Steering wheel set and automatic guided vehicle

Abstract

The utility model discloses a steering wheel set and an automatic guided vehicle, and relates to the technical field of automatic transportation equipment, the steering wheel set comprises an installation assembly, a steering motor, a walking motor and a control driver, the steering motor is arranged on one side of the installation assembly and is in driving connection with the installation assembly, and an absolute value encoder is arranged in the steering motor; the walking motor is arranged on the side, away from the steering motor, of the mounting assembly, the walking motor comprises an incremental encoder, an outer rotor and a first motor shaft, the incremental encoder is electrically connected with the absolute value encoder, the first motor shaft is fixedly arranged on the mounting assembly, the outer rotor is rotatably arranged on the periphery of the first motor shaft in a sleeving mode, and walking wheels are mounted on the outer portion of the outer rotor; and the control driver is arranged in the walking motor, and the incremental encoder and the absolute value encoder are electrically connected with the control driver. According to the technical scheme provided by the utility model, the problem that the structure of the steering wheel set on the existing automated guided vehicle is complicated is solved.

Description

Technical Field

[0001] This utility model relates to the field of automated transportation equipment technology, and in particular to a steering wheel assembly and an automated guided vehicle. Background Technology

[0002] Automated Guided Vehicles (AGVs) are increasingly widely used in fields such as automated logistics and manufacturing. As a key component, the mobility of the AGV chassis directly affects the overall performance of the AGV. AGV chassis and similar moving frames generally use steering wheel sets to achieve the movement and steering of the chassis.

[0003] Existing AGV chassis typically employ complex mechanical structures, such as reducer transmission mechanisms, slewing support mechanisms, and independent steering absolute encoders, among other components. These numerous and complex parts not only increase the size and weight of the product but also significantly raise manufacturing costs. Utility Model Content

[0004] The main purpose of this invention is to propose a steering wheel assembly and an automated guided vehicle (AGV) that aims to solve the problem of the complex structure of the steering wheel assembly on existing AGVs.

[0005] To achieve the above objectives, the present invention proposes a steering wheel assembly, which includes:

[0006] Install components;

[0007] A steering motor is located on one side of the mounting assembly and is drivenly connected to the mounting assembly. An absolute encoder is installed inside the steering motor.

[0008] A travel motor is located on the side of the mounting assembly opposite to the steering motor. The travel motor includes an incremental encoder, an outer rotor, and a first motor shaft. The incremental encoder is electrically connected to the absolute encoder. The first motor shaft is fixedly mounted on the mounting assembly. The outer rotor is rotatably sleeved on the outer circumference of the first motor shaft, and a travel wheel is mounted on the outside of the outer rotor.

[0009] A control driver is located inside the walking motor, and both the incremental encoder and the absolute encoder are electrically connected to the control driver.

[0010] In one embodiment, the incremental encoder and the control driver are integrated into a single structure.

[0011] In one embodiment, the walking motor further includes a motor end cover and an inner stator. The inner stator is disposed between the first motor shaft and the outer rotor, and the outer rotor is rotatably connected to the inner stator. The motor end cover is sleeved on both ends of the first motor shaft.

[0012] In one embodiment, the steering wheel assembly further includes a deep groove ball bearing, which is mounted on the end of the first motor shaft and located between the outer wall of the first motor shaft and the inner wall of the motor end cover.

[0013] In one embodiment, the steering motor includes:

[0014] The second motor shaft is located on one side of the mounting assembly and is drivenly connected to the mounting assembly;

[0015] An outer stator is sleeved on the outer periphery of the second motor shaft, and the absolute encoder is mounted on the outer stator; and

[0016] An inner rotor is disposed between the second motor shaft and the outer stator, and the inner rotor is fixedly connected to the second motor shaft and movably connected to the outer stator.

[0017] In one embodiment, the mounting component includes:

[0018] Mounting base plate, fixedly connected to the second motor shaft; and

[0019] The mounting side plates are provided in two, and the two mounting side plates are respectively located at both ends of the mounting base plate and extend away from the steering motor. The two ends of the first motor shaft are respectively fixedly connected to the two mounting side plates.

[0020] In one embodiment, the steering wheel assembly further includes a thrust ball bearing disposed between the second motor shaft and the mounting base plate.

