Steering wheel device and AGV (Automatic Guided Vehicle)

Abstract

The utility model discloses a steering wheel device and an AGV transport vehicle, the steering wheel device comprises a mounting plate, a walking mechanism and a steering mechanism, the walking mechanism comprises a wheel support, walking wheels and a walking driver; the wheel support is rotatably connected to the mounting plate, the walking wheel and the walking driver are arranged on the wheel support, and the walking driver is located above the walking wheel and used for driving the walking wheel to rotate; the steering mechanism comprises a steering driver, a first driving wheel, a first driven wheel and a first annular transmission part, the first driving wheel and the first driven wheel are connected to the steering driver and the wheel support respectively, the steering driver is connected to the mounting plate and used for driving the first driving wheel to rotate, and the first annular transmission part is arranged around the first driving wheel and the first driven wheel and used for driving the first driven wheel to rotate. And the power is transmitted to the first driven wheel. The steering wheel device not only is small in size and light in weight, but also needs smaller steering space, so that the steering wheel device can better meet the use requirements of a small AGV (Automatic Guided Vehicle).

Description

Technical Field

[0001] The utility model relates to the technical field of logistics handling equipment, in particular to a steering wheel device and an AGV transport vehicle with the same. Background Art

[0002] An AGV transport vehicle is a transport vehicle that can travel along a specified guiding path and has safety protection and various transfer functions. Due to its high degree of automation, safety, flexibility and other characteristics, it is widely used in automated production and warehousing systems such as automobile manufacturing and machining. In related technologies, the AGV transport vehicle realizes steering and traveling through a steering wheel device, and can realize in-situ steering and traveling in any direction through the steering wheel device, that is, through the steering wheel device, the AGV transport vehicle can have the function of omnidirectional movement; however, such a steering wheel device is relatively large in volume, and such a steering wheel device often requires a large turning radius when realizing walking and steering, so it is not very suitable for use in small AGV transport vehicles. Summary of the Utility Model

[0003] The utility model aims to solve at least one of the technical problems existing in the prior art. For this purpose, the utility model provides a steering wheel device, which is not only small in volume and light in weight, but also requires less steering space when steering, and can better meet the use requirements of small AGV transport vehicles.

[0004] The utility model also provides an AGV transport vehicle with the above steering wheel device.

[0005] The steering wheel device according to the first aspect embodiment of the utility model includes a mounting plate, a traveling mechanism and a steering mechanism. The traveling mechanism includes a wheel bracket, a traveling wheel and a traveling driver; the wheel bracket is rotatably connected to the mounting plate, the traveling wheel and the traveling driver are arranged on the wheel bracket, the traveling driver is located above the traveling wheel and is used for driving the traveling wheel to rotate; the steering mechanism includes a steering driver, a first driving wheel, a first driven wheel and a first annular transmission member. The first driving wheel and the first driven wheel are respectively connected to the steering driver and the wheel bracket. The steering driver is connected to the mounting plate and is used for driving the first driving wheel to rotate. The first annular transmission member is wound around the first driving wheel and the first driven wheel and is used for transmitting power to the first driven wheel.

[0006] The steering wheel device according to the first aspect embodiment of the utility model has at least the following beneficial effects:

[0007] On the one hand, the steering wheel device of this embodiment arranges the travel drive above the travel wheel so that the two overlap, thereby reducing the size of the travel mechanism in the horizontal direction, and further reducing the radius required for the travel mechanism to rotate, that is, reducing the space required for the steering wheel device when turning. On the other hand, the first annular transmission member is used to realize the transmission connection between the first drive wheel and the first driven wheel, so that the first drive wheel and the first driven wheel do not need to be in direct contact, and further the diameters of the first drive wheel and the first driven wheel can be set relatively smaller, thereby reducing the size and weight of the steering wheel device; therefore, the steering wheel device of this embodiment is not only small in size and light in weight, but also requires less space when turning, thereby better meeting the use requirements of small AGV transport vehicles.

[0008] According to the steering wheel device of some embodiments of the first aspect of the utility model, the walking mechanism includes a second driving wheel, a second driven wheel and a second annular transmission member, the second driven wheel is connected to the walking wheel, the second driving wheel is connected to the walking drive and can rotate under the drive of the walking drive, the second annular transmission member is wound around the second driving wheel and the second driven wheel, and is used to transmit power to the second driven wheel.

