Single-motor steering wheel

Abstract

The invention relates to the field of steering mechanisms driven by motors, in particular to a single-motor steering wheel which comprises a supporting frame, a steering wheel arranged around the vertical axis is arranged on the supporting frame, a walking wheel arranged around the horizontal axis is further rotationally assembled on the supporting frame, and a driving motor is arranged on the supporting frame. The output end of the driving motor is in transmission connection with the first power transmission end of the planetary gear mechanism, the second power transmission end of the planetary gear mechanism is in transmission connection with the steering wheel, and the third power transmission end of the planetary gear mechanism is in transmission connection with the walking wheel. The supporting frame is further provided with a second brake component used for locking the second power transmission end or the steering wheel and a third brake component used for locking the third power transmission end or the walking wheel. Advancing and steering of the steering wheel are achieved through single-motor driving, and the manufacturing cost is reduced; and transmission parts in the driving motor and the planetary gear mechanism only transmit torque, so that the service life of parts is further prolonged.

Description

Technical Field

[0001] The invention belongs to the field of motor-driven steering mechanisms, and in particular relates to a single-motor steering wheel. Background Art

[0002] The steering wheel serves as a driving component and can realize steering movement around its central axis of rotation and straight-line movement around the wheel axle. The logistics mobile platform equipped with a steering wheel can complete forward, backward, lateral, oblique, on-the-spot rotation and curved movement. It is suitable for operation in a small space. Due to its strong site adaptability, it is widely used in logistics scenarios such as factories and workshops to complete the transfer of goods.

[0003] However, the steering movement and the traveling movement of the existing steering wheel are driven by different motors respectively. For example, the Chinese utility model patent with the authorization announcement number CN217804312U discloses an AGV dual-support walking steering wheel, in which a steering motor and an angle sensor are installed on the lower side of the steering plate to control the steering movement of the steering wheel, and the output shaft of the traveling drive motor passes through the second end cover and is connected to the rotating shaft to output power to realize the traveling movement of the steering wheel. Moreover, the steering motor and the traveling motor need to be equipped with a set of reducers, encoders and brakes respectively. This dual-motor drive system leads to a high cost of the steering wheel, which hinders the wider application of the steering wheel. Summary of the invention

[0004] The purpose of the present invention is to provide a single-motor steering wheel to solve the problem of high cost caused by multi-motor drive in existing steering wheels, and use a single motor to drive the steering wheel to complete steering movement and moving movement. To achieve the above purpose, the present invention provides the following technical solutions: A single-motor steering wheel comprises a support frame, a steering wheel arranged around a vertical axis is arranged on the support frame, a traveling wheel arranged around a horizontal axis is rotatably mounted on the support frame, a driving motor is arranged on the support frame, an output end of the driving motor is transmission-connected to a first power transmission end of a planetary gear mechanism, a second power transmission end of the planetary gear mechanism is transmission-connected to the steering wheel, a third power transmission end of the planetary gear mechanism is transmission-connected to the traveling wheel, and a second braking component for locking the second power transmission end or the steering wheel and a third braking component for locking the third power transmission end or the traveling wheel are also arranged on the support frame.

[0005] Furthermore, the support frame includes a support plate, the steering wheel is rotatably mounted on the lower side of the support plate, the lower side of the steering wheel is connected to a mounting frame, the walking wheel is rotatably mounted on the mounting frame, the planetary gear mechanism is horizontally mounted on the steering wheel, the drive motor is vertically fixedly mounted on the support plate, and the third power transmission end of the planetary gear mechanism is connected to the walking wheel through a reversing transmission structure.

[0006] Furthermore, a steering bearing is installed on the lower side of the support plate, the outer ring of the steering bearing is fixedly connected to the support plate, the inner ring of the steering bearing is fixedly connected to the outer circumferential surface of the ring gear through the inner circumferential surface, and a ring gear cover is provided at the upper end of the inner ring. The steering wheel includes a circular groove shell with an opening facing upward, the upper end surface of the circular groove shell is fixedly connected to the ring gear, the sun gear is the first power transmission end, the rotating shaft of the drive motor passes through the ring gear cover and is transmission-connected to the sun gear, the ring gear is the second power transmission end, and the planetary carrier is the third power transmission end.

