Horizontal steering wheel

Abstract

The utility model relates to a horizontal steering wheel, which comprises a forward driving component, a horizontal driving component and a horizontal driving component, a first driving mounting plate of the rotating assembly is connected with the forward driving assembly, and the rotating assembly is used for controlling the rotating direction; the rotating assembly comprises a steering motor, a flange plate, a steering gear, a slewing bearing and a driving mounting plate, the steering gear and the slewing bearing are rotationally arranged on the first driving mounting plate, the steering motor is mounted on one side of the first driving mounting plate through a fastener, an output shaft of the steering motor is connected with the steering gear, and the steering gear is meshed with the slewing bearing; the leveling assembly is arranged on the rotating assembly and used for adjusting the terrain clearance of the forward driving assembly so as to adapt to different road surface conditions; the device is simple and compact in mechanical structure, easy to maintain and low in economic cost; the steering assembly adopts a steering gear, the torque is improved, the precision is also improved, and the leveling assembly is provided with a shock absorber, so that the shock absorption performance is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of AGV steering wheel structures, in particular to a horizontal steering wheel. Background Art

[0002] With the rapid development of the logistics and warehousing industry, AGVs (Automated Guided Vehicles) and AMRs (Autonomous Mobile Robots), as important components in the automation field of the logistics and warehousing industry, have been widely used. Compared with traditional rubber wheels, omnidirectional wheels, and Mecanum wheels, the steering wheel, as a new type of motion control method, combines their advantages and makes up for the deficiencies. By rotating the steering motor, the direction of the wheel is changed, and by the movement of the axial motor, power is provided to the wheel to control the movement of the chassis.

[0003] Currently, there are many steering wheel manufacturers in the domestic market. When designing steering wheels, engineers choose different motor types according to customer requirements and consider factors such as voltage, current, torque, and size to meet customer needs. It has the characteristics of integrated design technology, high integration, compact structure, and high load-bearing strength, meeting the high-load requirements of AGV drive wheels. At the same time, for high-precision control, a speed measurement sensor and an angle measurement sensor are integrated, enabling the steering wheel to complete movements at any angle within 360°, with a control accuracy of ±0.001°, and then precisely controlling the straight movement or turning of the AGV steering wheel. The motor and the gearbox are designed with an anti-symmetric installation method, which greatly shortens the wheelbase, saves space, and increases torque while providing greater power. However, the technical requirements and processing costs are high, the steering wheel has strict environmental requirements, and its stability will be affected in rough environments, and it is only suitable for flat roads, with poor adaptability. Summary of the Utility Model

[0004] Therefore, the technical problem to be solved by the present utility model is to overcome the deficiencies in the prior art and provide a horizontal steering wheel with a simple and compact mechanical structure that is easy to maintain, low economic cost, a steering component that uses a steering gear meshing with a slewing bearing, which not only increases torque but also improves accuracy, and a leveling component with a shock absorber that improves shock absorption performance and can adapt to different road conditions.

[0005] To solve the above technical problem, the present utility model provides a horizontal steering wheel, which is characterized in that it includes:

[0006] A forward driving component for controlling the steering wheel to move forward;

[0007] Steering assembly, whose first drive mounting plate is connected to the forward drive assembly shown for controlling the steering direction; the steering assembly includes a steering motor, a flange plate, a steering gear, a slewing bearing, and a second drive mounting plate. The steering gear and the slewing bearing are rotatably arranged on the second drive mounting plate. The steering motor is installed on one side of the first drive mounting plate through fasteners. The output shaft of the steering motor is connected to the steering gear, and the steering gear meshes with the slewing bearing;

[0008] Leveling assembly, arranged on the steering assembly for adjusting the ground clearance of the forward drive assembly to adapt to different road conditions; the leveling assembly includes a vehicle body connecting plate, a shock absorber fixing plate, a shock absorber pressing plate, a first shock absorber, and a guide shaft. A first shock absorber and a guide shaft are arranged between the vehicle body connecting plate and the shock absorber pressing plate. The shock absorber fixing plate is arranged between the vehicle body connecting plate and the shock absorber pressing plate, and both ends of the shock absorber fixing plate are slidably connected to the guide shaft, so that the shock absorber fixing plate can move up and down along the guide shaft.

[0009] In an embodiment of the present invention, a spacer block is provided between the steering motor and the second drive mounting plate.