[0009] According to the steering wheel device of some embodiments of the first aspect of the utility model, the walking mechanism also includes a brake, which is connected to the wheel bracket and is located on the side of the walking wheel away from the second driven wheel, and is used to brake the walking wheel.

[0010] According to the steering wheel device of some embodiments of the first aspect of the utility model, the walking mechanism also includes a tensioning assembly, the tensioning assembly includes an eccentric shaft and a tensioning wheel, the eccentric shaft is rotatably and adjustably connected to the wheel bracket, the tensioning wheel is rotatably connected to the eccentric shaft and is used to abut against the second annular transmission member.

[0011] According to the steering wheel device of some embodiments of the first aspect of the utility model, the steering mechanism also includes a tensioning assembly, the tensioning assembly includes an eccentric shaft and a tensioning wheel, the eccentric shaft is rotatably and adjustably connected to the mounting plate, the tensioning wheel is rotatably connected to the eccentric shaft and is used to abut against the first annular transmission member.

[0012] According to some embodiments of the first aspect of the utility model, the steering wheel device also includes a cross roller bearing, the cross roller bearing includes an inner ring and an outer ring, the outer ring is connected to the mounting plate, and the inner ring is connected to the wheel bracket.

[0013] According to the steering wheel device of some embodiments of the first aspect of the utility model, the outer ring is connected to the mounting plate through a first fastener; the first driven wheel and the inner ring are connected to the top of the wheel bracket through a second fastener.

[0014] For the steering wheel device according to some embodiments of the first aspect of the present utility model, a first positioning hole is provided on the outer ring, a second positioning hole is provided on the mounting plate, and a first positioning pin is inserted through the first positioning hole and the second positioning hole.

[0015] For the steering wheel device according to some embodiments of the first aspect of the present utility model, a connecting flange is provided at the top of the wheel bracket, the first driven wheel includes a wheel body and a connecting portion, the connecting portion is provided on one side of the wheel body close to the inner ring, and a second fastener is inserted through the connecting portion and the inner ring and is threadedly connected to the connecting flange.

[0016] For the steering wheel device according to some embodiments of the first aspect of the present utility model, the connecting flange, the wheel body and the connecting portion are hollowly arranged for inserting and connecting the wires of the traveling driver.

[0017] For the AGV transport vehicle according to some embodiments of the second aspect of the present utility model, it includes the steering wheel device of the above-mentioned first aspect embodiments.

[0018] For the AGV transport vehicle according to some embodiments of the second aspect of the present utility model, it has at least the following beneficial effects:

[0019] By adopting the steering wheel device of the above-mentioned first aspect embodiments, the AGV transport vehicle of this embodiment can achieve omnidirectional movement and can also be made smaller to better meet the use requirements under narrow-width paths.

[0020] The additional aspects and advantages of the present utility model will be partly given in the following description, partly will become obvious from the following description, or will be understood through the practice of the present utility model. Brief Description of the Drawings

[0021] The above-mentioned and / or additional aspects and advantages of the present utility model will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, wherein:

[0022] Figure 1 is a schematic structural diagram of the steering wheel device of the embodiment of the present utility model;

[0023] Figure 2 is Figure 1 a side view of the shown steering wheel device;

[0024] Figure 3 is Figure 2 a cross-sectional view of the shown steering wheel device in the A-A direction;

[0025] Figure 4 is Figure 1 a schematic diagram of the shown steering wheel device after removing the second protective cover and the third protective cover;

[0026] Figure 5 is Figure 1Exploded view of the shown steering wheel device after removing the traveling mechanism.

[0027] Reference numerals:

[0028] Mounting plate 10; Second connection through-hole 11; Second positioning hole 12; Traveling mechanism 20; Wheel bracket 21; Connection flange 211; Lead hole 212; Second threaded hole 213; Traveling wheel 22; Traveling driver 23; Second driving wheel 24; Second driven wheel 25; Second annular transmission member 26; Brake 27; Second protective cover 271; Third protective cover 28; Steering mechanism 30; Steering driver 31; First driving wheel 32; First driven wheel 33; Wheel body 331; Connection portion 332; Fifth connection through-hole 333; First annular transmission member 34; First protective cover 35; Crossed roller bearing 40; Inner ring 41; Fourth connection through-hole 411; Outer ring 42; First connection through-hole 421; First positioning hole 422; Spacer ring 50; Opening 51; Third connection through-hole 52; Third positioning hole 53; Connection ring 60; Avoidance hole 61; First threaded hole 62; First connection ear 63; Cushion plate 70; Second connection ear 71; Anti-scratch ring 72; First fastener 81; Second fastener 82; Tensioning assembly 90; Eccentric shaft 91; Tensioning wheel 92. Detailed implementation manners

[0029] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, in which the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation to the present invention.