[0007] Furthermore, the running wheel is located directly below the central axis of rotation of the planetary gear structure.

[0008] Furthermore, the reversing transmission structure includes a reduction gear group and a reversing bevel gear group. The reduction gear group includes a central gear and an eccentric gear rotatably mounted on a circular groove shell. The central gear is coaxial with the center of the planetary gear mechanism. The axle of the eccentric gear passes through the circular groove shell and is connected to the travel wheel through the reversing bevel gear group.

[0009] Furthermore, the second braking component is fixedly arranged on the lower side of the support plate, and the second braking component cooperates with the gear ring cover and brakes the gear ring cover in a timely manner.

[0010] Furthermore, the third braking component is fixedly arranged on the lower side of the circular groove shell, and the third braking component cooperates with the axle of the central gear and brakes the axle of the central gear in a timely manner.

[0011] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a single-motor vertical steering wheel in a pioneering manner. When the steering wheel needs to move forward, the second brake component is engaged, the second power output end of the planetary gear mechanism is fixed, the steering wheel will not generate steering movement, and the drive motor outputs to the running wheel to make the steering wheel move forward; when the steering wheel needs to make a steering movement, the third brake component is engaged, the third power output end of the planetary gear mechanism is fixed, the steering wheel will not generate a steering movement, and the drive motor outputs to the steering wheel to drive the steering wheel to generate a steering movement. Compared with the existing logistics mobile platform equipped with dual-motor steering wheels, the single-motor vertical steering wheel proposed by the present invention can still complete forward, backward, lateral movement, oblique travel, in-situ rotation and differential curve travel, and the cost is reduced.

[0012] A single-motor steering wheel comprises a support frame, a steering wheel arranged around a vertical axis is arranged on the support frame, a planetary gear mechanism arranged around a horizontal axis is also equipped on the support frame, a drive motor is arranged on the support frame, of the two power transmission ends of the sun gear and the planetary frame of the planetary gear mechanism, the second power transmission end is transmission-connected to the steering wheel through a transmission reversing structure, the first power transmission end is transmission-connected to the output shaft of the drive motor, the ring gear of the planetary gear mechanism serves as a running wheel, and the support frame is also provided with a second braking component for locking the steering wheel or the power transmission end transmission-connected to the steering wheel, and a third braking component for locking the ring gear.

[0013] Furthermore, the support frame includes a support plate, the steering wheel is arranged on the upper side of the support plate, a mounting frame is arranged below the support plate, the mounting frame includes oppositely arranged wheel frames, and the planetary gear mechanism is installed between the two wheel frames.

[0014] Furthermore, the output shaft of the drive motor is connected to the sun gear, the planet carrier is connected to the steering wheel through a transmission reversing structure, the drive motor is arranged on one side of the wheel carrier, and the transmission reversing structure is arranged on the other side of the wheel carrier.

[0015] Furthermore, the two wheel frames are respectively provided with mounting holes for the output shaft of the driving motor to pass through and connect to the sun gear, and for the rotating shaft of the transmission reversing structure to pass through and connect to the planetary frame, and the second and third brake components are respectively installed in the two mounting holes.

[0016] Furthermore, the running wheel is arranged directly below the center of the steering wheel.

