CN212074198U - Steering drive and vehicle - Google Patents

Abstract

The present application discloses a steering driving device and a vehicle, and relates to the technical field of steering equipment. The steering driving device of the present application includes a first bracket, a second bracket, a first rotating member, a first encoder, a second rotating member, a steering motor, a second encoder, a potentiometer and a control module, and the first rotating member can rotate The first encoder is arranged on the first support and is connected with the first rotating member in a driving manner; the second rotating member is rotatably arranged on the second support; the steering motor is driven by the second rotating member The second encoder is connected with the steering motor in a driving manner; the potentiometer is drivingly connected with the second rotating part. The control module is used to receive the signals of the first encoder, the second encoder and the potentiometer, and control the operation of the steering motor. Therefore, the present application realizes the electric steering drive by arranging the first encoder, the second encoder and the potentiometer, so that the steering operation can be made lighter, the control can be more precise, and the steering safety can be improved.

Description

Steering drive and vehicle

technical field

The present application relates to the technical field of steering equipment, and in particular, to a steering drive device and a vehicle.

Background technique

The steering wheel is a wheel-like device often used in vehicles such as automobiles and ships. When the vehicle is driving, the driver controls the steering of the front of the vehicle by turning the steering wheel.

However, in the prior art, the steering wheel is generally mechanically steered. For example, the steering wheel uses a rack-and-pinion steering gear and a recirculating ball steering gear to control the steering of the front of the vehicle. The operation is cumbersome and the performance is poor. high, causing a safety accident.

Utility model content

The purpose of the present application is to provide a steering driving device and a vehicle, which can make steering operation lighter, control more precise, and improve steering safety.

The embodiments of the present application are implemented as follows:

A steering drive device includes a first bracket, a second bracket, a first rotating member, a first encoder, a second rotating member, a steering motor, a second encoder and a potentiometer, wherein the first rotating member is rotatable is arranged on the first bracket; the first encoder is arranged on the first bracket and is drive-connected with the first rotating member; the second rotating member is rotatably arranged on the second on the bracket; the steering motor is arranged on the second bracket, and is drive-connected with the second rotating member to drive the second rotating member to rotate; the second encoder is arranged on the second The potentiometer is arranged on the second bracket and is connected with the second rotating member in a driving manner.

The steering driving device includes a control module, the control module is electrically connected with the first encoder, the second encoder, the potentiometer and the steering motor for receiving the first encoder , the signal of the second encoder and the potentiometer, and control the operation of the steering motor.

During an operation, the first rotating member is rotated, the first rotating member rotates and drives the first encoder to rotate, the first encoder outputs a signal to the control module, the control module controls the steering motor to start, and the steering motor drives the second rotating member to rotate . During this operation, the second encoder and potentiometer are used to assist positioning, detect the output of the steering motor in real time, provide a negative feedback signal to the control module, and adjust the output of the steering motor, thereby improving the steering of the second rotating member precision.

In the embodiment, the first bracket and the second bracket can be integrated or separated, and the first bracket and the second bracket are fixed together by means of bolts, welding, etc., or two spaced Set of individual components. The second rotating member may be a steering wheel or the like. The first rotating member can be a steering wheel, an operating lever and other components, and the first rotating member can be used as a directional control structure for vehicles such as automobiles, ships, and airplanes; It is a tool for controlling the driving direction of remote operating equipment such as aircraft and remote control aircraft; the first rotating part can also be directly arranged on the robot as a structure for steering control of the robot. The first encoder and the second encoder may be absolute encoders or incremental encoders.

Therefore, the present application realizes the electric steering drive by setting the first encoder, the second encoder and the potentiometer, thereby replacing the mechanical steering in the prior art, which can make the steering operation more convenient, the control is more accurate, and the steering safety is improved. .

In one embodiment, the control module includes a transceiver, a processor, a driver, and a power supply.

In an operation process, the control module receives the information collected by the first encoder, the second encoder and the potentiometer through the transceiver, and transmits the information to the processor. The control module processes the information fed back by the transceiver through the processor, and controls the steering motor through the driver. The power source may be a battery or an external power source. The driver may be a microcontroller (Microcontroller Unit, MCU for short).

