Low small steering wheel structure

Abstract

The invention discloses a low and small steering wheel structure which comprises a bearing plate, the upper surface of the bearing plate is provided with a containing groove, and the lower surface of the bearing plate is provided with a driving wheel capable of intruding into the containing groove and a walking motor for controlling the driving wheel; the driving wheel part is arranged in the containing groove of the bearing plate, meanwhile, the steering motor is installed on the bottom face of the bearing plate, so that the whole steering wheel structure is more compact in the height direction, the overall height of the steering wheel is reduced, and the steering wheel is suitable for occasions with strict limitation on the height, such as a submerged AGV; moreover, even if large bearing capacity needs to be provided, the structure can guarantee the low height of the AGV steering wheel driving device, and the characteristics of low height and compactness of the AGV steering wheel driving device are not affected.

Description

Technical Field

[0001] The present invention relates to the technical field of transportation, and particularly to a low and small steering wheel structure. Background Art

[0002] An AGV (Automated Guided Vehicle), that is, an "Automated Guided Vehicle", refers to a load-bearing transport vehicle equipped with an automatic guidance device such as electromagnetic or optical, capable of traveling along a pre-set guidance path, and having safety protection and various transfer functions. In a flexible manufacturing system, an AGV has become an effective automatic transport tool for material transportation.

[0003] The height of the AGV steering wheel drive device depends on the cumulative result of the heights of the above four components. When the AGV steering wheel drive device needs to provide a large load-bearing capacity, the thickness of the support plate, the steering mechanism, and the diameter of the drive wheel will all increase accordingly, which will inevitably affect the overall height of the AGV steering wheel drive device. However, in the prior art, AGVs are often restricted by the requirements of space height.

[0004] Based on this, the present invention proposes a low and small steering wheel structure that can meet the requirement of achieving a non-reduced load-bearing capacity of the AGV steering wheel drive device at a relatively low height. Summary of the Invention

[0005] In order to solve the above problems, the present invention provides a low and small steering wheel structure to solve this problem.

[0006] To achieve the above object, the present application provides the following technical solutions:

[0007] A low and small steering wheel structure includes a bearing plate. An accommodation groove is provided on the upper surface of the bearing plate, and a drive wheel capable of invading the accommodation groove and a traveling motor for controlling the drive wheel are provided on the lower surface of the bearing plate.

[0008] It is further provided that: a traveling motor mounting plate is provided on the lower surface of the bearing plate, the traveling motor is mounted on the traveling motor mounting plate, and the output shaft of the traveling motor is connected to the drive wheel.

[0009] It is further provided that: an internal gear ring and a steering drive gear meshing with the internal gear ring are provided in the accommodation groove, and a steering motor connected to the steering drive gear is provided on the lower surface of the bearing plate.

[0010] It is further provided that: a speed measurement gear and an encoder are further included. The speed measurement gear meshes with the internal gear ring and is rotatably connected to the bottom of the accommodation groove, and the encoder is provided on the bottom surface of the bearing plate and connected to the speed measurement gear.

[0011] It is further configured as follows: an electromagnetic brake mounting plate which is also mounted on the bottom surface of the bearing plate is arranged on the side of the driving wheel away from the walking motor mounting plate, and an electromagnetic brake connected to the driving wheel is mounted on the electromagnetic brake mounting plate.

[0012] It is further configured to include a proximity switch connecting frame and a proximity switch sensor, wherein the proximity switch connecting frame is mounted on the inner gear ring, and the proximity switch sensor is used to sense the original position and left and right limit position signals when the inner gear ring rotates.

[0013] It is further configured as follows: it also includes a stop iron and two limit columns, the stop iron is installed in the installation groove of the inner gear ring, includes a mounting part and a limit part, and arc grooves are provided on both sides of the limit part; the two limit columns are respectively arranged on the steering drive gear and the driving gear on one side close to the stop iron, and can be embedded in the arc groove to limit the extreme position of the rotation of the inner gear ring.

[0014] It is further configured as follows: it also includes an integrated wiring hub arranged on the proximity switch connecting frame.

[0015] It is further configured as follows: it also includes a baffle, which is arranged at the bottom of the accommodating groove and is used to cover the intruding part of the driving wheel.

[0016] It is further configured that: a clearance hole for the driving wheel to pass through is opened at the bottom of the accommodating groove.

