Load wheel set based on motor steering
By designing a load wheel set based on motor steering, the problem that automatic guide vehicles are difficult to complete flexible movement in a limited space is solved, and precise control and operational flexibility of omnidirectional movement are achieved.
Patent Information
- Application Number
- CN202411937388.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-26
- Publication Date
- 2025-03-18
AI Technical Summary
In an environment where storage is becoming increasingly dense and space is getting smaller, it is difficult to flexibly complete straight lines, arcs, translations and in-situ rotations in a limited space.
A load wheel set based on motor steering is designed, including load wheel frame, fork leg frame, steering motor, reducer, active bevel gear, bearing seat, passive bevel gear, etc. The steering motor controls the steering of the load wheel to achieve accurate motion control.
The omnidirectional movement of the automatic guide vehicle in a limited space is realized, including straight lines, arcs, translations and in-situ rotation, improving the operational flexibility and efficiency in narrow spaces.
Smart Images
Figure CN119636892A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the field of steering loads, in particular to a load wheel set based on motor steering. Background Art
[0002] Automated guided vehicles (AGVs) have been widely used in warehousing, logistics, automobiles, retail and other industries, mainly to solve employment difficulties, reduce labor intensity and improve handling efficiency, and realize unmanned automatic handling operations. AGVs have automatic guidance devices such as electromagnetic or optical, and the wheels are driven by computer control to move automatically along the specified guide path. AGVs can automatically and flexibly complete various transfer operations. By using AGVs, companies can achieve the effect of standardizing logistics and transportation processes, while avoiding many unfavorable production factors of manual transportation. Stackers, also known as stackers, belong to the category of storage forklifts in the large category of forklifts. Stackers are suitable for operations in narrow passages and limited spaces, and are ideal equipment for loading and unloading pallets in workshops and high-bay warehouses.
[0003] When an automated guided vehicle is stacking, it needs a certain amount of space to complete the movement. However, as storage becomes more and more dense and space becomes smaller, the automated guided vehicle has a small rotation adjustment space due to narrow working channels and limited space when stacking, and cannot flexibly complete linear, arc, translation, and in-situ rotation movements. Previous chassis designs often use a set of fixed load wheels and a steering wheel. The advantage is that the structure is simple and can achieve linear and arc movement, but it cannot rotate and translate in-situ. In view of the working environment characteristics of the automated guided vehicle stacking operation, a load wheel group based on motor steering is designed to replace the directional load wheel to achieve the linear, arc, translation movement and in-situ rotation movement of the unmanned stacker, forming the omnidirectional movement of the stacker is a technical difficulty. How to design a compact and stable load wheel group with motor steering is of great significance for the automated guided vehicle to complete omnidirectional movement in a limited space. Summary of the invention
[0004] In view of the problems in the prior art, the present invention provides a load wheel set based on motor steering.
[0005] The technical solution adopted by the present invention to solve its technical problems is: a load wheel group based on motor steering, including a load wheel frame, a fork leg frame, a steering motor, a reducer, an active bevel gear, a bearing seat, a passive bevel gear, a load wheel frame, and a load wheel assembly, characterized in that the steering motor is horizontally placed on the load wheel frame, and a motor encoder is provided on the steering motor; a material receiving mechanism is provided on the fork leg frame, and the material receiving mechanism is used to receive dropped objects; a jacking mechanism is provided on the fork leg frame, and the material receiving mechanism is used to push the jacking mechanism to rise and rotate from the inside of the fork leg frame, and a guide mechanism is provided on the jacking mechanism, and the guide mechanism is used to guide the movement of the jacking mechanism; a locking mechanism is provided on the fork leg frame, and the locking mechanism is used to lock the jacking mechanism, and is used to lock the jacking mechanism after it is raised.
[0006] A first slide groove is provided on the side of the fork leg frame, a second slide groove is provided on the top of the fork leg frame, and a clearance groove is provided on the fork leg frame. The lifting mechanism slides inside the second slide groove, and the locking mechanism slides inside the first slide groove; the clearance groove provides space for the lifting mechanism to rotate.
