CN207345918U - One kind drives steering integrated steering wheel module - Google Patents
One kind drives steering integrated steering wheel module Download PDFInfo
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- CN207345918U CN207345918U CN201721438625.1U CN201721438625U CN207345918U CN 207345918 U CN207345918 U CN 207345918U CN 201721438625 U CN201721438625 U CN 201721438625U CN 207345918 U CN207345918 U CN 207345918U
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- feedback device
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- 239000000758 substrate Substances 0.000 claims description 11
- 230000005611 electricity Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000002401 inhibitory effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
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Abstract
It the utility model is related to a kind of steering integrated steering wheel module of driving, including supporting rack, top surface, which is provided with, on supporting rack turns to gear wheel and with turning to steering pinion gear, the steering feedback coder gear that gear wheel is meshed, the bottom surface of supporting rack is provided with driving motor, ratio wheel, drive feedback device, steering feedback device and steering motor, the driving motor is sequentially connected with ratio wheel, ratio wheel is connected with drive feedback device, steering motor is meshed with turning to pinion gear, turns to feedback coder gear and is connected with turning to feedback device.The utility model steering wheel module is using the steering integrated design of driving, the differential drive device in conventional rudder wheel module is abandoned, make that improved steering wheel modular structure is compact, it is small to install and use space, again by the steering wheel module application to AGV cars when on device, driving turn to more precisely flexibly, control performance it is more preferable, it is with good use value and market value.
Description
Technical field
It the utility model is related to a kind of steering integrated steering wheel module of driving, more particularly to a kind of drive suitable for AGV cars
Steering integrated steering wheel module is moved, belongs to guiding equipment technology field of transport.
Background technology
AGV, i.e. automated guided vehicle (Automated Guided Vehicle), refer to equipped with electricity magnetically or optically etc.
Homing guidance device, it can be travelled along defined guide path, have the transport vehicle of safeguard protection and various transfer functions,
AGV belongs to the category of wheeled mobile robot (Wheeled Mobile Robot, abbreviation WMR).
AGV is strong to reducing production cost and hand labor as the highest product of automatization level in current Logistics Equipment
Degree, improve production efficiency and product quality important in inhibiting.AGV is using wheel type mobile and the robot phase of other movement forms
Than with the simple in structure, advantage such as controlling is strong, agile, security is good.
Present AGV is more using differential drive device driving AGV movements with realizing its turning.The principle of differential drive device is
Two driving wheels of AGV are driven by two motors respectively, by adjust the rotating speed of two motors, turn to realize the straight trip of AGV with
Turn.Differential, which drives, requires height, control difficulty big the rotation precision of motor.When being driven using differential, if using motor with
The direct coupled mode of driving wheel, driving wheel steering space is big, and motor shaft stress is big, is easily damaged motor；Such as using retarder,
Gear engaged transmission, the fit precision requirement to retarder and each transmission parts is harsh, and installation space demand is big.
Utility model content
In view of the deficiencies of the prior art, the utility model provides a kind of steering integrated steering wheel module of driving, the steering wheel mould
Block can be while realizing that AGV garages walk and turn to, and without differential drive device, its structure is more compact, installs and uses sky
Between smaller, driving turn to more precisely flexibly, control performance it is more preferable.
The technical solution of the utility model is as follows：
One kind drives steering integrated steering wheel module, including supporting rack, on supporting rack top surface be provided with turn to gear wheel and
With turning to steering pinion gear, the steering feedback coder gear that gear wheel is meshed, the bottom surface of supporting rack is provided with driving electricity
Machine, ratio wheel, drive feedback device, steering feedback device and steering motor, the driving motor are sequentially connected with ratio wheel, subtract
Speed wheel is connected with drive feedback device, and steering motor is meshed with turning to pinion gear, and it is anti-with turning to turn to feedback coder gear
Present device connection.
Preferably, support frame as described above includes substrate and otic placode, and the bottom surface of substrate is oppositely arranged two otic placodes, one of them
Mounting groove is offered on otic placode.
Preferably, the upper surface of the substrate is provided with fixing axle, and the steering gear wheel is installed on by bearing to be fixed
On axis.
Preferably, the ratio wheel is installed between two otic placodes, drives motor and drive feedback device to be located at ear respectively
Plate both sides, drive the motor shaft of motor to be connected with ratio wheel.
Preferably, the drive feedback device and steering feedback device select encoder.
Preferably, the ratio wheel includes sequentially connected planetary reduction gear, wheel hub and wheel rim from inside to outside, the driving
The motor shaft of motor and the sun gear key connection of planetary reduction gear.