[0021] In one embodiment, both the first motor shaft and the second motor shaft are hollow structures. The steering wheel assembly also includes a wiring harness and a circuit board. The circuit board is disposed between the inner stator and the outer rotor. The wiring harness is electrically connected to the circuit board and passes through the interior of the first motor shaft and the interior of the second motor shaft in sequence to connect to an external power supply device.

[0022] In one embodiment, the mounting side plate is provided with a through hole, which is located near the mounting base plate, and the wire harness passes through the interior of the first motor shaft, the mounting side plate, the through hole, and the interior of the second motor shaft in sequence.

[0023] In one embodiment, the steering wheel assembly further includes a wiring harness cover mounted on the mounting side plate to cover the wire harness portion on the outer side of the mounting side plate.

[0024] This utility model also proposes an automated guided vehicle, which includes:

[0025] Chassis;

[0026] A steering wheel assembly is located on the side of the chassis facing the ground, and the steering wheel assembly is the steering wheel assembly described in any of the above embodiments.

[0027] This invention achieves closed-loop feedback of steering angle and walking speed through the linkage of an absolute encoder (steering end) and an incremental encoder (walking end), ensuring accurate positioning and trajectory tracking of the steering wheel assembly on complex paths and effectively reducing positioning errors. Furthermore, the walking motor uses an external rotor to directly drive the walking wheels, eliminating the need for a traditional reduction gear mechanism, effectively improving transmission efficiency, and simultaneously reducing mechanical vibration and noise. In addition, the control driver is integrated inside the walking motor, improving structural compactness and saving structural space. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0029] Figure 1 A schematic diagram of the structure of an embodiment of the steering wheel assembly provided by this utility model;

[0030] Figure 2 A side view of the structure of another embodiment of the steering wheel assembly provided by this utility model;

[0031] Figure 3 A cross-sectional view of the internal structure of another embodiment of the steering wheel assembly provided by this utility model;

[0032] Figure 4 A schematic diagram of the mounting components in another embodiment of the steering wheel assembly provided by this utility model;

[0033] Figure 5 This is a partial structural schematic diagram of another embodiment of the steering wheel assembly provided by this utility model.

[0034] Explanation of icon numbers:

[0035] 100. Steering wheel assembly; 1. Mounting assembly; 11. Mounting base plate; 111. Wiring board; 12. Mounting side plate; 121. Through hole; 2. Steering motor; 21. Second motor shaft; 22. Outer stator; 23. Inner rotor; 24. Absolute encoder; 3. Travel motor; 31. Outer rotor; 32. First motor shaft; 33. Inner stator; 34. Motor end cover; 4. Travel wheel; 5. Deep groove ball bearing; 6. Thrust ball bearing; 7. Wire harness; 8. Circuit board; 9. Wire harness cover.

[0036] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0037] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0038] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0039] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0040] Existing AGV chassis typically employ complex mechanical structures, such as reducer transmission mechanisms, slewing support mechanisms, and independent steering absolute encoders, among other components. These numerous and complex parts not only increase the size and weight of the product but also significantly raise manufacturing costs.

[0041] This utility model proposes a steering wheel assembly.

[0042] Please see Figures 1 to 3 In one embodiment of this utility model, the steering wheel assembly 100 includes:

[0043] Install component 1;

[0044] Steering motor 2 is located on one side of mounting component 1 and is drivenly connected to mounting component 1. An absolute encoder 24 is installed inside steering motor 2.

[0045] A travel motor 3 is located on the side of the mounting assembly 1 opposite to the steering motor 2. The travel motor 3 includes an incremental encoder, an outer rotor 31, and a first motor shaft 32. The incremental encoder is electrically connected to an absolute encoder 24. The first motor shaft 32 is fixedly mounted on the mounting assembly 1. The outer rotor 31 is rotatably sleeved on the outer circumference of the first motor shaft 32, and a travel wheel 4 is mounted on the outside of the outer rotor 31.

[0046] The control driver is located inside the walking motor 3, and both the incremental encoder and the absolute encoder 24 are electrically connected to the control driver.

[0047] The technical solution of this utility model achieves closed-loop feedback of steering angle and walking speed through the linkage of absolute encoder 24 (steering end) and incremental encoder (walking end), ensuring the accurate positioning and trajectory tracking capability of the steering wheel assembly 100 on complex paths and effectively reducing positioning errors. Furthermore, the walking motor 3 uses an external rotor 31 to directly drive the walking wheel 4, eliminating the need for a traditional reduction mechanism, effectively improving transmission efficiency, and simultaneously reducing mechanical vibration and noise. In addition, the control driver is integrated inside the walking motor 3, improving structural compactness and saving structural space.

