Low small steering wheel structure

Abstract

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

Description

Technical Field

[0001] This utility model relates to the field of transportation technology, and in particular to a low-profile and small steering wheel structure. Background Technology

[0002] AGV (Automated Guided Vehicle) refers to a heavy-duty transport vehicle equipped with electromagnetic or optical automatic guidance devices, capable of traveling along a pre-set guide path, and possessing safety protection and various transfer functions. In flexible manufacturing systems, AGVs have become an effective automated transport tool for material handling.

[0003] The height of the AGV steering wheel drive unit depends on the sum of the heights of the four components mentioned above. When the AGV steering wheel drive unit needs to provide a large load-bearing capacity, the thickness of the support plate, the steering mechanism, and the diameter of the drive wheel will increase accordingly, which will inevitably affect the overall height of the AGV steering wheel drive unit. However, in the current technology, AGVs are often limited by space height requirements.

[0004] Based on this, the present invention proposes a low-profile and compact steering wheel structure that can ensure the load-bearing capacity of the AGV steering wheel drive device is not reduced at a relatively low height. Utility Model Content

[0005] To address the aforementioned problems, this invention provides a low-profile, compact steering wheel structure.

[0006] To achieve the above objectives, this application provides the following technical solution:

[0007] A low-profile, small steering wheel structure includes a support plate, the upper surface of which is provided with a receiving groove, and a drive wheel capable of entering the receiving groove and a walking motor for controlling the drive wheel are provided on the lower surface of the support plate.

[0008] The following configuration is further provided: a walking motor mounting plate is provided on the lower surface of the support plate, the walking motor is mounted on the walking motor mounting plate, and the output shaft of the walking motor is connected to the drive wheel.

[0009] The configuration is further defined as follows: an internal gear ring and a steering drive gear meshing with the internal gear ring are provided in the receiving groove, and a steering motor connected to the steering drive gear is provided on the lower surface of the bearing plate.

[0010] Further configuration includes a speed measuring gear and an encoder, wherein the speed measuring gear meshes with an internal gear ring and is rotatably connected to the bottom of the receiving groove, and the encoder is located on the bottom surface of the support plate and connected to the speed measuring gear.

[0011] A further configuration is provided: an electromagnetic brake mounting plate, also mounted on the bottom surface of the support plate, is provided on the side of the drive wheel away from the walking motor mounting plate, and an electromagnetic brake connected to the drive wheel is mounted on the electromagnetic brake mounting plate.

[0012] The device is further configured to include a proximity switch mounting bracket and a proximity switch sensor. The proximity switch mounting bracket is mounted on the internal gear ring, and the proximity switch sensor is used to sense the original position and left and right limit position signals of the internal gear ring during rotation.

[0013] The device is further configured to include a stop and two limiting posts. The stop is installed in the mounting groove of the internal gear ring and includes a mounting part and a limiting part. The limiting part has arc-shaped grooves on both sides. The two limiting posts are respectively located on the steering drive gear and the side of the drive gear near the stop, and can be embedded in the arc-shaped grooves to limit the extreme position of the internal gear ring rotation.

[0014] Further configuration includes: an integrated hub mounted on the proximity switch mounting bracket.

[0015] The further configuration includes a baffle, which is located at the bottom of the receiving groove and is used to cover the intrusion portion of the drive wheel.

[0016] A further feature is provided: a clearance hole is provided at the bottom of the receiving groove for the drive wheel to pass through. (Includes...)

[0017] Compared with the prior art, the beneficial technical effects of this utility model are as follows:

[0018] 1. Reduced overall height: By placing the drive wheel part in the receiving groove of the support plate and installing the steering motor on the bottom surface of the support plate, the entire steering wheel structure is more compact in the height direction, reducing the overall height of the steering wheel. This is suitable for occasions with strict height restrictions, such as submersible AGVs. Furthermore, even when a large load-bearing capacity is required, this structure can still ensure a low height of the AGV steering wheel drive device, without affecting its low and compact characteristics.

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

[0020] 3. Enhanced Steering Flexibility: Utilizing an internal gear ring steering structure, the steering motor drives the steering drive gear, which in turn rotates the internal gear ring, enabling the AGV to steer. This steering method allows for functions such as turning on the spot, giving the AGV better steering flexibility and maneuverability in confined spaces.

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

[0022] 5. Safety protection function: Equipped with a proximity switch sensor to sense the original position and left and right limit position signals when the internal gear ring rotates. Combined with the setting of limit post and stop, it effectively limits the limit position of the internal gear ring rotation, prevents over-rotation, and improves the safety of operation. Attached Figure Description

[0023] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the overall structure of this utility model;

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

[0026] Figure 3 This is a schematic diagram of the internal structure of the receiving tank;

[0027] Figure 4 This is a top view of the present invention;

[0028] Figure 5 for Figure 4 Schematic diagram of the AA section;

[0029] Figure 6 This is a schematic diagram of the structure of the concealed integrated hub of this utility model.

