Steering wheel device and carrying apparatus

Abstract

This application provides a steering wheel device and a transport device. The steering wheel device includes: a first connecting frame; a guide assembly including a slide rail and a slider, the slide rail extending vertically and the slider slidably connected to the slide rail in the vertical direction, the slider being disposed on the first connecting frame; a second connecting frame, the slide rail being disposed on the second connecting frame; a travel assembly including a travel wheel and a travel drive component, the travel drive component being mounted on the second connecting frame and connected to the travel wheel, and used to drive the travel wheel to rotate; and a plurality of elastic elements spaced apart on the periphery of the travel wheel, each elastic element having its two ends connected to or abutting against the first connecting frame and the second connecting frame respectively. With the steering wheel device and transport device provided by this application, the shock-absorbing elastic elements in the steering wheel device can be disposed around the travel wheel, thereby reducing the height of the steering wheel device and the transport device, lowering the center of gravity of the transport device, improving the stability of the transport device, and reducing the probability of the transport device tipping over due to instability.

Description

Technical Field

[0001] This application relates to the field of automation technology, and in particular to a steering wheel device and a transport device. Background Technology

[0002] Automated Guided Vehicles (AGVs) are widely used in automated production processes to move equipment or products. Currently, AGVs can be equipped with multiple steering wheels, whose rotation allows the AGV to move on the ground. Elastic components can be installed above the steering wheels to absorb shocks when the steering wheels come into contact with uneven surfaces, reducing swaying during movement. However, these elastic components occupy space above the steering wheels, increasing the overall height of the AGV and the product or equipment it carries. This increases the risk of the equipment or product tipping over due to instability. Utility Model Content

[0003] In view of the above, it is necessary to provide a steering wheel device and a carrying device that can lower the center of gravity of the carrying device to solve the above-mentioned defects.

[0004] In a first aspect, embodiments of this application provide a steering wheel device, comprising: a first connecting frame; a guide assembly including a slide rail and a slider, the slide rail extending in a vertical direction and the slider slidably connected to the slide rail in a vertical direction, the slider being disposed on the first connecting frame; a second connecting frame, the slide rail being disposed on the second connecting frame; a travel assembly including a travel wheel and a travel drive component, the travel drive component being mounted on the second connecting frame and connected to the travel wheel, and used to drive the travel wheel to rotate; and a plurality of elastic members spaced apart on the periphery of the travel wheel, each elastic member having its two ends connected to or abutting against the first connecting frame and the second connecting frame respectively.

[0005] Optionally, the first connecting frame includes: a first connecting plate; two side plates, spaced apart along the length of the steering wheel device, both located at the bottom of the first connecting plate, a travel wheel housed between the two side plates, and each side plate connected to a corresponding slider.

[0006] Optionally, the second connecting frame includes: a second connecting plate, which is vertically spaced from the first connecting plate and located between the two side plates; a first side frame, which is located at the bottom of the second connecting plate and on one side of the traveling wheel, with a slide rail on the first side frame; two second side frames, which are spaced apart along the length of the steering wheel device and are both connected to the first side frame; and the two ends of each elastic member abut against or are connected to the bottom of the first connecting plate and the top of the corresponding second side frame.

[0007] Optionally, each steering wheel assembly further includes a steering component, which includes: a first gear connected to a first connecting frame, the first gear being rotatably connected to a fuselage, the fuselage being used to house the steering wheel assembly; a second gear meshing with the first gear; and a steering drive unit mounted on the first connecting frame and connected to the second gear, the steering drive unit being used to drive the second gear to rotate, so that the first connecting frame and the first gear rotate synchronously.

[0008] Optionally, the steering wheel assembly further includes a connecting plate for connecting to the fuselage, the connecting plate being located between the first gear and the fuselage and rotatably connected to the first gear.

[0009] Optionally, the steering wheel device further includes: a detection head mounted on the first connecting frame; and a zero-point detection element mounted on the connecting plate and used to detect the position of the detection head in order to calibrate the steering zero point of the first connecting frame.

[0010] Secondly, embodiments of this application provide a transport device, including: a fuselage, with an opening for a receiving space, the receiving space penetrating the bottom of the fuselage in a vertical direction; and a plurality of steering wheel devices as described above, the plurality of steering wheel devices being spaced apart and housed in the receiving space.