In one embodiment, the steering driving device includes a first bearing, the first bracket is provided with a first installation hole, the first bearing is arranged in the first installation hole, and the first rotating member The first bearing is rotatably provided on the first bracket.

The arrangement of the first bearing can reduce the friction coefficient during the movement of the first rotating member and ensure the rotation accuracy of the first rotating member.

In one embodiment, the first rotating member includes a steering wheel and a first rotating shaft, the first rotating shaft is fixedly connected to the steering wheel, and the first rotating shaft is rotatably provided on the first bearing through the first bearing. on the first bracket.

The steering wheel is a wheel-shaped structure, and the arrangement of the steering wheel makes it more labor-saving for the operator to rotate the first rotating shaft. Among them, rubber sleeves, sponge sleeves and other components can be arranged on the steering wheel to improve friction and facilitate control.

In one embodiment, the steering driving device includes a damper, and the damper is disposed on the first rotating shaft.

The setting of the damper can not only reduce vibration and energy, but also improve the operator's operating feel and speed up the response speed.

In one embodiment, the steering driving device includes a speed reducer, a first gear and a second gear, the speed reducer has an input end, a first output end and a second output end; the first gear is rotatably provided. on the speed reducer and drivingly connected with the second output end; the second gear is rotatably arranged on the second bracket, the second gear meshes with the first gear, and is connected with the second gear. The second rotating member is drive-connected for driving the second rotating member to rotate; wherein, the steering motor is drive-connected with the input end, and the first encoder is drive-connected with the first output end.

During an operation, the steering motor rotates, input from the input end of the reducer, and output from the first output end and the second output end at the same time. The first output end drives the second encoder to rotate; the second output end drives the first gear to rotate, and the first gear drives the second rotating member to rotate through the second gear.

Among them, the reducer is a single-input double-output reducer, which is compact in structure and accurate in transmission, and the input end, the first output end and the second output end face three different directions, so that the transmission direction can be changed.

In one embodiment, the steering driving device includes a third bracket, a second rotating shaft and a third gear, the third bracket is fixed on the second bracket, and the third bracket is provided with a third installation. the second rotating shaft passes through the third mounting hole; the third gear is arranged on the second rotating shaft and meshes with the second gear; wherein the potentiometer is connected to the The second rotating shaft is connected in a driving manner.

Since the first gear meshes with the second gear and the third gear at the same time, the second gear and the third gear are both driven by the first gear to rotate. The third gear drives the potentiometer to rotate through the second rotating shaft, and the second gear drives the second rotating member to rotate. Through the transmission between the first gear, the second gear and the third gear, the steering motor drives the second encoder, the second rotating member and the potentiometer to rotate at the same time, the transmission efficiency is high, and the transmission precision is high.

In one embodiment, the pitch circle diameter of the second gear is larger than the pitch circle diameter of the first gear, and the pitch circle diameter of the first gear is larger than the pitch circle diameter of the third gear.

In this way, the first gear drives the second gear, that is, the steering motor to the second rotating member is a deceleration movement; the first gear drives the third gear, that is, the steering motor to the potentiometer is a speed-up movement, so that the steering control can be more accurate. .

In one embodiment, the steering driving device includes a second bearing, and the second bearing has a second bearing outer ring and a second bearing inner ring; wherein, the second bracket is provided with a second mounting hole, so The second bearing is arranged at the second mounting hole, the outer ring of the second bearing is fixedly connected to the second bracket, and the inner ring of the second bearing is connected to the second gear and the second rotating member Fixed connection.

Since the second gear, the second bearing inner ring and the second rotating member are fixed, and the second bearing outer ring is fixed with the second bracket, when the steering motor rotates, the second gear, the second bearing inner ring and the second rotating member can be synchronously wound around The second gear rotates in the axial direction. The connection between the second gear, the second bearing inner ring and the second rotating member, and the connection between the second bearing outer ring and the second bracket may be bolt connection, pin connection and the like.