[0017] Compared with the prior art, the beneficial technical effects of the present invention are:

[0018] 1. Reduce the overall height: By placing the driving wheel part in the receiving groove of the bearing plate and installing the steering motor on the bottom surface of the bearing plate, the entire steering wheel structure is more compact in the height direction, reducing the overall height of the steering wheel, which is suitable for occasions with strict height restrictions, such as submersible AGVs; furthermore, even when the present invention needs to provide a larger load-bearing capacity, the structure can ensure a lower height of the AGV steering wheel drive device without affecting its low and compact characteristics.

[0019] 2. Improve installation accuracy: The travel motor mounting plate, electromagnetic brake mounting plate and drive wheel form an integral module. This integrated design reduces the cumulative error that may occur when each component is installed separately, ensures the relative position and dimensional accuracy between the components, and ensures the smooth installation and the compactness of the overall structure.

[0020] 3. Enhanced steering flexibility: The inner gear ring steering structure is adopted, and the steering drive gear is driven by the steering motor, which in turn drives the inner gear ring to rotate and realize the steering of the AGV body. This steering method can realize functions such as in-situ steering, so that the AGV has better steering flexibility and maneuverability in narrow spaces.

[0021] 4. Precise speed measurement and control: By meshing the speed measurement gear with the internal gear ring, the rotation of the internal gear ring is transmitted to the encoder to achieve precise measurement of the steering speed, which helps to improve the control accuracy of the AGV.

[0022] 5. Safety protection function: Equipped with proximity switch sensors to sense the original position and left and right limit position signals when the internal gear ring rotates. Combined with the settings of the limit posts and stop blocks, the limit positions of the rotation of the internal gear ring are effectively restricted to prevent over-steering and improve the safety of operation. Description of the Drawings

[0023] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0024] Figure 1 Schematic diagram of the overall structure of the present invention;

[0025] Figure 2 Schematic diagram of the overall structure of the present invention from a second angle;

[0026] Figure 3 Schematic diagram of the internal structure of the accommodation groove;

[0027] Figure 4 Top view of the present invention;

[0028] Figure 5 For Figure 4 Schematic diagram of the A-A section line in

[0029] Figure 6 Schematic diagram of the structure of the present invention after hiding the integrated wire rack.

[0030] Reference numerals: 1. Bearing plate; 2. Accommodation groove; 3. Internal gear ring; 4. Travel motor mounting plate; 5. Travel motor; 6. Driving wheel; 7. Relief hole; 8. Electromagnetic brake mounting plate; 9. Electromagnetic brake; 10. Steering drive gear; 11. Steering motor; 12. Speed measurement gear; 13. Encoder; 14. Proximity switch connecting frame; 15. Proximity switch sensor; 16. Installation groove; 17. Stop block; 18. Installation part; 19. Limiting part; 20. Arc groove; 21. Gear shielding plate; 22. Limit post; 23. Integrated wire rack; 24. Baffle. Detailed Embodiments

[0031] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0033] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] Example

[0035] Reference Figures 1-6 , which is a low and small steering wheel structure disclosed in the present invention, comprises a bearing plate 1 for connecting to an AGV body, a receiving groove 2 is provided on the upper surface of the bearing plate 1, an inner gear ring 3 is provided in the receiving groove 2, and the outer side wall of the inner gear ring 3 is abutted with the inner side wall of the receiving groove 2, a travel motor mounting plate 4 is provided on the bottom surface of the bearing plate 1, and a travel motor 5 is further provided below the bearing plate 1, the travel motor 5 is connected to the travel motor mounting plate 4, and the output shaft of the travel motor 5 passes through the travel motor mounting plate 4 and is connected to a driving wheel 6;

[0036] After the travel motor 5 is started, the output shaft of the travel motor 5 drives the driving wheel 6 to rotate, and the friction between the driving wheel 6 and the ground generates thrust, so that the AGV vehicle completes the movement.

[0037] A clearance hole 7 is provided at the bottom of the accommodating groove 2, so that the wheel body of the driving wheel 6 can pass through the clearance hole 7 and be placed in the accommodating groove 2, which effectively saves space, reduces the height of the AGV steering wheel drive device, makes the steering wheel structure more compact, contributes to the miniaturization design of the AGV trolley, and improves its maneuverability in narrow passages and limited spaces.