[0010] In an embodiment of the present invention, the slewing bearing includes an inner ring of the slewing bearing and an outer ring of the slewing bearing. The inner ring of the slewing bearing is embedded inside the outer ring of the slewing bearing, and the outer ring of the slewing bearing is connected to the second drive mounting plate.

[0011] In an embodiment of the present invention, the number of teeth of the outer ring of the slewing bearing is twice the number of teeth of the steering gear.

[0012] In an embodiment of the present invention, both ends of the first shock absorber are respectively connected to the vehicle body connecting plate and the shock absorber pressing plate through connecting angle seats.

[0013] In an embodiment of the present invention, a first positioning hole for fixing a linear bearing is provided on the shock absorber fixing plate. An installation hole matching the first positioning hole is provided on the linear bearing. Fasteners pass through the first positioning hole and the installation hole to realize the connection between the shock absorber fixing plate and the linear bearing.

[0014] In an embodiment of the present utility model, the forward drive assembly includes a suspension connecting plate, a drive motor, a drive wheel, a first drive wheel fixing plate, and a second drive wheel fixing plate. The suspension connecting plate includes two pieces, which are connected by fasteners and studs. The suspension connecting plate is connected to the second drive mounting plate in the steering assembly through a support block. Both ends of the drive wheel are respectively arranged on the suspension connecting plate through the first drive wheel fixing plate and the second drive fixing plate. The drive motor is arranged outside the first drive wheel fixing plate, and the output shaft of the drive motor is connected to the drive wheel.

[0015] In an embodiment of the present utility model, a second shock absorber is further included, and the second shock absorber is arranged between the suspension connecting plate, the first drive wheel fixing plate, and the second drive wheel fixing plate.

[0016] In an embodiment of the present utility model, a second positioning hole is provided on the second drive mounting plate, and the support block is fixedly connected to the second positioning hole through a fastener.

[0017] In an embodiment of the present utility model, a third positioning hole is provided on the support block, and the suspension connecting plate is fixedly connected to the third positioning hole through a fastener.

[0018] The above technical solution of the present utility model has the following beneficial effects compared with the prior art:

[0019] A horizontal steering wheel of the present utility model has a simple and compact mechanical structure, is easy to maintain, and has a low economic cost. The forward drive assembly controls the movement of the steering wheel, and the steering assembly controls the steering angle. The two can be controlled separately. Moreover, the steering assembly uses a steering gear meshing with a slewing bearing, which can rotate in place to adjust the direction, improve the torque, and ensure the accuracy while the steering wheel moves flexibly. In addition, the leveling assembly is equipped with a shock absorber, which improves the shock absorption performance, is beneficial to ensuring the driving stability, and enables the leveling assembly to adjust the distance between the forward drive assembly and the ground to adapt to different road conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to make the content of the present utility model easier to be clearly understood, the following further details the present utility model according to the specific embodiments of the present utility model in conjunction with the drawings, where

[0021] Figure 1 is a schematic structural diagram of a horizontal steering wheel in a preferred embodiment of the present utility model;

[0022] Figure 2 is Figure 1 a schematic structural diagram of the forward drive assembly of the horizontal steering wheel shown;

[0023] Figure 3 ForFigure 2 Exploded structural schematic diagram of the forward drive assembly shown

[0024] Figure 4 is Figure 1 Structural schematic diagram of the steering assembly of the horizontal steering wheel shown

[0025] Figure 5 is Figure 4 Exploded structural schematic diagram of the steering assembly shown

[0026] Figure 6 is Figure 1 Structural schematic diagram of the leveling assembly of the horizontal steering wheel shown

[0027] Explanation of reference numerals in the specification drawings: 1. Forward drive assembly; 11. Suspension connecting plate; 111. Support block; 12. Drive motor; 13. Drive wheel; 14. First drive wheel fixing plate; 15. Second drive wheel fixing plate; 16. Second shock absorber; 2. Steering assembly; 21. First drive mounting plate; 22. Steering motor; 23. Flange; 24. Steering gear; 25. Slewing bearing; 251. Inner ring of slewing bearing; 252. Outer ring of slewing bearing; 26. Second drive mounting plate; 27. Spacer block; 3. Leveling assembly; 31. Vehicle body connecting plate; 32. Shock absorber fixing plate; 33. Shock absorber pressing plate; 34. Shock absorber; 35. Guide shaft; 36. Connecting angle seat; 37. Linear bearing. Detailed implementation manners

[0028] The present utility model will be further described below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present utility model and be able to implement it, but the embodiments cited are not intended to limit the present utility model.