[0017] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a single-motor horizontal steering wheel. When the steering wheel needs to move forward, the second brake is engaged, the second output end of the planetary gear mechanism is fixed, the steering wheel does not generate steering movement, and the driving motor outputs to the running wheel to drive the steering wheel to generate moving movement; when the steering wheel needs to make a turning movement, the third brake is engaged, the third output end of the planetary gear mechanism is fixed, the steering wheel does not generate moving movement, the driving motor outputs to the steering wheel, and the steering wheel generates turning movement. Compared with the existing logistics mobile platform equipped with dual-motor steering wheels, the single-motor steering wheel proposed by the present invention can still complete forward, backward, lateral movement, oblique travel, rotation in place and differential curve travel, and the cost is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 : A schematic diagram of the three-dimensional structure of a single-motor horizontal steering wheel provided in Example 1 of the present invention; Figure 2 : A schematic cross-sectional view of a single-motor horizontal steering wheel provided in Example 1 of the present invention; Figure 3: a schematic diagram of the three-dimensional structure of the first wheel frame of the single-motor horizontal steering wheel provided in Example 1 of the present invention; Figure 4 : a schematic diagram of the three-dimensional structure of the first gear ring cover of the single-motor horizontal steering wheel provided in Example 1 of the present invention; Figure 5 : A schematic diagram of the three-dimensional structure of the ring gear brake of a single-motor horizontal steering wheel provided in Example 1 of the present invention; Figure 6 : A schematic diagram of the three-dimensional structure of a single-motor vertical steering wheel provided in Example 2 of the present invention; Figure 7 : A schematic cross-sectional structure diagram of a single-motor vertical steering wheel provided in Example 2 of the present invention.

[0019] Description of Figure Numbers: Figure 1-Figure 5 In the figure: 11 support plate; 12 first wheel frame; 13 second wheel frame; 121 wheel frame fixing bolt hole; 122 brake fixing groove; 123 bearing fixing groove; 14 first bearing; 15 second bearing; 21 drive motor; 22 encoder; 31 sun gear; 32 planetary gear; 33 planetary frame; 34 ring gear; 41 ring gear brake; 42 planetary frame brake; 411 brake fixing bolt hole; 51 first ring gear cover; 52 second ring gear cover; 511 ring gear cover through hole; 53 tire; 61 external gear slewing bearing; 62 first bevel gear; 63 second bevel gear; 64 steering gear; 65 reversing shaft; 612 outer ring mounting hole; 613 inner ring; 614 inner ring mounting hole.

[0020] Figure 6-Figure 7 In the figure: 71 support plate; 711 support plate mounting hole; 72 slot shell; 73 wheel carrier; 74 bearing; 81 encoder; 82 drive motor; 83 reducer; 91 sun gear; 92 planetary gear; 93 planetary carrier; 94 ring gear; 101 ring gear brake; 102 planetary carrier brake; 111 first gear; 112 second gear; 113 shaft; 114 first bevel gear; 115 second bevel gear; 116 wheel axle; 117 wheel hub; 118 tire; 21 gearless slewing bearing; 22 ring gear cover; 211 outer ring; 212 inner ring. DETAILED DESCRIPTION

[0021] The features and performance of the present invention are further described in detail below in conjunction with the embodiments.

[0022] The steering wheel of the present invention is mainly aimed at motor-driven steering wheels installed on logistics mobile platforms such as AGVs and forklifts, especially steering wheels suitable for operation in narrow spaces, capable of moving forward, backward, lateral, oblique, in-situ rotation, and curved driving. In order to adapt to complex working conditions, existing steering wheels usually require multiple drive motors including steering and travel motors to cooperate and control to complete the operation. Multiple drive motors will increase the cost of the steering wheel and increase the production cost.

[0023] The present invention realizes the steering and forward movement of the steering wheel under the drive of a single motor by cooperating with the motor output end, the planetary gear mechanism output end and the brake component, thereby greatly saving the steering wheel cost.

[0024] Based on the above main concepts, different embodiments are provided below for illustration.

[0025] The following embodiments can be mainly divided into two categories, wherein the embodiments of the first category are as follows: In a basic embodiment, the single-motor steering wheel is a vertical structure, including a support frame, a steering wheel is arranged on the support frame, which is responsible for the steering movement of the steering wheel; the support frame is also rotatably equipped with a running wheel arranged around a horizontal axis, which is responsible for the linear movement of the steering wheel. The support frame is equipped with a driving motor and a planetary gear mechanism, the output end of the driving motor is transmission-connected with the first power transmission end of the planetary gear mechanism, the second power transmission end of the planetary gear mechanism is transmission-connected with the steering wheel, the third power transmission end of the planetary gear mechanism is transmission-connected with the running wheel, and the support frame is also equipped with a second brake component for locking the second power transmission end or the steering wheel, and a third brake component for locking the third power transmission end or the running wheel. When the second brake component is locked, the steering wheel is locked, and the steering wheel only moves; when the third brake component is locked, the running wheel is locked, and the steering wheel only turns.