[0038] Further, it is used to perform emergency braking on the driving wheel 6.

[0039] A steering drive gear 10 meshing with the internal gear ring 3 is rotatably connected to the bottom of the receiving groove 2. A steering motor 11 is arranged on the bottom surface of the bearing plate 1. The output end of the steering motor 11 vertically penetrates the receiving groove 2 and is connected to the steering drive gear 10.

[0040] When the AGV main body needs to turn, the steering motor 11 is started, and its output shaft drives the steering drive gear 10 to rotate. Since the steering drive gear 10 meshes with the internal gear ring 3, the rotation of the steering drive gear 10 will drive the internal gear ring 3 to rotate, and the rotation of the internal gear ring 3 will further drive the bearing plate 1 and the AGV main body connected thereto to turn, thereby realizing the turning action of the AGV main body.

[0041] The steering method driven by the steering motor 11 in the present invention can realize functions such as in-situ turning, enabling the AGV main body to have better turning flexibility and mobility in a narrow space, and being able to more flexibly cope with complex paths and working environments.

[0042] Further, a speed measurement gear 12 meshing with the internal gear ring 3 is rotatably connected to the bottom of the receiving groove 2. An encoder 13 connected to the speed measurement gear 12 is arranged on the bottom surface of the bearing plate 1. Among them, the speed measurement gear 12 meshes with the internal gear ring 3 and can transmit the rotation of the internal gear ring 3 to the encoder 13. There is a transmission ratio relationship between the rotation speed of the speed measurement gear 12 and the rotation speed of the internal gear ring 3. By the tooth number ratio of the speed measurement gear 12 and the internal gear ring 3, the rotation speed of the internal gear ring 3 can be converted into a speed range suitable for the encoder 13 to measure, thereby realizing the accurate measurement of the turning speed.

[0043] Further, a proximity switch connecting frame 14 is installed on the internal gear ring 3. Three proximity switch sensors 15 are arranged on the proximity switch connecting frame 14 for sensing the original position and left and right limit position signals when the internal gear ring 3 rotates. Specifically, an installation groove 16 with an open inner side is opened on the upper surface of the internal gear ring 3. A stop iron 17 is installed at the installation groove 16, and the stop iron 17 is directly opposite to the three proximity switch sensors 15. The stop iron 17 includes an installation part 18 and a limit part 19. Among them, the installation part 18 is located in the installation groove 16, the limit part 19 is located in the receiving groove 2 and does not interfere with the internal gear ring 3, and arc-shaped grooves 20 are arranged on both sides of the limit part 19.

[0044] A gear baffle 21 is provided on the side of the steering drive gear 10 and the speed measuring gear 12 close to each other, and a limiting column 22 is provided on the side of the steering drive gear 10 and the speed measuring gear 12 close to the stop iron 17, and the limiting column 22 can be embedded in the two arc grooves 20; the setting of the limiting column 22 and the stop iron 17 is used to limit the two extreme positions of the inner gear ring 3 when rotating.

[0045] When the proximity switch sensor 15 is located in the middle of the steering drive gear 10 and the speed measuring gear 12, it is the original position of the inner gear ring 3. When the stop iron 17 fits with the limit column 22 close to the speed measuring gear 12, it is the left limit position. When the stop iron 17 fits with the limit column 22 close to the steering drive gear 10, it is the right limit position.

[0046] Furthermore, an integrated wiring hub 23 is provided on the proximity switch connecting frame 14, and a baffle 24 for covering the intruding part of the driving wheel 6 is provided at the bottom of the accommodating groove 2, and the baffle 24 is arranged in a U shape. The baffle 24 and the integrated wiring hub 23 are arranged to prevent the driving wheel 6 from rubbing and entanglement with the cable.

[0047] The working principle and beneficial effects of the present invention are:

[0048] The present invention reduces the height and places the driving wheel 6 partially in the receiving groove 2 of the bearing plate 1, and at the same time installs the steering motor 11 on the bottom surface of the bearing plate 1, so that the entire steering wheel structure is more compact in the height direction, and the overall height of the steering wheel is reduced, which is suitable for occasions with strict height restrictions, such as submersible AGV, etc.

