Unicycle steering device

Abstract

The application discloses a unicycle steering device, which comprises a steering disc, a steering mechanism, a speed reduction mechanism, a connecting mechanism, a rotary mechanism and a steering execution mechanism. The steering mechanism is in driving connection with the steering disc through a first connecting piece, the speed reduction mechanism is in driving connection with the steering mechanism through a second connecting piece, the lower part of the speed reduction mechanism is assembled in the connecting mechanism, and the top of the connecting mechanism is used for being connected with a vehicle body. The upper part and the lower part of the rotary mechanism are relatively rotatable, and the lower part of the connecting mechanism is arranged in the inner cavity of the rotary mechanism. The steering execution mechanism is rotatably connected with the connecting mechanism through the rotary mechanism, the top of the steering execution mechanism is connected with the bottom of the rotary mechanism, and the bottom is provided with a rolling part in rolling contact with the ground. The output end of the speed reduction mechanism is in driving connection with the steering execution mechanism through a third connecting piece, so as to drive the steering execution mechanism to steer around the Z-axis direction. The application has the advantages of compact structure, reliable transmission and accurate steering control, and is suitable for various vehicles or equipment which need unicycle steering.

Description

Technical Field

[0001] This invention relates to the field of vehicle steering technology, and more specifically to a single-wheel steering device. Background Technology

[0002] With the rapid development of electric vehicle technology, the steering system, as a key safety component, directly affects the vehicle's handling and safety. Traditional steering systems mostly use mechanical transmission, achieving wheel steering control through the cooperation of components such as the steering wheel, steering mechanism, and transmission mechanism.

[0003] However, existing steering mechanisms still have some technical problems. In particular, steering mechanisms using sprocket and chain drives have the following shortcomings: First, sprocket and chain drive mechanisms occupy a large space, making it difficult to optimize the overall vehicle layout; second, lubrication and maintenance of the chain and sprockets are inconvenient, and the grease used for lubrication easily falls to the ground, causing environmental pollution; in addition, traditional steering mechanisms are generally large in size, resulting in a smaller limitation on wheel sway angle, making it difficult to meet the steering flexibility requirements of small electric vehicles operating in confined spaces. These problems limit the application of steering mechanisms in compact electric vehicles, especially for industrial vehicles and special vehicles that require frequent turning operations in confined spaces. Summary of the Invention

[0004] The technical problem to be solved by this invention is to address the shortcomings of existing steering devices using sprocket and chain drives, such as large space occupation, inconvenience to overall vehicle layout, inconvenient chain and sprocket lubrication, easy grease falling to the ground and causing pollution, large steering device size, small wheel swing angle, and unsuitability for small electric vehicles operating in narrow areas. This invention provides a single-wheel steering device that achieves the technical effects of small size, convenient vehicle layout design, large turning angle, large wheel swing angle, flexible steering, light steering, small steering force, small turning radius, low center of gravity, and good stability.

[0005] The technical solution adopted by this invention to solve its technical problem is: to provide a single-wheel steering device, comprising:

[0006] Steering wheel;

[0007] The steering mechanism is connected to the steering wheel via a first connecting member;

[0008] The reduction mechanism is connected to the steering mechanism via a second connecting member.

[0009] The connecting mechanism is connected to the vehicle body at its upper part; the deceleration mechanism is connected to the bottom wall of the inner cavity of the connecting mechanism.

[0010] The rotary mechanism has an upper and lower part that can rotate relative to each other; its upper surface is connected to the upper part of the connecting mechanism, and the lower part of the connecting mechanism is located in the inner cavity of the rotary mechanism.

[0011] The steering actuator is rotatably connected to the slewing mechanism and the connecting mechanism. The top of the steering actuator is connected to the lower surface of the slewing mechanism, and the bottom is provided with a rolling component that rolls in contact with the ground.

[0012] The output end of the deceleration mechanism is connected to the steering actuator via a third connector to drive the steering actuator to turn in the vertical direction.

