Single motor tiller

Abstract

The present application relates to the field of motor-driven steering mechanism, and particularly relates to a single-motor steering wheel, which comprises a support frame, a steering disc arranged around a vertical axis is arranged on the support frame, a walking wheel arranged around a horizontal axis is rotatably arranged on the support frame, a driving motor is arranged on the support frame, an output end of the driving motor is in transmission connection with a first power transmission end of a planetary gear mechanism, a second power transmission end of the planetary gear mechanism is in transmission connection with the steering disc, a third power transmission end of the planetary gear mechanism is in transmission connection with the walking wheel, a second brake component for locking the second power transmission end or the steering disc is arranged on the support frame, and a third brake component for locking the third power transmission end or the walking wheel is arranged on the support frame. Single-motor driving realizes the walking and steering of the steering wheel, and reduces the manufacturing cost; the driving motor and the internal transmission part of the planetary gear mechanism only transmit torque, and the service life of the parts is further improved.

Description

Technical Field

[0001] This invention belongs to the field of motor-driven steering mechanisms, and particularly relates to a single-motor steering wheel. Background Technology

[0002] As a driving component, the steering wheel can achieve steering motion by rotating around its rotation center axis and linear motion by rotating the wheel around the axle. Logistics mobile platforms equipped with steering wheels can complete forward, backward, lateral, diagonal, stationary rotation, and curved travel. They are suitable for operation in confined spaces and are widely used in logistics scenarios such as factories and workshops to complete the transfer of goods due to their strong site adaptability.

[0003] However, existing steering wheels use separate motors to drive their steering and traveling movements. For example, the AGV dual-support traveling steering wheel disclosed in Chinese Utility Model Patent No. CN217804312U has a steering motor and angle sensor mounted under the steering plate to control the steering movement of the steering wheel. The output shaft of the traveling drive motor passes through the second end cover and connects to the rotating shaft to output power, enabling the steering wheel to travel. Moreover, the steering motor and traveling motor each require a set of reducers, encoders, and brakes. This dual-motor drive system results in a high cost for the steering wheel, hindering its wider application. Summary of the Invention

[0004] The purpose of this invention is to provide a single-motor steering wheel to solve the problem of high cost caused by multi-motor drives in existing steering wheels, using a single motor to drive the steering wheel to complete steering and traveling movements. To achieve the above objective, this invention provides the following technical solution: A single-motor steering wheel includes a support frame, a steering wheel mounted on the support frame about a vertical axis, and a traveling wheel rotatably mounted on the support frame about a horizontal axis. A drive motor is mounted on the support frame, the output end of the drive motor is connected to a first power transmission end of a planetary gear mechanism, a second power transmission end of the planetary gear mechanism is connected to the steering wheel, and a third power transmission end of the planetary gear mechanism is connected to the traveling wheel. The support frame also includes 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.

[0005] Furthermore, the support frame includes a support plate, a steering wheel is rotatably mounted on the lower side of the support plate, a mounting bracket is connected to the lower side of the steering wheel, the traveling wheels are rotatably mounted on the mounting bracket, a planetary gear mechanism is horizontally mounted on the steering wheel, a 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 traveling wheels via 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, and the inner ring of the steering bearing is fixedly connected to the outer circumferential surface of the gear ring through the inner circumferential surface. A gear ring cover is provided at the upper end of the inner ring. The steering wheel includes a circular groove shell with the opening facing upward. The upper end surface of the circular groove shell is fixedly connected to the gear ring. The sun gear is the first power transmission end. The shaft of the drive motor passes through the gear ring cover and is connected to the sun gear for transmission. The gear ring is the second power transmission end, and the planetary carrier is the third power transmission end.

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

[0008] Furthermore, 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 slotted shell. The central gear is coaxial with the center of the planetary gear mechanism. The axle of the eccentric gear passes through the circular slotted shell and is connected to the traveling wheel drive through the reversing bevel gear set.

[0009] Furthermore, the second braking component is fixedly disposed 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 installed 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 beneficial effects of the present invention are: This invention innovatively provides a single-motor vertical steering wheel. When the steering wheel needs to move forward, the second braking component engages, fixing the second power output end of the planetary gear mechanism, preventing the steering wheel from turning. The drive motor outputs power to the traveling wheels, causing the steering wheel to move forward. When the steering wheel needs to turn, the third braking component engages, fixing the third power output end of the planetary gear mechanism, preventing the steering wheel from moving. The drive motor outputs power to the steering wheel, causing the steering wheel to turn. Compared to existing logistics mobile platforms equipped with dual-motor steering wheels, the single-motor vertical steering wheel proposed in this invention can still perform forward, backward, lateral, diagonal, stationary rotation, and differential curve driving, while reducing costs.