[0026] Based on the above embodiment, in one embodiment, approximately Figure 6-Figure 7 As shown, the support frame includes a support plate 71, a groove shell 72, and a wheel frame 73, which support the various structures of the steering wheel. The steering wheel is rotatably mounted on the lower side of the support plate, and the lower side of the steering wheel is connected to a mounting stand. The running wheel is rotatably mounted on the mounting stand. The planetary gear mechanism is horizontally mounted on the steering wheel, i.e., in the middle of the inner ring 212 of the gearless slewing bearing 21; the reducer 83 is fixedly mounted on the upper side of the support plate 71 and is fixedly connected to the drive motor 82. The encoder 81 is fixedly mounted on the tail of the motor 82, and the encoder 81 can measure the rotation speed of the motor 82. The reducer, the drive motor, and the encoder are vertically arranged on the upper side of the support plate along the rotation center axis as a whole as a motor power module, and the third power transmission end of the planetary gear mechanism is connected to the running wheel through a reversing transmission structure.

[0027] Based on the above embodiment, in one embodiment, approximately Figure 6-Figure 7 As shown, the planetary gear mechanism 9 is composed of a single-row planetary gear mechanism, including a sun gear 91, a planetary gear 92, a planet carrier 93, and a ring gear 94. The outer ring 211 of the gearless slewing bearing 21 and the ring gear brake 101 are both fixedly connected to the lower side of the support plate 71. The planetary gear mechanism 9 is placed in the middle of the inner ring 212 of the gearless slewing bearing 21, and the whole serves as the steering wheel of the steering wheel. The sun gear 91 is fixedly connected to the end of the output shaft of the reducer 83, the ring gear cover 22 is fixedly connected to the ring gear 94, and the ring gear cover 22 is fixedly installed on the inner ring 212. The outer ring 211 and the inner ring 212 of the gearless slewing bearing 21 can rotate relative to each other around the rotation center axis of the gearless slewing bearing 21, and the rotation center axis is also the rotation center axis of the single-motor vertical steering wheel steering movement. The groove shell 72 is fixedly connected to the ring gear 94 upward, the sun gear 91 is the first power transmission end, the rotating shaft of the drive motor passes through the ring gear cover 22 and is connected to the sun gear transmission, the ring gear 94 is the second power transmission end, which is used to output the steering power, and the planetary carrier 93 is the third power transmission end, which is used to provide power for the walking wheels.

[0028] Based on the above embodiment, in one embodiment, approximately Figure 6-Figure 7 As shown, the running wheel is directly below the central axis of rotation of the planetary gear structure. The gearless slewing bearing 21, the output shaft of the reducer 83, the sun gear 91, the planet carrier 93, the ring gear 94, the ring gear cover 22, the central through hole of the ring gear brake 101, the first gear 111, the slot shell 72, and the central through hole of the planet carrier brake 102 are coaxially arranged. The center point of the hub 117 is set on the central axis of rotation of the single-motor vertical steering wheel. When the single-motor vertical steering wheel makes a steering movement, the hub 117 can rotate around the central axis of rotation of the single-motor vertical steering wheel. The tire 118 is fixedly mounted on the outer surface of the hub 117, and the hub 117 and the tire 118 constitute the running wheel of the single-motor vertical steering wheel. In an embodiment based on this, the running wheel is eccentrically placed below the central axis of rotation.