[0013] In this way, by rationally planning the transmission connections and assembly structure of the steering wheel, steering mechanism, reduction mechanism, connecting mechanism, slewing mechanism, and steering actuator, stable transmission and precise control of the single-wheel steering are achieved. The design of the connecting mechanism's top plate connecting to the vehicle body and the bottom plate connecting to the reduction mechanism allows the reduction mechanism to be stably mounted under the vehicle body, ensuring the installation reliability of the core transmission components. The slewing mechanism's upper and lower parts can rotate relative to each other, and its assembly relationship with the connecting mechanism and steering actuator provides a flexible rotational basis for the vertical steering of the steering actuator, avoiding jamming or interference during steering. Through the orderly cooperation of multiple mechanisms, the entire device allows the steering wheel's operating force to be sequentially transmitted to the steering actuator, driving the rolling components to achieve steering. While ensuring steering flexibility, it also improves the overall structural stability and load-bearing capacity of the device, ensuring the smoothness of the equipment during driving and steering.

[0014] In some embodiments, the device further includes a support bend plate connected to the vehicle body; the steering mechanism is a power-assisted motor steering gear, the input shaft of the power-assisted motor steering gear is connected to the output shaft of the steering wheel through a first connector, and its output shaft is connected to the input shaft of the reduction mechanism through a second connector.

[0015] Among them, the power steering motor is mounted on the support plate, and its output shaft passes through the pre-set mounting hole of the support plate.

[0016] A bearing is mounted on the output shaft of the power steering motor. The inner ring of the bearing is connected to the output shaft of the power steering motor, and the outer ring is connected to the inner wall of the pre-set mounting hole of the support plate.

[0017] In some embodiments, the reduction mechanism is a planetary reducer. The input shaft of the planetary reducer is connected to the steering mechanism via a second connector, and the output shaft is connected to the steering actuator via a third connector, so that the steering torque transmitted by the steering mechanism is reduced and amplified before being transmitted to the steering actuator.

[0018] In some embodiments, the first connecting member is a coupling and the second connecting member is a universal joint;

[0019] One end of the coupling is fixedly connected to the output shaft of the steering wheel, and the other end is fixedly connected to the input shaft of the power steering motor; one end of the universal joint is fixedly connected to the output shaft of the power steering motor, and the other end is fixedly connected to the input shaft of the planetary reducer.

[0020] In some embodiments, the connection mechanism includes:

[0021] A frame plate is used to connect the vehicle body; a first through hole is provided on it along the Z-axis direction.

[0022] A concave shell is connected to the lower surface of the frame plate. The inner cavity of the concave shell is connected to the first through hole, and a second through hole is provided on its bottom wall in a vertical direction.

[0023] The lower part of the deceleration mechanism is located in the inner cavity of the concave housing. The bottom of the housing of the deceleration mechanism is connected to the bottom wall of the concave housing. The output shaft of the deceleration mechanism passes through the second through hole and is connected to the steering actuator.

[0024] In some embodiments, the connecting mechanism further includes a limiting plate, which is mounted on the lower surface of the frame plate and extends downward.

[0025] The steering actuator is equipped with two limit blocks, which are symmetrically arranged along the X-axis.

[0026] During steering, when the limit plate comes into contact with any of the limit blocks, it can limit the steering wheel from continuing to rotate, thus achieving steering limitation.

[0027] In some embodiments, the rotary mechanism is a coreless turntable, including an outer tray, an inner tray, and a plurality of balls arranged circumferentially between the outer tray and the inner tray to enable relative rotation between the outer tray and the inner tray.

[0028] The upper end face of the outer pallet is connected to the lower surface of the frame plate, and the lower surface of the outer pallet is spaced apart from the steering actuator. The lower end face of the inner pallet is connected to the steering actuator. The concave housing extends into the inner cavity of the coreless turntable, and a rotation gap is reserved between the outer peripheral wall of the concave housing and the inner peripheral wall of the coreless turntable.

[0029] The output shaft of the deceleration mechanism extends into the inner cavity of the coreless turntable after passing through the second through hole, and is connected to the steering actuator through the third connector.

[0030] In some embodiments, the steering actuator includes a bogie and steering wheels;

[0031] The bogie includes a top plate and two parallel ear plates spaced apart. Two limiting blocks are installed on the outer peripheral wall of the top plate. Both ear plates are located below the top plate and connected to it.

