Steering mechanism of speed reducer

Abstract

The speed reducer steering mechanism comprises a bogie, a steering rudder frame and walking wheels, a walking motor and a steering motor are fixedly installed on the surface of the bogie, the steering rudder frame is installed on the bottom face of the bogie in a rotating mode, the steering rudder frame comprises a wheel fork frame, a steering wheel disc and a second transmission shaft, and the walking wheels are installed on the surface of the wheel fork frame in a rotating mode. Transmission teeth in transmission engagement with the bottom end of the second transmission shaft are arranged on the surfaces of the walking wheels. The utility model adopts the integrated design of walking driving and steering control, optimizes the space utilization rate through the coaxial arrangement of the walking motor and the steering rudder frame, and is suitable for scenes with higher volume requirements, such as small robot chassis, intelligent logistics equipment and the like. Meanwhile, closed-loop control is achieved through an encoder and an electric control unit, angle changes of the steering wheel disc are monitored in real time, errors are automatically corrected, it is ensured that equipment can accurately run according to a preset path, and the running stability is improved.

Description

Technical Field

[0001] This utility model relates to the field of steering mechanism technology, specifically a speed reducer steering mechanism. Background Technology

[0002] In traditional steering drive systems, the travel drive and steering control are typically independent structures. The travel motor drives the travel wheels, while the steering motor adjusts direction through an additional mechanical transmission mechanism (such as a gear set or linkage). This separate design results in a complex system structure, occupies a large space, and the combination of multiple transmission components affects the system's reliability. Furthermore, many traditional steering systems use open-loop control, relying solely on the motor's rotation time or a fixed angle calculation for steering, without real-time feedback adjustments. This makes the equipment prone to steering deviations during long-term operation or under complex working conditions.

[0003] However, this traditional solution of independent walking and steering systems combined with open-loop control has several drawbacks: First, the separation of the walking motor and steering mechanism results in a bulky structure, making it difficult to meet the space requirements of compact intelligent devices (such as small robots and automated guided vehicles); second, factors such as mechanical errors, ground friction, and load variations can cause steering angle deviations, which open-loop control cannot automatically correct, potentially leading to path deviations after prolonged operation and affecting the device's precise movement. Therefore, traditional steering mechanisms have significant shortcomings in terms of space utilization, path accuracy, and stability, making it difficult to meet the high-precision requirements of modern automated logistics, intelligent warehousing, and robot navigation. Utility Model Content

[0004] The present invention aims to solve the technical problems existing in the prior art or related technologies.

[0005] This invention provides a speed reducer steering mechanism with a compact structure, which can achieve efficient and precise walking and steering control, and is applicable to fields such as automated logistics equipment, robot chassis, and industrial handling systems.

[0006] This utility model includes a bogie, a steering rudder, and running wheels, wherein: a running motor and a steering motor are fixedly mounted on the surface of the bogie; the steering rudder is rotatably mounted on the bottom surface of the bogie and includes a wheel fork holder, a steering wheel disc, and a second drive shaft; the running wheels are rotatably mounted on the surface of the wheel fork holder, and the surface of the running wheels is provided with transmission teeth that mesh with the bottom end of the second drive shaft; the output end of the running motor meshes with the surface of the second drive shaft to drive the running wheels to rotate; the output end of the steering motor is provided with a worm shaft, and a first drive shaft is rotatably mounted on the surface of the bogie; the surface of the first drive shaft meshes with the outer periphery of the steering wheel disc, and the output end of the steering motor meshes with the surface of the steering wheel disc through the first drive shaft, thereby achieving precise drive of the steering wheel disc.

[0007] In this utility model:

[0008] 1. Traveling Mechanism: The traveling motor drives the traveling wheels to rotate via the second drive shaft, enabling the equipment to move forward or backward. The traveling motor and the steering servo are arranged coaxially, optimizing space utilization and improving transmission efficiency.