Preferably, the driving motor, the control of steering motor, drive feedback device, steering feedback device with AGV cars
Device connects.
The beneficial effects of the utility model are：
Using steering integrated design is driven, the differential abandoned in conventional rudder wheel module drives the utility model steering wheel module
Dynamic device, makes that improved steering wheel modular structure is compact, it is small to install and use space, then by steering wheel module application to AGV cars etc.
When on device, driving turn to more precisely flexibly, control performance it is more preferable, it is with good use value and market value.
Brief description of the drawings
Fig. 1 is the structure diagram of the utility model steering wheel module；
Fig. 2 is the structure diagram of supporting rack in the utility model；
Fig. 3 is the structure diagram of ratio wheel in the utility model；
Wherein：1st, gear wheel is turned to；2nd, feedback coder gear is turned to；3rd, supporting rack；4th, feedback device is turned to；5th, drive
Motor；6th, ratio wheel；7th, drive feedback device；8th, steering motor；9th, pinion gear is turned to；10th, substrate；11st, otic placode；12nd, install
Groove.
Embodiment
The utility model is described further by way of example and in conjunction with the accompanying drawings, but not limited to this.
Embodiment 1：
As shown in Figure 1 to Figure 3, the present embodiment provides one kind to drive steering integrated steering wheel module, including supporting rack 3, branch
Top surface, which is provided with, on support 3 turns to gear wheel 1 and with turning to steering pinion gear 9, the steering feedback coder that gear wheel is meshed
Gear 2, the bottom surface of supporting rack 3 are provided with driving motor 5, ratio wheel 6, drive feedback device 7, steering feedback device 4 and turn
To motor 8, driving motor 5 is sequentially connected with ratio wheel 6, and ratio wheel 6 is connected with drive feedback device 7, and steering motor 8 is with turning to
Pinion gear 9 is meshed, and turns to feedback coder gear 2 and is connected with turning to feedback device 4.
Supporting rack 3 includes substrate 10 and otic placode 11, and substrate and otic placode are an integral molding structure, in the bottom surface phase of substrate 10
To setting two otic placodes 11, mounting groove is offered on one of otic placode, through hole is offered on another otic placode.
The upper surface of substrate 10 is welded and fixed axis, and bearing is set with fixing axle, turns to gear wheel 1 and is installed on by bearing
In fixing axle.
Ratio wheel 6 is installed between two otic placodes 11, ratio wheel 6 include from inside to outside sequentially connected planetary reduction gear,
Wheel hub and wheel rim, as shown in Figure 3.The motor shaft of driving motor 5 passes through through hole and the sun gear key connection of planetary reduction gear and drive
Dynamic motor is installed on otic placode by bolt in itself, and drive feedback device 7 is placed in 12 position of mounting groove of another otic placode and logical spiral shell
Bolt is installed on otic placode.
Drive feedback device 7 and steering feedback device 4 select commercially available encoder, such as the river production that rubs more
TS5214N8566OIH48-2500P8-L6-5V type encoder for servo motor；Drive motor, steering motor, drive feedback device,
Turn to feedback device to be connected with AGV vehicle controllers, programme-control is carried out by AGV vehicle controllers in operational process.
Embodiment 2：
A kind of application method of the steering integrated steering wheel module application of driving on AGV cars using described in embodiment 1, bag
Include following steps：
First, gear wheel 1 will be turned to be connected with AGV rigidity of vehicle body, motor 5, steering motor 8, driving then will be driven anti-
Feedback device 7, the controller of steering feedback device 4 and AGV cars connect.In the process of running, by the inside of AGV vehicle controllers
Program starts driving motor 5, and driving motor 5 drives ratio wheel 6 to be walked, when needing to turn to, the internal processes of AGV vehicle controllers
Start steering motor 8, steering motor 8 drives steering gear wheel 1 to rotate, so as to drive AGV car bodies to turn to, is subsequently fed back by turning to
Encoder gear 2, which feeds back to the steering situation for turning to gear wheel 1, turns to feedback device 4, is finally set by AGV vehicle controllers
Program performs.
Claims (7)
1. one kind drives steering integrated steering wheel module, including supporting rack, it is characterised in that top surface is provided with steering on supporting rack
Gear wheel and the steering pinion gear being meshed with steering gear wheel, turn to feedback coder gear, and the bottom surface of supporting rack is set
There are driving motor, ratio wheel, drive feedback device, steering feedback device and steering motor, the driving motor is passed with ratio wheel
Dynamic connection, ratio wheel are connected with drive feedback device, and steering motor is meshed with turning to pinion gear, turn to feedback coder gear
It is connected with turning to feedback device.