[0030] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by terms such as up, down, left, right, front, back, etc. is based on the orientation or positional relationship shown in the drawings, and is 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 thus should not be construed as a limitation to the present invention.

[0031] In the description of the present invention, if the first and second are described only for the purpose of distinguishing technical features, they should not be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence of the indicated technical features.

[0032] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific content of the technical solution.

[0033] In the related art, an AGV transport vehicle realizes steering and traveling through a steering wheel device. The steering wheel device includes a mounting plate, a wheel bracket, a traveling wheel, a traveling drive structure, and a steering drive structure. Among them, the wheel bracket is rotatably connected to the mounting plate around a vertical axis, and the traveling wheel is rotatably mounted at the bottom of the wheel bracket. The traveling drive structure includes a traveling drive motor assembly, and the traveling drive motor assembly is connected to the wheel bracket in a coaxial manner with the traveling wheel to drive the traveling wheel to rotate and realize the traveling of the AGV transport vehicle. The steering drive structure includes a steering drive motor assembly, a driving gear, and a driven gear. And to avoid interference with the vehicle body of the AGV transport vehicle, the steering drive motor assembly is arranged on the lower side of the mounting plate, that is, on the side facing the traveling wheel, and avoids the positions where the wheel bracket and the traveling drive mechanism are located. The driving gear and the driven gear are respectively connected to the steering drive motor assembly and the wheel bracket. And to ensure that the two can mesh, the driven gear or the driving gear (usually the driven gear is set larger to obtain a larger steering driving torque) also has a larger diameter.

[0034] On the one hand, since the traveling drive motor assembly and the traveling wheel are coaxial in the above-mentioned steering wheel device, in the axial direction of the traveling wheel, the steering wheel device has a relatively large size. Therefore, when the wheel bracket drives the traveling wheel to turn under the drive of the steering drive mechanism, the required turning radius is also relatively large. On the other hand, since the driven gear or the driving gear has a relatively large diameter, the volume and weight of the steering wheel device are also relatively large. And to realize the omnidirectional movement function of the AGV transport vehicle, multiple steering wheel devices need to be installed on the AGV transport vehicle. Therefore, this type of AGV transport vehicle also needs to have a sufficient size.

[0035] Based on this, the first aspect embodiment of the present utility model provides a steering wheel device, which not only has a small volume and light weight, but also has a smaller turning radius required for steering, and can better adapt to miniaturized AGV transport vehicles.

[0036] The following refers to the attached Figure 1 to the attached Figure 5 to describe the steering wheel device of the first aspect embodiment of the present utility model.

[0037] Referring to Figure 1 , according to an embodiment of the present utility model, a steering wheel device includes three parts: a mounting plate 10, a traveling mechanism 20, and a steering mechanism 30. Among them, the traveling mechanism 20 and the steering mechanism 30 are both mounted on the mounting plate 10, and the traveling mechanism 20 is used to realize the traveling of the AGV transport vehicle, while the steering mechanism 30 is used to drive the traveling mechanism 20 to rotate, thereby realizing the steering of the AGV transport vehicle.

[0038] It can be understood that referring to Figures 1 to 3In this embodiment, the walking mechanism 20 includes a wheel bracket 21, a walking wheel 22 and a walking driver 23; wherein the walking mechanism 20 is connected to the mounting plate 10 rotatably around a vertical axis through the wheel bracket 21; the walking wheel 22 and the walking driver 23 are arranged on the wheel bracket 21, and the walking wheel 22 is connected to the bottom of the wheel bracket 21 in a manner that it can rotate around a horizontal axis, so that when the walking wheel 22 rotates, it can drive the AGV transport vehicle to walk on the ground; and the walking driver 23 is connected to the walking wheel 22 to drive the walking wheel 22 to rotate, and the walking driver 23 is located above the walking wheel 22, so that the walking driver 23 overlaps with the walking wheel 22, so as to reduce the size of the walking mechanism 20 in the horizontal direction (especially the size of the walking wheel 22 in the axial direction), thereby reducing the radius required for the walking mechanism 20 to rotate when the AGV transport vehicle turns.