[0007] The lifting mechanism includes a moving component and a pushing component; the moving component is used to push the material receiving mechanism to move; the pushing component is used to drive the moving component to move synchronously; The moving assembly includes a moving rod arranged on the fork leg frame, the moving rod is a square structure, a guide column is arranged inside the moving rod, a lifting block is arranged on the guide column, a first elastic member is sleeved on the guide column, the first elastic member is arranged inside the moving rod, and the first elastic member is used to push the guide column to reset; a sliding ball is arranged on the moving rod, a first inner groove and a second inner groove are arranged inside the fork leg frame, the first inner groove is communicated with the second inner groove, and the sliding ball slides inside the second inner groove; an inner shaft sleeve is arranged inside the moving rod, and an outer shaft sleeve is sleeved on the upper part of the inner shaft sleeve; a rolling ball is arranged between the inner shaft sleeve and the outer shaft sleeve, and the first elastic member is located above the outer shaft sleeve and connected to the outer shaft sleeve; a moving seat is arranged at the bottom of the moving rod, and the moving seat slides inside the fork leg frame; A limiting groove is provided on the inner wall of the moving rod, and a limiting block is arranged on the outer sleeve, and the limiting block slides inside the limiting groove.
[0008] The pushing assembly includes a positioning groove arranged on the fork leg frame, a pushing rod is arranged on the guide column, a positioning block is arranged below the pushing rod, a positioning groove is arranged on the fork leg frame, and the positioning block is inserted into the positioning groove so that the pushing rod is limited after being stored.
[0009] The material receiving mechanism includes a material receiving box arranged on the fork leg frame, at least two first insertion holes are opened on the side wall of the material receiving box, the first insertion holes cooperate with the locking mechanism, and a side top plate is arranged on the top of the material receiving box, and the side top plate is used to push the lifting block to move upward.
[0010] The locking mechanism includes a second socket opened on the fork leg frame, and the second socket corresponds to the first socket one by one; a second elastic member is arranged inside the second socket, and an insertion rod is arranged inside the second socket, and the second elastic member is used to push the insertion rod to reset, and a pull rod is arranged on the insertion rod, and the pull rod extends outward from the inside of the first slide groove to the outside of the fork leg frame.
[0011] The guide mechanism includes a guide block arranged on the guide column, and at least one guide block is provided. A guide groove is provided on the moving rod, and the guide groove includes a first guide groove, a second guide groove and a third guide groove, and the first guide groove, the second guide groove and the third guide groove are connected in sequence; the first guide groove and the third guide groove are vertical grooves; the second guide groove is an arc groove, when the guide block slides from the inside of the first guide groove, the guide column moves vertically upward, when the guide block slides in the second guide groove, the guide column moves upward and rotates; when the guide block slides in the third guide groove, the guide column moves vertically upward.
[0012] The output shaft of the steering motor is connected to the power input end of the reducer, the power output shaft of the reducer is fixedly connected to the active bevel gear, the active bevel gear is installed on the bearing seat, supported by the bearing and fixed by a round nut, the active bevel gear is meshed with the passive bevel gear, the passive bevel gear is divided into an inner ring, an outer ring and a ball structure, wherein the outer ring is processed with a bevel gear, the load wheel frame is installed on the outer ring of the passive bevel gear, the load wheel assembly includes a load wheel, a wheel shaft, a bearing and a nut, and the load wheel assembly is installed on the load wheel frame.
[0013] Beneficial effects: The load wheel group is based on a horizontally placed steering motor that drives a driving bevel gear, a passive bevel gear and other transmission mechanisms to transmit the torque of the steering motor to the load wheel. The steering motor is provided with a motor encoder that can accurately control the steering angle. The present invention controls the load wheel through the steering motor, and the load wheel has a fast steering response speed and accurate positioning. At the same time, the steering motor is installed in a horizontal position to reduce the height of the steering wheel, so that the vehicle leg structure is lower and is more compatible with more pallets. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] The present invention is further described below in conjunction with the accompanying drawings and embodiments.
[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a matching diagram of the material receiving mechanism and the fork leg frame of the present invention; Figure 3 It is a schematic diagram of the transmission structure of the steering motor; Figure 4 It is a schematic diagram of the connection between the active bevel gear and the passive bevel gear of the present invention; Figure 5 It is a partial structural cross-sectional view of the present invention; Figure 6 It is one of the cross-sectional views of the fork leg frame of the present invention; Figure 7 for Figure 6 A is an enlarged structural diagram; Figure 8 The second cross-sectional view of the fork leg frame of the present invention; Fig. 9 for Figure 8 The enlarged structural diagram at B in FIG. Fig.10 It is a connection diagram of the lifting mechanism and the locking mechanism of the present invention; Fig.11 It is a structural schematic diagram of the guide mechanism of the present invention.