[0032] The steering wheel is located between two ear plates, and a connecting shaft extending along the X-axis passes through the center of the steering wheel. The connecting shaft is rotatably connected to the steering wheel through a support member. The two ends of the connecting shaft pass through the ear plates on the same side and are connected to the ear plates.

[0033] The third connecting component is a connecting flange, which is installed inside the top plate of the bogie, and the output shaft of the reduction mechanism is connected to the connecting flange.

[0034] In some embodiments, the support is a tapered roller bearing.

[0035] In some embodiments, the steering wheel is a solid rubber wheel or an inflatable tire, and the outer peripheral wall of the steering wheel is provided with anti-slip treads.

[0036] The advantages of this invention are as follows: compared with traditional chain-driven steering wheels, the single-wheel steering structure facilitates the overall vehicle layout, is small in size, and is convenient for vehicle layout design; the planetary reducer reduces the steering force of turning the steering wheel, making steering light and easy; the turning angle is large, the wheel swing angle is large, the steering is flexible, and the turning radius is small; the power supply is designed between the front and rear axles, lowering the center of gravity, resulting in good stability; it is particularly suitable for small operating vehicles in narrow areas such as underground warehouses, and the vehicle has good passability. Attached Figure Description

[0037] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0038] Figure 1 A schematic diagram of a single-wheel steering device provided for an embodiment of this application;

[0039] Figure 2 for Figure 1 Exploded view;

[0040] Figure 3 for Figure 1 Cross-sectional view at point BB;

[0041] Figure 4 for Figure 1 Cross-sectional view at point AA;

[0042] Figure 5 A schematic diagram of the structure of the supporting bent plate provided in an embodiment of this application;

[0043] Figure 6 A schematic diagram of the connection mechanism provided in the embodiments of this application;

[0044] Figure 7 A schematic diagram of the structure of the rotary mechanism provided in the embodiments of this application;

[0045] Figure 8 This is a schematic diagram of the steering actuator provided in an embodiment of this application.

[0046] The attached figures are labeled as follows:

[0047] 1- Steering wheel;

[0048] 2-Steering mechanism;

[0049] 3-Reduction mechanism;

[0050] 4-Connecting mechanism; 41-Frame plate; 411-First through hole; 42-Concave housing; 421-Second through hole; 43-Limiting plate;

[0051] 5-Slewing mechanism; 51-Outer pallet; 52-Inner pallet; 53-Ball bearings;

[0052] 6-Steering actuator; 61-Bogie; 611-Top plate; 612-Ear plate; 613-Limit block; 62-Steering wheel;

[0053] 7-Supporting bend plate;

[0054] 8-Connecting shaft;

[0055] a. First connecting member; b. Second connecting member; c. Third connecting member; d. Support member. Detailed Implementation

[0056] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. Of course, the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0057] The present invention will now be described in further detail with reference to the accompanying drawings and specific preferred embodiments.

[0058] In the description of this invention, it should be understood that the terms "left side," "right side," "upper part," "lower part," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. "First," "second," etc., do not indicate the importance of the components, and therefore should not be construed as a limitation of this invention. The specific dimensions used in this embodiment are only for illustrating the technical solution and do not limit the scope of protection of this invention.

[0059] For ease of description below, an XYZ coordinate system is established, defining the length direction of the wheel unicycle as the X-axis, the width direction as the Y-axis, and the height direction as the Z-axis. It is understood that the coordinate system of the wheel unicycle can be flexibly set according to actual needs; this application only provides an example and should not be considered a specific limitation thereof.

[0060] Please see Figure 1 , Figure 2 , Figure 3 , Figure 4 as well as Figure 5 , Figure 1 A schematic diagram of a single-wheel steering device provided for an embodiment of this application. Figure 2 for Figure 1 Explosion diagram, Figure 3 for Figure 1 Cross-sectional view at point BB. Figure 4 for Figure 1 Cross-sectional view at point AA. Figure 5 The schematic diagram of the supporting bending plate 7 provided in the embodiment of this application shows that the device includes a steering wheel 1, a steering mechanism 2, a deceleration mechanism 3, a connecting mechanism 4, a slewing mechanism 5, and a steering actuator 6. By rationally planning the transmission connection relationship and assembly structure of the steering wheel 1, steering mechanism 2, deceleration mechanism 3, connecting mechanism 4, slewing mechanism 5, and steering actuator 6, it realizes stable transmission and precise control of single-wheel steering.