[0039] It is understandable that, referring to Figures 1 to 3 In this embodiment, the steering mechanism 30 includes a steering driver 31, a first driving wheel 32, a first driven wheel 33 and a first annular transmission member 34; the steering driver 31 is connected to the mounting plate 10, and the first driving wheel 32, the first driven wheel 33 and the first annular transmission member 34 together constitute a first transmission structure for transmitting the power and motion of the steering driver 31 to the walking mechanism 20; wherein the first driving wheel 32 and the first driven wheel 33 are respectively connected to the steering driver 31 and the wheel bracket 21, the steering driver 31 is used to drive the first driving wheel 32 to rotate, and the first annular transmission member 34 is wound around the first driving wheel 32 and the first driven wheel 33, and is used to transmit the power and motion of the first driving wheel 32 to the first driven wheel 33, so as to drive the first driven wheel 33 and the wheel bracket 21 to rotate, so that the walking wheel 22 on the wheel bracket 21 can face different directions, thereby realizing the steering of the AGV transport vehicle. Furthermore, since the first driving wheel 32 is connected to the first driven wheel 33 by means of the first annular transmission member 34, the sum of the diameter of the first driving wheel 32 and the diameter of the first driven wheel 33 does not need to be set to be equal to the distance from the axis of the output shaft of the steering drive 31 to the rotation axis of the wheel bracket 21, that is, the diameters of the first driving wheel 32 and the first driven wheel 33 can be set relatively smaller, thereby further reducing the volume and weight of the steering wheel device, thereby enabling the steering wheel device to better adapt to miniaturized AGV transport vehicles.

[0040] It should be understood that, as described above, on the one hand, the steering wheel device of this embodiment reduces the size of the traveling mechanism 20 in the horizontal direction by arranging the traveling driver 23 above the traveling wheel 22 so that the two overlap, thereby reducing the radius required for the rotation of the traveling mechanism 20, that is, reducing the space required for the steering wheel device during steering. On the other hand, the first annular transmission member 34 is used to realize the transmission connection between the first driving wheel 32 and the first driven wheel 33, so that the first driving wheel 32 and the first driven wheel 33 do not need to be in direct contact, and thus the diameters of the first driving wheel 32 and the first driven wheel 33 can be set relatively smaller, thereby reducing the volume and weight of the steering wheel device. Therefore, the steering wheel device of this embodiment is not only small in volume and light in weight, but also requires less space during steering, so as to better meet the use requirements of small AGV transport vehicles.

[0041] It should be understood that the first annular transmission member 34 can be a synchronous belt, a belt or a transmission chain. Correspondingly, the first driving wheel 32 and the first driven wheel 33 can be a synchronous pulley, a belt pulley or a sprocket. For example, in some embodiments, referring to Figure 5 ..., the first annular transmission member 34 is a first synchronous belt, and the first driving wheel 32 and the first driven wheel 33 are a first driving synchronous pulley and a first driven synchronous pulley respectively. The first synchronous belt is wound around the first driving synchronous pulley and the first driven synchronous pulley and meshes with the first driving synchronous pulley and the first driven synchronous pulley. Thus, when the steering driver 31 drives the first driving synchronous pulley to rotate, the movement can be transmitted to the first driven synchronous pulley and the wheel bracket 21 more accurately.

[0042] It can be understood that, in order to avoid interference between the steering driver 31 and the vehicle body when the steering wheel device is installed at the bottom of the AGV transport vehicle, in some embodiments, referring to Figures 1 to 3 ..., the steering driver 31 is connected to the side of the mounting plate 10 close to the traveling wheel 22, that is, connected to the lower side of the mounting plate 10. The steering driver 31 avoids the position where the traveling mechanism 20 is located and is spaced from the traveling mechanism 20 by a certain distance to avoid the steering driver 31 affecting the rotation of the traveling mechanism 20 within 360 degrees. And, in order to avoid the first driving wheel 32, the first driven wheel 33 and the first annular transmission member 34 affecting the rotation of the traveling mechanism 20, the first driving wheel 32, the first driven wheel 33 and the first annular transmission member 34 are all arranged on the upper side of the mounting plate 10. At the same time, in order to facilitate the connection of the first driving wheel 32, the output shaft of the steering driver 31 passes through the mounting plate 10 and extends to the upper side of the mounting plate 10, and the first driving wheel 32 is sleeved on the output shaft of the steering driver 31.