[0012] A single-motor steering wheel includes a support frame, on which a steering wheel about a vertical axis is mounted. A planetary gear mechanism about a horizontal axis is also mounted on the support frame. A drive motor is mounted on the support frame. Of the two power transmission ends of the planetary gear mechanism—the sun gear and the planet carrier—the second power transmission end is connected to the steering wheel via a transmission reversing structure, and the first power transmission end is connected to the output shaft of the drive motor. The ring gear of the planetary gear mechanism serves as a traveling wheel. The support frame also includes a second braking component for locking the steering wheel or the power transmission end connected to the steering wheel, and a third braking component for locking the ring gear.

[0013] Furthermore, the support frame includes a support plate, a steering wheel is disposed on the upper side of the support plate, and a mounting frame is disposed below the support plate. The mounting frame includes wheel frames disposed opposite each other, and a 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 planetary carrier is connected to the steering wheel through a transmission reversing structure, the drive motor is located on one side of the wheel carrier, and the transmission reversing structure is located on the other side of the wheel carrier.

[0015] Furthermore, the two wheel carriers are respectively provided with mounting through holes for the output shaft of the drive 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 carrier. The second and third braking components are respectively installed in the two mounting through holes.

[0016] Furthermore, the wheels are positioned directly below the center of the steering wheel.

[0017] Compared with the prior art, the beneficial effects of the present invention are: This invention provides a single-motor horizontal steering wheel. When the steering wheel needs to move forward, the second brake engages, the second output end of the planetary gear mechanism is fixed, and the steering wheel does not produce steering motion. The drive motor outputs to the traveling wheels, driving the steering wheel to move forward. When the steering wheel needs to turn, the third brake engages, the third output end of the planetary gear mechanism is fixed, and the steering wheel does not produce moving motion. The drive motor outputs to the steering wheel, driving the steering wheel to turn. Compared with existing logistics mobile platforms equipped with dual-motor steering wheels, the single-motor steering wheel proposed in this invention can still complete forward, backward, lateral, diagonal, stationary rotation, and differential curve driving, while reducing costs. Attached Figure Description

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

[0019] Explanation of icon numbers: Figures 1-5 In the middle: 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 Planet gear; 33 Planet carrier; 34 Gear ring; 41 Gear ring brake; 42 Planet carrier brake; 411 Brake fixing bolt hole; 51 First gear ring cover; 52 Second gear ring cover; 511 Gear ring 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] Figures 6-7 In the middle: 71 support plate; 711 support plate mounting hole; 72 slotted shell; 73 wheel carrier; 74 bearing; 81 encoder; 82 drive motor; 83 reducer; 91 sun gear; 92 planet gear; 93 planet carrier; 94 gear ring; 101 gear ring brake; 102 planet 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 toothless slewing bearing; 22 gear ring cover; 211 outer ring; 212 inner ring. Detailed Implementation

[0021] The features and performance of the present invention will be further described in detail below with reference to embodiments.

[0022] The steering wheel of this invention is primarily designed for motor-driven steering wheels installed on logistics mobile platforms such as AGVs and forklifts, especially those suitable for operation in confined spaces, capable of forward, backward, lateral, diagonal, stationary rotation, and curved travel. To adapt to complex working conditions, existing steering wheels typically require multiple drive motors, including steering and travel motors, to coordinate and control operations. Multiple drive motors increase the cost of the steering wheel and thus production costs.

[0023] This invention achieves steering and forward movement of the steering wheel under single-motor drive by coordinating the output end of the motor, the output end of the planetary gear mechanism, and the braking components, thus greatly saving the cost of the steering wheel.

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

[0025] The following embodiments can be mainly divided into two categories, with the first category of embodiments as follows: In one basic embodiment, the single-motor steering wheel has a vertical structure, including a support frame. A steering wheel is mounted on the support frame, responsible for the steering motion of the steering wheel. A traveling wheel, rotatably mounted around a horizontal axis, is also mounted on the support frame, responsible for the linear motion of the steering wheel. A drive motor and a planetary gear mechanism are configured on the support frame. The output end of the drive motor is connected to a first power transmission end of the planetary gear mechanism, a second power transmission end of the planetary gear mechanism is connected to the steering wheel, and a third power transmission end of the planetary gear mechanism is connected to the traveling wheel. The support frame also includes 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. When the second braking component is locked, the steering wheel is locked, and the steering wheel only performs traveling motion; when the third braking component is locked, the traveling wheel is locked, and the steering wheel only performs steering motion.