[0061] In some embodiments, the steering wheel 1 serves as an input component, and its output shaft is connected to the steering mechanism 2 via a first connector a. The input shaft of the steering mechanism 2 is connected to the output shaft of the steering wheel 1 via the first connector a, providing steering assistance to the operator and reducing operating torque. The steering mechanism 2 is mounted on a support plate 7, which provides a stable mounting base for the steering mechanism 2. The output shaft of the steering mechanism 2 passes through a pre-set mounting hole in the support plate 7. Furthermore, to ensure smooth rotation of the output shaft of the steering mechanism 2, a bearing is installed on the output shaft. The inner ring of the bearing is connected to the output shaft of the steering mechanism 2, and the outer ring is connected to the inner wall of the pre-set mounting hole in the support plate 7. The bearing effectively reduces rotational friction, improving the sensitivity and service life of the steering system.

[0062] In some examples, the steering mechanism 2 can adopt a power steering motor structure, which is a mature existing technology and will not be described in detail here.

[0063] In this way, the support plate 7 provides a stable mounting platform for the power steering motor, preventing displacement due to vibration during operation and ensuring the accuracy of steering transmission. The application of the power steering motor effectively reduces the steering effort required by the operator, making it particularly suitable for equipment requiring frequent steering or bearing heavy loads, thus improving operational convenience and comfort. Furthermore, the power steering motor output shaft passes through the pre-set mounting hole in the support plate 7, and its connection to the inner wall of the mounting hole via a bearing reduces frictional resistance during output shaft rotation, minimizing component wear. Simultaneously, the bearing provides radial positioning for the output shaft, preventing offset during rotation and further ensuring the stability of the connection with the subsequent reduction mechanism 3, extending the service life of the device.

[0064] For example, the first connecting member a can be a coupling, one end of which is fixedly connected to the output shaft of the steering wheel 1, and the other end is fixedly connected to the input shaft of the power steering motor. The coupling can transmit torque and compensate for minor deviations between shafts.

[0065] In some embodiments, the reduction mechanism 3 may employ a planetary reducer structure, which is connected to the steering mechanism 2 via a second connector b. The input shaft of the planetary reducer is connected to the output shaft of the power steering motor via the second connector b, and the output shaft of the planetary reducer is connected to the steering actuator 6 via a third connector c. The function of the planetary reducer is to convert the high speed and low torque output of the power steering motor into low speed and high torque, providing sufficient driving torque for the steering actuator 6 and ensuring the reliability and stability of the steering action.

[0066] In this way, the reduction mechanism 3, through its input shaft connected to the steering mechanism 2 and its output shaft connected to the steering actuator 6, achieves the reduction and amplification of steering torque transmission, adapting to the power requirements of actual products. The addition of the planetary reducer amplifies the torque transmitted by the steering mechanism 2 while reducing the rotational speed, allowing the steering actuator 6 to obtain sufficient driving force, ensuring smooth and powerful steering action, avoiding problems such as sluggish steering or understeer, and enabling the device to adapt to equipment with different load specifications, improving the device's versatility and applicability. At the same time, precise torque transmission also reduces energy loss and improves the transmission efficiency of the steering system.

[0067] For example, the second connecting component b can be a universal joint structure. One end of the universal joint is fixedly connected to the output shaft of the power steering motor, and the other end is fixedly connected to the input shaft of the planetary reducer. The design of the universal joint allows for a certain angular deviation between the two shafts, improving the adaptability and reliability of the system. Specifically, the universal joint is used to connect the output shaft of the power steering motor and the input shaft of the planetary reducer. Since there may be a certain angular deviation between the installation positions of the power steering motor and the planetary reducer in actual product assembly, the universal joint can adapt to the power transmission requirements at different angles, avoiding transmission jamming or component damage caused by installation angle problems. The reasonable combination of the two connecting components makes the transmission of the steering system more flexible and stable, reduces the assembly precision requirements, and facilitates product production, assembly, and subsequent maintenance.