[0043] It can be understood that in some of these embodiments, the steering driver 31 may include a steering drive motor and a first speed reducer connected to the output end of the steering drive motor, and the first drive wheel 32 is connected to the output shaft of the first speed reducer, and the steering driver 31 is fixedly connected to the mounting plate 10 through a fastener passing through the mounting plate 10 and the upper housing of the first speed reducer.

[0044] It should be understood that in some other embodiments, the steering driver 31 may include a steering drive motor, and the first drive wheel 32 is directly connected to the output shaft of the steering drive motor, and the steering drive motor is fixedly connected to the mounting plate 10 through a fastener passing through the mounting plate 10 and the upper housing of the steering drive motor.

[0045] It can be understood that in order to further reduce the volume and weight of the steering wheel device, in some of these embodiments, referring to Figure 3 and Figure 4 , similarly, the traveling mechanism 20 includes a second drive wheel 24, a second driven wheel 25, and a second annular transmission member 26. The second drive wheel 24, the second driven wheel 25, and the second annular transmission member 26 together form a second transmission structure and are used to transmit the power and motion of the traveling driver 23 to the traveling wheel 22; wherein, the second driven wheel 25 is connected to the traveling wheel 22, the second drive wheel 24 is connected to the traveling driver 23 and can rotate under the drive of the traveling driver 23, and the second annular transmission member 26 is wound around the second drive wheel 24 and the second driven wheel 25 and is used to transmit the power and motion of the second drive wheel 24 to the second driven wheel 25, thereby driving the second driven wheel 25 and the traveling wheel 22 to rotate.

[0046] It should be understood that similarly, the second annular transmission member 26 can be a synchronous belt, a belt, or a transmission chain, and correspondingly, the second drive wheel 24 and the second driven wheel 25 can be synchronous wheels, belt wheels, or sprocket wheels; for example, in some of these embodiments, referring to Figure 4 , the second annular transmission member 26 is a second synchronous belt, and the second drive wheel 24 and the second driven wheel 25 are respectively a second driving synchronous wheel and a second driven synchronous wheel, and the second synchronous belt is wound around the second driving synchronous wheel and the second driven synchronous wheel and meshes with the second driving synchronous wheel and the second driven synchronous wheel, so that when the traveling driver 23 drives the second driving synchronous wheel to rotate, the motion can be transmitted to the second driven synchronous wheel and the traveling wheel 22 more accurately.

[0047] It can be understood that, similarly, in some of these embodiments, the traveling driver 23 may include a traveling drive motor and a second speed reducer connected to the output end of the traveling drive motor, and the second drive wheel 24 is connected to the output shaft of the second speed reducer. It should be understood that, in some other embodiments, the traveling driver 23 may include a traveling drive motor, and the second drive wheel 24 is directly connected to the output shaft of the traveling drive motor.

[0048] It can be understood that, in some of these embodiments, with reference to Figure 3 , the traveling mechanism 20 further includes a brake 27, the brake 27 is connected to the wheel bracket 21, and is used to brake the traveling wheel 22, so that the AGV transport vehicle equipped with the steering wheel device of this embodiment can stay stably at any position according to the working needs; and, with reference to Figure 3 , the brake 27 is located on the side of the traveling wheel 22 away from the second driven wheel 25, that is, the brake 27 and the second transmission structure are respectively arranged on both sides of the traveling wheel 22 in the axial direction, so that the gravity of the second transmission structure can be balanced by the gravity of the brake 27, so as to further improve the stability and balance of the traveling mechanism 20 during the traveling process.

[0049] It should be understood that, in order to protect the brake 27 and the second transmission structure, in some of these embodiments, with reference to Figure 3 , the traveling mechanism 20 further includes a second protective cover 271 and a third protective cover 28. Among them, the second protective cover 271 and the third protective cover 28 are both connected to the wheel bracket 21, and respectively cover the outside of the protective brake 27 and the second transmission structure.

[0050] It can be understood that, in some of these embodiments, with reference to Figure 3 , the rotation axis of the traveling wheel 22 and the rotation axis of the output shaft in the traveling driver 23 both intersect with the rotation axis of the wheel bracket 21, and the rotation axis of the wheel bracket 21 passes through the centroid of the traveling driver 23 and the centroid of the traveling wheel 22, thereby reducing the overall moment of inertia of the traveling mechanism 20 and improving the dynamic balance performance of the traveling mechanism 20, and further making the traveling mechanism 20 more flexible and stable when rotating.

