A steering system and unmanned three-wheel sweeper

Abstract

The utility model belongs to three -wheel sweeper steering system technical field discloses a kind of steering system and unmanned three -wheel sweeper.The steering system includes CEPS assembly, steering installation support, connecting shaft, speed reduction mechanism, limit structure and wheel assembly, steering installation support is detachably connected in the shell of speed reduction mechanism, the output shaft of CEPS assembly passes through steering installation support, and with the one end of connecting shaft detachably connected, the output shaft of CEPS assembly is coaxially arranged with connecting shaft, the other end of connecting shaft and the input end of speed reduction mechanism are coaxially arranged and detachably connected, the output shaft of speed reduction mechanism and wheel assembly are detachably connected, CEPS assembly can drive wheel assembly to steer, and limit structure is used to limit the steering angle of wheel assembly.The steering system and unmanned three -wheel sweeper compact structure, steering precision is high, and driving stability is high.

Description

Technical Field

[0001] This utility model relates to the technical field of steering systems for three-wheeled sweepers, and in particular to a steering system and an unmanned three-wheeled sweeper. Background Technology

[0002] The unmanned three-wheeled sweeper is an intelligent sanitation device integrating autonomous driving technology and a sweeping operation system. It can autonomously complete garbage sweeping and collection operations in urban streets, park roads, and other scenarios. The steering system, as a key execution unit of the unmanned three-wheeled sweeper, directly determines the vehicle's steering flexibility, driving stability, and the accuracy of its operating path. Its performance not only affects sweeping efficiency and operating coverage but also relates to path tracking accuracy and driving safety during autonomous driving. It is the core guarantee for ensuring the vehicle can autonomously avoid obstacles, make precise turns, and operate along predetermined routes, playing a decisive role in the overall operational efficiency of the unmanned three-wheeled sweeper.

[0003] Existing steering systems are mostly developed based on traditional manned vehicles, exhibiting significant adaptation deficiencies. On one hand, traditional steering systems often employ complex structural designs with multiple components connected in series, including multiple transmission joints and support components, resulting in a large overall size and space occupation. In contrast, autonomous three-wheeled sweepers require the integration of multiple modules such as sensors, controllers, and sweeping devices, necessitating a compact spatial layout. The structural design of traditional steering systems cannot meet the spatial arrangement requirements of autonomous sweepers. On the other hand, the core development of existing steering systems focuses on adapting to the operating habits of manual driving, with lower requirements for steering execution accuracy and idle travel control. This fails to match the high-precision path tracking requirements of autonomous sweepers, easily leading to steering lag and path deviation during autonomous operation, severely impacting the accuracy of sweeping operations. Utility Model Content

[0004] The purpose of this utility model is to provide a steering system and an unmanned three-wheeled sweeper. The steering system has a compact structure, high steering accuracy, and high driving stability.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] On one hand, a steering system is provided, including: a CEPS (Column-Electric Power Steering) assembly, a steering mounting bracket, a connecting shaft, a reduction mechanism, a limiting structure, and a wheel assembly. The steering mounting bracket is detachably connected to the housing of the reduction mechanism. The output shaft of the CEPS assembly passes through the steering mounting bracket and is detachably connected to one end of the connecting shaft. The output shaft of the CEPS assembly is coaxially arranged with the connecting shaft. The other end of the connecting shaft is coaxially arranged with and detachably connected to the input end of the reduction mechanism. The output shaft of the reduction mechanism is detachably connected to the wheel assembly. The CEPS assembly can drive the wheel assembly to steer. The limiting structure is used to limit the steering angle of the wheel assembly.

[0007] Preferably, the steering mounting bracket includes a mounting part and a connecting part that are fixedly connected. The mounting part is provided with a through hole. The housing of the CEPS assembly is fixedly connected to the mounting part, and the output shaft of the CEPS assembly passes through the through hole and is detachably connected to one end of the connecting shaft. The connecting part is detachably connected to the housing of the reduction gear.