[0068] Please see Figure 6 Combined Figures 1 to 4 , Figure 6 The schematic diagram of the connecting mechanism 4 provided in the embodiments of this application shows that in some embodiments, the connecting mechanism 4 may include a frame plate 41 and a concave housing 42. The frame plate 41 is used to connect with the vehicle body, and a first through hole 411 extending along the Z-axis is provided on the frame plate 41 to provide a channel for the drive shaft. The concave housing 42 is connected to the lower surface of the frame plate 41, and the inner cavity of the concave housing 42 communicates with the first through hole 411 to form a complete internal space. A second through hole 421 extending along the Z-axis is provided on the bottom wall of the concave housing 42. The lower region of the reduction mechanism 3 is located in the inner cavity of the concave housing 42, and the bottom of the housing of the reduction mechanism 3 is connected to the bottom wall of the concave housing 42. The output shaft of the reduction mechanism 3 passes through the second through hole 421 and is connected to the steering actuator 6 for transmission. This structural design provides good protection for the reduction mechanism 3 and facilitates maintenance and repair.

[0069] Specifically, the combination of the bracket plate 41 and the concave housing 42 further optimizes the assembly rationality and structural stability of the components. The first through hole 411 on the bracket plate 41 communicates with the inner cavity of the concave housing 42, providing reasonable space for the installation of the reduction mechanism 3. The concave housing 42 can protect the reduction mechanism 3 by enclosing it, preventing external dust and impurities from entering the reduction mechanism and affecting its working performance. It can also reduce the vibration transmitted to the vehicle body during the operation of the reduction mechanism 3. The bottom of the housing of the reduction mechanism 3 is connected to the bottom wall of the concave housing 42, and the output shaft passes through the second through hole 421 to drive the steering actuator 6. This design achieves precise positioning and installation of the reduction mechanism 3, ensuring the coaxiality of its output shaft and the steering actuator 6, and improving the stability of torque transmission. The modular connection mechanism 4 structure facilitates the step-by-step assembly and maintenance of each component, reduces production and maintenance costs, and improves the overall load-bearing capacity of the connection mechanism 4, adapting to the actual working load requirements of the equipment.

[0070] In some instances, the frame plate 41 is provided with multiple bolt mounting holes for detachable connection to the vehicle body via bolts. This connection method ensures both the strength of the connection and facilitates the installation and disassembly of the device.

[0071] Please see Figure 7 Combined Figures 1 to 4 , Figure 7 The schematic diagram of the structure of the rotary mechanism 5 provided in the embodiments of this application shows that in some embodiments, the rotary mechanism 5 may adopt a coreless turntable structure. The coreless turntable includes an outer tray 51, an inner tray 52, and a plurality of balls 53 arranged circumferentially between the outer tray 51 and the inner tray 52 to realize relative rotation between the outer tray 51 and the inner tray 52.

[0072] The upper surface of the outer tray 51 is connected to the lower surface of the support plate 41, providing stable rotational support for the entire steering system. The lower surface of the outer tray 51 is spaced apart from the steering actuator 6, and the lower surface of the inner tray 52 is connected to the steering actuator 6. The concave housing 42 extends into the inner cavity of the coreless turntable, and a rotational clearance is reserved between the outer peripheral wall of the concave housing 42 and the inner peripheral wall of the coreless turntable. This design ensures smooth rotation during steering and reduces frictional resistance.

[0073] This design ensures a stable connection between the connecting mechanism 4 and the rotary mechanism 5, while preventing interference between the concave housing 42 and the coreless turntable during steering, allowing for smoother rotation of the steering actuator 6. The coreless turntable's structural design provides ample space for the connection between the output shaft of the reduction mechanism 3 and the steering actuator 6, facilitating the installation and transmission of the third connecting component c. Simultaneously, the coreless turntable possesses excellent load-bearing capacity and rotational accuracy, stably supporting the weight of the connecting mechanism 4 and the upper components, ensuring the overall stability of the device during steering. This design makes the steering system more compact, saving internal space and adapting to the design requirements of miniaturized equipment.

