A switching structure and a steering wheel module and an automatic guided vehicle applying the same

Abstract

The application relates to a switching structure and a steering wheel module and an automatic guided vehicle applying the same, which comprises a bearing part, a steering frame, a steering worm, a first connecting rod, a second connecting rod and a steering shaft. When the steering shaft is pulled up to make the second engaging part enter the first engaging part and engage with the first engaging part, the steering shaft is moved along the first direction through the first connecting rod and the second connecting rod to make the steering wheel move, so that the rolling shaft of the steering wheel is located directly below the steering shaft, and the steering wheel is switched to the active steering wheel. When the steering shaft is pressed down to make the second engaging part separate from the first engaging part and enter the ring structure and stop at the steering frame, the steering shaft is moved along the second direction through the first connecting rod and the second connecting rod to make the steering wheel move, so that the rolling shaft of the steering wheel is offset and not located directly below the steering shaft, the steering wheel is switched to the passive steering wheel, and the second direction is opposite to the first direction. The steering wheel combined with the switching structure of the application can perfectly combine the respective advantages of the active steering wheel and the passive steering wheel.

Description

TECHNICAL FIELD

[0001] The present application relates to a switching structure, a steering wheel module and an automatic guided vehicle, in particular to a switching structure capable of changing the working mode of a steering wheel and a steering wheel module and an automatic guided vehicle applying the same. BACKGROUND

[0002] Steering wheels can be divided into passive steering wheels and active steering wheels. The main feature of passive steering wheels is that the steering shaft (vertical direction) for controlling the steering of the steering wheel is not through the rolling shaft (horizontal direction) of the steering wheel. The steering shaft of the passive steering wheel is usually through the outer edge (outer diameter) of the steering wheel. Thus, when a person pushes an object (such as a trolley) in a certain direction, the passive steering wheels at the bottom of the object can be passively steered to the target direction. The main feature of active steering wheels is that the steering shaft (vertical direction) for controlling the steering of the steering wheel is directly arranged above the rolling shaft (horizontal direction) of the steering wheel, that is, the steering shaft directly passes through or is close to the rolling shaft downward. Thus, even if the object (such as an electric vehicle) does not move forward, the direction of the steering wheel can be easily changed in place.

[0003] In the prior art, passive steering wheels are still more commonly used for the steering wheels of automatic guided vehicles (AGVs). This is mainly because passive steering wheels can be directly purchased as finished products, which can save time for mechanism design. However, passive steering wheels are not very flexible in moving in a small area. They need to be dragged forward first before the direction can be changed. They cannot change direction in place like active steering wheels. However, there is a big problem when applying active steering wheels to AGVs. When the power system of the AGV has no power or is abnormal, since the steering shaft and the rolling shaft are not misaligned, even if the clutch of the forward motor is disengaged, it is not possible to directly drag the AGV in the target direction by human power. Therefore, AGVs using active steering wheels cannot be used in some specific situations (such as hospitals) where backup solutions are required. Sometimes, it is not possible for an operator to directly adjust the position by human power in a production line or warehouse. Therefore, it is not very convenient to use them. SUMMARY

[0004] In order to solve the above problems, the present application provides a switching structure capable of changing the working mode of a steering wheel and a steering wheel module and an automatic guided vehicle applying the same.

[0005] According to an aspect of the present application, the present application provides a switching structure capable of changing the working mode of a steering wheel, for a steering wheel, comprising:

[0006] a carrier having a through hole;

[0007] a bogie rotatably arranged on the through hole of the carrier, the bogie downwardly extending to form a first connecting portion;

[0008] A steering worm coaxially arranged with the steering frame, an inner wall of the steering worm having a first engaging portion;

[0009] A first connecting rod having opposite first and second end portions, the first end portion of the first connecting rod being connected to the rolling shaft of the steering wheel, the second end portion of the first connecting rod being connected to the first connecting portion, the first connecting rod further having a second connecting portion between the first and second end portions;

[0010] A second connecting rod having opposite third and fourth end portions, the third end portion of the second connecting rod being connected to the second connecting portion; and

[0011] A steering shaft having opposite fifth and sixth end portions, the steering shaft further having a second engaging portion between the fifth and sixth end portions, the second engaging portion being matched with the first engaging portion, the steering shaft passing through the steering frame and the steering worm, and the fifth end portion protruding below the steering frame and being connected to the fourth end portion of the second connecting rod, the sixth end portion protruding above the steering worm;

[0012] When the steering shaft is pulled up to make the second engaging portion enter the first engaging portion and engage with the first engaging portion, the steering shaft moves the steering wheel in a first direction by means of the first and second connecting rods, so that the rolling shaft of the steering wheel is directly below the steering shaft, and the steering wheel is switched to an active steering wheel; when the steering shaft is pressed down to make the second engaging portion separate from the first engaging portion and enter the annular structure and stop at the steering frame, the steering shaft moves the steering wheel in a second direction by means of the first and second connecting rods, so that the rolling shaft of the steering wheel is offset and not directly below the steering shaft, and the steering wheel is switched to a passive steering wheel, wherein the second direction is opposite to the first direction.