[0026] Based on the above embodiments, in one embodiment, approximately... Figures 6-7 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 a mounting bracket is connected to the lower side of the steering wheel. The traveling wheels are rotatably mounted on the mounting bracket. The planetary gear mechanism is horizontally mounted on the steering wheel, i.e., in the middle of the inner ring 212 of the toothless 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 rotational speed of the motor 82. The reducer, drive motor, and encoder are arranged vertically on the upper side of the support plate along the rotation center axis as a whole. The third power transmission end of the planetary gear mechanism is connected to the traveling wheels through a reversing transmission structure.

[0027] Based on the above embodiments, in one embodiment, approximately... Figures 6-7 As shown, the planetary gear mechanism 9 is composed of a single-row planetary gear mechanism, including a sun gear 91, planet gears 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 its entirety 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, and 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, which is also the rotation center axis for the steering motion of the single-motor vertical steering wheel. The slotted housing 72 is fixedly connected to the gear ring 94. The sun gear 91 is the first power transmission end. The shaft of the drive motor passes through the gear ring cover 22 and is connected to the sun gear for transmission. The gear ring 94 is the second power transmission end, used to output steering power. The planetary carrier 93 is the third power transmission end, used to provide power to the traveling wheels.

[0028] Based on the above embodiments, in one embodiment, approximately... Figures 6-7 As shown, the traveling wheel is located directly below the rotation center axis of the planetary gear structure. The toothless slewing bearing 21, the output shaft of the reducer 83, the sun gear 91, the planetary carrier 93, the gear ring 94, the gear ring cover 22, the central through hole of the gear ring brake 101, the first gear 111, the slotted housing 72, and the central through hole of the planetary carrier brake 102 are coaxially arranged. The center point of the hub 117 is set on the rotation center axis of the single-motor vertical steering wheel, allowing the hub 117 to rotate around its rotation center axis when the single-motor vertical steering wheel makes a turning motion. The tire 118 is fixedly mounted on the outer surface of the hub 117, and the hub 117 and the tire 118 together form the traveling wheel of the single-motor vertical steering wheel. In one embodiment based on this, the traveling wheel is eccentrically placed below the rotation center axis.

[0029] Based on the above embodiments, in one embodiment, approximately... Figures 6-7As shown, the reversing transmission structure of the traveling wheel includes a reduction gear set and a reversing bevel gear set. The first gear 111, the central gear, is fixedly connected to the output shaft of the planetary carrier 93. The second gear 112, the eccentric gear, is fixedly connected to the shaft 113. The first gear 111 and the second gear 112 mesh. The planetary carrier brake 102 and the wheel carrier 73 are both fixedly connected to the outside of the housing 72. The output shaft of the planetary carrier 93 extends through the housing 72 and connects to the planetary carrier brake 102. The first bevel gear 114 is fixedly connected to one end of the shaft 113 extending through the housing 72. The wheel axle 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 carrier 73. The second bevel gear 115 and the wheel hub 117 are respectively fixedly connected to both ends of the wheel axle 116, and the second bevel gear 115 meshes with the first bevel gear 114. This achieves both the direct alignment of the traveling wheel and the rotation center shaft of the planetary gear structure, and the multi-stage reduction from the drive motor to the traveling wheel.

[0030] Based on the above embodiments, in one embodiment, approximately... Figures 6-7 As shown, the second braking component is a gear ring brake 101. The gear ring 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 gear ring brake 101. The fixed part of the gear ring brake 101 is installed on the lower side of the support plate 71. When the single-motor vertical steering wheel needs to move, the gear ring brake 101 engages, and the gear ring cover 22 is fixedly connected to the support plate 71. Then, the gear ring 94, the inner ring 212 of the toothless slewing bearing 21, and the grooved shell 72 are fixed relative to the support plate 71. The single-motor vertical steering wheel will not generate 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. The rotation direction of the planet carrier 93 is the same as that of the sun gear 91, which in turn drives the first gear 111, the second gear 112, the shaft 113, the first bevel gear 114, the second bevel gear 115, and the wheel axle 116 to rotate. At this time, the wheel hub 117 rotates around the center line of the wheel axle 116, and the single-motor vertical steering wheel realizes the moving motion.