In one embodiment, the second rotating member includes a steering wheel and a wheel bracket, the steering wheel is fixedly connected to the wheel bracket, and the wheel bracket is fixed to the inner ring of the second bearing.

Since the second gear, the second bearing inner ring, the steering wheel and the wheel bracket are all fixed together, the second gear, the second bearing inner ring, the steering wheel and the wheel bracket can rotate synchronously around the axis of the second gear.

A vehicle includes a steering driving device and a wheel, the steering driving device is the above steering driving device; the wheel is connected with the second rotating member.

Since the above-mentioned steering driving device has the above-mentioned technical effects, the vehicle having the steering driving device also has the same technical effect. After the first rotating member is controlled to rotate, the second rotating member rotates, and the angle of the wheel will be offset, so that the steering of the front of the vehicle changes and the driving direction of the vehicle changes.

The beneficial effects of the present application compared with the prior art are:

The present application realizes electric steering drive by arranging a first encoder, a second encoder and a potentiometer, thereby replacing the mechanical steering in the prior art, making the steering operation lighter, the control more precise, and improving the steering safety.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present application more clearly, the following drawings will briefly introduce the drawings that need to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore do not It should be regarded as a limitation of the scope, and for those of ordinary skill in the art, other related drawings can also be obtained according to these drawings without any creative effort.

FIG. 1 is a schematic structural diagram of a steering driving device according to an embodiment of the application;

FIG. 2 is a partial structural schematic diagram of a steering driving device according to an embodiment of the application;

FIG. 3 is an exploded view of a part of the structure of a steering drive device according to an embodiment of the application;

FIG. 4 is an exploded view of a partial structure of a steering driving device according to an embodiment of the application.

Icon: 100-steering drive device; 1-first bracket; 11-first mounting hole; 12-first bearing; 13-damper; 2-second bracket; 21-second mounting hole; 22-second bearing ; 22a - the second bearing outer ring; 22b - the second bearing inner ring; 23 - the first bolt; 24 - the second bolt; 3 - the first rotating part; 31 - the steering wheel; An encoder; 5- the second rotating part; 51- the steering wheel; 52- the wheel bracket; 53- the water pipe; 6- the steering motor; 61- the reducer; Two output terminals; 62-first gear; 63-second gear; 64-third gear; 65-shock pad; 66-first retaining ring; 71-second encoder; 72-potentiometer; 8-th Three brackets; 81- the third mounting hole; 82- the first coupling; 83- the second rotating shaft; 84- the second retaining ring; 9- the control module.

Detailed ways

The terms "first", "second", "third", etc. are only used for distinguishing descriptions, and do not denote sequence numbers, nor can they be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical", "overhanging" etc. do not imply that a component is required to be absolutely horizontal or overhang, but rather may be slightly inclined. For example, "horizontal" only means that its direction is more horizontal than "vertical", it does not mean that the structure must be completely horizontal, but can be slightly inclined.

In the description of the present application, it should be noted that the orientations or positional relationships indicated by the terms "inside", "outside", "left", "right", "upper", "lower", etc. are based on those shown in the accompanying drawings. The orientation or positional relationship, or the orientation or positional relationship that the product of the application is usually placed in use, is only for the convenience of describing the application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, in order to simplify the description. The specific orientation configuration and operation are therefore not to be construed as limitations of the present application.

In the description of this application, unless otherwise expressly specified and limited, the terms "arranged", "installed", "connected" and "connected" should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrally connected; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or the internal communication between the two components.

The technical solutions of the present application will be clearly and completely described below with reference to the accompanying drawings.