2. drive steering integrated steering wheel module as claimed in claim 1, it is characterised in that support frame as described above include substrate and
Otic placode, the bottom surface of substrate are oppositely arranged two otic placodes, mounting groove are offered on one of otic placode.
3. steering integrated steering wheel module is driven as claimed in claim 2, it is characterised in that the upper surface of the substrate is set
There is fixing axle, the steering gear wheel is installed in fixing axle by bearing.
4. steering integrated steering wheel module is driven as claimed in claim 2, it is characterised in that the ratio wheel is installed on two
Between otic placode, drive motor and drive feedback device to be located at otic placode both sides respectively, drive the motor shaft of motor to be connected with ratio wheel.
5. drive steering integrated steering wheel module as claimed in claim 1, it is characterised in that the drive feedback device and turn
Encoder is selected to feedback device.
6. drive steering integrated steering wheel module as claimed in claim 1, it is characterised in that the ratio wheel include by it is interior to
Outer sequentially connected planetary reduction gear, wheel hub and wheel rim, the motor shaft of the driving motor and the sun gear key of planetary reduction gear
Connection.
7. steering integrated steering wheel module is driven as claimed in claim 1, it is characterised in that the driving motor, turn to electricity
The controller of machine, drive feedback device, steering feedback device with AGV cars is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721438625.1U CN207345918U (en) | 2017-11-01 | 2017-11-01 | One kind drives steering integrated steering wheel module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721438625.1U CN207345918U (en) | 2017-11-01 | 2017-11-01 | One kind drives steering integrated steering wheel module |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207345918U true CN207345918U (en) | 2018-05-11 |
Family
ID=62354081
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721438625.1U Active CN207345918U (en) | 2017-11-01 | 2017-11-01 | One kind drives steering integrated steering wheel module |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207345918U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107719466A (en) * | 2017-11-01 | 2018-02-23 | 山东大学 | One kind drives steering integrated steering wheel module and its application |
| CN109227522A (en) * | 2018-10-23 | 2019-01-18 | 广东博智林机器人有限公司 | A kind of omni-directional moving mechanism and hoisting machine people's system |
| CN109383664A (en) * | 2018-12-19 | 2019-02-26 | 湖北三江航天万山特种车辆有限公司 | A kind of heavy electric drive steering wheel of differential steering |
| CN109551989A (en) * | 2018-12-27 | 2019-04-02 | 湖北三江航天万山特种车辆有限公司 | A kind of heavy type electric drive steering wheel |
| CN110371216A (en) * | 2019-07-02 | 2019-10-25 | 三峡大学 | A kind of turning and running mechanism and control method for AGV trolley |
| CN111645508A (en) * | 2019-12-30 | 2020-09-11 | 江苏金陵智造研究院有限公司 | Heavy-load steering wheel system |
-
2017
- 2017-11-01 CN CN201721438625.1U patent/CN207345918U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107719466A (en) * | 2017-11-01 | 2018-02-23 | 山东大学 | One kind drives steering integrated steering wheel module and its application |
| CN109227522A (en) * | 2018-10-23 | 2019-01-18 | 广东博智林机器人有限公司 | A kind of omni-directional moving mechanism and hoisting machine people's system |
| CN109383664A (en) * | 2018-12-19 | 2019-02-26 | 湖北三江航天万山特种车辆有限公司 | A kind of heavy electric drive steering wheel of differential steering |
| CN109551989A (en) * | 2018-12-27 | 2019-04-02 | 湖北三江航天万山特种车辆有限公司 | A kind of heavy type electric drive steering wheel |
| CN110371216A (en) * | 2019-07-02 | 2019-10-25 | 三峡大学 | A kind of turning and running mechanism and control method for AGV trolley |
| CN111645508A (en) * | 2019-12-30 | 2020-09-11 | 江苏金陵智造研究院有限公司 | Heavy-load steering wheel system |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240508 Address after: 102, Building 9, Zhongrun Century City, No. 13777 Jingshi Road, Lixia District, Jinan City, Shandong Province, 250000 Patentee after: SHANDONG ALESMART INTELLIGENT TECHNOLOGY CO.,LTD. Country or region after: China Address before: No. 27, mountain Dana Road, Ji'nan City, Shandong, Shandong Patentee before: SHANDONG University Country or region before: China Patentee before: SHANDONG ALESMART INTELLIGENT TECHNOLOGY CO.,LTD. |