[0074] Please see Figure 8 Combined Figures 1 to 4 , Figure 8 The schematic diagram of the steering actuator 6 provided in the embodiments of this application shows that in some embodiments, the steering actuator 6 is rotatably connected to the connecting mechanism 4 via the slewing mechanism 5, and the top of the steering actuator 6 is connected to the bottom of the slewing mechanism 5, with a rolling component at the bottom that rolls in contact with the ground. Specifically, the steering actuator 6 may include a bogie 61 and steering wheels 62. The bogie 61 includes a top plate 611 and two parallel ear plates 612 spaced apart. The top plate 611 provides the main frame for the bogie 61, and the two ear plates 612 are connected below the top plate 611 to provide mounting support for the steering wheels 62.

[0075] In this way, the combination of bogie 61 and steering wheel 62 optimizes the load-bearing and steering performance of steering actuator 6. The top plate 611 of bogie 61 is used to install the limiting block 613 and connect the third connecting piece c, while the two ear plates 612 provide a stable support structure for the installation of steering wheel 62, ensuring that steering wheel 62 can be firmly assembled and rotate flexibly. The connecting shaft 8 is rotatably connected to steering wheel 62 via support member d. The design of connecting the two ends of the connecting shaft 8 to the ear plates 612 achieves precise positioning of steering wheel 62, preventing displacement or wobbling during rolling. The third connecting piece c uses a connecting flange, which is fixedly connected to the top plate 611 of bogie 61 and the output shaft of reduction mechanism 3, ensuring stable torque transmission and allowing steering actuator 6 to respond precisely to steering operations. This modular structure of steering actuator 6 facilitates the replacement and maintenance of steering wheel 62, while also improving the load-bearing capacity of steering actuator 6, ensuring the driving stability of the equipment under different road conditions.

[0076] In some instances, multiple reinforcing ribs are added between the lower surface of the top plate 611 and the side of the ear plate 612 to ensure the structural robustness of the bogie 61.

[0077] Please combine Figures 6 to 8 In some embodiments, the connecting mechanism 4 further includes a limiting plate 43, which is fixedly installed on the lower surface of the frame plate 41 and extends downward. Furthermore, the steering actuator 6 is provided with two limiting blocks 613, which are fixedly installed on the outer peripheral wall of the top plate 611 of the bogie 61 and symmetrically arranged along the X-axis. During steering, when the limiting plate 43 abuts against the corresponding limiting block 613, the steering wheel 1 is restricted from continuing to rotate to achieve steering limitation. This limiting mechanism effectively prevents system damage caused by excessive steering angle.

[0078] Specifically, steering is limited by the contact between the limiting plate 43 and the limiting block 613, ensuring the safety and reliability of the product. The limiting block 613 is symmetrically arranged along the X-axis, precisely limiting the maximum steering angle of the steering actuator 6 during steering, preventing oversteering. This mechanical limiting structure is simple and reliable, requiring no additional electronic control components, reducing product cost and the probability of failure. Furthermore, the contact between the limiting plate 43 and the limiting block 613 is smooth, preventing sudden impacts on steering movements and ensuring a comfortable operating experience for the operator and stable equipment operation.

[0079] Furthermore, the steering wheel 62 is positioned between two ear plates 612, and is rotatably connected to the ear plates 612 via a connecting shaft 8 and a support member d. For example, the support member d can be a tapered roller bearing, which can withstand radial and axial loads, providing reliable rotational support for the steering wheel 62 and ensuring its stable operation under various working conditions. Specifically, tapered roller bearings have excellent radial and axial load-bearing capacity, effectively dispersing the combined forces transmitted by the steering wheel, reducing bearing wear rate, and extending its service life. Simultaneously, the high rotational precision of tapered roller bearings reduces frictional resistance during the rotation of the steering wheel 62, making steering actions smoother and more precise, improving the steering operation experience of the equipment, and is particularly suitable for equipment scenarios with heavy loads.