[0029] Referring to Figure 1-6 shown, a horizontal steering wheel of the present utility model includes:

[0030] A forward drive assembly 1 for controlling the advancement of the steering wheel;

[0031] A steering assembly 2, the first drive mounting plate 21 of which is connected to the forward drive assembly 1 shown, for controlling the rotation direction of the steering wheel; the steering assembly 2 includes a steering motor 22, a flange 23, a steering gear 24, a slewing bearing 25 and a second drive mounting plate 26. The steering gear 24 and the slewing bearing 25 are rotatably arranged on the second drive mounting plate 26. The steering motor 22 is installed on one side of the second drive mounting plate 26 through fasteners. The output shaft of the steering motor 22 is connected to the steering gear 24, and the steering gear 24 meshes with the slewing bearing 25. A spacer block 27 is provided between the steering motor 22 and the second drive mounting plate 26.

[0032] The leveling component 3 is arranged on the steering component 2 and is used to adjust the ground clearance of the forward driving component 1 to adapt to different road conditions. The leveling component 3 includes a vehicle body connecting plate 31, a shock absorber fixing plate 32, a shock absorber pressing plate 33, a first shock absorber 34 and a guide shaft 35. A first shock absorber 34 and a guide shaft 35 are arranged between the vehicle body connecting plate 31 and the shock absorber pressing plate 33. The shock absorber fixing plate 32 is arranged between the vehicle body connecting plate 31 and the shock absorber pressing plate 33, and both ends of the shock absorber fixing plate 32 are slidably connected to the guide shaft 35, so that the shock absorber fixing plate 32 can move up and down along the guide shaft 35.

[0033] Further, both ends of the first shock absorber 34 are respectively connected to the vehicle body connecting plate 31 and the shock absorber pressing plate 33 through connecting angle seats 36.

[0034] Further, a first positioning hole for fixing a linear bearing 37 is arranged on the shock absorber fixing plate 32. An installation hole matching the first positioning hole is arranged on the linear bearing 37. Fasteners pass through the first positioning hole and the installation hole to realize the connection between the shock absorber fixing plate 32 and the linear bearing 37.

[0035] Specifically, as Figure 4 shown, further, the slewing bearing 25 includes a slewing bearing inner ring 251 and a slewing bearing outer ring 252. The slewing bearing inner ring 251 is embedded and arranged inside the slewing bearing outer ring 252. The slewing bearing outer ring 252 is connected to the second drive mounting plate 26.

[0036] Preferably, the number of teeth of the slewing bearing outer ring 252 is twice the number of teeth of the steering gear 24.

[0037] Specifically, as Figure 2 shown, the forward driving component 1 includes a suspension connecting plate 11, a driving motor 12, a driving wheel 13, a first driving wheel fixing plate 14 and a second driving wheel fixing plate 15. There are two suspension connecting plates 11, which are connected by fasteners and studs between them. The suspension connecting plate 11 is connected to the second drive mounting plate 26 in the steering component 2 through a support block 111. Both ends of the driving wheel 13 are respectively arranged on the suspension connecting plate 11 through the first driving wheel fixing plate 14 and the second driving fixing plate 15. The driving motor 12 is arranged outside the first driving wheel fixing plate 14, and the output shaft of the driving motor 12 is connected to the driving wheel 13.

[0038] Further, a second shock absorber 16 is further included. The second shock absorber 16 is arranged between the suspension connecting plate 11 and the first driving wheel fixing plate 14 and the second driving wheel fixing plate 16.

[0039] Further, a second positioning hole is provided on the second driving mounting plate 26, and the supporting block 111 and the second positioning hole are fixedly connected by a fastener.

[0040] In this embodiment, a third positioning hole is provided on the supporting block 111, and the suspension connecting plate 11 and the third positioning hole are fixedly connected by a fastener.

[0041] For the horizontal steering wheel based on the above structure, the mechanical structure is simple, compact and easy to maintain, and the economic cost is low; the forward driving assembly 1 controls the steering wheel to move forward, and the steering assembly 2 controls the steering angle. Since the steering assembly 2 adopts the meshing mode of the steering gear 24 and the slewing bearing 25, the direction of the steering wheel can be adjusted by rotating in place, the torque can be increased, and the accuracy is ensured while the steering wheel moves flexibly; moreover, the leveling assembly 3 has a shock absorption function, so that the leveling assembly 3 can adjust the distance between the forward driving assembly 1 and the ground to adapt to different road conditions.