[0051] It can be understood that, in some of these embodiments, with reference to Figure 4, the traveling mechanism 20 further includes a tensioning assembly 90 for tensioning the second endless transmission member 26. The tensioning assembly 90 includes an eccentric shaft 91 and a tensioning wheel 92. The eccentric shaft 91 is rotatably and adjustably connected to the wheel bracket 21. The tensioning wheel 92 is rotatably connected to the eccentric shaft 91 and is used to abut against the second endless transmission member 26. Since the central axis of the eccentric shaft 91 deviates from the rotation axis of the eccentric shaft 91, when the second endless transmission member 26 becomes loose, the eccentric shaft 91 can be rotated so that the distance from the central axis of the eccentric shaft 91 to the surface of the second endless transmission member 26 is reduced, and thus the tensioning wheel 92 on the eccentric shaft 91 can approach and further press the surface of the second endless transmission member 26 to achieve the tensioning of the second endless transmission member 26.

[0052] It can be understood that in some embodiments, similarly, a tensioning mechanism can also be selected to be provided in the steering mechanism 30. For example, referring to Figure 5 , the steering mechanism 30 includes a tensioning assembly 90. The tensioning assembly 90 includes an eccentric shaft 91 and a tensioning wheel 92. The eccentric shaft 91 is rotatably and adjustably connected to the mounting plate 10. The tensioning wheel 92 is rotatably connected to the eccentric shaft 91 and is used to abut against the first endless transmission member 34 to tension the first endless transmission member 34.

[0053] It can be understood that in some of these embodiments, in order to reduce the resistance when the wheel bracket 21 rotates, referring to Figure 3 , the steering wheel device further includes a crossed roller bearing 40. The crossed roller bearing 40 includes an inner ring 41 and an outer ring 42. The outer ring 42 is connected to the mounting plate 10, and the inner ring 41 is connected to the wheel bracket 21. And because the crossed roller bearing 40 has good axial load bearing capacity and good radial load bearing capacity, when the traveling mechanism 20 is subjected to impacts in the vertical direction and the horizontal direction, both of the above two impact loads can be unloaded to the mounting plate 10 through the crossed roller bearing 40.

[0054] It can be understood that in one embodiment, in order to facilitate the connection of the outer ring 42 to the mounting plate 10 and the connection between the inner ring 41 and the wheel bracket 21, the outer ring 42 is connected to the mounting plate 10 through a first fastener 81, and the first driven wheel 33 and the inner ring 41 are connected to the top of the wheel bracket 21 through a second fastener 82.

[0055] For example, in one embodiment, referring to Figure 3 and Figure 5, the steering wheel device further includes a spacer ring 50 and a connecting ring 60. The spacer ring 50 and the connecting ring 60 are sequentially arranged on the side of the mounting plate 10 facing away from the outer ring 42. The spacer ring 50 surrounds the outside of the first driven wheel 33, and the spacer ring 50 is provided with an opening 51 allowing the first annular transmission member 34 to pass through. The connecting ring 60 is provided with an avoidance hole 61 for avoiding the first driven wheel 33. A plurality of first connecting through holes 421 are circumferentially and spacedly distributed on the outer ring 42. Second connecting through holes 11 are provided at positions of the mounting plate 10 corresponding to each of the first connecting through holes 421. Third connecting through holes 52 are provided at positions of the spacer ring 50 corresponding to the second connecting through holes 11. First threaded holes 62 are provided at positions of the connecting ring 60 corresponding to the third connecting through holes 52. A plurality of first fasteners 81 are provided and are respectively inserted through the first connecting through holes 421, the second connecting through holes 11, and the third connecting through holes 52 and are in threaded cooperation with the first threaded holes 62, thereby fixedly connecting the outer ring 42, the spacer ring 50, and the connecting ring 60 to the mounting plate 10 together.