[0080] In some examples, the third connecting member c can be a connecting flange structure, which is fixedly installed in the top plate 611 of the bogie 61, and the output shaft of the reduction mechanism 3 is fixedly connected to the connecting flange. The design of the connecting flange facilitates the connection and separation of the reduction mechanism 3 and the steering actuator 6, while ensuring the reliability of the transmission.

[0081] In some examples, the steering wheel 62, as a rolling component in contact with the ground, can be a solid rubber wheel or an inflatable tire structure. The outer peripheral wall of the steering wheel 62 is provided with anti-slip treads, which increase the friction between the steering wheel 62 and the ground, improving stability and safety during driving, especially effectively preventing slippage on wet and slippery surfaces.

[0082] Specifically, solid rubber wheels are wear-resistant and puncture-resistant, suitable for scenarios with debris on the ground and complex road conditions, eliminating concerns about tire damage and reducing maintenance costs. Pneumatic tires, on the other hand, offer excellent cushioning performance, mitigating bumps during driving and improving ride comfort, making them suitable for smooth road surfaces. The choice of two tire materials allows the product to adapt to different usage environments, enhancing its versatility. The anti-slip treads on the outer circumference of the steering wheel 62 increase the friction between the tire and the ground, especially on wet or slippery surfaces, effectively preventing wheel slippage and ensuring stability during steering and driving, reducing safety hazards.

[0083] The working principle of the entire one-wheel steering device is as follows: the operator turns the steering wheel 1, and the steering torque is transmitted to the power steering motor via the coupling. The power steering motor amplifies the input torque and then transmits it to the planetary reducer via a universal joint. The planetary reducer converts high speed and low torque into low speed and high torque, and then transmits the driving torque to the steering actuator 6 via the connecting flange. The steering actuator 6 rotates around the Z-axis under the action of the driving torque, thereby realizing the steering function. The coreless turntable provides stable rotational support for the entire steering process, while the cooperation of the limit plate 43 and the limit block 613 ensures that the steering angle is within a safe range. This design achieves simple operation, flexible steering, and compact structure for one-wheel steering control, and is suitable for various single-wheel vehicles or equipment that require precise steering control.

[0084] The above description is merely a preferred embodiment of the present invention, and the present invention is not limited to the above embodiments. It is understood that other improvements and variations that are directly derived or conceived by those skilled in the art without departing from the spirit and concept of the present invention should be considered to be included within the protection scope of the present invention.

Claims

1. A single-wheel steering device, characterized in that, include: Steering wheel (1); The steering mechanism (2) is connected to the steering wheel (1) via a first connecting member (a); The deceleration mechanism (3) is connected to the steering mechanism (2) via the second connector (b); The connecting mechanism (4) is connected to the vehicle body at its upper part; the deceleration mechanism (3) is connected to the bottom wall of the inner cavity of the connecting mechanism (4); The upper and lower parts of the rotary mechanism (5) can rotate relative to each other; its upper surface is connected to the upper part of the connecting mechanism, and the lower part of the connecting mechanism (4) is located in the inner cavity of the rotary mechanism (5); The steering actuator (6) is rotatably connected to the connecting mechanism (4) via the rotary mechanism (5). The top of the steering actuator (6) is connected to the lower surface of the rotary mechanism (5), and the bottom is provided with a rolling component that rolls in contact with the ground. The output end of the deceleration mechanism (3) is connected to the steering actuator (6) via a third connector (c) to drive the steering actuator (6) to turn around the Z-axis. The connecting mechanism (4) includes: A frame plate (41) is used to connect the vehicle body; a first through hole (411) is provided on it along the Z-axis direction. A concave shell (42) is connected to the lower surface of the frame plate (41). The inner cavity of the concave shell (42) is connected to the first through hole (411). A second through hole (421) is provided on its bottom wall along the Z-axis direction. The lower part of the deceleration mechanism (3) is located in the inner cavity of the concave housing (42). The bottom of the housing of the deceleration mechanism (3) is connected to the bottom wall of the concave housing (42). The output shaft of the deceleration mechanism (3) passes through the second through hole (421) and is connected to the steering actuator (6) for transmission. The rotary mechanism (5) is a coreless turntable, including an outer tray (51), an inner tray (52), and a plurality of balls (53) arranged circumferentially between the outer tray (51) and the inner tray (52) to realize relative rotation of the outer tray (51) and the inner tray (52); The upper end face of the outer tray (51) is connected to the lower surface of the frame plate (41), the lower surface of the outer tray (51) is spaced apart from the steering actuator (6), and the lower end face of the inner tray (52) is connected to the steering actuator (6); the concave housing (42) extends into the inner cavity of the coreless turntable, and a rotation gap is reserved between the outer peripheral wall of the concave housing (42) and the inner peripheral wall of the coreless turntable; The output shaft of the deceleration mechanism (3) extends into the inner cavity of the coreless turntable after passing through the second through hole (421), and is connected to the steering actuator (6) through the third connector (c).