[0030] Reference numerals: 1. Support plate; 2. Receiving groove; 3. Internal gear ring; 4. Travel motor mounting plate; 5. Travel motor; 6. Drive wheel; 7. Clearance hole; 8. Electromagnetic brake mounting plate; 9. Electromagnetic brake; 10. Steering drive gear; 11. Steering motor; 12. Speed ​​measuring gear; 13. Encoder; 14. Proximity switch connecting frame; 15. Proximity switch sensor; 16. Mounting groove; 17. Stop; 18. Mounting part; 19. Limiting part; 20. Arc groove; 21. Gear shield; 22. Limiting post; 23. Integrated hub; 24. Baffle. Detailed Implementation

[0031] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0032] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model 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, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0033] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0034] Example

[0035] Reference Figures 1-6 The present invention discloses a low-profile and small steering wheel structure, including a support plate 1 for connecting the AGV body, a receiving groove 2 on the upper surface of the support plate 1, an internal gear ring 3 in the receiving groove 2, and the outer side wall of the internal gear ring 3 abutting and cooperating with the inner side wall of the receiving groove 2. A travel motor mounting plate 4 is provided on the bottom surface of the support plate 1, and a travel motor 5 is also provided below the support plate 1. The travel motor 5 is connected to the travel motor mounting plate 4, and the output shaft of the travel motor 5 passes through the travel motor mounting plate 4 and is connected to a drive wheel 6.

[0036] After the walking motor 5 is started, the output shaft of the walking motor 5 drives the drive wheel 6 to rotate. The friction between the drive wheel 6 and the ground generates thrust, enabling the AGV to complete the movement.

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

[0038] Furthermore, it is used to drive wheel 6 for emergency braking.

[0039] A steering drive gear 10 that meshes with an internal gear ring 3 is rotatably connected to the bottom of the receiving groove 2. A steering motor 11 is provided on the bottom surface of the bearing plate 1. The output end of the steering motor 11 passes vertically downward through the receiving groove 2 and is connected to the steering drive gear 10.

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

[0041] This utility model enables on-the-spot turning and other functions through the steering method driven by the steering motor 11, giving the AGV body better steering flexibility and maneuverability in narrow spaces, and allowing it to cope more flexibly with complex paths and working environments.

[0042] Furthermore, a speed measuring gear 12 that meshes with the internal gear ring 3 is rotatably connected to the bottom of the receiving groove 2, and an encoder 13 connected to the speed measuring gear 12 is provided on the bottom surface of the bearing plate 1. The speed measuring gear 12 meshes with the internal gear ring 3 and can transmit the rotation of the internal gear ring 3 to the encoder 13. There is a transmission ratio relationship between the rotational speed of the speed measuring gear 12 and the rotational speed of the internal gear ring 3. Through the tooth ratio between the speed measuring gear 12 and the internal gear ring 3, the rotational speed of the internal gear ring 3 can be converted into a speed range suitable for the encoder 13 to measure, thereby realizing the accurate measurement of the steering speed.

[0043] Furthermore, a proximity switch connecting frame 14 is installed on the internal gear ring 3, and three proximity switch sensors 15 are set on the proximity switch connecting frame 14 to sense the left and right limit position signals of the original position when the internal gear ring 3 rotates; specifically, an open mounting groove 16 is opened on the upper surface of the internal gear ring 3, and a stop 17 is installed in the mounting groove 16, and the stop 17 is directly opposite the three proximity switch sensors 15. The stop 17 includes a mounting part 18 and a limiting part 19, wherein the mounting part 18 is located in the mounting groove 16, the limiting part 19 is located in the receiving groove 2 and does not interfere with the internal gear ring 3, and arc-shaped grooves 20 are provided on both sides of the limiting part 19;

[0044] Gear baffles 21 are provided on the side of the steering drive gear 10 and the speed measuring gear 12 that are close to each other. Limiting posts 22 are provided on the side of the steering drive gear 10 and the speed measuring gear 12 that are close to the stop 17. The limiting posts 22 can be embedded and fitted into the two arc-shaped grooves 20. The limiting posts 22 and the stop 17 are provided to limit the two extreme positions when the internal gear ring 3 rotates.

[0045] When the proximity switch sensor 15 is located in the middle of the steering drive gear 10 and the speed measuring gear 12, it is the original position of the internal gear ring 3. When the stop 17 is engaged with the limit post 22 near the speed measuring gear 12, it is the left limit position. When the stop 17 is engaged with the limit post 22 near the steering drive gear 10, it is the right limit position.