Please refer to FIG. 1 , which is a schematic structural diagram of a steering driving device 100 according to an embodiment of the present application. A steering driving device 100 includes a first bracket 1 , a second bracket 2 , a first rotating member 3 , a first encoder 4 , a second rotating member 5 , a steering motor 6 , a second encoder 71 and a potentiometer 72 . The first rotating member 3 is rotatably arranged on the first bracket 1 around its axis; the first encoder 4 is arranged on the first bracket 1 and is connected with the first rotating member 3 in a driving manner; the second rotating member 5 is rotatably arranged. on the second bracket 2 ; the steering motor 6 is arranged on the second bracket 2 and is connected with the second rotating member 5 in a driving manner for driving the second rotating member 5 to rotate; the second encoder 71 is arranged on the second bracket 2 , and is connected with the steering motor 6 by driving; the potentiometer 72 is arranged on the second bracket 2 and is connected with the second rotating member 5 by driving.

The steering driving device 100 includes a control module 9 , and the control module 9 is electrically connected with the first encoder 4 , the second encoder 71 , the potentiometer 72 and the steering motor 6 for receiving the first encoder 4 and the second encoder 71 And the signal of the potentiometer 72, and control the operation of the steering motor 6.

During an operation, the first rotating member 3 rotates and drives the first encoder 4 to rotate, the first encoder 4 outputs a signal to the control module 9, the control module 9 controls the steering motor 6 to start, and the steering motor 6 drives the second rotating member. 5 Turn. During this operation, the second encoder 71 and the potentiometer 72 are used to assist positioning, detect the output of the steering motor 6 in real time, and provide a negative feedback signal to the control module 9 to adjust the output of the steering motor 6, so as to improve the first The steering accuracy of the two rotating parts 5 .

In one embodiment, the first bracket 1 and the second bracket 2 may be integrated or separated, and the first bracket 1 and the second bracket 2 are fixed together by means of bolts, welding, etc. Can be two separate elements spaced apart. The second rotating member 5 may be a steering wheel 51 and other components. The first rotating member 3 can be a steering wheel, an operating lever and other components; the first rotating member 3 can also be arranged on the remote controller, as a tool for controlling the driving direction of remote operating equipment such as remote robots, drones, and remote control aircraft; the first The rotating member 3 can also be directly arranged on the robot as a structure for steering control of the robot. The first encoder 4 and the second encoder 71 may be absolute encoders or incremental encoders.

Therefore, in this embodiment, the electric steering drive is realized by setting the first encoder 4, the second encoder 71 and the potentiometer 72, thereby replacing the mechanical steering in the prior art, which can make the steering operation more convenient, the control is more accurate, and the improvement is achieved. for steering safety.

In one embodiment, the steering driving device 100 is applied to a vehicle, and the vehicle further includes wheels, and the wheels are connected to the second rotating member 5 . When the first rotating member 3 is controlled to rotate, the second rotating member 5 rotates, and the angle of the wheel will be offset, so that the steering of the front of the vehicle changes and the driving direction of the vehicle changes.

In one embodiment, the control module 9 includes a transceiver, a processor, a driver and a power supply. The power source can be a battery or an external power source. The driver may be a microcontroller (Microcontroller Unit, MCU for short). During an operation, the control module 9 receives the information collected by the first encoder 4 , the second encoder 71 , and the potentiometer 72 through the transceiver, and transmits the information to the processor. The control module 9 processes the information fed back by the transceiver through the processor, and controls the steering motor 6 through the driver.

Please refer to FIG. 2 , which is a partial structural schematic diagram of a steering driving device 100 according to an embodiment of the present application. The first rotating member 3 includes a steering wheel 31 and a first rotating shaft 32 that are fixedly connected to each other. The steering wheel 31 is a wheel-shaped structure. Parts such as rubber sleeves and sponge sleeves can be provided on the steering wheel 31 to improve friction and facilitate control.

The first bracket 1 is provided with a first installation hole 11 , and the first installation hole 11 is a through hole. The steering driving device 100 includes a first bearing 12 , the first bearing 12 is installed in the first mounting hole 11 by means of interference fit or the like, and the first rotating shaft 32 is rotatably provided on the first bracket 1 through the first bearing 12 . The arrangement of the first bearing 12 can reduce the friction coefficient during the movement of the first rotating member 3 and ensure the rotation accuracy of the first rotating member 3 .