[0016] In the figure: 1. load wheel frame; 11. steering motor; 12. reducer; 13. bearing seat; 14. active bevel gear; 15. outer ring; 16. ball bearing; 17. inner ring; 18. load wheel assembly; 19. passive bevel gear; 2. fork leg frame; 21. first slide groove; 22. second slide groove; 23. yield groove; 3. lifting mechanism; 31. moving rod; 32. first elastic member; 33. guide column; 34. sliding ball; 35. first inner groove; 36. second inner groove; 37. positioning block; 38. positioning groove; 39 , push rod; 310, limit block; 311, limit groove; 312, inner sleeve; 313, ball; 314, outer sleeve; 315, movable seat; 316, opening groove; 317, lifting block; 4, material receiving mechanism; 41, material receiving box; 42, first plug hole; 43, side top plate; 5, locking mechanism; 51, second plug hole; 53, second elastic member; 54, pull rod; 55, plug rod; 6, guide mechanism; 61, guide block; 62, first guide groove; 63, second guide groove; 64, third guide groove. DETAILED DESCRIPTION
[0017] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.
[0018] In one embodiment, please refer to the attached manual. Figure 1-11As shown, a load wheel group based on motor steering described in the present invention includes a load wheel frame 1, a fork leg frame 2, a steering motor 11, a reducer 12, an active bevel gear 14, a bearing seat 13, a passive bevel gear 19, a load wheel frame 1, and a load wheel assembly 18, wherein the steering motor 11 is horizontally placed on the load wheel frame 1, and a motor encoder is arranged on the steering motor 11; a material receiving mechanism 4 is arranged on the fork leg frame 2, and the material receiving mechanism 4 is used to receive dropped objects; a jacking mechanism 3 is arranged on the fork leg frame 2, and the material receiving mechanism 4 is used to push the jacking mechanism 3 to rise and rotate from the inside of the fork leg frame 2, and a guide mechanism 6 is arranged on the jacking mechanism 3, and the guide mechanism 6 is used to guide the movement of the jacking mechanism 3; a locking mechanism 5 is arranged on the fork leg frame 2, and the locking mechanism 5 is used to lock the jacking mechanism 3, and is used to lock the jacking mechanism 3 after rising.
[0019] The motor encoder provided on the steering motor 11 is used to detect the number of rotations of the steering shaft of the steering motor 11 and control the angular velocity of the steering motor 11, thereby monitoring the angular position of the load wheel. At the same time, the driving shaft of the steering motor 11 is connected to the reducer 12, so that the steering motor 11 can achieve the purpose of reducing speed and increasing torque, so that the load wheel group can withstand a larger load. The transmission part between the output shaft of the steering motor 11 and the load wheel assembly 18 transmits the torque of the steering motor 11 to the load wheel assembly 18 through the active bevel gear 14, the passive bevel gear 19, and the load wheel frame 1. This structural method allows the steering motor 11 to be placed horizontally, thereby reducing the height of the forklift leg, making the leg structure lower and more compatible with more pallets; the driving member installed on the forklift moves to drive the driving member to move. When the forks move, the driving member moves, which will drive the lifting mechanism 3 to move synchronously; when the lifting mechanism 3 rises from the inside of the fork leg frame 2, it engages with the telescopic member after rising, and the material receiving mechanism 4 is used to receive dropped objects or pollutants; the locking mechanism 5 is used to lock the raised lifting mechanism 3; the guiding mechanism 6 is used to guide the lifting mechanism 3 during its rising process, so as to ensure that the lifting mechanism 3 is connected to the driving member on the forklift; and then when it is necessary to receive dropped objects, the material receiving mechanism 4 is simultaneously extended from the bottom of the fork leg frame 2; when it is not necessary to receive dropped objects, the material receiving mechanism 4 is retracted to the initial position along with the driving member; when it is not necessary to carry the material receiving mechanism 4, the material receiving mechanism 4 can be directly removed from the fork leg frame 2; at this time, the lifting mechanism 3 is stored in the inside of the fork leg frame 2.
