Steering and walking integrated driving module

Abstract

The utility model provides a kind of steering walking integrated drive module, comprising: steering drive device, steering assembly and gyro wheel;Steering assembly is connected with the output end of steering drive device;Gyro wheel is connected with steering assembly;Walking drive device is integrated in gyro wheel to independently drive gyro wheel;Steering assembly is rotated to drive gyro wheel steering by steering drive device.The module of the application can be highly integrated in a module, completely eliminates the complex mechanical connection and space interference problem in traditional separate layout, saves a lot of valuable space, manufacturer does not need to select type, design and debug walking and steering system again, just need to install the module directly on chassis and connect bus and power supply, significantly shorten product development cycle, since each module can independently carry out 360 ° continuous steering and accurate speed control, by coordinating control multiple modules, more flexible movement mode can be provided.

Description

Technical Field

[0001] This utility model relates to the field of mechanical walking drive technology, specifically to an integrated steering and walking drive module. Background Technology

[0002] Traditional car steering utilizes a trapezoidal tie rod mechanism to allow the inner and outer wheels to turn at different angles. This technology is quite mature and results in minimal tire slippage during steering. Another method involves controlling the speed difference between the left and right wheels to achieve steering, similar to the steering mechanism of a tank. However, these existing technologies still have the following shortcomings: (1) Traditional steering systems (steering motor, reducer, tie rod, steering knuckle) and running systems (running motor, transmission, drive shaft) require their own independent installation space and mechanical structure. They often interfere with each other on the chassis, leading to layout difficulties; (2) The traditional steering structure is installed at the rear of the chassis, resulting in a bulky chassis structure and wasting a lot of space that could have been used for batteries, cargo compartments, or passengers. This severely restricts the miniaturization and lightweight design of robots; (3) Traditional steering systems are based on the Ackermann principle or simple differential steering, and the steering angle is strictly limited by the mechanical structure (usually the steering angle does not exceed ±90°). Utility Model Content

[0003] To address the shortcomings of existing technologies, this utility model proposes an integrated steering and walking drive module, which can effectively solve the problems of complex layout, poor maneuverability, low control precision, insufficient reliability, and low development efficiency caused by the independent steering system and walking system in the existing technologies.

[0004] The technical solution of this utility model is implemented as follows: An integrated steering and walking drive module includes: Steering drive unit; A steering assembly, wherein the steering assembly is connected to the output end of the steering drive device; A rotating wheel, which is connected to the steering assembly; A walking drive device, which is integrated into the wheel to drive the wheel independently; The steering drive device drives the steering assembly to rotate, thereby turning the wheel.

[0005] In some embodiments, the steering component includes: The main bearing is used to support the steering drive device; A steering shaft is rotatably disposed in the main bearing and connected to the output end of the steering drive device; A bogie, which is connected to the steering shaft; the wheel is rotatably disposed in the bogie.

[0006] In some embodiments, the axis of rotation of the steering shaft is orthogonal to the axis of rotation of the wheel.

[0007] In some embodiments, a reduction gearbox is provided on the main bearing, the reduction gearbox is connected to the steering drive device and the steering shaft, and the rotational power of the steering drive device is transmitted to the steering shaft through the reduction gearbox.

[0008] In some embodiments, the gearbox is equipped with an encoder connected to one end of the steering shaft for detecting the angle of the steering shaft.

[0009] In some embodiments, the bogie is provided with a shock-absorbing assembly, the wheel is rotatably connected to the shock-absorbing assembly, and the bogie covers the shock-absorbing assembly.

[0010] In some embodiments, the damping assembly includes: Connecting seat, the connecting seat being connected to the rotating wheel; A shock absorber is disposed between the connecting seat and the bogie; The connecting rod is rotatably connected to the connecting seat and the bogie.

[0011] In some embodiments, the link includes a first link and a second link; the first link and the second link are arranged parallel to each other, and the bogie drives the first link and the second link to rotate simultaneously.

[0012] In some embodiments, the shock absorber includes a pressure rod and an elastic element, the pressure rod being rotatably connected between the connecting seat and the bogie; the elastic element being sleeved on the pressure rod.

[0013] In some embodiments, the connector is provided with a socket, the wheel is provided with a connecting shaft, and the connecting shaft is inserted into the socket.

[0014] Compared with the prior art, the integrated steering and walking drive module of this utility model has the following advantages.

