-angle reducer.

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