[0048] Specifically, mounting component 1 can be a metal plate with pre-drilled threaded holes and slots. Steering motor 2 and travel motor 3 are fixed to corresponding positions on mounting component 1 using bolts or screws. Mounting component 1 provides a mounting base for travel motor 3 and steering motor 2, ensuring the relative position stability of each component and withstanding the pressure generated by the steering motor 2 and travel motor 3 during operation. Steering motor 2 can be a high-precision brushless DC steering motor. Its internal absolute encoder 24 is a photoelectric encoder. When it receives a steering command from the control driver, steering motor 2 starts working. Its internal absolute encoder 24 monitors the rotation angle of the motor shaft in real time and feeds back the position information to the control driver. Travel motor 3 can be an external rotor 31 type permanent magnet synchronous motor. When travel motor 3 is working, incremental encoders and absolute encoders 24 work together. The incremental encoder monitors the rotation of the external rotor 31, generating a pulse signal for each rotation angle. These signals are transmitted to the control driver and combined with the information from the absolute encoder 24 to precisely control parameters such as travel speed and distance. The control driver can be a microcontroller (MCU) based intelligent control driver with multiple input / output interfaces for electrical connection to the absolute encoder 24 and the incremental encoder, respectively.

[0049] The specific working process is as follows: a control driver is used to control the operation of two encoders. When turning, the steering motor 2 feeds back the position through the absolute encoder 24, and the driver adjusts the angle. When moving, the incremental encoder monitors the speed, and the outer rotor 31 starts to rotate under the action of electromagnetic force, thereby driving the rotation of the walking wheel 4, and thus pushing the entire steering wheel assembly 100 forward or backward.

[0050] In this embodiment of the invention, the incremental encoder and control driver adopt an integrated structure. By integrating the incremental encoder and control driver within the housing of the walking motor 3, the axial dimension of the wheel set is reduced by 20%-25% (e.g., from the traditional 120mm to 90mm), making it suitable for compact AGV chassis. The integrated incremental encoder-control driver assembly can adopt a 6-layer PCB stacked design (board thickness approximately 2.4mm). The upper layer integrates the AS5048 magnetic encoder chip, the middle layer arranges the three-phase gate drive circuit, and the lower layer houses the STM32F405 controller. The specific installation relationship is as follows: the encoder magnetic ring and the driver PCB are fixed to the aluminum alloy bracket with thermally conductive adhesive. The bracket is fixed to the inside of the end cover of the walking motor 3 with multiple screws. The encoder magnetic ring is interference-fitted with the motor shaft, and the gap between the Hall sensor and the magnetic ring is maintained at 0.3±0.05mm.

[0051] In the embodiments of this utility model, please refer to Figure 3The walking motor 3 also includes a motor end cover 34 and an inner stator 33. The inner stator 33 is located between the first motor shaft 32 and the outer rotor 31, and the outer rotor 31 is rotatably connected to the inner stator 33. The motor end cover 34 is sleeved on both ends of the first motor shaft 32. The inner stator 33 can be made of multiple silicon steel sheets stacked together with an 18-slot distributed winding. The stator core is heat-fitted to the first motor shaft 32. The outer rotor 31 is made of aluminum alloy with neodymium iron boron magnets bonded to its inner wall. A stainless steel retaining ring is provided at the end of the outer rotor 31 to prevent the magnets from falling off due to centrifugal force. During operation, the control driver outputs three-phase AC power, and the windings on the inner stator 33 generate a rotating magnetic field, which interacts with the permanent magnets on the outer rotor 31 to generate electromagnetic torque, driving the outer rotor 31 to rotate around the first motor shaft 32 under the action of electromagnetic torque, thereby driving the rotation of the walking wheel 4 that is interference-fitted with it.

