Compact high-precision steering driven wheel module
By using a compact, high-precision steering driven wheel module and a combination of servo motor and reducer, the problem of bulky traditional driven wheel structure is solved, achieving efficient and compact steering effect and providing a high load-bearing capacity solution for omnidirectional vehicles in narrow passages.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-11
- Publication Date
- 2026-04-07
AI Technical Summary
In the traditional AGV industry, the driven wheel structure of three-point or four-point omnidirectional vehicles is bulky, the vehicle body is wide, and the stacking aisle is large, making it difficult to meet the high-efficiency and flexible needs of modern manufacturing and logistics.
It adopts a compact, high-precision steering driven wheel module, driven by an absolute servo motor, combined with a planetary reducer and a steering reducer, to achieve precise steering of the driven wheel. The screw connection and bearing structure ensure stability and flexibility. Battery power and CAN bus control of the servo driver enable efficient power transmission.
The compact structure design of the driven wheel has been realized, providing an effective module for narrow-lane omnidirectional vehicles and improving the load-bearing capacity and operating efficiency of the equipment.
Smart Images
Figure CN224090273U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of driven wheel module technology, and in particular to a compact, high-precision steering driven wheel module. Background Technology
[0002] Steering systems play a crucial role in many fields, including modern mechanical engineering and transportation. As an important component of the steering system, the development of the steering driven wheel module is closely linked to advancements in related technologies. With the accelerating pace of industrial automation, the AGV industry is playing an increasingly vital role in modern manufacturing and logistics. Traditional material handling and production transportation mainly rely on manual labor or fixed-track transport equipment, which suffers from numerous drawbacks such as low efficiency, poor flexibility, and high labor costs. The emergence of AGV technology provides an innovative solution to these problems.
[0003] However, in the AGV industry, three-point or four-point omnidirectional vehicles have always relied on chain drive or hydraulic cylinder drive for steering of the driven wheels, resulting in a bulky structure, a wide vehicle body, and a large stacking aisle. Utility Model Content
[0004] To overcome the above shortcomings, this utility model provides a compact, high-precision steering driven wheel module, which aims to improve the problems of bulky structure, large vehicle width, and large stacking aisle.
[0005] To achieve the above objectives, this utility model provides the following technical solution: a compact, high-precision steering driven wheel module, including a driven tire, a driven wheel bracket rotatably connected inside the driven tire, a slewing bearing fixedly connected to the outer wall of the driven wheel bracket, a gear tooth end inside the slewing bearing meshing with a primary transmission gear, a steering component support rotatably connected to the inner wall of the primary transmission gear, a steering reducer provided on the outer wall of the steering component support, a planetary reducer provided on the outer wall of the steering reducer, an absolute servo motor fixedly connected to the outer wall of the planetary reducer, and a control component provided at the input end of the absolute servo motor, the control component being used to determine the speed, torque, and direction of rotation of the absolute servo motor.
[0006] Preferably, the control component includes a servo driver, the output of which is disposed at the input of the absolute servo motor, and the servo driver is located directly above the absolute servo motor.
[0007] Preferably, the drive wheel bracket and the moving gear of the slewing bearing are fastened together using screws.
[0008] Preferably, the driven tire is connected to the drive wheel bracket using a pin and a bearing.
[0009] Preferably, the battery powers the servo driver, which is then controlled to operate via a CAN bus.
[0010] This utility model has the following beneficial effects:
[0011] 1. In this utility model, the product is powered by a battery to the servo driver, which is controlled by a CAN bus. The servo driver drives the absolute servo motor to rotate, which in turn drives the slewing bearing gear to rotate via a planetary reducer, an angle reducer, and a first-stage transmission gear, thereby realizing the steering action of the driven tire. This achieves the effect of designing the module as a high-load, compact structure, providing an effective module for the design of narrow-lane omnidirectional vehicles. Attached Figure Description
[0012] Figure 1 This is a front view of a compact, high-precision steering driven wheel module proposed in this utility model;
[0013] Figure 2 This is a partial structural diagram of the driven tire of a compact, high-precision steering driven wheel module proposed in this utility model;
[0014] Figure 3 This is a partial structural diagram of the primary transmission gear of a compact, high-precision steering driven wheel module proposed in this utility model.
[0015] Legend:
[0016] 1. Driven tire; 2. Driven wheel bracket; 3. Slewing bearing; 4. First stage transmission gear; 5. Steering component support; 6. Steering reducer; 7. Planetary reducer; 8. Absolute value servo motor; 9. Servo driver. Detailed Implementation
[0017] The technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.
[0018] Reference Figure 1 - Figure 3This utility model provides an embodiment of a compact, high-precision steering driven wheel module, comprising a driven tire 1, a driven wheel bracket 2 rotatably connected inside the driven tire 1, a slewing bearing 3 fixedly connected to the outer wall of the driven wheel bracket 2, the tooth ends of a gear inside the slewing bearing 3 meshing with a primary transmission gear 4, a steering component support 5 rotatably connected to the inner wall of the primary transmission gear 4, a steering reducer 6 provided on the outer wall of the steering component support 5, a planetary reducer 7 provided on the outer wall of the steering reducer 6, an absolute servo motor 8 fixedly connected to the outer wall of the planetary reducer 7, and a control component provided at the input end of the absolute servo motor 8, the control component being used to determine the speed, torque, and rotation direction of the absolute servo motor 8.