[0015] This application provides rotational power to the steering components through a steering drive device to drive the wheels to turn, and the travel drive device can independently drive the wheels to rotate. Therefore, it can be highly integrated into a single module, completely eliminating the complex mechanical connections and spatial interference problems of traditional separate layouts, saving a lot of valuable space. Manufacturers no longer need to select, design, and debug the travel and steering systems separately; they only need to install this module directly on the chassis and connect it to the bus and power supply, which significantly shortens the product development cycle. Since each module can independently perform 360° continuous steering and precise speed control, more flexible movement modes can be provided by coordinating the control of multiple modules. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art 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.

[0017] Figure 1 This is a schematic diagram of the integrated steering and walking drive module of this utility model; Figure 2 This is a front view of the integrated steering and walking drive module of this utility model; Figure 3 This is an exploded view of the integrated steering and walking drive module of this utility model; Figure 4 This is a schematic diagram of the connection between the connecting seat and the connecting rod in this utility model.

[0018] Reference numerals in the attached diagram: 1. Steering drive device; 2. Reducer; 3. Encoder; 4. Wheel; 401. Connecting shaft; 5. Travel drive device; 6. Main bearing; 7. Steering shaft; 8. Bogie; 801. Pressure rod; 802. Elastic element; 803. Connecting seat; 8031. Insertion hole; 804. First connecting rod; 805. Second connecting rod. Detailed Implementation

[0019] 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 protection scope of the present utility model.

[0020] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," "third," and "fourth," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0021] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0022] See Figures 1 to 4 This utility model discloses an integrated steering and walking drive module, including a steering drive device 1, a steering assembly, a reducer 2, an encoder 3, a rotating wheel 4, and a walking drive device 5. This integrated steering and walking drive module can be applied to vehicle chassis or other mobile robots, where the steering drive device 1 drives the steering assembly to rotate, thereby driving the rotating wheel 4 to achieve steering.

[0023] like Figure 1 As shown, both the steering drive unit 1 and the travel drive unit 5 are powered by electric motors. The steering drive unit 1 provides the torque required for steering, driving the steering portion of the entire module to rotate. It employs smooth and precise sinusoidal current vector control technology, effectively reducing motor heat generation. This technology is highly compatible, cost-effective, and suitable for most application scenarios. The travel drive unit 5 provides the power to rotate the wheel 4, and can utilize a high-power-density brushless servo motor. Notably, the travel drive unit 5 is integrated into the wheel 4, enabling independent driving of the wheel 4. This integrated design not only simplifies the mechanical structure but also significantly improves space utilization, making the entire module more compact and efficient.

[0024] like Figure 2 and Figure 3As shown, the steering assembly, as a key component connecting the steering drive unit 1 and the wheel 4, is equally crucial in its design. The steering assembly includes the main bearing 6, the steering shaft 7, and the bogie 8. The main bearing 6 provides robust support for the steering drive unit 1, ensuring smooth and reliable steering. The main bearing 6 can be connected to the vehicle chassis as a fixed end, and its internal bearing structure rotatably engages with the steering shaft 7, capable of withstanding various forces generated during steering and ensuring steering precision.

[0025] The steering shaft 7 is rotatably mounted in the main bearing 6 and is tightly connected to the output end of the steering drive unit 1, accurately transmitting the rotational power of the steering drive unit 1. The rotation axis of the steering shaft 7 is orthogonal to the rotation axis of the wheel 4. This special design makes the steering action more flexible and efficient. Simultaneously, the output end of the steering drive unit 1 is directly connected to the steering shaft 7 via a reducer 2. The reducer 2 acts as an intermediate power transmission mechanism, allowing the rotational power of the steering drive unit 1 to be transmitted to the steering shaft 7 through a reduction gearbox. Specifically, the reducer 2 is a self-locking steering reducer 2, which reduces the speed of the steering motor, amplifies the output torque, and ensures precise control of the steering angle. The reduction gearbox, through its worm gear transmission structure, also achieves self-locking, maintaining the current angular position of the steering shaft 7 when the power input to the steering drive unit 1 stops, enhancing the stability and reliability of the steering. Of course, the reducer 2 and the steering drive unit 1 can be mounted on the main bearing 6, which helps save space.

[0026] like Figure 3 As shown, the steering shaft 7 is connected to the bogie 8. When the steering shaft 7 receives power, it drives the bogie 8 to rotate and steer. The steering shaft 7 has two ends. The first end (output end) is used to connect to the bogie 8, i.e., it acts on one end of the bogie 8. The second end (non-output end) is the end opposite to the first end, and it can be used to connect to the encoder 3. The encoder 3 can measure the angle of the steering shaft 7. Specifically, the encoder 3 is a steering absolute encoder 3, which is a multi-turn absolute encoder 3, measuring the absolute angle of the steering shaft 7 (it can identify the current orientation even after power is cut off and then restored). This is an essential sensor for achieving precise steering control. It is usually installed on the non-output end of the steering drive device 1 or directly measures the angle of the steering shaft 7. The encoder 3 is installed on the gearbox and connected to one end of the steering shaft 7. It is equivalent to a precise "angle measuring instrument" that can detect the rotation angle of the steering shaft 7 in real time and feed the angle information back to the control system so as to make precise adjustments and closed-loop control to the steering action, ensuring the accuracy and consistency of the steering.