[0046] Furthermore, an integrated hub 23 is provided on the proximity switch connection frame 14, and a baffle 24 is provided at the bottom of the receiving groove 2 to cover the intrusion part of the drive wheel 6. The baffle 24 is U-shaped. The baffle 24 and the integrated hub 23 are provided to prevent the drive wheel 6 from rubbing and tangling with the cable.

[0047] The working principle and beneficial effects of this utility model are as follows:

[0048] This utility model reduces the height by placing the drive wheel 6 part in the receiving groove 2 of the support plate 1, and at the same time installing the steering motor 11 on the bottom surface of the support plate 1, making the entire steering wheel structure more compact in the height direction and reducing the overall height of the steering wheel. It is suitable for occasions with strict height restrictions, such as submersible AGVs.

[0049] The walking motor mounting plate 4, the electromagnetic brake mounting plate 8, and the drive wheel 6 form an integrated module. This integrated design reduces the cumulative errors that may occur when each component is installed individually when the entire module is installed on the support plate 1. It can ensure the relative position and dimensional accuracy between each component. In this way, when installing the walking motor 5 and the drive wheel 6, it can better ensure the installation requirements such as coaxiality between them.

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

[0051] By employing an internal gear ring 3 steering structure and an intrusive load-bearing plate 1 structure, the drive wheel 6 can be structurally integrated into the internal gear ring 3 steering structure, effectively reducing the height of the AGV steering wheel drive unit. Under the premise of a fixed load, i.e., a fixed thickness of the internal gear ring 3 and a fixed diameter of the drive wheel 6, a smaller AGV steering wheel drive unit height can be achieved. When the AGV steering wheel drive unit needs to provide a larger load-bearing capacity, even if the thickness of the internal gear ring 3 and the diameter of the drive wheel 6 increase, a low AGV steering wheel drive unit height can still be maintained.

[0052] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A low-profile, compact steering wheel structure, characterized in that, The system includes a support plate (1), the upper surface of which is provided with a receiving groove (2), and a drive wheel (6) capable of entering the receiving groove (2) and a walking motor (5) for controlling the drive wheel (6) are provided on the lower surface of the support plate (1); a walking motor mounting plate (4) is provided on the lower surface of the support plate (1), the walking motor (5) is mounted on the walking motor mounting plate (4), and the output shaft of the walking motor (5) is connected to the drive wheel (6).

2. The low profile small steering wheel structure according to claim 1, wherein The receiving groove (2) is provided with an internal gear ring (3) and a steering drive gear (10) meshing with the internal gear ring (3). A steering motor (11) connected to the steering drive gear (10) is provided on the lower surface of the bearing plate (1).

3. The low profile small steering wheel structure according to claim 2, wherein It also includes a speed measuring gear (12) and an encoder (13). The speed measuring gear (12) meshes with the internal gear ring (3) and is rotatably connected to the bottom of the receiving groove (2). The encoder (13) is located on the bottom surface of the support plate (1) and is connected to the speed measuring gear (12).

4. The low profile small steering wheel structure of claim 1, wherein On the side of the drive wheel (6) away from the walking motor mounting plate (4), there is an electromagnetic brake mounting plate (8) that is also mounted on the bottom surface of the support plate (1). An electromagnetic brake (9) connected to the drive wheel (6) is mounted on the electromagnetic brake mounting plate (8).

5. The low profile small steering wheel structure of claim 2, wherein It also includes a proximity switch mounting bracket (14) and a proximity switch sensor (15). The proximity switch mounting bracket (14) is mounted on the internal gear ring (3), and the proximity switch sensor (15) is used to sense the original position and left and right limit position signals of the internal gear ring (3) when it rotates.

6. The low-profile, compact steering wheel structure according to claim 3, characterized in that, It also includes a stop (17) and two limiting posts (22). The stop (17) is installed in the mounting groove (16) of the internal gear ring (3) and includes a mounting part (18) and a limiting part (19). The limiting part (19) has arc-shaped grooves (20) on both sides. The two limiting posts (22) are respectively located on the steering drive gear (10) and the side of the drive gear near the stop (17), and can be embedded in the arc-shaped grooves (20) to limit the extreme position of the rotation of the internal gear ring (3).

7. The low-profile, compact steering wheel structure according to claim 5, characterized in that, It also includes an integrated hub (23) mounted on the proximity switch mounting bracket (14).

8. The low profile small steering wheel structure of claim 1, wherein, It also includes a baffle (24), which is located at the bottom of the receiving groove (2) and is used to cover the intrusion part of the drive wheel (6).

9. The low profile, compact steering wheel structure of claim 1, wherein, The bottom of the receiving groove (2) is provided with a clearance hole (7) for the drive wheel (6) to pass through.

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