[0020] A first slide groove 21 is provided on the side of the fork leg frame 2, a second slide groove 22 is provided on the top of the fork leg frame 2, and a clearance groove 23 is provided on the fork leg frame 2. The lifting mechanism 3 slides inside the second slide groove 22, and the locking mechanism 5 slides inside the first slide groove 21; the clearance groove 23 provides space for the lifting mechanism 3 to rotate.
[0021] The setting of the clearance groove 23 can facilitate the jacking mechanism 3 to rotate and unfold and rotate and store; the setting of the first sliding groove 21 can provide space for the locking mechanism 5 to move, ensuring that the locking mechanism 5 moves synchronously with the jacking mechanism 3.
[0022] The lifting mechanism 3 includes a moving component and a pushing component; the moving component is used to push the material receiving mechanism 4 to move; the pushing component is used to drive the moving component to move synchronously; The moving assembly includes a moving rod 31 arranged on the fork leg frame 2, the moving rod 31 is a square structure, a guide column 33 is arranged inside the moving rod 31, a lifting block 317 is arranged on the guide column 33, a first elastic member 32 is sleeved on the guide column 33, the first elastic member 32 is arranged inside the moving rod 31, and the first elastic member 32 is used to push the guide column 33 to reset; a sliding ball 34 is arranged on the moving rod 31, and a first inner groove 35 and a second inner groove 36 are arranged inside the fork leg frame 2, the first elastic member 32 is arranged inside the moving rod 31, and the first elastic member 32 is used to push the guide column 33 to reset; a sliding ball 34 is arranged on the moving rod 31, and a first inner groove 35 and a second inner groove 36 are arranged inside the fork leg frame 2. An inner groove 35 is connected with the second inner groove 36, and the sliding ball 34 slides inside the second inner groove 36; an inner sleeve 312 is arranged inside the moving rod 31, and an outer sleeve 314 is sleeved on the inner sleeve 312; a rolling ball 313 is arranged between the inner sleeve 312 and the outer sleeve 314, and the first elastic member 32 is located above the outer sleeve 314 and connected to the outer sleeve 314; a moving seat 315 is arranged at the bottom of the moving rod 31, and the moving seat 315 slides inside the fork leg frame 2; A limiting groove 311 is formed on the inner wall of the moving rod 31 , and a limiting block 310 is disposed on the outer sleeve 314 . The limiting block 310 slides inside the limiting groove 311 .
[0023] The pushing assembly includes a positioning groove 38 arranged on the fork leg frame 2, a pushing rod 39 is arranged on the guide column 33, a positioning block 37 is arranged below the pushing rod 39, a positioning groove 38 is arranged on the fork leg frame 2, and the positioning block 37 is inserted into the inside of the positioning groove 38, so that the pushing rod 39 is limited after being stored.
[0024] When the material receiving mechanism 4 is needed to be used, the material receiving mechanism 4 is pushed upward so that the material receiving mechanism 4 enters the interior of the fork leg frame 2, so that the material receiving mechanism 4 is stuck on the locking mechanism 5; when the material receiving mechanism 4 contacts the lifting block 317, the lifting block 317 drives the guide column 33 to move synchronously, and when the guide column 33 moves, it moves with the guide column 33. Under the action of the guide mechanism 6, the guide column 33 will first move vertically upward during the upward movement, and then the guide column 33 will rotate during the movement, so that the guide column 33 rotates from the inside of the yield groove 23 to a state perpendicular to the initial position (see the appendix of the instruction manual). Figure 1As shown in the figure, when the guide column 33 rotates upward and rises from the inside of the movable column, the inner sleeve 312 and the outer sleeve 314 rotate relative to each other. At this time, the inner sleeve 312 drives the guide column 33 to rotate. At the same time, the limit block 310 slides inside the limit groove 311 to ensure that the guide column 33 moves upward; at this time, the first elastic member 32 is compressed, and the first elastic member 32 is connected to the outer sleeve 314, so that the first elastic member 32 does not rotate with the guide column 33 when compressed, thereby ensuring the service life of the first elastic member 32; in order to provide power for the guide column 33 to reset; when the lifting rod moves upward, the positioning block 37 first moves upward from the inside of the positioning groove 38 until the bottom of the positioning block 37 is flush with the clearance groove 23, the positioning block 37 rotates, and the positioning block 37 rotates from the inside of the clearance groove 23 to a position perpendicular to the initial position.