[0011] Optionally, the carrier equipment also includes: a battery housed within a housing space and supported by the fuselage, the battery being located in the middle of the housing space; and two electronic control mechanisms, both housed within the housing space and both connected to the fuselage, the two electronic control mechanisms being located at opposite ends of the housing space along the length of the carrier equipment.

[0012] Optionally, the housing includes: a first housing, a receiving space is provided inside the first housing, and a clearance opening is provided on one side of the first housing; a support bracket, which is received inside the receiving space and connected to the first housing, the support bracket is correspondingly provided with the clearance opening, and multiple guide wheels are rotatably connected to the support bracket, the axis of the guide wheels is perpendicular to the opening direction of the clearance opening, and the multiple guide wheels are used to support the battery; and a second housing, which is detachably connected to the first housing, and the second housing blocks the clearance opening.

[0013] Optionally, the transport equipment also includes: multiple radars spaced apart on the fuselage, which are used to detect obstructions around the transport equipment and to trigger the transport equipment to avoid the obstructions; a contact strip disposed around the fuselage; and a contact detection element connected to the contact strip, which is used to detect contact between the contact strip and an obstruction and to trigger the transport equipment to stop moving.

[0014] The steering wheel device and transport equipment provided in this application allow for the installation of shock-absorbing elastic components within the steering wheel device, which can be positioned around the periphery of the traveling wheels. This reduces the height of both the steering wheel device and the transport equipment, lowers the center of gravity of the transport equipment, and reduces the sway amplitude of the elastic components during elastic deformation. Consequently, the stability of the transport equipment during operation is improved, and the probability of the transport equipment tipping over due to instability is reduced. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of the transport equipment in the embodiments of this application.

[0016] Figure 2 This is a bottom schematic diagram of the transport device in the embodiments of this application.

[0017] Figure 3 This is a system schematic diagram of the transport equipment in the embodiments of this application.

[0018] Figure 4 This is a first structural schematic diagram of the steering wheel device in an embodiment of this application.

[0019] Figure 5 This is a structural disassembly diagram of the steering wheel device in the embodiments of this application.

[0020] Figure 6 This is a second structural schematic diagram of the steering wheel device in an embodiment of this application.

[0021] Figure 7 This is a structural disassembly diagram of the transport equipment in the embodiments of this application.

[0022] Figure 8 This is a schematic diagram of the first partial structure of the transport device in the embodiments of this application.

[0023] Figure 9 This is a schematic diagram of the second partial structure of the transport device in the embodiments of this application.

[0024] Explanation of key component symbols:

[0025] 100. Transport equipment; 10. Fuselage; 101. Reception space; 11. Frame; 12. Outer shell; 121. First shell; 1211. Clearance opening; 122. Second shell; 13. Support plate; 14. Support bracket; 141. Mounting port; 142. Guide wheel; 143. Connector; 144. Locking hole; 20. Steering wheel assembly; 21. First connecting frame; 211. First connecting plate; 2111. Passage opening; 212. Side plate; 2121. Clearance groove; 213. Limiting component; 22. Second connecting frame; 221. Second connecting plate; 222. First side frame; 223. Second side frame; 23. Guide assembly; 231. Slide rail; 232. Slider; 24. Traveling assembly; 241. Traveling wheel; 242. Traveling drive component; 25. Elastic component; 26. Steering assembly; 261. First gear; 262. Second gear; 263. Steering drive component; 27. Connecting plate; 28. Detection head; 29. ​​Zero point detection component; 30. Universal wheel; 40. Processor; 50. Radar; 60. Contact strip; 70. Contact detection component; 80. Battery; 81. Lock; 90. Electronic control mechanism. Detailed Implementation

[0026] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments.

[0027] The term "multiple" in this application refers to two or more. Furthermore, it should be understood that the terms "first," "second," etc., used in the description of this application are used only for descriptive purposes and should not be construed as indicating or implying relative importance, nor as indicating or implying order.

[0028] In the description of the embodiments in this application, the words "exemplary" or "for example" are used to indicate that they are examples, illustrations, or descriptions. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design options. Specifically, the use of the words "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0029] See Figure 1 and Figure 2 , Figure 1 and Figure 2 An embodiment of the present application provides a transport device 100.

[0030] In the embodiments of this application, the transport equipment 100 can carry materials that need to be transported or automated equipment that needs to participate in processing. The transport equipment 100 can be supported on the ground and move on the ground to transport the materials or automated equipment it carries to the corresponding position, so as to realize the transportation of materials or assist the automated equipment to smoothly carry out processing operations.