[0056] And, referring to Figure 3 and Figure 5 , in order to facilitate the connection between the inner ring 41 and the first driven wheel 33, a connecting flange 211 is provided at the top of the wheel bracket 21. A plurality of fourth connecting through holes 411 are circumferentially provided on the inner ring 41. Second threaded holes 213 are provided at positions of the connecting flange 211 corresponding to the fourth connecting through holes 411. At the same time, in order to enable the first driven wheel 33 to not only maintain good cooperation with the first annular transmission member 34 but also be convenient for connecting to the inner ring 41 and the wheel bracket 21, the first driven wheel 33 includes a wheel body 331 and a connecting portion 332. The connecting portion 332 is arranged on the side of the wheel body 331 close to the inner ring 41. A mating structure (such as synchronous teeth, chain teeth, or belt grooves, etc.) for mating with the first annular transmission member 34 is provided on the circumferential side of the wheel body 331. Fifth connecting through holes 333 are provided at positions of the connecting portion 332 corresponding to each of the fourth connecting through holes 411. A plurality of second fasteners 82 are also provided and are respectively inserted through the fifth connecting through holes 333 and the fourth connecting through holes 411 and are in threaded cooperation with the second threaded holes 213 on the connecting flange 211. That is, the second fasteners 82 are inserted through the connecting portion 332 and the inner ring 41 and are threadedly connected to the connecting flange 211, thereby fixedly connecting the inner ring 41 and the connecting portion 332 to the top of the wheel bracket 21.

[0057] It can be understood that, in order to achieve pre-positioning of the outer ring 42 during the installation of the outer ring 42 so that each of the first connecting through holes 421 on the outer ring 42 can be aligned with the first threaded holes 62 one by one, thereby facilitating the insertion of the first fasteners 81; in some embodiments, referring to Figure 3 and Figure 5, the steering wheel device further includes a first positioning pin (not shown in the drawings). The outer ring 42 is provided with a first positioning hole 422. There are multiple first positioning holes 422, which are circumferentially spaced along the outer ring 42 (the first positioning holes 422 can be arranged alternately with the first connection through holes 421). The mounting plate 10 is provided with second positioning holes 12. There are also multiple second positioning holes 12, and their positions correspond to those of the first positioning holes 422 one by one. There are also multiple first positioning pins, which are correspondingly inserted into the first positioning holes 422 and the second positioning holes 12 respectively to achieve pre-positioning of the outer ring 42 on the mounting plate 10. Moreover, it should be understood that when the traveling mechanism 20 is impacted in the horizontal direction, the first positioning pins can also share and bear a certain shearing force to reduce the risk of the first fastener 81 breaking under the action of the shearing force. It should be understood that, similarly, in one of the embodiments, referring to Figure 5 , third positioning holes 53 can also be provided at the positions of the spacer ring 50 corresponding to the second positioning holes 12, and the first positioning pins are simultaneously inserted into the first positioning holes 422, the second positioning holes 12, and the third positioning holes 53 to achieve pre-positioning among the outer ring 42, the spacer ring 50, and the mounting plate 10.

[0058] Referring to Figure 3 , in order to facilitate the power supply and control of the traveling driver 23, in some of the embodiments, the connecting flange 211, the wheel body 331, and the connecting portion 332 are hollowly arranged and form a lead hole 212 that penetrates to one side of the traveling driver 23, and the wires connecting the traveling driver 23 are inserted into the lead hole 212. It can be understood that by threading wires through the hollow positions of the connecting flange 211, the wheel body 331, and the connecting portion 332, the pulling and wear of the wires during the steering process of the traveling mechanism 20 can be reduced, so as to improve the service life of the connecting wires.

[0059] It should be understood that, in some of the embodiments, the connecting portion 332 can be selectively connected and fixed to the wheel body 331 through fasteners; in some other embodiments, the connecting plate can also be integrally formed with the wheel body.

[0060] It can be understood that, for the convenience of connecting the steering wheel device to the bottom of the vehicle body of the AGV transport vehicle, in some embodiments, a plurality of first connecting lugs 63 are spaced around the circumferential side of the connecting ring 60, and a backing plate 70 is further provided on the upper side of the connecting ring 60. The backing plate 70 is provided with second connecting lugs 71 at positions corresponding to the first connecting lugs 63, so as to connect the steering wheel device to the vehicle body through fasteners passing through the first connecting lugs 63 and the second connecting lugs 71. It should be understood that the backing plate 70 can be selected to be made of a flexible material, such as rubber, etc., so that the backing plate 70 has a certain shock-absorbing effect. And, the backing plate 70 is also provided with a hollow structure for routing the wires connecting the traveling driver 23. And a flexible anti-scratch ring 72 is provided on one side of the backing plate 70 close to the first driven wheel 33. The wires connecting the traveling driver 23 pass through the anti-scratch ring 72 to reduce the risk of scratching the wires by the first driven wheel 33.