[0008] Preferably, the mounting part is a mounting plate, the output shaft of the CEPS assembly is set perpendicular to the mounting plate, and the mounting plate is configured to have an angle of 3°-8° with the frame plane of the driverless three-wheeled sweeper.

[0009] Preferably, the connecting shaft includes a first connecting part and a second connecting part arranged coaxially. The first connecting part has a first connecting hole at its shaft center and a spline groove on the hole wall. The output shaft of the CEPS assembly has a spline in the spline groove. The second connecting part is detachably connected to the input end of the reduction mechanism.

[0010] Preferably, the wheel assembly includes a wheel bracket, a mounting axle, and a tire. The wheel bracket includes two side plates arranged in parallel and spaced apart, and a top plate fixedly connected between the two side plates. The mounting axle passes through the two side plates and is fixedly connected to the two side plates. The tire is rotatably connected to the mounting axle and is mounted between the two side plates.

[0011] Preferably, the steering system further includes a sleeve, a bushing protrudes from the top plate, the sleeve is fitted over the bushing, and the limiting structure includes a first limiting part and two second limiting parts. The first limiting part is fixedly connected to the top plate, and the two second limiting parts are symmetrically arranged on opposite sides of the sleeve, and both second limiting parts are fixedly connected to the sleeve. The distance between the first limiting part and the two second limiting parts is equal, and the bushing can drive the sleeve to rotate so that one of the two second limiting parts abuts against the first limiting part.

[0012] Preferably, a first flat key is provided on the outer peripheral wall of the end of the connecting shaft near the reduction mechanism, a second connecting hole is provided at the input end of the reduction mechanism, a first flat keyway is provided on the wall of the second connecting hole, and the first flat key is provided in the first flat keyway.

[0013] Preferably, a second flat key is provided on the output shaft of the reduction mechanism, and a second flat keyway is provided on the inner wall of the bushing, with the second flat key located in the second flat keyway.

[0014] Preferably, the steering system also includes a fixing plate, which is used to fix the housing of the deceleration mechanism and the frame of the unmanned three-wheeled sweeper. The fixing plate is provided with a clearance hole, through which the output shaft of the deceleration mechanism passes.

[0015] Preferably, the deceleration mechanism includes a reducer and a housing. The reducer is disposed in the housing, and the output shaft of the reducer extends out of the housing. A first connecting plate and a second connecting plate are fixedly connected to both ends of the housing, respectively. The first connecting plate is detachably connected to the mounting bracket, and the second connecting plate is detachably connected to the fixing plate.

[0016] On the other hand, an unmanned three-wheeled sweeper is provided, which includes a frame and a steering system of any of the above-mentioned technical solutions, and the wheel assembly is the front wheel assembly of the unmanned three-wheeled sweeper.

[0017] The beneficial effects of this utility model are as follows:

[0018] A steering system is provided, comprising: a CEPS assembly, a steering mounting bracket, a connecting shaft, a reduction mechanism, a limiting structure, and a wheel assembly. On one hand, the output shaft of the CEPS assembly is coaxially arranged with the connecting shaft; the connecting shaft is coaxially arranged with the input end of the reduction mechanism, and the output shaft of the reduction mechanism is detachably connected to the wheel assembly, reducing deviation and free play during transmission, improving steering accuracy, and thus enhancing the reliability of the steering system; steering is achieved directly using the CEPS assembly, and the reduction mechanism achieves speed reduction and torque amplification, avoiding the use of complex mechanical steering systems in related technologies, achieving lightweight steering system while reducing manufacturing costs.