[0013] As an optional technical solution, the steering worm is provided with a protruding annular structure along the periphery of the first engaging portion, the annular structure extending into the through hole.

[0014] As an optional technical solution, the steering frame has a boss portion below the second engaging portion, when the steering shaft is pressed down to make the second engaging portion separate from the first engaging portion and enter the annular structure, the second engaging portion is stopped by the boss portion to prevent the second engaging portion from moving down further.

[0015] As an optional technical solution, when the steering wheel is switched to a passive steering wheel, the second engaging portion of the steering shaft moves downward away from the first engaging portion.

[0016] As an optional technical solution, the fifth end of the steering shaft is provided with a third connecting part, the fourth end of the second connecting rod is connected with the third connecting part, and a second groove is formed below the steering frame; when the steering wheel is switched to the active steering wheel, the third connecting part is embedded in the second groove.

[0017] As an optional technical solution, the steering worm is further provided with a third engaging part on the outer wall of the steering worm, the steering worm is provided with a fourth engaging part matched with the third engaging part, and the fourth engaging part is engaged with the third engaging part.

[0018] As an optional technical solution, the limiting frame is further provided, the limiting frame covers the steering worm and is fixed on the bearing part, and the limiting frame can limit the displacement of the steering worm in the vertical direction.

[0019] According to another aspect of the present application, the present application further provides a steering wheel module, which comprises a steering wheel and the switching structure described above, and the steering wheel is connected with the switching structure.

[0020] According to another aspect of the present application, the present application further provides an automated guided vehicle, which comprises the steering wheel module described above.

[0021] In summary, the steering wheel can be switched between the active working mode and the passive working mode according to different situation requirements by the switching structure of the present application, that is, the steering wheel combined with the switching structure of the present application (i.e. the steering wheel module) can be switched to the active steering wheel or the passive steering wheel according to different situation requirements, so that the steering wheel combined with the switching structure of the present application (i.e. the steering wheel module) can perfectly combine the respective advantages of the active steering wheel and the passive steering wheel. The automated guided vehicle applied with the steering wheel module of the present application can drive the automated guided vehicle to automatically move forward in the active steering wheel working mode under normal conditions, and can press down the steering shaft to switch the steering wheel to the passive steering wheel under abnormal conditions (for example, the power system is out of power or the power system appears abnormal), so that the vehicle can be directly pulled forward and turned by external force such as manpower, other vehicles, or a trailer head, and the steering wheel can be changed in direction along the direction pulled by the external force.

[0022] The present application will be described in detail below in combination with the drawings and specific embodiments, but is not limited to the present application. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figures 1-2 Fig. 1 is a schematic view of the steering wheel in the active steering wheel working mode from different angles in the present application;

[0024] Figures 3-4Fig. 3 is a schematic diagram of the steering wheel in the present application in different perspectives when the steering wheel is in the passive steering wheel mode of operation;

[0025] Figure 5 Fig. 4 is a sectional view of the steering wheel in the present application when the steering wheel is in the active steering wheel mode of operation;

[0026] Figure 6 Fig. 5 is a sectional view of the steering wheel in the present application when the steering wheel is in the passive steering wheel mode of operation;

[0027] Figure 7 Fig. 6 is an exploded schematic diagram of the steering wheel module in the present application. DETAILED DESCRIPTION

[0028] Figures 1-2 Fig. 7 is a schematic diagram of the steering wheel in the present application in different perspectives when the steering wheel is in the active steering wheel mode of operation; Figures 3-4 Fig. 8 is a schematic diagram of the steering wheel in the present application in different perspectives when the steering wheel is in the passive steering wheel mode of operation; Figure 5 Fig. 9 is a sectional view of the steering wheel in the present application when the steering wheel is in the active steering wheel mode of operation; Figure 6 Fig. 10 is a sectional view of the steering wheel in the present application when the steering wheel is in the passive steering wheel mode of operation; Figure 7 Fig. 11 is an exploded schematic diagram of the steering wheel module in the present application.