[0009] 2. Steering Mechanism: The steering motor drives the first transmission shaft to rotate via a worm gear shaft, which meshes with the steering wheel disc to achieve steering control. The worm gear transmission structure improves the reduction ratio, making steering control more precise and preventing steering rebound, thus improving system stability.

[0010] 3. Auxiliary Guiding Structure: The inner side of the steering wheel disk is equipped with ball bearings that abut against the bottom surface of the bogie to reduce rotational friction and improve steering sensitivity. The top surface of the steering wheel disk is equipped with a sliding guide rod, which is slidably mounted on the bottom surface of the bogie to guide the rotational movement of the steering wheel disk, making it more stable.

[0011] 4. Steering Angle Monitoring and Closed-Loop Control: An encoder is installed on the surface of the bogie to monitor the rotation angle of the steering wheel in real time. The encoder is connected to the electronic control unit to collect the angle position information of the steering wheel in real time and transmit it to the control system. The control system adjusts the speed and rotation angle of the steering motor based on the encoder signal to automatically correct steering errors and improve control accuracy.

[0012] 5. Independent electronic control unit drive: The travel motor and steering motor are independently controlled by electronic control units, which allows travel and steering to be independent of each other, improving flexibility; the electronic control unit can automatically adjust steering compensation according to the equipment's operating status to ensure that the equipment maintains high-precision travel under different working conditions.

[0013] The speed reducer steering mechanism of this invention has advantages such as precise steering, high-efficiency drive, low friction and durability, and intelligent control. It can be widely used in automated logistics equipment, intelligent handling robots, intelligent warehousing systems and other fields, providing a high-efficiency and stable steering solution for modern industrial automation.

[0014] The beneficial effects achieved by this utility model are as follows:

[0015] 1. This utility model adopts an integrated design of walking drive and steering control. The walking motor and steering motor drive the walking wheel and steering wheel respectively, making the overall system structure more compact and reducing the space occupied by components. Since the walking motor and steering wheel are arranged coaxially, space utilization is further optimized, making the entire mechanism suitable for applications with high space requirements, such as small robot chassis and intelligent logistics equipment.

[0016] 2. In this utility model, the encoder, steering motor and electronic control unit form a closed-loop feedback control system. When the equipment is moving, the encoder collects the rotation angle of the steering wheel in real time and compares it with the target angle to automatically correct the error and ensure that the equipment moves along the preset path. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of one embodiment of the present utility model;

[0018] Figure 2 This is a schematic diagram of the transmission structure of the walking motor and steering motor according to an embodiment of the present invention;

[0019] Figure 3 This is a schematic diagram of a steering rudder structure according to an embodiment of the present invention;

[0020] Figure 4 This is a schematic diagram of the walking motor and walking wheel transmission structure according to an embodiment of the present invention.

[0021] Figure label:

[0022] 100. Bogie; 110. Travel motor; 120. Steering motor; 130. First drive shaft; 121. Worm shaft;

[0023] 200. Steering rudder; 210. Wheel fork holder; 220. Steering wheel disc; 230. Second drive shaft; 221. Ball bearing; 222. Guide rod;

[0024] 300. Traveling wheel; 310. Transmission gear. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to specific embodiments and accompanying drawings. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0026] It should be understood that these descriptions are merely exemplary and not intended to limit the scope of this invention.

[0027] The following is in conjunction with the appendix Figures 1-4 This invention describes a speed reducer steering mechanism provided by some embodiments of the present invention.

[0028] This utility model provides a speed reducer steering mechanism, including a bogie 100, a steering rudder 200, and traveling wheels 300, wherein:

[0029] A travel motor 110 and a steering motor 120 are fixedly mounted on the surface of the bogie 100; a steering rudder 200 is rotatably mounted on the bottom surface of the bogie 100; the steering rudder 200 includes a wheel fork 210, a steering wheel disc 220, and a second drive shaft 230; a travel wheel 300 is rotatably mounted on the surface of the wheel fork 210, and the surface of the travel wheel 300 is provided with transmission teeth 310 that mesh with the bottom end of the second drive shaft 230; the output end of the travel motor 110 meshes with the surface of the second drive shaft 230 to drive the travel wheel 300 to rotate; the output end of the steering motor 120 is provided with a worm shaft 121, and a first drive shaft 130 is rotatably mounted on the surface of the bogie 100;

[0030] The surface of the first drive shaft 130 is engaged with the outer periphery of the steering wheel disk 220, and the output end of the steering motor 120 is engaged with the surface of the steering wheel disk 220 through the first drive shaft 130, thereby achieving precise driving of the steering wheel disk 220.

