CN-121973576-A - Z-direction constraint multi-component collaborative buffer steering wheel suspension system

Abstract

The invention relates to a steering wheel suspension system, in particular to a Z-direction constraint multi-component collaborative buffer steering wheel suspension system which comprises a large gear mounting piece and a hub motor support connecting piece, wherein a plurality of groups of integrated spring damping mechanisms are uniformly distributed in the circumferential direction between the large gear mounting piece and the hub motor support connecting piece, a plurality of groups of sliding rail connecting rod mechanisms are uniformly distributed in the circumferential direction between the large gear mounting piece and the hub motor support connecting piece, each sliding rail connecting rod mechanism comprises a guide rail and a connecting rod seat, the guide rail is fixedly connected to the large gear mounting piece, the connecting rod seat is fixedly connected to the hub motor support connecting piece, a sliding block mounting piece is slidingly connected to the guide rail, a connecting rod is rotatably connected between the sliding block mounting piece and the connecting rod seat, and accurate Z-direction guiding can be provided, and X-Y direction deflection is reduced.

Inventors

• WANG HAOCHENG
• JIANG HU
• GUO CHUNYANG
• CHEN LEI
• DAI LIZHOU
• WANG LIN
• LI TIANLONG

Assignees

• 哈尔滨工业大学

Dates

Publication Date

20260505

Application Date

20260306

Claims (10)

1. 1. The Z-direction constraint multi-component collaborative buffering steering wheel suspension system comprises a large gear mounting piece (5) and a hub motor support connecting piece (11), wherein a plurality of groups of integrated spring damping mechanisms (9) are uniformly distributed in the circumferential direction between the large gear mounting piece (5) and the hub motor support connecting piece (11), and the Z-direction constraint multi-component collaborative buffering steering wheel suspension system is characterized in that a plurality of groups of sliding rail connecting rod mechanisms are uniformly distributed in the circumferential direction between the large gear mounting piece (5) and the hub motor support connecting piece (11).
2. 2. The Z-direction restraining multi-component collaborative buffer steering wheel suspension system according to claim 1, wherein the sliding rail connecting rod mechanism comprises a guide rail (17) and a connecting rod seat (10), the guide rail (17) is fixedly connected to a large gear mounting piece (5), the connecting rod seat (10) is fixedly connected to a hub motor support connecting piece (11), the guide rail (17) is slidably connected with a sliding block mounting piece (7), and a connecting rod (8) is rotatably connected between the sliding block mounting piece (7) and the connecting rod seat (10).
3. 3. The Z-direction restraining multi-component collaborative buffer steering wheel suspension system according to claim 2 is characterized in that one end of a connecting rod (8) is rotatably connected to a sliding block mounting piece (7) through a deep groove ball bearing (15) and a double-head internal thread optical axis (16), and the other end of the connecting rod (8) is rotatably connected to a connecting rod seat (10) through the deep groove ball bearing (15) and the double-head internal thread optical axis (16).
4. 4. The Z-direction restraining multi-component collaborative buffering steering wheel suspension system is characterized in that a sliding block limiting piece (6) for limiting the sliding limit position of a sliding block mounting piece (7) is arranged on the guide rail (17).
5. 5. The Z-direction constraint multi-component collaborative buffer steering wheel suspension system according to claim 1 is characterized in that a course large gear (4) is fixedly connected to the large gear mounting piece (5), and the course large gear (4) is rotatably connected to a steering wheel mounting plate (3).
6. 6. The Z-direction restraining multi-component collaborative buffering steering wheel suspension system according to claim 5 is characterized in that an encoder mounting piece (2) is fixedly connected to the steering wheel mounting plate (3), and an encoder (1) is mounted on the encoder mounting piece (2).
7. 7. The Z-direction constraint multi-component collaborative buffering steering wheel suspension system of claim 6 is characterized in that a steering wheel mounting plate (3) is fixedly connected with a heading motor (19), an output shaft of the heading motor (19) is fixedly connected with a heading pinion (18), the heading pinion (18) is in meshed transmission with a large gear mounting piece (5), an encoder (1) is connected with the heading motor (19), and the steering wheel mounting plate (3) is mounted on an AGV chassis.
8. 8. The Z-direction restraining multi-component collaborative buffering steering wheel suspension system according to claim 1 is characterized in that three groups of integrated spring damping mechanisms (9) are arranged, three groups of sliding rail connecting rod mechanisms are arranged, and the integrated spring damping mechanisms (9) are fixedly connected between a large gear mounting piece (5) and a hub motor bracket connecting piece (11) through screws.
9. 9. The Z-direction restraining multi-component collaborative buffer steering wheel suspension system according to claim 1 is characterized in that a hub motor bracket (12) is fixedly connected to a hub motor bracket connecting piece (11), and a hub motor (13) is fixedly connected to the hub motor bracket (12).
10. 10. The Z-direction restraining multi-component collaborative buffering steering wheel suspension system according to claim 9 is characterized in that a wire harness printing piece (14) is fixedly connected to the middle of the upper side of the wheel hub motor bracket (12).