[0052] In the embodiments of this utility model, please refer to Figure 3 The steering wheel assembly 100 also includes a deep groove ball bearing 5, which is mounted on the end of the first motor shaft 32 and located between the outer wall of the first motor shaft 32 and the inner wall of the motor end cover 34. The deep groove ball bearing 5 can be a standard 6200 series deep groove ball bearing 5, such as a 6204 deep groove ball bearing 5, with an inner diameter of 20mm, an outer diameter of 47mm, and a width of 14mm. When the travel motor 3 operates, the first motor shaft 32 begins to rotate. The inner ring of the deep groove ball bearing 5 is tightly fitted to the end of the first motor shaft 32 and rotates with the motor shaft. Meanwhile, the outer ring of the deep groove ball bearing 5 contacts the inner wall of the motor end cover 34 and remains relatively stationary. During this process, the balls inside the deep groove ball bearing 5 roll between the inner and outer rings, converting the sliding friction between the first motor shaft 32 and the motor end cover 34 into rolling friction of the balls, thereby greatly reducing friction.

[0053] In the embodiments of this utility model, please refer to Figure 3 The steering motor 2 includes:

[0054] The second motor shaft 21 is located on one side of the mounting assembly 1 and is drivenly connected to the mounting assembly 1.

[0055] The outer stator 22 is sleeved on the outer periphery of the second motor shaft 21, and the absolute encoder 24 is mounted on the outer stator 22; and

[0056] The inner rotor 23 is located between the second motor shaft 21 and the outer stator 22, and the inner rotor 23 is fixedly connected to the second motor shaft 21 and movably connected to the outer stator 22.

[0057] Specifically, mounting assembly 1 provides support and positioning for the second motor shaft 21. When the steering motor 2 receives a steering command from the control driver, the inner rotor 23 begins to rotate under the action of electromagnetic force. Since the inner rotor 23 is fixedly connected to the second motor shaft 21, the rotation of the inner rotor 23 directly drives the second motor shaft 21 to rotate. The rotation of the second motor shaft 21 is transmitted to the entire steering wheel assembly 100 through mounting assembly 1, thereby realizing the steering operation of the steering wheel assembly 100. The outer stator 22 can be a cylindrical structure made of multiple layers of silicon steel sheets, with the surface of the silicon steel sheets coated with insulating varnish to reduce eddy current losses. The inner rotor 23 can be made of permanent magnet material, such as neodymium iron boron permanent magnets. The inner rotor 23 is located between the second motor shaft 21 and the outer stator 22, fixedly connected to the second motor shaft 21 and movably connected to the outer stator 22. The outer stator 22 is sleeved on the outer periphery of the second motor shaft 21. When the steering motor 2 is working, the coil on the outer stator 22 is energized to generate a magnetic field. The permanent magnet of the inner rotor 23 interacts with the magnetic field of the outer stator 22. According to the electromagnetic principle, the inner rotor 23 will be subjected to electromagnetic force and begin to rotate. The rotation of the inner rotor 23 drives the second motor shaft 21 to rotate, thereby realizing the steering function of the steering motor 2.

[0058] In the embodiments of this utility model, please refer to Figure 4 Component 1 includes:

[0059] Mounting base plate 11, which is fixedly connected to the second motor shaft 21; and

[0060] There are two mounting side plates 12, which are respectively located at both ends of the mounting base plate 11 and extend away from the steering motor 2. The two ends of the first motor shaft 32 are respectively fixedly connected to the two mounting side plates 12.

[0061] Specifically, the mounting base plate 11 can be made of stainless steel, and its assembly with the second motor shaft 21 can be achieved through threaded connection or welding. The mounting side plates 12 can be L-shaped or square plates made of aluminum alloy. The two mounting side plates 12 are respectively positioned at both ends of the mounting base plate 11 and extend away from the steering motor 2, forming a frame structure to position and fix key components of the steering motor 2 and the travel motor 3 (such as the second motor shaft 21 and the first motor shaft 32). During assembly, one end of the mounting side plate 12 is connected to the mounting base plate 11, which can be done by bolting or welding, while the other end is used to fix the first motor shaft 32, which can also be done by bolting or welding.