[0049] The travel motor mounting plate 4, the electromagnetic brake mounting plate 8 and the drive wheel 6 form an integral module. This integrated design reduces the cumulative errors that may occur when each component is installed separately when the entire module is installed on the carrier plate 1, and can ensure the relative position and dimensional accuracy of each component. In this way, when installing the travel motor 5 and the drive wheel 6, the coaxiality and other installation requirements between them can be better guaranteed.

[0050] The integrated structural design makes the relative positions of the components more reasonable, reduces the interference problems that may occur between the components during the installation process, and further ensures the smooth installation and the compactness of the overall structure.

[0051] Due to the use of the inner gear ring 3 steering structure and the invasive bearing plate 1 structure, it can be ensured structurally that the drive wheel 6 can be inserted into the inner gear ring 3 steering structure, effectively reducing the height of the AGV steering wheel drive device. On the premise of a certain load, that is, when the thickness of the inner gear ring 3 and the diameter of the drive wheel 6 are certain, a smaller height of the AGV steering wheel drive device can be obtained. When the AGV steering wheel drive device needs to provide a large load-bearing capacity, even if the thickness of the inner gear ring 3 and the diameter of the drive wheel 6 both increase, a lower height of the AGV steering wheel drive device can still be ensured.

[0052] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A low and small-sized steering wheel structure, characterized in that, A low and small steering wheel structure is provided, characterized in that it comprises a bearing plate (1), the upper surface of the bearing plate (1) is provided with a receiving groove (2), and the lower surface of the bearing plate (1) is provided with a driving wheel (6) capable of invading the receiving groove (2) and a travel motor (5) for controlling the driving wheel (6).

2. The low and small steering wheel structure according to claim 1, characterized in that A travel motor mounting plate (4) is provided on the lower surface of the bearing plate (1), the travel motor (5) is mounted on the travel motor mounting plate (4), and the output shaft of the travel motor (5) is connected to the driving wheel (6).

3. A low-profile and small-sized steering wheel structure according to claim 1, characterized in that, An inner gear ring (3) and a steering drive gear (10) meshing with the inner gear ring (3) are arranged in the receiving groove (2), and a steering motor (11) connected to the steering drive gear (10) is arranged on the lower surface of the bearing plate (1).

4. A low-profile and small-sized steering wheel structure according to claim 3, characterized in that, It also includes a speed measuring gear (12) and an encoder (13), wherein the speed measuring gear (12) is meshed with the inner gear ring (3) and is rotatably connected to the bottom of the accommodating groove (2), and the encoder (13) is arranged on the bottom surface of the bearing plate (1) and is connected to the speed measuring gear (12).

5. A low-profile and small-sized steering wheel structure according to claim 2, characterized in that, An electromagnetic brake mounting plate (8) which is also mounted on the bottom surface of the bearing plate (1) is provided on the side of the driving wheel (6) facing away from the travel motor mounting plate (4), and an electromagnetic brake (9) connected to the driving wheel (6) is mounted on the electromagnetic brake mounting plate (8).

6. The structure of a low-profile small steering wheel according to claim 3, characterized in that It also includes a proximity switch connecting frame (14) and a proximity switch sensor (15), wherein the proximity switch connecting frame (14) is mounted on the inner gear ring (3), and the proximity switch sensor (15) is used to sense the original position and left and right limit position signals when the inner gear ring (3) rotates.

7. A low-profile and small-sized steering wheel structure according to claim 4, characterized in that, It also comprises a stop iron (17) and two limit columns (22), wherein the stop iron (17) is installed in the installation groove (16) of the inner gear ring (3), and comprises a mounting portion (18) and a limit portion (19), and arc grooves (20) are arranged on both sides of the limit portion (19); the two limit columns (22) are respectively arranged on the steering drive gear (10) and the side of the drive gear close to the stop iron (17), and can be embedded in the arc groove (20) to limit the extreme position of the rotation of the inner gear ring (3).

8. A low-profile and small-sized steering wheel structure according to claim 6, characterized in that, It also includes an integrated wiring hub (23) arranged on the proximity switch connection frame (14).

9. A low-profile and small-sized steering wheel structure according to claim 1, characterized in that, It also includes a baffle (24), which is arranged at the bottom of the accommodating groove (2) and is used to cover the intruding part of the driving wheel (6).

10. A low-profile and small-sized steering wheel structure according to claim 1, characterized in that, The bottom of the accommodating groove (2) is provided with a clearance hole (7) for the driving wheel (6) to pass through.

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