[0042] In this embodiment, the horizontal steering wheel adopts fewer mechanical structural parts, is inexpensive and relatively easy to purchase, so that the later maintenance cost is relatively low and it is beneficial to replacement. By selecting four horizontal steering wheels, a chassis can be further built as the chassis structure of the current warehousing autonomous vehicle.

[0043] Obviously, the above embodiments are only examples clearly described and not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation manners here. And the obvious changes or modifications derived therefrom are still within the protection scope of the creation of the present utility model.

Claims

1. A horizontal steering wheel, characterized in that: Comprising: A forward drive assembly for controlling the travel of the steering wheel; A steering assembly, the first drive mounting plate of which is connected to the forward drive assembly shown for controlling the turning direction; The steering assembly includes a steering motor, a flange, a steering gear, a slewing bearing and a second drive mounting plate. The steering gear and the slewing bearing are rotatably arranged on the second drive mounting plate. The steering motor is installed on one side of the first drive mounting plate through fasteners. The output shaft of the steering motor is connected to the steering gear, and the steering gear meshes with the slewing bearing; A leveling assembly is arranged on the steering assembly for adjusting the ground clearance of the forward drive assembly to adapt to different road conditions; the leveling assembly includes a vehicle body connecting plate, a shock absorber fixing plate, a shock absorber pressing plate, a first shock absorber and a guide shaft. A first shock absorber and a guide shaft are arranged between the vehicle body connecting plate and the shock absorber pressing plate. The shock absorber fixing plate is arranged between the vehicle body connecting plate and the shock absorber pressing plate, and both ends of the shock absorber fixing plate are slidably connected to the guide shaft, so that the shock absorber fixing plate can move up and down along the guide shaft.

2. The horizontal steering wheel according to claim 1, characterized in that: A spacer block is arranged between the steering motor and the second drive mounting plate.

3. A horizontal steering wheel according to claim 2, characterized in that: The slewing bearing includes an inner ring of the slewing bearing and an outer ring of the slewing bearing. The inner ring of the slewing bearing is embedded inside the outer ring of the slewing bearing, and the outer ring of the slewing bearing is connected to the second drive mounting plate.

4. The horizontal steering wheel according to claim 3, characterized in that: The number of teeth of the outer ring of the slewing bearing is twice the number of teeth of the steering gear.

5. A horizontal steering wheel according to claim 1, characterized in that: Both ends of the first shock absorber are respectively connected to the vehicle body connecting plate and the shock absorber pressing plate through connecting angle seats.

6. The horizontal steering wheel according to claim 1, characterized in that: A first positioning hole for fixing a linear bearing is arranged on the shock absorber fixing plate. An installation hole matching the first positioning hole is arranged on the linear bearing. Fasteners pass through the first positioning hole and the installation hole to realize the connection between the shock absorber fixing plate and the linear bearing.

7. A horizontal steering wheel according to claim 1, characterized in that: The forward drive assembly includes a suspension connecting plate, a drive motor, a drive wheel, a first drive wheel fixing plate and a second drive wheel fixing plate. The suspension connecting plate includes two pieces, which are connected by fasteners and studs. The suspension connecting plate is connected to the second drive mounting plate in the steering assembly through a support block; both ends of the drive wheel are respectively arranged on the suspension connecting plate through the first drive wheel fixing plate and the second drive fixing plate. The drive motor is arranged outside the first drive wheel fixing plate, and the output shaft of the drive motor is connected to the drive wheel.

8. The horizontal steering wheel according to claim 7, characterized in that: It further includes a second shock absorber, and the second shock absorber is arranged between the suspension connecting plate, the first drive wheel fixing plate and the second drive wheel fixing plate.

9. The horizontal steering wheel according to claim 7, characterized in that: A second positioning hole is arranged on the second drive mounting plate, and the support block is fixedly connected to the second positioning hole through fasteners.

10. A horizontal steering wheel according to claim 9, characterized in that: A third positioning hole is arranged on the support block, and the suspension connecting plate is fixedly connected to the third positioning hole through fasteners.

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