[0062] In the embodiments of this utility model, please refer to Figure 3 and Figure 5The steering wheel assembly 100 also includes a thrust ball bearing 6, which is located between the second motor shaft 21 and the mounting base plate 11. The thrust ball bearing 6 can be a 51100 series thrust ball bearing 6, such as the 51105 thrust ball bearing 6, with an inner diameter of 25mm, an outer diameter of 42mm, and a height of 11mm. When the steering motor 2 operates, the second motor shaft 21 begins to rotate. The seat ring of the thrust ball bearing 6 is in close contact with the mounting base plate 11 and remains relatively stationary, while the shaft ring of the thrust ball bearing 6 is in close fit with the second motor shaft 21 and rotates with the motor shaft. During this process, the balls inside the thrust ball bearing 6 roll between the shaft ring and the seat ring, transmitting the axial force of the second motor shaft 21 to the mounting base plate 11. Simultaneously, the thrust ball bearing 6 precisely defines the axial position of the second motor shaft 21, ensuring the axial stability of the motor shaft during rotation, and significantly reducing the friction between the motor shaft and the mounting base plate 11 due to the rolling friction characteristics of the balls.

[0063] In the embodiments of this utility model, please refer to Figure 3 Both the first motor shaft 32 and the second motor shaft 21 are hollow structures. The steering wheel assembly 100 also includes a wiring harness 7 and a circuit board 8. The circuit board 8 is located between the inner stator 33 and the outer rotor 31. The wiring harness 7 is electrically connected to the circuit board 8 and passes through the interior of the first motor shaft 32 and the interior of the second motor shaft 21 to connect to the external power supply. The first motor shaft 32 and the second motor shaft 21 can be hollow shafts made of extruded aluminum alloy, providing an internal wiring channel for the wiring harness 7 and avoiding the problem of affecting the steering of the travel motor 3 by separately setting the wiring harness 7 on the outside of the steering wheel assembly 100. The circuit board 8 can be a printed circuit board 8 (PCB) using FR 4 as the substrate, on which various electronic components, such as capacitors, resistors, and chips, are integrated. One end of the wire harness 7 is connected to an external power supply device. Current flows from the power supply device into the wire harness 7. Then, the wire harness 7 passes sequentially through the interior of the second motor shaft 21 and the interior of the first motor shaft 32. Because the interior of the motor shaft is relatively enclosed and protected by the motor shaft, the wire harness 7 can stably transmit current, and no winding problem occurs during the rotation of the walking motor 3 driven by the mounting assembly 1. Finally, the wire harness 7 is electrically connected to the circuit board 8, transmitting electrical energy to the circuit board 8 to provide power to the electronic components on the circuit board 8, ensuring the normal operation of the circuit board 8.

[0064] In other embodiments, the steering wheel assembly 100 may further include a cable management plate 111, which is located below the mounting base plate 11. (See also...) Figure 5 Furthermore, the cable tray 111 is equipped with a cable tray, which can position the wire harness 7 located below the mounting base plate 11. The cable tray 111 isolates the wire harness 7 from the travel motor 3, preventing it from affecting the rotation of the travel wheel 4.

[0065] In the embodiments of this utility model, please refer to Figure 3 The mounting side plate 12 has a through hole 121, which is located near the mounting base plate 11. The wire harness 7 passes sequentially through the interior of the first motor shaft 32, the mounting side plate 12, the through hole 121, and the interior of the second motor shaft 21. By providing the through hole 121 on the mounting side plate 12, a specific wiring channel is provided for the wire harness 7. This allows the wire harness 7 to be led out from the circuit board 8 and sequentially pass through the interior of the first motor shaft 32, the outer surface of the mounting side plate 12, the through hole 121 on the mounting side plate 12, and the interior of the second motor shaft 21. This orderly wiring method makes the wiring layout of the entire steering wheel assembly 100 more regular, facilitating accurate installation of the wire harness 7 during assembly and avoiding a messy distribution of the wire harness 7 inside the steering wheel assembly 100. The shape of the through hole 121 is not specifically limited; for example, it can be square or circular.

[0066] In the embodiments of this utility model, please refer to Figure 1 and Figure 3 The steering wheel assembly 100 also includes a wire harness cover 9, which is mounted on the mounting side plate 12 to cover the portion of the wire harness 7 on the outer side of the mounting side plate 12. The wire harness cover 9 can be made of rigid plastic, such as ABS plastic; its shape can be designed as a semi-enclosed structure that matches the shape of the outer side of the mounting side plate 12, and its length is determined according to the length of the wire harness 7 to be covered, for example, 10-15cm. After the wire harness 7 passes through the through hole 121 of the mounting side plate 12, the wire harness cover 9 is installed on the mounting side plate 12. The specific installation method can be by fastening with clips or screws. After installation, the wire harness cover 9 tightly covers the portion of the wire harness 7 on the outer side of the mounting side plate 12, forming a protective barrier to block the influence of external factors on the wire harness 7, and continuously protects the wire harness 7 during the operation of the steering wheel assembly 100.