[0031] Based on the above embodiments, in one embodiment, approximately... Figures 6-7As shown, the third braking component is a planetary carrier brake 102, which is located on the lower side of the circular housing along the rotation center axis. When the single-motor vertical steering wheel needs to make a steering motion, the planetary carrier brake 102 engages, and the planetary carrier 93 is relatively fixedly connected to the housing 72. The planetary carrier 93 is fixed relative to the gear ring 94. The motor 82 and the reducer 83 drive the sun gear 91 to rotate, which in turn drives the planetary carrier 93 and the gear ring 94 to rotate and output power. The rotation speed and rotation direction of the planetary carrier 93 and the gear ring 94 are the same as those of the sun gear 91, thereby driving the gear ring cover 22, the inner ring 212 of the toothless slewing bearing 21, the first gear 111, the housing 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, thus enabling the single-motor vertical steering wheel to make a steering motion. Meanwhile, the first gear 111, the second gear 112, and the shaft 113 are all stationary relative to the wheel frame 73. Consequently, the first bevel gear 114 and the second bevel gear 115 are also stationary relative to the wheel frame 73. The wheel axle 116 and the wheel hub 117 will not rotate around the center line of the wheel axle 116. Therefore, when the single-motor vertical steering wheel makes a steering motion, it will not generate any accompanying travel motion.

[0032] In the various embodiments described above, the sun gear serves as the first power transmission end, the ring gear as the second power transmission end, and the planet carrier as the third power transmission end. In other embodiments, the planet carrier serves as the first power transmission end, the ring gear as the second power transmission end, and the sun gear as the third power transmission end; alternatively, the ring gear may serve as the first power transmission end, the planet carrier as the second power transmission end, and the sun gear as the third power transmission end. In all the embodiments described above, the braking component can be an electromagnetic brake or a mechanical friction brake.

[0033] Another major category of embodiments is as follows: In one basic embodiment, the single-motor steering wheel has a horizontal structure, including a support frame. A steering wheel about a vertical axis is mounted on the support frame, used to achieve steering motion of the steering wheel. A planetary gear mechanism about a horizontal axis is also mounted on the support frame. A drive motor is mounted on the support frame. The sun gear and planet carrier of the planetary gear mechanism serve as two power transmission ends. The planet carrier is connected to the steering wheel via a transmission reversing structure, and the sun gear is connected to the output shaft of the drive motor. The ring gear of the planetary gear mechanism serves as the traveling wheel. The support frame also has a second braking component for locking the steering wheel or the power transmission end connected to the steering wheel, and a third braking component for locking the ring gear. When the second braking component is locked, the steering wheel is locked, and the steering wheel only performs traveling motion; when the third braking component is locked, the traveling wheel is locked, and the steering wheel only performs steering motion.

[0034] Based on the above embodiments, in one embodiment, approximately... Figures 1-2As 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 of the external gear slewing bearing 61 and the inner ring 613 can rotate relative to each other around the rotation center axis of the external gear slewing bearing 61, forming a steering wheel. This rotation center axis is also the rotation center axis for the steering motion of the single-motor horizontal steering wheel. The first wheel frame 12 and the second wheel frame 13 are connected to the lower side of the support plate 11 through 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 follows: 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 embodiments, in one embodiment, approximately... Figures 1-2 As shown, the drive motor 21 is fixedly mounted on the outside of the first wheel frame 12, and the encoder 22 is fixedly mounted on the tail of the motor 21, which can measure the rotational speed of the motor 21. The planetary gear mechanism 3 is located 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 both sides of the gear ring 34 and are coaxially arranged with the gear ring 34. The first gear ring cover 51 is as follows: 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, and the outer ring of the first bearing 14 is fixedly connected to the mounting through hole of the first wheel carrier 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 carrier 13. The transmission reversing structure includes a first bevel gear 62 fixedly connected to the end of the output shaft of the planetary carrier 33 and meshing 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 meshes with the outer ring 611 of the external tooth slewing bearing 61, and finally inputs the motor power to the steering wheel mechanism to realize the steering of the steering wheel.