[0029] Based on the above embodiment, in one embodiment, approximately Figure 6-Figure 7As shown, the reversing transmission structure of the walking wheel includes a reduction gear set and a reversing bevel gear set. The first gear 111 is a central gear, which is fixedly connected to the output shaft of the planetary carrier 93, the second gear 112 is an eccentric gear, which is fixedly connected to the shaft 113, the first gear 111 is meshed with the second gear 112, the planetary carrier brake 102 and the wheel frame 73 are both fixedly connected to the outside of the slot shell 72, the output shaft of the planetary carrier 93 passes through the slot shell 72 and is connected to the planetary carrier brake 102, the first bevel gear 114 is fixedly connected to one end of the shaft 113 passing through the slot shell 72, the wheel shaft 116 is fixedly connected to the inner ring of the bearing 74, the outer ring of the bearing 74 is fixedly connected to the mounting through hole of the wheel frame 73, the second bevel gear 115 and the wheel hub 117 are respectively fixedly connected to the two ends of the wheel shaft 116, and the second bevel gear 115 is meshed with the first bevel gear 114. In this way, the positive relationship between the walking wheel and the central axis of rotation of the planetary gear structure is realized, and the multi-stage reduction from the drive motor to the walking wheel is realized.

[0030] Based on the above embodiment, in one embodiment, approximately Figure 6-Figure 7 As shown, the second braking component is a ring gear brake 101 , and the ring gear cover 22 has a protruding hollow shaft at the center of the cover body, the hollow shaft is connected to the rotating part of the ring gear brake 101 , and the fixed part of the ring gear brake 101 is installed on the lower side of the support plate 71 . When the single-motor vertical steering wheel needs to make a forward motion, the ring gear brake 101 is engaged, and the ring gear cover 22 is relatively fixedly connected to the support plate 71, then the ring gear 94, the inner ring 212 of the gearless slewing bearing 21, and the groove shell 72 are fixed relative to the support plate 71, and the single-motor vertical steering wheel will not produce a steering motion. The motor 82 and the reducer 83 drive the sun gear 91 to rotate, which will drive the planet carrier 93 to rotate, and the rotation direction of the planet carrier 93 is the same as that of the sun gear 91, thereby driving the first gear 111, the second gear 112, the shaft 113, the first bevel gear 114, the second bevel gear 115, and the axle 116 to rotate. At this time, the hub 117 rotates around the center line of the axle 116, and the single-motor vertical steering wheel realizes a forward motion.

[0031] Based on the above embodiment, in one embodiment, approximately Figure 6-Figure 7As shown, the third brake component is a planetary carrier brake 102, which is arranged on the lower side of the circular tank shell along the rotation center axis. When the single-motor vertical steering wheel needs to make a steering movement, the planetary carrier brake 102 is engaged, and the planetary carrier 93 is relatively fixedly connected to the tank shell 72, then the planetary carrier 93 is fixed relative to the ring gear 94, and the motor 82 and the reducer 83 drive the sun gear 91 to rotate, which will drive the planetary carrier 93 and the ring gear 94 to rotate and output power. The speed and rotation direction of the planetary carrier 93 and the ring gear 94 are the same as those of the sun gear 91, and then drive the ring gear cover 22, the inner ring 212 of the gearless slewing bearing 21, the first gear 111, the tank shell 72, the shaft 113, the second gear 112, the wheel carrier 73, the wheel axle 116 and the wheel hub 117 to rotate at the same speed and in the same direction around the rotation center axis of the single-motor vertical steering wheel, and the single-motor vertical steering wheel realizes a steering movement. At the same time, the first gear 111, the second gear 112 and the shaft 113 are all stationary relative to the wheel frame 73, and then the first bevel gear 114 and the second bevel gear 115 are all stationary relative to the wheel frame 73, and the axle 116 and the hub 117 will not rotate around the center line of the axle 116. Therefore, when the single-motor vertical steering wheel makes a turning movement, no incidental moving movement will be generated.

[0032] In the above various embodiments, the sun gear is used as the first power transmission end, the ring gear is used as the second power transmission end, and the planet carrier is used as the third power transmission end. In other embodiments, the planet carrier is used as the first power transmission end, the ring gear is used as the second power transmission end, and the sun gear is used as the third power transmission end. The ring gear can also be used as the first power transmission end, the planet carrier is used as the second power transmission end, and the sun gear is used as the third power transmission end. In the above embodiments, the brake component can be an electromagnetic brake or a mechanical friction brake.