[0029] Reference should be made to Figures 1-7The present application provides a switching structure capable of changing the working mode of the steering wheel 10, comprising a bearing 20, a steering bracket 30, a steering worm 40, a first connecting rod 50, a second connecting rod 60 and a steering shaft 70. The bearing 20 (for example, the bearing 20 is specifically a bearing plate, that is, the bearing 20 is in the form of a plate as a whole) has a through hole 201; the steering bracket 30 is sleeved on the bearing 20 corresponding to the position of the through hole 201, and the steering bracket 30 extends downward to form a first connecting part 301, for example, which can be in the form of a lug; the steering worm 40 is arranged on the bearing 20 corresponding to the position of the through hole 201, the inner wall of the steering worm 40 has a first engaging part 401, and the steering worm 40 is provided with a protruding annular structure 402 along the circumference of the first engaging part 401, the annular structure 402 extends into the through hole 201 (but not limited to this, in other embodiments, the bearing can be provided with an annular structure, and correspondingly, the steering worm is provided with a groove for the annular structure to pass through, thereby the bearing is connected with the steering worm through the annular structure); the first connecting rod 50 has opposite first and second end parts 501 and 502, the second connecting rod 60 has opposite third and fourth end parts 601 and 602, the first end part 501 of the first connecting rod 50 has a first connecting hole 5011, the first end part 501 of the first connecting rod 50 is connected to the rolling shaft 101 of the steering wheel 10 through the first connecting hole 5011, the second end part 502 of the first connecting rod 50 has a first connecting shaft 5021, the first connecting shaft 5021 is connected in the lug of the first connecting part 301, the first connecting rod 50 further has a second connecting part 503 (for example, the second connecting part 503 is arranged at the middle part of the first connecting rod 50) between the first and second end parts 501 and 502, and the second connecting part 503 is connected to the third end part 601 of the second connecting rod 60, wherein the second connecting part 503 has a second connecting hole 5031, the third end part 601 of the second connecting rod 60 has a second connecting shaft 6011, the second connecting shaft 6011 passes through the second connecting hole 5031 to realize the connection between the third end part 601 and the second connecting part 503; in addition, the steering shaft 70 has opposite fifth and sixth end parts 701 and 702, and further has a second engaging part 703 (for example, the second engaging part 703 is arranged at the middle part of the steering shaft 70) between the fifth and sixth end parts 701 and 702, the second engaging part 703 matches the first engaging part 401, the steering shaft 70 passes through the steering bracket 30 and the steering worm 40, and the fifth end part 701 protrudes below the steering bracket 30 and is connected with the fourth end part 602 of the second connecting rod 60, and the sixth end part 702 protrudes above the steering worm 40;

[0030] When the sixth end portion 702 of the up-pulling steering shaft 70 is pulled up to make the second engagement portion 703 enter the first engagement portion 401 and engage with the first engagement portion 401, the vertical action of the steering shaft 70 is transmitted to the first link 50 and the second link 60, and the first link 50 and the second link 60 are connected to make the steering wheel 10 move in the first direction (for example, the -X direction), so that the rolling axis 101 of the steering wheel 10 is located directly below the steering shaft 70, at this time, the steering wheel 10 is switched to the active steering wheel; when the sixth end portion 702 of the steering shaft 70 is pressed down to make the second engagement portion 703 separate from the first engagement portion 401 and enter the annular structure 402 and stop at the steering frame 30, the vertical action of the steering shaft 70 is transmitted to the first link 50 and the second link 60, and the first link 50 and the second link 60 are connected to make the steering wheel 10 move in the second direction (for example, the +X direction), so that the rolling axis 101 of the steering wheel 10 is offset and not directly below the steering shaft 70 (preferably, for example, so that the rolling axis 101 of the steering wheel 10 is offset to make the outer edge of the steering wheel 10 located directly below the steering shaft 70), at this time, the steering wheel 10 is switched to the passive steering wheel, wherein the second direction is opposite to the first direction.