Description

Z-direction constraint multi-component collaborative buffer steering wheel suspension system Technical Field The invention relates to a steering wheel suspension system, in particular to a Z-direction constraint multi-component collaborative buffering steering wheel suspension system. Background An automatic guided vehicle AGV is an intelligent transportation device equipped with an automatic guiding device, capable of traveling along a prescribed path, and having a transfer function. The steering wheel is used as a core driving steering component of the AGV, integrates the functions of driving, steering, decelerating and the like, and the performance of the steering wheel directly influences the running stability, positioning precision and bearing capacity of the AGV. When the conventional AGV steering wheel suspension system bears load and runs on an uneven road surface, the damping mechanism easily deflects in the horizontal direction, namely X-Y direction, except the vertical direction, namely Z direction. The deflection can cause the relative position between the hub and the driving gear to change, so that the problems of unstable transmission, abnormal abrasion, noise increase and the like are caused, and the overall motion precision and track tracking performance of the AGV are affected. Disclosure of Invention The invention aims to provide a Z-direction constraint multi-component collaborative buffer steering wheel suspension system which can provide accurate Z-direction guiding and reduce X-Y direction deflection. The aim of the invention is achieved by the following technical scheme: The utility model provides a Z is to restraint multiunit spare cooperation buffering steering wheel suspension, includes gear wheel mounting and in-wheel motor support connecting piece, is provided with multiunit integration spring damper on the circumferencial direction between gear wheel mounting and the in-wheel motor support connecting piece, be provided with multiunit slide rail link mechanism on the circumferencial direction between gear wheel mounting and the in-wheel motor support connecting piece. The sliding rail connecting rod mechanism comprises a guide rail and a connecting rod seat, wherein the guide rail is fixedly connected to the large gear mounting piece, the connecting rod seat is fixedly connected to the hub motor support connecting piece, the guide rail is slidably connected with a sliding block mounting piece, and a connecting rod is rotationally connected between the sliding block mounting piece and the connecting rod seat. One end of the connecting rod is rotationally connected to the slider mounting part through the deep groove ball bearing and the double-head internal thread optical axis, and the other end of the connecting rod is rotationally connected to the connecting rod seat through the deep groove ball bearing and the double-head internal thread optical axis. And the guide rail is provided with a sliding block limiting piece for limiting the sliding limit position of the sliding block mounting piece. The large gear mounting piece is fixedly connected with a course large gear, and the course large gear is rotatably connected to the steering wheel mounting plate. The steering wheel mounting plate is fixedly connected with an encoder mounting piece, and the encoder mounting piece is provided with an encoder. The steering wheel mounting plate is fixedly connected with a heading motor, an output shaft of the heading motor is fixedly connected with a heading pinion, the heading pinion is meshed with the large gear mounting piece for transmission, the encoder is connected with the heading motor, and the steering wheel mounting plate is mounted on the AGV chassis. The integrated spring damping mechanism is provided with three groups, the sliding rail connecting rod mechanism is provided with three groups, and the integrated spring damping mechanism is fixedly connected between the large gear mounting piece and the hub motor bracket connecting piece through screws. And the hub motor bracket connecting piece is fixedly connected with a hub motor bracket, and the hub motor bracket is fixedly connected with a hub motor. And the middle part of the upper side of the hub motor bracket is fixedly connected with a wire harness printing piece. The beneficial effects of the invention are as follows: The three-point bearing and rigid guide rail type AGV has the advantages that the three groups of slide rail connecting rod mechanisms which are uniformly distributed along the circumference are cooperatively matched with the integrated spring damping mechanism, the Z-direction elastic buffering is realized, the deflection of the suspension system in the horizontal direction is effectively limited, the gesture stability and the track tracking precision of the AGV in the running process are remarkably improved, the whole structure adopts compact modularized layout, the guiding, buffering and driving functions a