[0019] On the other hand, a limiting structure is installed to restrict the steering angle of the wheel assembly, limiting the maximum effective steering angle of the steering system. This prevents problems such as jamming of transmission components (e.g., connecting shafts, reduction mechanisms) due to exceeding the mechanical travel limit caused by excessive steering angles, as well as abnormal compression, sliding friction, and wear of the tire edges between the wheel assembly and the ground. Simultaneously, minor impacts from the ground can be attenuated by the damping characteristics of the CEPS assembly's motor, protecting the entire steering system. Attached Figure Description

[0020] Figure 1 This is an exploded view of the steering system provided by this utility model;

[0021] Figure 2 This is a first partial exploded view of the steering system provided by this utility model;

[0022] Figure 3 This is a second partial exploded view of the steering system provided by this utility model.

[0023] In the picture:

[0024] 1. CEPS assembly; 11. Spline;

[0025] 2. Steering mounting bracket; 21. Mounting part; 22. Connecting part;

[0026] 3. Connecting shaft; 31. First connecting part; 32. Second connecting part;

[0027] 4. Speed ​​reduction mechanism;

[0028] 5. Limiting structure; 51. First limiting part; 52. Second limiting part;

[0029] 6. Wheel assembly; 61. Wheel bracket; 611. Top plate; 612. Side plate; 613. Second flat keyway; 62. Mounting shaft; 63. Tire;

[0030] 7. Sleeve; 8. Fixing plate. Detailed Implementation

[0031] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.

[0032] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between 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.

[0033] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0034] In the description of this embodiment, the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, 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. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0035] On the one hand, please refer to Figures 1 to 3 This utility model provides a steering system, including: a CEPS assembly 1, a steering mounting bracket 2, a connecting shaft 3, a reduction mechanism 4, a limiting structure 5, and a wheel assembly 6. The steering mounting bracket 2 is detachably connected to the housing of the reduction mechanism 4. The output shaft of the CEPS assembly 1 passes through the steering mounting bracket 2 and is detachably connected to one end of the connecting shaft 3. The output shaft of the CEPS assembly 1 is coaxially arranged with the connecting shaft 3. The other end of the connecting shaft 3 is coaxially arranged with and detachably connected to the input end of the reduction mechanism 4. The output shaft of the reduction mechanism 4 is detachably connected to the wheel assembly 6. The CEPS assembly 1 can drive the wheel assembly 6 to steer. The limiting structure 5 is used to limit the steering angle of the wheel assembly 6.

[0036] This configuration serves two purposes. First, by coaxially aligning the output shaft of the CEPS assembly 1 with the connecting shaft 3, and coaxially aligning the connecting shaft 3 with the input end of the reduction mechanism 4, and detachably connecting the output shaft of the reduction mechanism 4 with the wheel assembly 6, deviations and free travel during transmission are reduced, improving steering accuracy and thus enhancing the reliability of the steering system. Directly using the CEPS assembly 1 for steering and the reduction mechanism 4 for speed reduction and torque amplification avoids the use of complex mechanical steering systems in related technologies, achieving a lightweight steering system while reducing manufacturing costs. Second, the limiting structure 5 for restricting the steering angle of the wheel assembly 6 limits the maximum effective steering angle of the steering system, preventing problems such as jamming of transmission components (e.g., connecting shaft 3, reduction mechanism 4) due to exceeding the mechanical engagement stroke caused by excessive steering angles, as well as abnormal compression, sliding friction, and wear of the tire 63 edge of the wheel assembly 6 against the ground. Simultaneously, minor impacts from the ground can be attenuated by the damping characteristics of the motor in the CEPS assembly 1, protecting the entire steering system.

[0037] Alternatively, please refer to Figure 1 and Figure 2 The steering mounting bracket 2 includes a mounting portion 21 and a connecting portion 22 that are fixedly connected. The mounting portion 21 is provided with a through hole. The housing of the CEPS assembly 1 is fixedly connected to the mounting portion 21, and the output shaft of the CEPS assembly 1 passes through the through hole and is detachably connected to one end of the connecting shaft 3. The connecting portion 22 is detachably connected to the housing of the reduction mechanism 4. Specifically, the connecting portion 22 includes two spaced-apart connecting plates that are fixedly connected to the mounting portion 21. The two connecting plates and the mounting portion 21 enclose a receiving space for at least a portion of the connecting shaft 3. The connecting portion 22 is detachably connected to the housing of the reduction mechanism 4, so that at least a portion of the connecting shaft 3 is confined within the receiving space. The connecting shaft 3 is detachably connected to the CEPS assembly 1 and the reduction mechanism 4, thereby fixing the position of the CEPS assembly 1 relative to the steering mounting bracket 2. The structure is compact while ensuring the connection reliability of the steering system.