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

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

[0038] Let the ratio of the number of teeth of the ring gear 34 to the number of teeth of the sun gear 31 be... α When the single-motor horizontal steering wheel needs to move, the planetary carrier brake 42 engages, fixing the planetary carrier 33 relative to the second wheel carrier 13. At this time, the single-motor horizontal steering wheel will not steer. Meanwhile, the motor 21 drives the sun gear 31 to rotate, which in turn drives 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 drive wheel rotates around its axle, and the single-motor horizontal steering wheel realizes the driving motion.

[0039] When the single-motor horizontal steering wheel needs to make a steering motion, the gear ring brake 41 engages, and the first gear ring cover 51 is relatively fixedly connected to the first wheel carrier 12. The gear ring 34 is then fixed relative to the first wheel carrier 12. At this time, the single-motor horizontal steering wheel will not generate any traveling motion. The motor 21 drives the sun gear 31 to rotate, which in turn drives the planet carrier 33 to rotate. The rotation direction of the planet carrier 33 is the same as that of the sun gear 31, and the transmission ratio is 1 + 1 / 2. αThis, in turn, drives the first bevel gear 62, the second bevel gear 63, the reversing shaft 65, and the steering gear 64 to rotate. The rotation of the steering gear 64 causes the steering gear 64 to rotate relative to the outer ring 611 that meshes with it, thereby driving the support plate 11, the inner ring 613, the first wheel frame 12, the second wheel frame 13, and the drive wheel to rotate around the rotation center axis of the single-motor horizontal steering wheel, thus enabling the single-motor horizontal steering wheel to achieve steering motion.

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

[0041] In the above embodiments, both braking components are installed in the mounting through holes and are electromagnetic brakes. In other embodiments, the two braking components can be installed on the side of the wheel frame and can be mechanical friction brakes.

[0042] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. The scope of patent protection of the present invention shall be determined by the claims. Similarly, any equivalent structural changes made based on the description and drawings of the present invention shall also be included within the scope of protection of the present invention.

Claims

1. A single-motor steering wheel for an AGV, characterized in that: The system includes a support frame and a planetary gear mechanism. The support frame comprises a support plate and a housing. A steering wheel, arranged around a vertical axis, is mounted on the lower side of the support plate. The planetary gear mechanism is horizontally mounted on the steering wheel. The housing is fixedly connected to the gear ring. A wheel carrier and a third braking component are fixedly mounted on the outer bottom of the housing. A traveling wheel, arranged around a horizontal axis, is mounted on the wheel carrier. A drive motor is fixedly mounted on the support plate. The output end of the drive motor is connected to the sun gear of the planetary gear mechanism. The gear ring of the planetary gear mechanism is connected to the steering wheel. The output shaft of the planetary carrier of the planetary gear mechanism is connected to the traveling wheel via a reversing transmission structure. 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 slotted shell. The central gear is coaxially and fixedly connected to the output shaft of the planetary carrier of the planetary gear mechanism. The axle of the eccentric gear passes through the circular slotted shell and is connected to the traveling wheel via the reversing bevel gear set. The output shaft of the planetary carrier passes through the slotted shell and is rotatably assembled with the slotted shell and connected to a third braking component. The third braking component is used to lock the slotted shell and the output shaft of the planetary carrier to lock the gear ring and the planetary carrier. A second braking component for locking the gear ring and the support plate is also provided on the support frame.

2. The single-motor steering wheel according to claim 1, characterized in that: The steering wheel includes a toothless slewing bearing, and a planetary gear mechanism is installed in the middle of the inner ring of the toothless slewing bearing. The inner ring of the toothless slewing bearing is fixedly connected to the outer ring of the gear mechanism through its inner circumferential surface. The outer ring of the toothless slewing bearing is fixed to the lower side of the support plate. The outer ring and inner ring of the toothless slewing bearing can rotate relative to each other around the rotation center axis of the toothless slewing bearing.

3. The single-motor steering wheel according to claim 1 or 2, characterized in that: The groove shell is a circular groove shell with the opening facing upwards.

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

5. The single-motor steering wheel according to claim 2, characterized in that: The upper end of the inner ring is provided with a toothed ring cover, and the toothed ring cover has a hollow shaft protruding at the center of the cover body for the output shaft of the drive motor to pass through.

6. The single-motor steering wheel according to claim 5, characterized in that: The second braking component is a gear ring brake, the rotating part of which is connected to the hollow shaft, and the fixed part of which is installed on the lower side of the support plate.

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