[0031] like Figure 2 As shown, in this embodiment, the output end of the walking motor 110 is connected to the transmission gear 310 of the walking wheel 300 through the second transmission shaft 230 to drive the walking wheel 300 to rotate.

[0032] The coaxial arrangement of the travel motor 110 and the steering servo 200 enables the motor to transmit power efficiently, reduces additional transmission losses, and improves the overall system's operational stability and reliability.

[0033] The output end of the steering motor 120 is connected to the worm shaft 121 through the first transmission shaft 130, and drives the steering wheel disk 220 to rotate using a worm gear transmission method. This worm gear transmission method can provide a large transmission ratio, improve steering accuracy, and can operate stably under high load conditions, reducing overshoot caused by inertia, thereby improving the stability of steering control.

[0034] The inner side of the steering wheel disk 220 is provided with ball bearings 221 that abut against the bottom surface of the bogie 100 to reduce rotational friction, improve steering sensitivity, and enhance the durability of the steering structure; the top surface of the steering wheel disk 220 is provided with a sliding guide rod 222, which is slidably mounted on the bottom surface of the bogie 100 to guide the rotational movement of the steering wheel disk 220 so that it can adjust the direction smoothly and accurately.

[0035] The second drive shaft 230 is fixedly connected to the steering wheel disk 220 and is driven by the drive gear 310 meshing with the traveling wheel 300. This design ensures that the rotation of the steering wheel disk 220 can directly affect the directional change of the traveling wheel 300, thereby achieving flexible and precise directional control.

[0036] Furthermore, the independently driven electronic control unit: the travel motor 110 and the steering motor 120 are independently driven by the electronic control unit, so that travel and steering can be controlled independently, improving the operational flexibility and adaptability of the system; the electronic control unit can adjust the working status of the travel motor and the steering motor in real time according to different working conditions to optimize the operation of the equipment.

[0037] Furthermore, based on encoder-based angle detection and feedback control: the bogie 100 surface is equipped with an encoder for monitoring the rotation angle of the steering wheel disk 220, which is used to detect the angle change of the steering wheel disk 220 in real time and provide accurate steering feedback information; the encoder is connected to the electronic control unit to transmit the collected angular position information of the steering wheel disk 220 to the control system to realize closed-loop steering control and improve steering accuracy; the encoder is an incremental encoder or an absolute encoder, and is installed at the connection between the steering wheel disk 220 and the first drive shaft 130 to ensure measurement accuracy and reduce mechanical errors; the signal output end of the encoder is connected to the control end of the steering motor 120, and by adjusting the speed and rotation angle of the steering motor 120 in real time, the steering error is automatically corrected, thereby improving the stability and safety of the system.

[0038] Working principle and usage process of this utility model:

[0039] This invention provides walking drive through a walking motor 110 and steering power through a steering motor 120. Combined with worm gear transmission, gear transmission and encoder feedback, it forms a highly efficient steering control system.

[0040] Drive of the walking mechanism: The output end of the walking motor 110 meshes with the surface of the second transmission shaft 230 for transmission; the bottom end of the second transmission shaft 230 meshes with the transmission teeth 310 on the walking wheel 300; when the walking motor 110 is running, it drives the second transmission shaft 230 to rotate, thereby driving the walking wheel 300 to roll, realizing the forward or backward movement of the equipment.