[0038] Optionally, the mounting section 21 is a mounting plate, with the output shaft of the CEPS assembly 1 perpendicular to the mounting plate. The mounting plate is configured to form an angle of 3°-8° with the frame plane of the unmanned three-wheeled sweeper. This configuration results in a caster angle of 3°-8° for the wheel assembly 6, which generates a self-aligning torque when the wheels turn. When the vehicle is traveling in a straight line, this torque can resist lateral force interference, prevent the wheels from turning arbitrarily, ensure that the unmanned three-wheeled sweeper travels stably along the predetermined path, and reduce the correction burden on the autonomous driving system.

[0039] Preferably, the angle between the mounting plate and the frame plane of the driverless three-wheeled sweeper is 5°.

[0040] Alternatively, please refer to Figure 2 The connecting shaft 3 includes a first connecting part 31 and a second connecting part 32 coaxially arranged. The first connecting part 31 has a first connecting hole at its center, and the hole wall has a spline groove. A spline 11 is provided on the output shaft of the CEPS assembly 1, and the spline 11 is located in the spline groove. The second connecting part 32 is detachably connected to the input end of the reduction mechanism 4. With this configuration, the first connecting part 31 precisely engages with the spline 11 of the output shaft of the CEPS assembly 1 through the spline groove, achieving minimal control of steering backlash. This prevents random deviation caused by excessive backlash from the transmission source, ensuring the path tracking accuracy of autonomous driving.

[0041] Further, please refer to Figure 3 The wheel assembly 6 includes a wheel bracket 61, a mounting axle 62, and a tire 63. The wheel bracket 61 includes two parallel side plates 612 and a top plate 611 fixedly connected between the two side plates 612. The mounting axle 62 passes through the two side plates 612 and is fixedly connected to them. The tire 63 is rotatably connected to the mounting axle 62 and mounted between the two side plates 612. This configuration, where the tire 63 is embedded between the two side plates 612, results in a compact overall structure, further reducing the overall space occupied by the steering system and facilitating the modular layout of the unmanned three-wheeled sweeper. The structure where the mounting axle 62 is fixedly connected to the two side plates 612 and the tire 63 is rotatably connected to the mounting axle 62, combined with the precise transmission of the steering system, allows for rapid response to steering commands from the CEPS assembly 1, improving the steering accuracy and driving stability of the steering system.

[0042] Further, please refer to Figure 1 and Figure 3 The steering system also includes a sleeve 7. A bushing protrudes from the top plate 611, and the sleeve 7 is fitted over the bushing. The limiting structure 5 includes a first limiting part 51 and two second limiting parts 52. The first limiting part 51 is fixedly connected to the top plate 611, and the two second limiting parts 52 are symmetrically arranged on opposite sides of the sleeve 7, and both second limiting parts 52 are fixedly connected to the sleeve 7. The distance between the first limiting part 51 and the two second limiting parts 52 is equal. The bushing can drive the sleeve 7 to rotate so that one of the two second limiting parts 52 abuts against the first limiting part 51. Specifically, the first connecting part 31 is a limiting post, and the second connecting part 32 is a limiting block. With this configuration, when the bushing rotates with the wheel assembly 6, it drives the sleeve 7 and the two second limiting parts 52 to rotate synchronously. When any second limiting part 52 abuts against the first limiting part 51 fixed to the top plate 611, the steering angle is directly limited. The second limiting part 52, which is symmetrically arranged, is equidistant from the first limiting part 51, ensuring that the maximum angles of the wheels turning clockwise and counterclockwise are completely consistent, avoiding driving imbalance caused by deviation of the steering angle on one side, and adapting to the requirements of autonomous driving for path symmetry.