The steering driving device 100 includes a damper 13 , the damper 13 is arranged on the first rotating shaft 32 , and the damper 13 is fixed on the first bracket 1 . By setting the damper 13 in this embodiment, it can not only reduce vibration and energy, but also improve the operator's operating feel and speed up the response speed.

Please refer to FIG. 3 , which is an exploded view of a part of the structure of the steering driving device 100 according to an embodiment of the present application. The steering drive device 100 includes a reducer 61, a first gear 62 and a second gear 63. The reducer 61 is a reduction transmission device composed of a gear drive, a worm drive or a gear-worm drive enclosed in a rigid casing. In the embodiment, the reducer 61 is a single-input and double-output reducer, and has an input end 61a, a first output end 61b and a second output end 61c, and the input end 61a, the first output end 61b and the second output end 61c are respectively facing Three different directions, so that the transmission direction can be changed. The first output end 61b and the second output end 61c are located on the same straight line, and the input end 61a is perpendicular to the first output end 61b.

The steering motor 6 is in driving connection with the input end 61a; the first output end 61b is in driving connection with the first encoder 4; On the reducer 61, the first gear 62 is fixedly installed on the second output end 61c by means of key connection, interference fit or the like.

The second gear 63 is rotatably arranged on the second bracket 2 around its own axis. The second gear 63 meshes with the first gear 62 and is in driving connection with the second rotating member 5. The second gear 63 is used to drive the second gear 63. The rotating member 5 rotates.

The steering driving device 100 includes a third bracket 8 , a second rotating shaft 83 and a third gear 64 . The third bracket 8 is fixed on the second bracket 2 by means of bolt connection and the like, and a third mounting hole 81 is formed on the third bracket 8 , the third mounting hole 81 is a through hole; the second rotating shaft 83 passes through the third mounting hole 81; the third gear 64 is fixedly installed on the second rotating shaft 83 by means of key connection, interference fit, etc. The second gear 63 is meshed; wherein, the potentiometer 72 is connected to the second rotating shaft 83 in a driving manner through the first coupling 82 .

The steering driving device 100 includes a second bearing 22, and the second bearing 22 has a second bearing outer ring 22a and a second bearing inner ring 22b; wherein, the second bracket 2 is provided with a second mounting hole 21, and the second mounting hole 21 is Through holes, the second bearing 22 is installed at the second mounting hole 21, the second bearing outer ring 22a and the second bracket 2 are fixedly connected by a plurality of first bolts 23, the second bearing inner ring 22b is connected with the second gear 63 and the second bracket 2. The two rotating parts 5 are fixedly connected by means of connecting the second bolts 24 or the like.

The second rotating member 5 includes a steering wheel 51 and a wheel bracket 52. The steering wheel 51 is fixedly connected to the wheel bracket 52, and the wheel bracket 52 is fixed to the second bearing inner ring 22b.

During an operation, the steering motor 6 rotates, input from the input end 61a of the reducer, and output from the first output end 61b and the second output end 61c simultaneously. The first output end 61b drives the second encoder 71 to rotate; the second output end 61c drives the first gear 62 to rotate. Since the first gear 62 meshes with the second gear 63 and the third gear 64 at the same time, the second gear 63 and the third The gears 64 are driven by the first gear 62 to rotate. The third gear 64 drives the potentiometer 72 to rotate through the second rotating shaft 83 . Since the second gear 63, the second bearing inner ring 22b, the steering wheel 51 and the wheel bracket 52 are all fixed together, the second gear 63, the second bearing inner ring 22b, the steering wheel 51 and the wheel bracket 52 can be synchronized around the second gear 63 is rotated in the direction of the axis.

In this embodiment, the pitch circle diameter of the second gear 63 is larger than the pitch circle diameter of the first gear 62 , and the pitch circle diameter of the first gear 62 is larger than the pitch circle diameter of the third gear 64 . Then the first gear 62 drives the second gear 63, that is, the steering motor 6 to the steering wheel 51 is in a decelerating motion; the first gear 62 drives the third gear 64, that is, the steering motor 6 to the potentiometer 72 is a speed-increasing motion, thereby enabling the steering Controls are more precise.