2. The single-wheel steering device according to claim 1, characterized in that, It also includes a support bend plate (7) connected to the vehicle body; the steering mechanism (2) is a power steering motor, the input shaft of the power steering motor is connected to the output shaft of the steering wheel (1) through the first connector (a), and its output shaft is connected to the input shaft of the reduction mechanism (3) through the second connector (b); The power steering motor is mounted on the support plate (7), and its output shaft passes through the preset mounting hole of the support plate (7). A bearing is fitted on the output shaft of the power steering motor. The inner ring of the bearing is connected to the output shaft of the power steering motor, and the outer ring is connected to the inner wall of the preset mounting hole of the support plate (7).

3. The single-wheel steering device according to claim 2, characterized in that, The deceleration mechanism (3) is a planetary reducer. The input shaft of the planetary reducer is connected to the steering mechanism (2) through the second connector (b), and the output shaft is connected to the steering actuator (6) through the third connector (c) so that the steering torque transmitted by the steering mechanism (2) is transmitted to the steering actuator (6) after deceleration and torque amplification.

4. The single-wheel steering device according to claim 3, characterized in that, The first connecting component (a) is a coupling, and the second connecting component (b) is a universal joint; One end of the coupling is fixedly connected to the output shaft of the steering wheel (1), and the other end is fixedly connected to the input shaft of the power steering motor; one end of the universal joint is fixedly connected to the output shaft of the power steering motor, and the other end is fixedly connected to the input shaft of the planetary reducer.

5. The single-wheel steering device according to claim 1, characterized in that, The connecting mechanism (4) further includes a limiting plate (43), which is installed on the lower surface of the frame plate (41) and extends downward. The steering actuator (6) is provided with two limit blocks (613), and the two limit blocks (613) are symmetrically arranged along the X-axis direction; During the steering process, when the limiting plate (43) abuts against any of the limiting blocks (613), it can limit the steering wheel (1) from continuing to rotate to achieve steering limitation.

6. The single-wheel steering device according to claim 5, characterized in that, The steering actuator (6) includes a bogie (61) and a steering wheel (62); The bogie (61) includes a top plate (611) and two parallel ear plates (612) spaced apart. Two limiting blocks (613) are installed on the outer peripheral wall of the top plate (611). The two ear plates (612) are both located below the top plate (611) and connected to the top plate (611). The steering wheel (62) is located between the two ear plates (612). A connecting shaft (8) extending along the X-axis is passed through the center of the steering wheel (62). The connecting shaft (8) is rotatably connected to the steering wheel (62) through a support member (d). The two ends of the connecting shaft (8) pass through the ear plates (612) on the same side and are connected to the ear plates (612). The third connecting member (c) is a connecting flange, which is installed in the top plate (611) of the bogie (61), and the output shaft of the deceleration mechanism (3) is connected to the connecting flange.

7. The single-wheel steering device according to claim 6, characterized in that, The support member (d) is a tapered roller bearing.

8. The single-wheel steering device according to claim 6, characterized in that, The steering wheel (62) is a solid rubber wheel or an inflatable tire, and the outer peripheral wall of the steering wheel (62) is provided with anti-slip patterns.

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