[0043] The first limiting part 51 and the second limiting part 52 directly abut against each other to achieve the limiting, forming a rigid limiting. Compared with the flexible limiting, it is more reliable and can stably withstand the impact force during the steering process. It is not easy to cause the limiting failure due to deformation during long-term use, ensuring that the steering angle is always controlled within the design range. From a mechanical point of view, it eliminates the jamming caused by oversteering or abnormal wear of tire 63, and has high reliability.

[0044] Optionally, a first flat key is provided on the outer peripheral wall of the end of the connecting shaft 3 near the reduction mechanism 4, a second connecting hole is provided at the input end of the reduction mechanism 4, a first flat keyway is provided on the wall of the second connecting hole, and the first flat key is provided in the first flat keyway.

[0045] Optionally, a second flat key is provided on the output shaft of the reduction mechanism 4, and a second flat keyway 613 is provided on the inner wall of the bushing, with the second flat key located in the second flat keyway 613.

[0046] The connecting shaft 3 and the reduction mechanism 4, as well as the reduction mechanism 4 and the wheel assembly 6, are connected by flat keys. Through surface contact, the relative circumferential rotation between the components can be restricted, ensuring that the power transmission path from the CEPS assembly 1 through the connecting shaft 3, the reduction mechanism 4, and the bushing to the wheel assembly 6 is free of slippage, reducing steering idle travel and improving the path tracking accuracy of autonomous driving.

[0047] Alternatively, please refer to Figure 3 The steering system also includes a mounting plate 8, which is used to fix the housing of the reduction mechanism 4 and the frame of the unmanned three-wheeled sweeper. The mounting plate 8 has clearance holes through which the output shaft of the reduction mechanism 4 passes. This configuration, by fixing the housing of the reduction mechanism 4 to the frame and using clearance holes to accommodate the output shaft of the reduction mechanism 4, enhances the installation stability of the steering system, ensures smooth transmission, and further optimizes the adaptability of the steering system structure.

[0048] Optionally, the reduction mechanism 4 includes a reducer and a housing. The reducer is housed within the housing, and its output shaft extends out of the housing. A first connecting plate and a second connecting plate are fixedly connected to both ends of the housing, respectively. The first connecting plate is detachably connected to the mounting bracket 2, and the second connecting plate is detachably connected to the fixing plate 8. In this embodiment, both the first and second connecting plates are rectangular structures with threaded holes at each of the four corners. The first connecting plate is detachably connected to the mounting bracket 2 by bolts, and the second connecting plate is detachably connected to the fixing plate 8 by bolts. The reduction mechanism, equipped with a reducer, avoids problems such as abnormal noise and vibration that may occur due to abnormal gear damage and inconsistency issues when relying on gear meshing for speed reduction, compared to traditional gearbox reduction mechanisms.

[0049] On the other hand, this utility model provides an unmanned three-wheeled sweeper, which includes a frame and the aforementioned steering system, and the wheel assembly 6 is the front wheel assembly of the unmanned three-wheeled sweeper.

[0050] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A steering system, characterized in that, include: The CEPS assembly (1), steering mounting bracket (2), connecting shaft (3), deceleration mechanism (4), limiting structure (5), and wheel assembly (6) are described. The steering mounting bracket (2) is detachably connected to the housing of the deceleration mechanism (4). The output shaft of the CEPS assembly (1) passes through the steering mounting bracket (2) and is detachably connected to one end of the connecting shaft (3). The output shaft of the CEPS assembly (1) is coaxially arranged with the connecting shaft (3). The other end of the connecting shaft (3) is coaxially arranged with the input end of the deceleration mechanism (4) and is detachably connected. The output shaft of the deceleration mechanism (4) is detachably connected to the wheel assembly (6). The CEPS assembly (1) can drive the wheel assembly (6) to turn. The limiting structure (5) is used to limit the steering angle of the wheel assembly (6).