[0031] In order to provide steering force to the steering wheel 10 in the active state, the switching mechanism of the present application further comprises a steering worm 80, one end of which is connected to a driving motor (not shown); at the same time, the outer wall of the steering worm wheel 40 has a third engaging portion 403, and the steering worm 80 has a fourth engaging portion 801 matched with the third engaging portion 403, which is engaged with the third engaging portion 403. In this way, when the steering wheel 10 is in the working mode of the active steering wheel, the output of the driving motor can be transmitted to the steering worm wheel 40 and the steering shaft 70 through the steering worm 80, so that the steering wheel 10 changes the forward direction by the first connecting rod 50 and the second connecting rod 60. It is worth noting that when the steering wheel 10 is in the active state, the rolling shaft 101 of the steering wheel 10 is designed to be close to the lower part of the steering shaft 70, that is, the contact point between the steering wheel 10 and the ground is close to the lower part of the steering shaft 70, which enables the carrier 20 to change the forward direction of the steering wheel 10 by the driving motor force when the carrier 20 is stationary without moving forward. In this way, the present application can flexibly switch the working mode of the steering wheel according to the actual application requirements. In fact, the switching mechanism in the present application is designed to be applied to carriers with active steering motors, such as automatic guided vehicles, etc., so that the steering wheel 10 is normally in the active state, that is, the steering wheel 10 is in the working mode of the active steering wheel, and the active direction control is performed by the motor gear box connected to the steering worm 80, but when special conditions occur, such as abnormal driving motor or power system connected to the steering worm 80, the driving motor steering cannot normally work, the steering wheel 10 can be switched from the active state to the passive state by the switching mechanism, that is, the steering wheel 10 is switched to the working mode of the passive steering wheel. In the passive steering mode, the second engaging portion 703 of the steering shaft 70 is separated from the first engaging portion 401 of the steering worm wheel 40 and is no longer affected by the driving motor, at this time the rolling shaft 101 of the steering wheel 10 is away from the directly below the steering shaft 70, at this time the external force such as human power, other carriers or towing heads, etc. can be used to directly pull the carrier forward and turn, at this time the rolling shaft 101 of the steering wheel 10 is not directly below the steering shaft 70, that is, the contact point between the steering wheel 10 and the ground is not directly below the freely rotating steering shaft 70, so that the steering wheel 10 can change direction while advancing with the direction of the external force pulling the carrier.

[0032] Please continue to refer to Figures 5-7 The switching mechanism of the present application further comprises a bearing 90, which is used to enable the steering frame 30 to easily rotate with low resistance when the steering wheel mechanism (the steering wheel 10, the steering frame 30, the first connecting rod 50 and the second connecting rod 60, etc. The whole set of mechanism) bears the weight load of the carrier 20.

[0033] Specifically, the bogie 30 has a convex edge 302 and a boss portion 303, the boss portion 303 is located below the second engagement portion 703, the convex edge 302 is located at the periphery of the boss portion 303, and the first groove 304 is formed between the convex edge 302 and the boss portion 303; the fifth end portion 701 of the steering shaft 70 is provided with a third connecting portion 7011, the third connecting portion 7011 is connected with the fourth end portion 602 of the second connecting rod 60, preferably, the lower portion of the boss portion 303 is hollowed out to form a second groove 3032 matched with the shape of the third connecting portion 7011, in this way, when the steering wheel 10 is switched to the active steering wheel, the third connecting portion 7011 can be embedded in the second groove 3032, so that the steering shaft 70 and the bogie 30 cannot rotate relative to each other, and the steering shaft 70 cannot move further upward, so as to reduce the play of the steering system (the play refers to that when the driving motor does not rotate or is locked, the steering wheel can still move a little bit by directly changing the direction of the steering wheel with external force, but the range of movement cannot be too large, because too large play will cause the direction of the active steering to be unable to be accurately controlled) and reduce the force load of the connecting shaft (i.e. the second connecting shaft 6011 and the first connecting shaft 5021) during active steering.

[0034] Please continue to refer to Figures 5-7 The switching structure of the present application further comprises a ring-shaped fixing frame 11, by which the bogie 30 can be fixed to the lower surface of the carrier 20. Specifically, the ring-shaped fixing frame 11 is locked to the lower surface of the carrier 20, the inner wall of the ring-shaped fixing frame 11 has a sunken edge 111, and the sunken edge 111 is matched with the convex edge 302 of the bogie 30, so as to avoid the bogie 30 from being detached downward from the main structure.

[0035] In the present embodiment, in order to enable the steering worm gear 40 to be more stably arranged on the upper surface of the carrier 20, the switching structure of the present application further comprises a limiting frame 12, the limiting frame 12 covers the steering worm gear 40 and is fixed to the upper surface of the carrier 20, and the limiting frame 12 limits the displacement of the steering worm gear 40 in the vertical direction (for example, the Z direction). In another embodiment of the present application, a steering wheel module 100 is also provided, which comprises the steering wheel 10 and the switching structure described above, and the steering wheel 10 is connected with the switching structure, and the specific connection manner can be referred to the above description, and will not be described herein.