[0025] The material receiving mechanism 4 includes a material receiving box 41 arranged on the fork leg frame 2, and at least two first plug holes 42 are opened on the side wall of the material receiving box 41. The first plug holes 42 cooperate with the locking mechanism 5. The top of the material receiving box 41 is provided with a side top plate 43, and the side top plate 43 is used to push the lifting block 317 to move upward.
[0026] In order to make the handling process cleaner, for example, when carrying metal parts with lubricating oil, the lubricating oil may drip from the metal parts during the handling process, forming oil stains on the ground and polluting the workplace; the material receiving box 41 is set to receive pollutants, so that the pollutants will not be dropped into the workplace during the material handling process; when installing the side top plate 43, the side top plate 43 is aligned with the open groove 316, and the open groove 316 is used for the side top plate 43 to be inserted, so that the side top plate 43 squeezes the lifting block 317 to move upward, and a bearing can be provided at the contact point between the lifting block 317 and the side top plate 43 to facilitate relative rotation between the side top plate 43 and the lifting block 317. When the lifting block 317 moves upward, it will squeeze on the locking mechanism 5, and the locking mechanism 5 moves until the locking mechanism 5 enters the interior of the first insertion hole 42 and locks the material receiving box 41; so that the material receiving box 41 can stably receive pollutants or dropped objects during use.
[0027] The locking mechanism 5 includes a second socket 51 opened on the fork leg frame 2, and the second socket 51 corresponds to the first socket 42 one by one; a second elastic member 53 is arranged inside the second socket 51, and an insertion rod 55 is arranged inside the second socket 51, and the second elastic member 53 is used to push the insertion rod 55 to reset, and a pull rod 54 is arranged on the insertion rod 55, and the pull rod 54 extends outward from the inside of the first slide groove 21 to the outside of the fork leg frame 2.
[0028] The end of the insertion rod 55 is an inclined surface. During installation, when the side top plate 43 contacts the end of the insertion rod 55, the insertion rod 55 is squeezed, and the second elastic member 53 driven by the movement of the insertion rod 55 is compressed. When the first socket 42 is aligned with the second socket 51, under the action of the second elastic member 53, the second elastic member 53 pushes the insertion rod 55 from the second socket 51 into the interior of the first socket 42. At this time, the material receiving box 41 is locked on the moving seat 315, so that the material receiving box 41 can move synchronously with the moving seat 315 to ensure that pollutants and dropped objects dropped from the material can be received during the material transportation process.
[0029] The guide mechanism 6 includes a guide block 61 arranged on the guide column 33, and at least one guide block 61 is provided. A guide groove is provided on the moving rod 31, and the guide groove includes a first guide groove 62, a second guide groove 63 and a third guide groove 64, and the first guide groove 62, the second guide groove 63 and the third guide groove 64 are connected in sequence; the first guide groove 62 and the third guide groove 64 are vertical grooves; the second guide groove 63 is an arc groove, when the guide block 61 slides from the inside of the first guide groove 62, the guide column 33 moves vertically upward, when the guide block 61 slides in the second guide groove 63, the guide column 33 moves upward and rotates; when the guide block 61 slides in the third guide groove 64, the guide column 33 moves vertically upward.
[0030] By setting the first guide groove 62, the guide block 61 can ensure that the positioning block 37 is disengaged from the inside of the positioning groove 38 during the movement; by setting the second guide groove 63, the push rod 39 can be rotated 90° after rising, so that the push rod 39 can be engaged with the driving member, and by setting the third guide groove 64, the push rod 39 can enter the bottom of the driving member and engage with the driving member during the rising process; when the push rod 39 is just engaged with the driving member, the insertion rod 55 just enters the inside of the first socket 42 and the second socket 51.