[0067] This utility model also proposes an automated guided vehicle (AGV), which includes a chassis and a steering wheel assembly 100. The steering wheel assembly 100 is located on the side of the chassis facing the ground. The specific structure of the steering wheel assembly 100 is as described in the above embodiments. Since this AGV adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated here. The number of steering wheel assemblies 100 is not specifically limited and can be selected according to the shape and size of the chassis. Furthermore, the AGV can also be equipped with various sensors, such as lidar, vision sensors, and magnetic strip navigation. The navigation system feeds real-time data back to the control driver, which adjusts the working state of the steering wheel assembly 100 based on this data, enabling the AGV to achieve precise positioning and path tracking, ensuring stable operation of the vehicle in complex environments.

[0068] The above description is merely an exemplary embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A steering wheel assembly, characterized in that, The steering wheel assembly includes: Install components; A steering motor is located on one side of the mounting assembly and is drivenly connected to the mounting assembly. An absolute encoder is installed inside the steering motor. A travel motor is located on the side of the mounting assembly opposite to the steering motor. The travel motor includes an incremental encoder, an outer rotor, and a first motor shaft. The incremental encoder is electrically connected to the absolute encoder. The first motor shaft is fixedly mounted on the mounting assembly. The outer rotor is rotatably sleeved on the outer circumference of the first motor shaft, and a travel wheel is mounted on the outside of the outer rotor. A control driver is located inside the walking motor, and both the incremental encoder and the absolute encoder are electrically connected to the control driver.

2. The steering wheel assembly as described in claim 1, characterized in that, The incremental encoder and the control driver are integrated into a single unit.

3. The steering wheel assembly as described in claim 1, characterized in that, The walking motor also includes a motor end cover and an inner stator. The inner stator is located between the first motor shaft and the outer rotor, and the outer rotor is rotatably connected to the inner stator. The motor end cover is sleeved on both ends of the first motor shaft.

4. The steering wheel assembly as described in claim 3, characterized in that, The steering wheel assembly also includes a deep groove ball bearing, which is installed at the end of the first motor shaft and located between the outer wall of the first motor shaft and the inner wall of the motor end cover.

5. The steering wheel assembly as described in claim 3, characterized in that, The steering motor includes: The second motor shaft is located on one side of the mounting assembly and is drivenly connected to the mounting assembly; An outer stator is sleeved on the outer periphery of the second motor shaft, and the absolute encoder is mounted on the outer stator; and An inner rotor is disposed between the second motor shaft and the outer stator, and the inner rotor is fixedly connected to the second motor shaft and movably connected to the outer stator.

6. The steering wheel assembly as described in claim 5, characterized in that, The installation components include: Mounting base plate, fixedly connected to the second motor shaft; and The mounting side plates are provided in two, and the two mounting side plates are respectively located at both ends of the mounting base plate and extend away from the steering motor. The two ends of the first motor shaft are respectively fixedly connected to the two mounting side plates.

7. The steering wheel assembly as described in claim 6, characterized in that, The steering wheel assembly also includes a thrust ball bearing, which is located between the second motor shaft and the mounting base plate.

8. The steering wheel assembly as described in claim 6, characterized in that, Both the first motor shaft and the second motor shaft are hollow structures. The steering wheel assembly also includes a wire harness and a circuit board. The circuit board is located between the inner stator and the outer rotor. The wire harness is electrically connected to the circuit board and passes through the interior of the first motor shaft and the interior of the second motor shaft in sequence to connect to an external power supply device.

9. The steering wheel assembly as described in claim 8, characterized in that, The mounting side plate is provided with a through hole, which is located near the mounting base plate. The wire harness passes through the interior of the first motor shaft, the mounting side plate, the through hole, and the interior of the second motor shaft in sequence. And / or, The steering wheel assembly also includes a wire harness cover, which is mounted on the mounting side plate to cover the wire harness portion on the outer side of the mounting side plate.

10. An automated guided vehicle, characterized in that, The automated guided vehicle includes: Chassis; A steering wheel assembly is disposed on the side of the chassis facing the ground, and the steering wheel assembly is the steering wheel assembly as described in any one of claims 1 to 9.

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