[0036] In another embodiment of the present application, an automatic guided vehicle is also provided, which comprises the steering wheel module 100 described above.

[0037] In summary, the steering wheel can be switched between the active working mode and the passive working mode according to different situation requirements by the switching structure of the present application, that is, the steering wheel (i.e., the steering wheel module) combined with the switching structure of the present application can be switched into an active steering wheel or a passive steering wheel according to different situation requirements, so that the steering wheel (the steering wheel module) combined with the switching structure of the present application can perfectly combine the respective advantages of the active steering wheel and the passive steering wheel. The automatic guided vehicle applying the steering wheel module of the present application can drive the automatic guided vehicle to automatically move forward in the active working mode of the steering wheel under normal conditions, and can press down the steering shaft to switch the steering wheel into the passive steering wheel under abnormal conditions (for example, the power system is out of power or the power system appears abnormal), so that the vehicle can be directly pulled forward and turned by external force such as manpower, other vehicles, or a towing head under abnormal conditions, and the steering wheel can be changed in direction along the direction pulled by the external force.

[0038] Of course, the present application can have other various embodiments, and those skilled in the art can make various corresponding changes and modifications according to the present application without departing from the spirit and essence of the present application, but these corresponding changes and modifications shall all belong to the protection scope of the claims attached to the present application.

Claims

1. A switching structure capable of changing the working mode of a steered wheel, for a steered wheel, characterized in that, The application relates to a steering device, comprising: a bearing having a through hole; a bogie rotatably arranged on the through hole of the bearing, the bogie downwardly extending to form a first connecting part; a steering worm wheel coaxially arranged with the bogie and connected to the bearing, the inner wall of the steering worm wheel having a first engaging part, the steering worm wheel being provided with a protruding annular structure along the periphery of the first engaging part, the annular structure extending into the through hole; a first connecting rod having opposite first and second end parts, the first end part of the first connecting rod being connected to the rolling shaft of the steering wheel, the second end part of the first connecting rod being connected to the first connecting part, the first connecting rod further having a second connecting part between the first and second end parts; a second connecting rod having opposite third and fourth end parts, the third end part of the second connecting rod being connected to the second connecting part; and a steering shaft having opposite fifth and sixth end parts, the steering shaft further having a second engaging part between the fifth and sixth end parts, the second engaging part being matched with the first engaging part, the steering shaft penetrating through the bogie and the steering worm wheel, the fifth end part protruding below the bogie and being connected to the fourth end part of the second connecting rod, the sixth end part protruding above the steering worm wheel; the steering device further comprising a steering worm, one end of the steering worm being connected to a driving motor, the outer wall of the steering worm wheel having a third engaging part, the steering worm having a fourth engaging part matched with the third engaging part, the fourth engaging part being engaged with the third engaging part; when the steering shaft is pulled upward to make the second engaging part enter the first engaging part and be engaged with the first engaging part, the steering shaft drives the first and second connecting rods to move the steering wheel in a first direction, so that the rolling shaft of the steering wheel is located directly below the steering shaft, the steering wheel is switched to an active steering wheel; when the steering shaft is pressed downward to make the second engaging part separate from the first engaging part and enter the annular structure and be stopped by the bogie, the steering shaft drives the first and second connecting rods to move the steering wheel in a second direction, so that the rolling shaft of the steering wheel is offset and not located directly below the steering shaft, the steering wheel is switched to a passive steering wheel, wherein the second direction is opposite to the first direction.

2. The switching fabric of claim 1, wherein, The bogie has a boss part located below the second engaging part, when the steering shaft is pressed downward to make the second engaging part separate from the first engaging part and enter the annular structure, the second engaging part is stopped by the boss part to prevent the second engaging part from further moving downward.

3. The switching structure of claim 2, wherein, When the steering wheel is switched to the passive steering wheel, the second engaging part of the steering shaft moves downward away from the first engaging part.

4. The switching structure of claim 3, wherein, The fifth end part of the steering shaft is provided with a third connecting part connected to the fourth end part of the second connecting rod, the lower part of the bogie is formed with a second groove; when the steering wheel is switched to the active steering wheel, the third connecting part is embedded in the second groove.

5. The switching structure of claim 1, wherein, The steering device further comprises a limiting frame covering the steering worm wheel and fixed to the bearing, the limiting frame limiting the displacement of the steering worm wheel in the vertical direction.

6. A steered wheel module, characterized in that The steering wheel and the switching structure as claimed in any one of claims 1 to 5 are included.

7. An automated guided vehicle, characterized by The steering wheel module as claimed in claim 6 is included.

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