[0031] The output shaft of the steering motor 11 is connected to the power input end of the reducer 12, and the power output shaft of the reducer 12 is fixedly connected to the active bevel gear 14. The active bevel gear 14 is installed on the bearing seat 13, supported by the bearing and fixed by a round nut. The active bevel gear 14 is meshed with the passive bevel gear 19. The passive bevel gear 19 is composed of an inner ring 17, an outer ring 15 and a ball 16 structure, wherein the outer ring 15 is machined with a bevel gear. The load wheel frame 1 is installed on the outer ring 15 of the passive bevel gear 19. The load wheel assembly 18 includes a load wheel, a wheel axle, a bearing and a nut. The load wheel assembly 18 is installed on the load wheel frame 1.
[0032] The steering motor 11 is equipped with a motor encoder, which can calculate and detect the steering angle position of the load wheel assembly 18 according to the number of turns of the steering motor 11. The load wheel assembly 18 is installed on the load wheel frame 1 and can rotate with the movement of the vehicle. The steering motor 11 can drive and control its own angle position to cooperate with the driving steering wheel structure on the vehicle to realize the movement control of the vehicle such as forward and backward movement, lateral movement, oblique movement, and omnidirectional rotation. The load wheel can be a single wheel or double wheels, and the motor encoder can be an incremental encoder or an absolute encoder. When it is an incremental encoder, an induction switch needs to be used in conjunction to determine the zero point position. When the load wheel assembly 18 is controlled to turn, the steering motor 11 rotates to drive the reducer 12 to reduce the output shaft speed and increase the torque. The reducer 12 transmits power to the active bevel gear 14, and the active bevel gear 14 transmits the torque of the steering motor 11 to the passive bevel gear 19. The passive bevel gear 19 drives the load wheel frame 1 to rotate. The passive bevel gear 19 is installed on the fork leg through the inner ring 17 to be installed and fixed in the whole machine structure. The load wheel assembly 18 is installed on the load wheel frame 1 through the wheel axle and rotates with the wheel frame; when the steering motor 11 is powered off, if the motor encoder on the steering motor 11 is an incremental encoder, a zero position detection switch needs to be added. After power is turned on, the steering motor 11 rotates to drive the load wheel assembly 18 to rotate so that the zero position switch detects the zero position, which can ensure that the position of the load wheel assembly 18 is also reset to zero. If the motor encoder on the steering motor 11 is an absolute encoder, the current angle can be fed back in real time after power is turned on.
[0033] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of the present invention is defined by the attached claims and their equivalents.
Claims
1. A load wheel assembly based on motor steering, comprising a load wheel frame (1), a fork leg frame (2), a steering motor (11), a reducer (12), an active bevel gear (14), a bearing seat (13), a passive bevel gear (19), and a load wheel assembly (18), characterized in that: The steering motor (11) is horizontally placed on the load wheel frame (1), and a motor encoder is provided on the steering motor (11); the fork leg frame (2) is provided with a material receiving mechanism (4), and the material receiving mechanism (4) is used to receive dropped objects; the fork leg frame (2) is provided with a jacking mechanism (3), and the material receiving mechanism (4) is used to push the jacking mechanism (3) to rise from the inside of the fork leg frame (2) and rotate; the jacking mechanism (3) is provided with a guide mechanism (6), and the guide mechanism (6) is used to guide the movement of the jacking mechanism (3); the fork leg frame (2) is provided with a locking mechanism (5), and the locking mechanism (5) is used to lock the jacking mechanism (3), and is used to lock the jacking mechanism (3) after it is raised.
2. A load wheel set based on motor steering according to claim 1, characterized in that: A first sliding groove (21) is provided on the side of the fork leg frame (2), a second sliding groove (22) is provided on the top of the fork leg frame (2), and a clearance groove (23) is provided on the fork leg frame (2); the lifting mechanism (3) slides inside the second sliding groove (22), and the locking mechanism (5) slides inside the first sliding groove (21); the clearance groove (23) provides space for the lifting mechanism (3) to rotate.