[0033] Another broad class of embodiments is as follows: In a basic embodiment, the single-motor steering wheel is a horizontal structure, including a support frame, a steering wheel around a vertical axis is arranged on the support frame, the steering wheel is used to realize the steering movement of the steering wheel, a planetary gear mechanism arranged around a horizontal axis is also installed on the support frame, a driving motor is arranged on the support frame, the sun gear and the planetary carrier of the planetary gear mechanism serve as two power transmission ends, the planetary carrier is connected to the steering wheel through a transmission reversing structure, the sun gear is connected to the output shaft of the driving motor, the ring gear of the planetary gear mechanism serves as a running wheel, and the support frame is also equipped with a second brake component for locking the steering wheel or the power transmission end connected to the steering wheel, and a third brake component for locking the ring gear. When the second brake component is locked, the steering wheel is locked, and the steering wheel only moves forward; when the third brake component is locked, the running wheel is locked, and the steering wheel only makes a steering movement.

[0034] Based on the above embodiment, in one embodiment, approximately Figure 1-Figure 2As shown, the support frame includes a support plate 11, a first wheel frame 12, and a second wheel frame 13. The inner ring 613 of the external gear slewing bearing 61 is fixedly connected to the upper side of the support plate 11 through the inner ring mounting hole 614. The outer ring 611 with external teeth and the inner ring 613 of the external gear slewing bearing 61 can rotate relative to each other around the rotation center axis of the external gear slewing bearing 61 to form a steering wheel. The rotation center axis is also the rotation center axis of the single-motor horizontal steering wheel steering movement. The first wheel frame 12 and the second wheel frame 13 are connected to the lower side of the support plate 11 through the wheel frame fixing bolt holes 131. The first wheel frame 12 and the second wheel frame 13 can be the same. The first wheel frame 12 is as shown in FIG. Figure 3 As shown, the first wheel frame 12 and the second wheel frame 13 are symmetrically placed about the rotation center axis to support the steering wheel.

[0035] Based on the above embodiment, in one embodiment, approximately Figure 1-Figure 2 As shown, the drive motor 21 is fixedly installed on the outside of the first wheel frame 12, and the encoder 22 is fixedly installed on the tail of the motor 21 to measure the speed of the motor 21. The planetary gear mechanism 3 is arranged between the first wheel frame 12 and the second wheel frame 13. The first gear ring cover 51 and the second gear ring cover 52 are respectively fixedly connected to the two sides of the gear ring 34 and are coaxially arranged with the gear ring 34. The first gear ring cover 51 is as shown in FIG. Figure 4 As shown. The hollow shaft protruding from the first gear ring cover 51 is fixedly connected to the inner ring of the first bearing 14, the outer ring of the first bearing 14 is fixedly connected to the mounting through hole of the first wheel frame 12, the hollow shaft protruding from the second gear ring cover 52 is fixedly connected to the inner ring of the second bearing 15, and the outer ring of the second bearing 15 is fixedly connected to the mounting through hole of the second wheel frame 13. The transmission reversing structure includes: the first bevel gear 62 is fixedly connected to the end of the output shaft of the planetary carrier 33 and meshes with the second bevel gear 63, the second bevel gear 63 and the steering gear 64 are respectively fixedly connected to the two ends of the reversing shaft 65, the steering gear 64 is meshed with the outer ring 611 of the external gear slewing bearing 61, and finally the motor power is input to the steering wheel mechanism to realize the steering of the steering wheel.

[0036] Based on the above embodiment, in one embodiment, approximately Figure 1-Figure 2 As shown, the hollow shaft of the first gear ring cover 51 passes through the first bearing 14 and is connected to the gear ring brake 41 fixedly installed in the mounting through hole of the first wheel frame 12. The gear ring brake 41 is installed in the first wheel frame 12 through the brake fixing bolt 411. Figure 5As shown. The output shaft of the motor 21 passes through the hollow shaft of the first ring gear cover 51 and is fixedly connected to the sun gear 31. The output shaft of the planetary carrier 33 passes through the hollow shaft of the second ring gear cover 52 and is connected to the planetary carrier brake 42 fixedly installed in the mounting through hole of the second wheel frame 13. The planetary carrier brake 42 is installed in the second wheel frame 13 through the brake fixing bolt 411. The output shaft of the drive motor 21, the mounting through hole of the first wheel frame 12, the central through hole of the ring gear brake 41, the first bearing 14, the first ring gear cover 51 and its hollow shaft, the sun gear 31, the output shaft of the planetary carrier 33, the ring gear 34, the second ring gear cover 52 and its hollow shaft, the second bearing 15, the central through hole of the planetary carrier brake 42, and the mounting through hole of the second wheel frame 13 are coaxially arranged, which is the core of the single motor drive to achieve power transmission.