[0027] The bogie 8 specifically adopts a bent frame structure, with the bend opening facing the wheel 4. It is compact and small in size, and will not interfere with the structure of the wheel 4 during steering. The wheel 4 is rotatably mounted in the bogie 8, which provides stable support and rotation space for it. The bogie 8 is connected to the steering shaft 7, which efficiently transmits rotational power to the bogie 8. The wheel 4 is also independently rotatable within the bogie 8, which provides a stable mounting and rotation platform for it, allowing the wheel 4 to change direction as the steering shaft 7 rotates. Based on this structure, the steering drive device 1 can drive the wheel 4 to independently perform 360° steering.

[0028] In addition to providing flexible steering capabilities, this module is designed with particular emphasis on comfort and stability during operation. A high-performance damping system is meticulously integrated into key areas of the bogie 8. This system effectively absorbs and cushions various vibrations and irregular impacts generated during operation, significantly improving overall stability and ride comfort. This damping system includes a connecting seat 803, a shock absorber, and a connecting rod. These three components work together to provide a reliable support structure for the wheel 4 and achieve excellent shock absorption. The bogie 8 vertically covers the damping system, protecting it and saving space. Among them, such as Figure 3 and Figure 4 As shown, a special tight connection method is used between the connecting seat 803 and the rotating wheel 4. Specifically, the connecting seat 803 and the rotating wheel 4 are connected through a precision fit on one axial side. The connecting seat 803 is machined with a precisely sized insertion hole 8031, and a high-precision connecting shaft 401 is provided at a corresponding position on the rotating wheel 4. By precisely inserting the connecting shaft 401 into the insertion hole 8031, it is ensured that the rotating wheel 4 can be securely installed in the connecting seat 803. It is worth mentioning that the shape of the insertion hole 8031 ​​is specially designed to perfectly match the shape of the connecting shaft 401. At the same time, an appropriate flat-mouth structure is set at the key contact surface. This design not only improves the assembly accuracy, but also significantly enhances the stability and durability of the connection part, thereby ensuring that the entire shock absorption system maintains excellent performance under various working conditions.

[0029] like Figure 2 and Figure 3As shown, the shock absorber is rotatably connected to the connecting seat 803 and the bogie 8 via a hole-shaft or hinge structure. The shock absorber mainly consists of two parts: a pressure rod 801 and an elastic element 802. The pressure rod 801 is mounted at a specific angle on a dedicated rotating bracket, providing not only a preset range of telescopic adjustment but also the option to use a higher-performance hydraulic damper as an alternative, depending on actual operating conditions. The elastic element 802 is specifically a spring, precisely fitted onto the outside of the pressure rod 801. When the pressure rod 801 is subjected to external force and undergoes displacement, it generates controllable elastic deformation, effectively absorbing and buffering impact energy from all directions, achieving a smooth and reliable shock absorption effect.

[0030] like Figure 3 and Figure 4 As shown, the two ends of the connecting rod are rotatably mounted between the connecting seat 803 and the bogie 8 via a hole shaft or hinge structure. In contrast, the connecting rod is located at the bottom of the shock absorber and can work together with the shock absorber. In this embodiment, the connecting rod includes a first connecting rod 804 and a second connecting rod 805. The structures of the first connecting rod 804 and the second connecting rod 805 are roughly the same, and a shaft structure can be adopted. Preferably, the first connecting rod 804 and the second connecting rod 805 adopt a frame-type plate surface, so that both sides of the first connecting rod 804 and the second connecting rod 805 can be rotatably connected to the rotating frame and the connecting seat 803, and the rotating frame can drive the first connecting rod 804 and the second connecting rod 805 to rotate simultaneously and in a coordinated manner when subjected to force. The first connecting rod 804 and the second connecting rod 805 are arranged parallel to each other, which enhances the stability of the overall connection and can also effectively disperse the stress generated during the steering process, avoiding structural deformation or damage caused by excessive force at a single point. Meanwhile, the connecting rod and the shock absorber form a linkage damping system. When the wheel 4 encounters an uneven road surface, the shock absorber absorbs the impact energy through the deformation of the pressure rod 801 and the elastic element 802, while the connecting rod maintains the relative position stability between the wheel 4 and the bogie 8 by rotation adjustment. The synergistic effect of the two significantly improves the adaptability and driving stability of the module under complex road conditions.