[0041] Steering mechanism control: The output end of the steering motor 120 is provided with a worm shaft 121, which is used to provide power for deceleration and torque increase; the worm shaft 121 meshes with the first transmission shaft 130 to rotate; the surface of the first transmission shaft 130 meshes with the outer periphery of the steering wheel disk 220; by controlling the steering direction and speed of the steering motor 120, the rotation angle of the steering wheel disk 220 can be adjusted, thereby changing the direction of the travel wheel 300 and achieving precise steering control.

[0042] Encoder feedback control: The encoder is installed between the steering wheel disk 220 and the first drive shaft 130 to detect the rotation angle of the steering wheel disk 220 in real time; the encoder signal is transmitted to the electronic control unit and compared with the target angle to realize closed-loop control; if the deviation is too large, the electronic control unit can automatically adjust the speed and rotation angle of the steering motor 120 to correct the direction of travel and ensure stable steering.

[0043] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0044] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A speed reducer steering mechanism, characterized in that, include: Bogie (100), Bogie steerer (200), and running wheels (300): A travel motor (110) and a steering motor (120) are fixedly mounted on the surface of the bogie (100). A steering rudder (200) is rotatably mounted on the bottom surface of the bogie (100). The steering rudder (200) includes a wheel fork holder (210), a steering wheel disc (220), and a second drive shaft (230). A travel wheel (300) is rotatably mounted on the surface of the wheel fork holder (210), and the surface of the travel wheel (300) is provided with transmission teeth (310) that mesh with the bottom end of the second drive shaft (230). The output end of the travel motor (110) is connected to the second drive shaft (230). The steering motor (120) is equipped with a worm shaft (121) at its output end, and a first drive shaft (130) is rotatably mounted on the surface of the bogie (100). The surface of the first drive shaft (130) is engaged with the outer periphery of the steering wheel disk (220). The output end of the steering motor (120) is engaged with the surface of the steering wheel disk (220) through the first drive shaft (130). The surface of the bogie (100) is equipped with an encoder for monitoring the rotation angle of the steering wheel disk (220) to detect the angle change of the steering wheel disk (220) in real time and provide accurate steering feedback information.

2. The speed reducer steering mechanism according to claim 1, characterized in that, The output end of the walking motor (110) is connected to the transmission gear (310) of the walking wheel (300) through the second transmission shaft (230) to drive the rotation of the walking wheel (300), and the walking motor (110) and the steering rudder (200) are arranged coaxially.

3. The speed reducer steering mechanism according to claim 1, characterized in that, The output end of the steering motor (120) is connected to the worm shaft (121) through the first transmission shaft (130), and the steering wheel disk (220) is driven to rotate by the worm gear transmission to provide high-precision steering control.

4. A speed reducer steering mechanism according to claim 1, characterized in that, The inner side of the steering wheel disk (220) is provided with ball bearings (221) that abut against the bottom surface of the bogie (100) to reduce rotational friction, improve steering sensitivity, and enhance the durability of the steering structure. The top surface of the steering wheel disk (220) is provided with a sliding guide rod (222), which is slidably mounted on the bottom surface of the bogie (100) to guide the rotational movement of the steering wheel disk (220).

5. A speed reducer steering mechanism according to claim 1, characterized in that, The second drive shaft (230) is fixedly connected to the steering wheel disk (220) and engages with the traveling wheel (300) through the drive gear (310).

6. A speed reducer steering mechanism according to claim 1, characterized in that, The walking motor (110) and steering motor (120) are independently driven by the electronic control unit.

7. A speed reducer steering mechanism according to claim 1, characterized in that, The encoder is connected to the electronic control unit and is used to transmit the collected angular position information of the steering wheel disk (220) to the control system to realize closed-loop steering control and improve steering accuracy. The encoder is an incremental encoder or an absolute encoder and is installed at the connection between the steering wheel disk (220) and the first drive shaft (130) to ensure measurement accuracy and reduce mechanical errors.

8. A speed reducer steering mechanism according to claim 7, characterized in that, The signal output terminal of the encoder is connected to the control terminal of the steering motor (120). By adjusting the speed and rotation angle of the steering motor (120) in real time, the steering error can be automatically corrected, thereby improving the stability and safety of the system.

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