Please refer to FIG. 4 , which is an exploded view of a part of the structure of the steering driving device 100 according to an embodiment of the present application. A first retaining ring 66 is embedded on the second output end 61 c of the reducer 61 , and the first retaining ring 66 is in contact with the first gear 62 for restricting the movement of the first gear 62 . A second retaining ring 84 is embedded on the second rotating shaft 83 , and the second retaining ring 84 abuts against the third gear 64 for restricting the movement of the third gear 64 .

The thickness of the second bearing outer ring 22a is smaller than the thickness of the second bearing inner ring 22b, and a multi-layer annular damping pad 65 is provided between the second bearing outer ring 22a and the wheel bracket 52 for damping vibration.

The wheel bracket 52 may be a hollow structure surrounded by a plurality of metal plates. When the steering driving device 100 is applied to a vehicle, the water pipe 53 of the vehicle may be placed in the wheel bracket 52 .

The above descriptions are only preferred embodiments of the present application, and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the protection scope of this application.

Claims (10)

1. A steering drive device characterized by comprising:

a first bracket and a second bracket;

the first rotating piece is rotatably arranged on the first bracket;

the first encoder is arranged on the first support and is in transmission connection with the first rotating piece;

the second rotating part is rotatably arranged on the second bracket;

the steering motor is arranged on the second bracket, is in transmission connection with the second rotating part and is used for driving the second rotating part to rotate;

the second encoder is arranged on the second bracket and is in transmission connection with the steering motor;

the potentiometer is arranged on the second bracket and is in transmission connection with the second rotating piece; and

and the control module is electrically connected with the first encoder, the second encoder, the potentiometer and the steering motor, is used for receiving signals of the first encoder, the second encoder and the potentiometer and controls the operation of the steering motor.

2. The steering drive device according to claim 1, characterized by comprising:

the first support is provided with a first mounting hole, the first bearing is arranged in the first mounting hole, and the first rotating piece is rotatably arranged on the first support through the first bearing.

3. The steering drive according to claim 2, wherein the first rotating member includes a steering wheel and a first rotating shaft fixedly connected to the steering wheel, and the first rotating shaft is rotatably provided on the first bracket via the first bearing.

4. The steering drive according to claim 3, characterized by comprising:

and the damper is arranged on the first rotating shaft.

5. The steering drive device according to any one of claims 1 to 4, characterized by comprising:

the speed reducer is provided with an input end, a first output end and a second output end;

the first gear can be rotatably arranged on the speed reducer and is in transmission connection with the second output end; and

the second gear is rotatably arranged on the second bracket, is meshed with the first gear, is in transmission connection with the second rotating part and is used for driving the second rotating part to rotate;

the steering motor is in transmission connection with the input end, and the first encoder is in transmission connection with the first output end.

6. The steering drive according to claim 5, characterized by comprising:

the third support is fixed on the second support, and a third mounting hole is formed in the third support;

the second rotating shaft penetrates through the third mounting hole; and

the third gear is arranged on the second rotating shaft and is meshed with the second gear;

wherein, the potentiometer is in transmission connection with the second rotating shaft.

7. The steering drive according to claim 6, wherein the pitch circle diameter of the second gear is larger than the pitch circle diameter of the first gear, and the pitch circle diameter of the first gear is larger than the pitch circle diameter of the third gear.

8. The steering drive according to claim 5, characterized by comprising:

a second bearing having a second bearing outer race and a second bearing inner race;

the second support is provided with a second mounting hole, the second bearing is arranged at the second mounting hole, the outer ring of the second bearing is fixedly connected with the second support, and the inner ring of the second bearing is fixedly connected with the second gear and the second rotating part.

9. The steering drive of claim 8, wherein the second rotating member includes a steering wheel and a wheel support, the steering wheel being fixedly connected to the wheel support, the wheel support being fixed to the second bearing inner race.

10. A vehicle, characterized by comprising:

a steering drive device according to any one of claims 1 to 9; and

and the wheel is connected with the second rotating piece.

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