2. The steering system according to claim 1, characterized in that, The steering mounting bracket (2) includes a mounting part (21) and a connecting part (22) that are fixedly connected. The mounting part (21) is provided with a through hole. The housing of the CEPS assembly (1) is fixedly connected to the mounting part (21). The output shaft of the CEPS assembly (1) passes through the through hole and is detachably connected to one end of the connecting shaft (3). The connecting part (22) is detachably connected to the housing of the deceleration mechanism (4).

3. The steering system according to claim 2, characterized in that, The mounting part (21) is a mounting plate, and the output shaft of the CEPS assembly (1) is set perpendicular to the mounting plate. The mounting plate is configured to have an angle of 3°-8° with the frame plane of the driverless three-wheeled sweeper.

4. The steering system according to claim 3, characterized in that, The connecting shaft (3) includes a first connecting part (31) and a second connecting part (32) arranged coaxially. The first connecting part (31) has a first connecting hole at its shaft center and a spline groove on the hole wall. The output shaft of the CEPS assembly (1) is provided with a spline (11) and the spline (11) is located in the spline groove. The second connecting part (32) is detachably connected to the input end of the reduction mechanism (4).

5. The steering system according to claim 1, characterized in that, The wheel assembly (6) includes a wheel bracket (61), a mounting shaft (62), and a tire (63). The wheel bracket (61) includes two side plates (612) arranged in parallel and spaced apart, and a top plate (611) fixedly connected between the two side plates (612). The mounting shaft (62) passes through the two side plates (612) and is fixedly connected to the two side plates (612). The tire (63) is rotatably connected to the mounting shaft (62) and is mounted between the two side plates (612).

6. The steering system according to claim 5, characterized in that, The steering system also includes a sleeve (7), and a bushing is protruding on the top plate (611). The sleeve (7) is sleeved on the bushing. The limiting structure (5) includes a first limiting part (51) and two second limiting parts (52). The first limiting part (51) is fixedly connected to the top plate (611). The two second limiting parts (52) are symmetrically arranged on opposite sides of the sleeve (7), and both second limiting parts (52) are fixedly connected to the sleeve (7). The distance between the first limiting part (51) and the two second limiting parts (52) is equal. The bushing can drive the sleeve (7) to rotate so that one of the two second limiting parts (52) abuts against the first limiting part (51).

7. The steering system according to claim 6, characterized in that, The outer peripheral wall of the connecting shaft (3) near the deceleration mechanism (4) is provided with a first flat key, the input end of the deceleration mechanism (4) is provided with a second connecting hole, the hole wall of the second connecting hole is provided with a first flat keyway, and the first flat key is provided in the first flat keyway. And / or, the output shaft of the deceleration mechanism (4) is provided with a second flat key, the inner wall of the bushing is provided with a second flat keyway (613), and the second flat key is provided in the second flat keyway (613).

8. The steering system according to claim 1, characterized in that, The steering system also includes a fixing plate (8), which is used to fix the housing of the deceleration mechanism (4) and the frame of the unmanned three-wheeled sweeper. The fixing plate (8) has a clearance hole, and the output shaft of the deceleration mechanism (4) passes through the clearance hole.

9. The steering system according to claim 8, characterized in that, The deceleration mechanism (4) includes a reducer and a housing. The reducer is disposed in the housing, and the output shaft of the reducer extends out of the housing. A first connecting plate and a second connecting plate are fixedly connected to both ends of the housing, respectively. The first connecting plate is used to be detachably connected to the mounting bracket (2), and the second connecting plate is used to be detachably connected to the fixing plate (8).

10. An unmanned three-wheeled sweeper, characterized in that, The unmanned three-wheeled sweeper includes a frame and a steering system as described in any one of claims 1-9, wherein the wheel assembly (6) is the front wheel assembly of the unmanned three-wheeled sweeper.

Images