[0037] Based on the above embodiment, in one embodiment, approximately Figure 1-Figure 2 As shown, the tire 53 is fixedly mounted on the outer surface of the ring gear 34, and the planetary gear mechanism 3, the first ring gear cover 51, the second ring gear cover 52 and the tire 53 constitute the running wheel of the single-motor horizontal steering wheel. The running wheel is arranged directly below the central axis of rotation, and the output shaft of the drive motor 21, the sun gear 31, the output shaft of the planetary carrier 33, the ring gear 34, the first ring gear cover 51 and its hollow shaft, and the second ring gear cover 52 and its hollow shaft can rotate around the same axis, which is the wheel axle of the running wheel. In other embodiments, the running wheel can also be eccentrically mounted below the central axis of rotation.

[0038] Assume that the gear ratio between the ring gear 34 and the sun gear 31 is α When the single-motor horizontal steering wheel needs to move forward, the planetary frame brake 42 is engaged, and the planetary frame 33 is fixed relative to the second wheel frame 13. At this time, the single-motor horizontal steering wheel will not produce steering movement, and the motor 21 drives the sun gear 31 to rotate, which will drive the ring gear 34 to rotate and output power. The rotation direction of the ring gear 34 is opposite to that of the sun gear 31, and the transmission ratio is - α At this time, the driving wheel rotates around its axle, and the single-motor horizontal steering wheel realizes forward motion.

[0039] When the single-motor horizontal steering wheel needs to make a steering movement, the ring gear brake 41 is engaged, the first ring gear cover 51 is relatively fixedly connected to the first wheel frame 12, and the ring gear 34 is fixed relative to the first wheel frame 12. At this time, the single-motor horizontal steering wheel will not produce a forward movement, and the motor 21 drives the sun gear 31 to rotate, which will drive the planetary carrier 33 to rotate. The rotation direction of the planetary carrier 33 is the same as that of the sun gear 31, and the transmission ratio is 1+ α, thereby driving the first bevel gear 62, the second bevel gear 63, the reversing shaft 65 and the steering gear 64 to rotate, and the rotation of the steering gear 64 will cause the steering gear 64 to rotate relatively around the outer ring 611 meshing with it, thereby driving the support plate 11, the inner ring 613, the first wheel frame 12, the second wheel frame 13 and the driving wheel to rotate around the rotation center axis of the single-motor horizontal steering wheel, and the single-motor horizontal steering wheel realizes steering movement.

[0040] In the above embodiment, the sun gear serves as the first power transmission end, the planet carrier serves as the second power transmission end, and the ring gear serves as the third power transmission end. In other embodiments, the planet carrier may serve as the first power transmission end, the sun gear serves as the second power transmission end, and the ring gear serves as the third power transmission end.

[0041] In the above embodiment, the two brake components are both installed in the installation through hole and are electromagnetic brakes. In other embodiments, the two brake components can be installed on the side of the wheel frame and mechanical friction brakes can be used.

[0042] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. The patent protection scope of the present invention shall be based on the claims. All equivalent structural changes made using the contents of the description and drawings of the present invention should also be included in the protection scope of the present invention.

Claims

1. A single motor steering wheel, characterized in that: The invention comprises a support frame, on which a steering wheel arranged around a vertical axis is arranged, and on which a traveling wheel arranged around a horizontal axis is rotatably mounted, and on which a driving motor is arranged, and on which an output end of the driving motor is drivingly connected to a first power transmission end of a planetary gear mechanism, and a second power transmission end of the planetary gear mechanism is drivingly connected to the steering wheel, and a third power transmission end of the planetary gear mechanism is drivingly connected to the traveling wheel, and the support frame is also provided with a second braking component for locking the second power transmission end or the steering wheel, and a third braking component for locking the third power transmission end or the traveling wheel.