[0031] In summary, this integrated steering and driving module has the following advantages: Extremely compact with extremely high space utilization: By highly integrating key components such as the walking drive unit 5, steering drive unit 1, and encoder 3 into a single housing, the complex mechanical connections and spatial interference problems of traditional separate layouts are completely solved. The structure of this module saves a significant amount of valuable space in the robot chassis, which can be used to accommodate larger capacity batteries or expand the cargo compartment volume, thereby directly improving the robot's endurance and practicality, laying a solid foundation for creating an ultra-thin "skateboard chassis".

[0032] Highly modular, easy to integrate and maintain: As a standard "plug-and-play" functional unit, this module greatly simplifies the design and assembly process of the entire robot. Robot manufacturers no longer need to select, design, and debug the walking and steering systems separately; they only need to install this module directly onto the chassis and connect it to the bus and power supply, significantly shortening the product development cycle. At the same time, the modular design also makes fault repair extremely simple, allowing for direct replacement of the entire module, effectively reducing maintenance costs and time.

[0033] Achieving omnidirectional movement and a qualitative leap in mobility: Because each module can independently perform 360° continuous turning and precise speed control, by coordinating the control of multiple modules, the robot can easily achieve various advanced motion modes such as lateral translation, diagonal movement, and zero-radius rotation in place. This gives the robot unparalleled maneuverability and flexibility in narrow and crowded working environments (such as smart warehouses and flexible production lines), completely eliminating the kinematic limitations of traditional steering structures.

[0034] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. 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 steering and walking integrated drive module, characterized in that, include: Steering drive unit (1); A steering assembly, which is connected to the output end of the steering drive device (1); Rotary wheel (4), the rotary wheel (4) being connected to the steering assembly; Walking drive device (5), which is integrated into the wheel (4) to drive the wheel (4) independently. The steering drive device (1) drives the steering assembly to rotate so as to turn the wheel (4).

2. The integrated steering and walking drive module of claim 1, wherein, The steering component includes: The main bearing (6) is used to support the steering drive device (1). Steering shaft (7), which is rotatably disposed in the main bearing (6) and connected to the output end of the steering drive device (1); Bogie (8), which is connected to the steering shaft (7); the wheel (4) is rotatably disposed in the bogie (8).

3. The integrated steering and driving module according to claim 2, characterized in that, The axis of rotation of the steering shaft (7) is orthogonal to the axis of rotation of the wheel (4).

4. The integrated steering and driving module according to claim 2, characterized in that, The main bearing (6) is provided with a reduction gearbox, which is connected to the steering drive device (1) and the steering shaft (7). The rotational power of the steering drive device (1) is transmitted to the steering shaft (7) through the reduction gearbox.

5. The integrated steering and driving module according to claim 4, characterized in that, The gearbox is equipped with an encoder (3), which is connected to one end of the steering shaft (7) and is used to detect the angle of the steering shaft (7).

6. The integrated steering and driving drive module according to claim 2, characterized in that, The bogie (8) is provided with a shock-absorbing assembly, the wheel (4) is rotatably connected to the shock-absorbing assembly, and the bogie (8) covers the shock-absorbing assembly.

7. The integrated steering and driving module according to claim 6, characterized in that, The shock absorption components include: Connecting seat (803), the connecting seat (803) is connected to the rotating wheel (4); A shock absorber is disposed between the connecting seat (803) and the bogie (8); The connecting rod is rotatably connected to the connecting seat (803) and the bogie (8).

8. The integrated steering and driving module according to claim 7, characterized in that, The connecting rod includes a first connecting rod (804) and a second connecting rod (805); the first connecting rod (804) and the second connecting rod (805) are arranged parallel to each other, and the bogie (8) drives the first connecting rod (804) and the second connecting rod (805) to rotate simultaneously.

9. The integrated steering and driving module according to claim 7, characterized in that, The shock absorber includes a pressure rod (801) and an elastic element (802). The pressure rod (801) is rotatably connected between the connecting seat (803) and the bogie (8). The elastic element (802) is sleeved on the pressure rod (801).

10. The integrated steering and driving module according to claim 7, characterized in that, The connector (803) is provided with a socket (8031), and the rotating wheel (4) is provided with a connecting shaft (401), which is inserted into the socket (8031).

Images