[0019] Specifically, the power output from the absolute value servo motor 8 first enters the planetary reducer 7. The internal structure of the planetary reducer 7 begins to work in concert, effectively reducing the speed of the absolute value servo motor 8 and significantly increasing the output torque. The adjusted power is then transmitted to the steering reducer 6. The internal components of the steering reducer 6 play their role, precisely changing the direction of power transmission. The power flows to the first-stage transmission gear 4 inside the steering component support 5, thereby realizing the steering action of the driven tire. This achieves the effect of designing the module as a high-load, compact structure, providing an effective module for the design of narrow-lane omnidirectional vehicles.
[0020] Reference Figure 1 - Figure 3 The control component includes a servo driver 9, the output of which is located at the input of the absolute servo motor 8, and the servo driver 9 is located directly above the absolute servo motor 8.
[0021] Specifically, after receiving the command signal, the servo driver 9 immediately starts and drives the absolute servo motor 8 to begin rotating.
[0022] Reference Figure 1 - Figure 3 The moving wheel bracket 2 and the moving gear of the slewing bearing 3 are fastened together with screws.
[0023] Specifically, screw connection is a mechanical fastening method that can provide stable connection force. In the connection between the moving wheel bracket 2 and the moving gear of the slewing bearing 3, the screw can withstand large shear force and tensile force, which can effectively prevent loosening or separation between the moving wheel bracket 2 and the moving gear of the slewing bearing 3.
[0024] Reference Figure 1 - Figure 3 The driven tire 1 is connected to the driving wheel bracket 2 using a pin and a bearing.
[0025] Specifically, the connection between the pin and the bearing allows the driven tire 1 to rotate flexibly relative to the driving wheel bracket 2. The main function of the bearing is to reduce friction, so that the resistance encountered by the tire during rotation is minimal. The driven tire 1 can rotate freely according to the road conditions and the direction of movement of the equipment, ensuring the smooth operation of the equipment.
[0026] Reference Figure 1 - Figure 3 The battery powers the servo driver 9, which is controlled to operate via the CAN bus.
[0027] Specifically, the product is powered by a battery to 9 servo drives, and control commands are transmitted to the servo drives 9 via a CAN bus.
[0028] Working Principle: When this module is needed, the product is powered by a battery to servo driver 9. Control commands are quickly and efficiently transmitted to servo driver 9 via the CAN bus. Upon receiving the command signal from the CAN bus, servo driver 9 immediately starts and precisely drives the connected absolute servo motor 8 to rotate. The CAN bus then controls servo driver 9. The power output from absolute servo motor 8 first enters planetary reducer 7. Planetary reducer 7, composed of a sun gear, planet gears, and an internal gear ring, works in concert. The sun gear, as the initial power input component, drives the planet gears to rotate on their own axes while revolving around it. The planet gears mesh with the fixed internal gear ring. Through this unique transmission method, planetary reducer 7 effectively reduces the speed of absolute servo motor 8 and significantly increases the output torque, resulting in a stronger power output suitable for subsequent transmission requirements. The power adjusted by planetary reducer 7 is then transmitted... The power is then transferred to the steering reducer 6, where the bevel gear assembly inside functions to precisely change the direction of power transmission. Simultaneously, the steering reducer 6, based on its transmission ratio design, further optimizes the speed and torque of the power, ensuring that the power smoothly and efficiently enters the next transmission stage. The power flows to the primary transmission gear 4 inside the steering component support 5. The primary transmission gear 4 consists of meshing drive and driven gears. After receiving power from upstream, the drive gear drives the driven gear to rotate through close and precise interaction between its teeth, thereby causing the moving gear of the slewing bearing 3 to rotate. The driven wheel bracket 2 is fastened to the moving gear of the slewing bearing 3 with screws. The driven tire 1 is connected to the driven wheel bracket 2 with a pin and bearing, thus realizing the steering action of the driven tire 1. This design achieves the effect of a high-load, compact structure, providing an effective module for the design of narrow-lane omnidirectional vehicles.
[0029] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.
Claims
1. A compact, high-precision steering driven wheel module, comprising a driven tire (1), characterized in that: The driven tire (1) is rotatably connected to a drive wheel bracket (2). The outer wall of the drive wheel bracket (2) is fixedly connected to a slewing bearing (3). The tooth end of the gear inside the slewing bearing (3) meshes with a first-stage transmission gear (4). The inner wall of the first-stage transmission gear (4) is rotatably connected to a steering component support (5). The outer wall of the steering component support (5) is provided with a steering reducer (6). The outer wall of the steering reducer (6) is provided with a planetary reducer (7). The outer wall of the planetary reducer (7) is fixedly connected to an absolute value servo motor (8). The input end of the absolute value servo motor (8) is provided with a control component. The control component is used to determine the speed, torque and rotation direction of the absolute value servo motor (8).
2. The compact, high-precision steering driven wheel module according to claim 1, characterized in that: The control component includes a servo driver (9), the output of which is located at the input of an absolute servo motor (8), and the servo driver (9) is located directly above the absolute servo motor (8).
3. A compact, high-precision steering driven wheel module according to claim 2, characterized in that: The moving wheel bracket (2) and the moving gear of the slewing bearing (3) are fastened together with screws.
4. A compact, high-precision steering driven wheel module according to claim 3, characterized in that: The driven tire (1) is connected to the driving wheel bracket (2) using a pin and a bearing.
5. A compact, high-precision steering driven wheel module according to claim 2, characterized in that: The battery powers the servo driver (9) and controls the operation of the servo driver (9) via the CAN bus.