2. The single-motor steering wheel according to claim 1, characterized in that: The support frame includes a support plate, a steering wheel is rotatably mounted on the lower side of the support plate, a mounting frame is connected to the lower side of the steering wheel, a traveling wheel is rotatably mounted on the mounting frame, a planetary gear mechanism is horizontally mounted on the steering wheel, a driving motor is vertically fixedly mounted on the support plate, and a third power transmission end of the planetary gear mechanism is connected to the traveling wheel through a reversing transmission structure.

3. The single-motor steering wheel according to claim 2, characterized in that: A steering bearing is installed on the lower side of the support plate, the outer ring of the steering bearing is fixedly connected to the support plate, the inner ring of the steering bearing is fixedly connected to the outer circumferential surface of the ring gear through the inner circumferential surface, and a ring gear cover is provided at the upper end of the inner ring. The steering wheel includes a circular groove shell with an opening facing upward, the upper end surface of the circular groove shell is fixedly connected to the ring gear, the sun gear is the first power transmission end, the rotating shaft of the drive motor passes through the ring gear cover and is transmission-connected to the sun gear, the ring gear is the second power transmission end, and the planetary carrier is the third power transmission end.

4. The single-motor steering wheel according to claim 3, characterized in that: The travel wheel is located directly below the central axis of rotation of the planetary gear structure.

5. The single-motor steering wheel according to claim 4, characterized in that: The reversing transmission structure includes a reduction gear set and a reversing bevel gear set. The reduction gear set includes a central gear and an eccentric gear rotatably mounted on a circular groove shell. The central gear is coaxial with the center of the planetary gear mechanism. The axle of the eccentric gear passes through the circular groove shell and is connected to the travel wheel through the reversing bevel gear set.

6. The single-motor steering wheel according to claim 2, characterized in that: The second braking component is fixedly arranged on the lower side of the support plate, and the second braking component cooperates with the gear ring cover and brakes the gear ring cover in a timely manner.

7. The single-motor steering wheel according to claim 6, characterized in that: The third braking component is fixedly arranged on the lower side of the circular groove shell, and the third braking component cooperates with the axle of the central gear and brakes the axle of the central gear in a timely manner.

8. A single motor steering wheel, characterized in that: The invention comprises a support frame, on which a steering wheel rotating around a vertical axis is arranged, on which a planetary gear mechanism rotating around a horizontal axis is also installed, on which a drive motor is arranged, and of two power transmission ends of a sun gear and a planetary frame of the planetary gear mechanism, one power transmission end is connected to the steering wheel through a transmission reversing structure, and the other power transmission end is connected to the output shaft of the drive motor, and a ring gear of the planetary gear mechanism serves as a running wheel. The support frame is also provided with a second brake component for locking the steering wheel or the power transmission end connected to the steering wheel, and a third brake component for locking the ring gear.

9. The single-motor steering wheel according to claim 8, characterized in that: The support frame comprises a support plate, a steering wheel is arranged on the upper side of the support plate, a mounting frame is arranged below the support plate, the mounting frame comprises wheel frames arranged oppositely, and a planetary gear mechanism is installed between the two wheel frames.

10. The single-motor steering wheel according to claim 9, characterized in that: The output shaft of the driving motor is connected to the sun gear, the planet carrier is connected to the steering wheel through a transmission reversing structure, the driving motor is arranged on one side of the wheel carrier, and the transmission reversing structure is arranged on the other side of the wheel carrier.

11. The single-motor steering wheel according to claim 10, characterized in that: The two wheel frames are respectively provided with mounting holes for the output shaft of the driving motor to pass through and connect with the sun gear, and for the rotating shaft of the transmission reversing structure to pass through and connect with the planetary frame. The second and third brake components are respectively installed in the two mounting holes.

12. The single-motor steering wheel according to any one of claims 8 to 11, characterized in that: The travel wheel is arranged just below the center of the steering wheel.

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