[0061] It can be understood that, referring to Figure 3 and Figure 5 , in some embodiments, the steering mechanism 30 further includes a first protective cover 35. The first protective cover 35 is installed on the mounting plate 10 and covers the upper part of the first driving wheel 32.

[0062] The following describes the AGV transport vehicle according to the second aspect embodiment of the present invention. The AGV transport vehicle of this embodiment includes the steering wheel device of the above first aspect embodiment. It should be understood that by adopting the steering wheel device of the above first aspect embodiment, the AGV transport vehicle of this embodiment can be made smaller while realizing omnidirectional movement, so as to better meet the use requirements under narrow-width paths.

[0063] It can be understood that, in some embodiments, the AGV transport vehicle further includes a vehicle body. Among them, there are a plurality of steering wheel devices, and the plurality of steering wheel devices are arranged at the bottom of the vehicle body to be used for the AGV transport vehicle to walk and turn.

[0064] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirits of the present invention. The scope of the present invention is defined by the claims and their equivalents.

Claims

1. A steering wheel device, characterized in that: include: Mounting plate; The walking mechanism comprises a wheel bracket, a walking wheel and a walking driver; the wheel bracket is rotatably connected to the mounting plate, the walking wheel and the walking driver are arranged on the wheel bracket, and the walking driver is located above the walking wheel and is used to drive the walking wheel to rotate; The steering mechanism includes a steering drive, a first driving wheel, a first driven wheel and a first annular transmission member, wherein the first driving wheel and the first driven wheel are respectively connected to the steering drive and the wheel bracket, the steering drive is connected to the mounting plate and is used to drive the first driving wheel to rotate, and the first annular transmission member is wound around the first driving wheel and the first driven wheel and is used to transmit power to the first driven wheel.

2. A steering wheel device according to claim 1, characterized in that: The walking mechanism includes a second driving wheel, a second driven wheel and a second annular transmission member, the second driven wheel is connected to the walking wheel, the second driving wheel is connected to the walking driver and can rotate under the drive of the walking driver, the second annular transmission member is wound around the second driving wheel and the second driven wheel, and is used to transmit power to the second driven wheel.

3. A steering wheel device according to claim 2, characterized in that: The walking mechanism also includes a brake, which is connected to the wheel bracket and is located on the side of the walking wheel away from the second driven wheel, and is used to brake the walking wheel.

4. A steering wheel device according to claim 2, characterized in that: The walking mechanism further comprises a tensioning assembly, the tensioning assembly comprises an eccentric shaft and a tensioning wheel, the eccentric shaft is rotatably and adjustably connected to the wheel bracket, the tensioning wheel is rotatably connected to the eccentric shaft and is used to abut against the second annular transmission member; and / or, The steering mechanism also includes a tensioning assembly, which includes an eccentric shaft and a tensioning wheel. The eccentric shaft is rotatably and adjustably connected to the mounting plate, and the tensioning wheel is rotatably connected to the eccentric shaft and is used to abut against the first annular transmission member.

5. A steering wheel device according to claim 1, characterized in that: The steering wheel device also includes a cross roller bearing, which includes an inner ring and an outer ring. The outer ring is connected to the mounting plate, and the inner ring is connected to the wheel bracket.

6. A steering wheel device according to claim 5, characterized in that: The outer ring is connected to the mounting plate via a first fastener; the first driven wheel and the inner ring are connected to the top of the wheel bracket via a second fastener.

7. A steering wheel device according to claim 6, characterized in that: The outer ring is provided with a first positioning hole, the mounting plate is provided with a second positioning hole, and a first positioning pin is inserted into the first positioning hole and the second positioning hole.

8. A steering wheel device according to claim 6, characterized in that: A connecting flange is arranged on the top of the wheel bracket, the first driven wheel includes a wheel body and a connecting portion, the connecting portion is arranged on a side of the wheel body close to the inner ring, the second fastener is passed through the connecting portion and the inner ring, and is threadedly connected to the connecting flange.

9. A steering wheel device according to claim 8, characterized in that: The connecting flange, the wheel body and the connecting portion are hollow so as to be used for passing a wire connected to the travel drive. 10.AGV transport vehicle, characterized in that: include: A steering wheel device as claimed in any one of claims 1 to 9.

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