3. A load wheel set based on motor steering according to claim 2, characterized in that: The lifting mechanism (3) comprises a moving component and a pushing component; the moving component is used to push the material receiving mechanism (4) to move; the pushing component is used to drive the moving component to move synchronously; The moving assembly comprises a moving rod (31) arranged on the fork leg frame (2), the moving rod (31) being of a square structure, a guide column (33) being arranged inside the moving rod (31), a lifting block (317) being arranged on the guide column (33), a first elastic member (32) being sleeved on the guide column (33), the first elastic member (32) being arranged inside the moving rod (31), and being used to push the guide column (33) to reset; a sliding ball (34) being arranged on the moving rod (31), a first inner groove (35) and a second inner groove (36) being arranged inside the fork leg frame (2), the first elastic member (32) being arranged inside the moving rod (31), and the first elastic member (32) being used to push the guide column (33) to reset; An inner groove (35) is connected to the second inner groove (36), and the sliding ball (34) slides inside the second inner groove (36); an inner sleeve (312) is arranged inside the moving rod (31), and an outer sleeve (314) is arranged on the upper part of the inner sleeve (312); a rolling ball (313) is arranged between the inner sleeve (312) and the outer sleeve (314), and the first elastic member (32) is located above the outer sleeve (314) and connected to the outer sleeve (314); a moving seat (315) is arranged at the bottom of the moving rod (31), and the moving seat (315) slides inside the fork leg frame (2); A limiting groove (311) is provided on the inner wall of the moving rod (31), and a limiting block (310) is provided on the outer shaft sleeve (314), and the limiting block (310) slides inside the limiting groove (311).
4. A load wheel set based on motor steering according to claim 3, characterized in that: The pushing assembly comprises a positioning groove (38) provided on the fork leg frame (2), a pushing rod (39) is provided on the guide column (33), a positioning block (37) is provided below the pushing rod (39), a positioning groove (38) is provided on the fork leg frame (2), and the positioning block (37) is inserted into the positioning groove (38), so that the pushing rod (39) is limited after being stored.
5. The load-bearing wheel set based on motor steering according to claim 4, characterized in that: The material receiving mechanism (4) comprises a material receiving box (41) arranged on the fork leg frame (2), at least two first insertion holes (42) are provided on the side wall of the material receiving box (41), the first insertion holes (42) cooperate with the locking mechanism (5), and a side top plate (43) is provided on the top of the material receiving box (41), and the side top plate (43) is used to push the lifting block (317) to move upward.
6. A load wheel set based on motor steering according to claim 5, characterized in that: The locking mechanism (5) comprises a second insertion hole (51) provided on the fork leg frame (2), the second insertion hole (51) corresponding to the first insertion hole (42) one by one; a second elastic member (53) is provided inside the second insertion hole (51), an insertion rod (55) is provided inside the second insertion hole (51), the second elastic member (53) is used to push the insertion rod (55) to reset, a pull rod (54) is provided on the insertion rod (55), and the pull rod (54) extends outward from the inside of the first sliding groove (21) to the outside of the fork leg frame (2).
7. The load-bearing wheel set based on motor steering according to claim 6, characterized in that: The guide mechanism (6) comprises a guide block (61) arranged on the guide column (33), at least one guide block (61) is provided, and a guide groove is provided on the movable rod (31), the guide groove comprises a first guide groove (62), a second guide groove (63) and a third guide groove (64), and the first guide groove (62), the second guide groove (63) and the third guide groove (64) are connected in sequence; the first guide groove (62) and the third guide groove (64) are vertical grooves; the second guide groove (63) is an arc groove, when the guide block (61) slides from the inside of the first guide groove (62), the guide column (33) moves vertically upward; when the guide block (61) slides in the second guide groove (63), the guide column (33) moves upward and rotates; when the guide block (61) slides in the third guide groove (64), the guide column (33) moves vertically upward.
8. The load-bearing wheel set based on motor steering according to claim 7, characterized in that: The output shaft of the steering motor (11) is connected to the power input end of the reducer (12); the power output shaft of the reducer (12) is fixedly connected to the active bevel gear (14); the active bevel gear (14) is mounted on a bearing seat (13), supported by a bearing and fixed by a round nut; the active bevel gear (14) is meshed with a passive bevel gear (19); the passive bevel gear (19) is composed of an inner ring (17), an outer ring (15) and a ball (16); a bevel gear is machined on the outer ring (15); and the load wheel carrier (1) is mounted on the outer ring (15) of the passive bevel gear (19).
9. The load-bearing wheel set based on motor steering according to claim 8, characterized in that: The load wheel assembly (18) comprises a load wheel, a wheel axle, a bearing and a nut, and the load wheel assembly (18) is mounted on a load wheel frame (1).