[0031] In the embodiments of this application, the type of transport device 100 is not specifically limited. For example, the transport device 100 may be, but is not limited to, an Automated Guided Vehicle (AGV). The following embodiments are all illustrated based on the case where the transport device 100 is an AGV.

[0032] In one embodiment, the transport device 100 may include a fuselage 10 and a plurality of steering wheel devices 20. The outer casing 12 may have a receiving space 101, which extends vertically through the bottom of the outer casing 12. The plurality of steering wheel devices 20 are all located within the receiving space 101 and are fixedly connected to the top of the fuselage 10. The plurality of steering wheel devices 20 may be spaced apart along the length of the transport device 100. The plurality of steering wheel devices 20 may abut against the ground, thus supporting the transport device 100 on the ground. Operation of the plurality of steering wheel devices 20 can drive the transport device 100 to move on the ground.

[0033] In the embodiments of this application, the number of steering wheel devices 20 is not specifically limited. For example, the number of steering wheel devices 20 can be two.

[0034] In the embodiments of this application, the fixing method for fixed installation and fixed connection is not specifically limited. For example, the fixing method may include, but is not limited to, bolt fixing, screw fixing, welding fixing, integral molding fixing, snap-on fixing, etc.

[0035] In some embodiments, the body 10 may include a frame 11 for fixing various components inside the transport equipment 100, a housing 12 covering the periphery of the frame 11, and a receiving plate 13 enclosing the top of the housing 12. The housing 12 may cooperate with the receiving plate 13 to form a receiving space 101. The receiving plate 13 may be fixedly connected to the top of the frame 11, and the housing 12 may be fixedly connected to the frame 11 and the receiving plate 13. The tops of multiple steering wheel devices 20 may be fixedly connected to the receiving plate 13 to achieve connection between the multiple steering wheel devices 20 and the body 10. The top of the receiving plate 13 may support materials or automated equipment, allowing the materials or automated equipment to move synchronously with the transport equipment 100.

[0036] The transport equipment 100 may also include a plurality of casters 30. The plurality of casters 30 are rotatably connected to the bottom of the frame 11 and can all abut against the ground to cooperate with the plurality of steering wheel devices 20 to support the transport equipment 100 on the ground. The plurality of casters 30 may be spaced apart along the length and / or width direction of the transport equipment 100.

[0037] In the embodiments of this application, the number and arrangement of the plurality of casters 30 are not specifically limited. For example, as Figure 2 As shown, the casters 30 can be arranged in two rows, and the two rows of casters 30 can be arranged at intervals along the width direction of the transport equipment 100; each row of casters 30 has two casters 30, and the two casters 30 are arranged at intervals along the length direction of the transport equipment 100.

[0038] It is understood that a rotatable connection is achieved through a rotating connector, allowing two components to rotate relative to each other. In the embodiments of this application, the type of rotating connector is not specifically limited. For example, the rotating connector can be, but is not limited to, bearings, pins, hinges, etc.

[0039] Please refer to the following: Figure 3 In some embodiments, the transport device 100 may further include a processor 40, multiple radars 50, multiple contact strips 60, and multiple contact detection elements 70. The processor 40 may be communicatively connected to multiple steering wheel devices 20, and the processor 40 may control the operation of the multiple steering wheel devices 20 to control the transport device 100 to travel along a preset route.

[0040] Multiple radars 50 can be spaced apart on the side of the fuselage 10 and can communicate with the processor 40. The multiple radars 50 can detect the distance between obstacles around the transport equipment 100 and the transport equipment 100, and output the detection information to the processor 40. The processor 40 can determine the distance between obstacles around the transport equipment 100 and the transport equipment 100 based on the detection information from the multiple radars 50, and can adjust the travel route of the transport equipment 100 based on the presence of multiple obstacles and their distance from the transport equipment 100 to avoid collisions between the transport equipment 100 and the obstacles.

[0041] Multiple contact strips 60 can be disposed on the housing 12 and protrude from the outer side of the housing 12. The multiple contact strips 60 can be made of elastic material. Multiple contact detection elements 70 can be communicatively connected to the processor 40. Each contact strip 60 can be connected to multiple contact detection elements 70, and each contact detection element 70 can detect whether the corresponding contact strip 60 is being compressed and output detection information to the processor 40. Since the contact strips 60 may come into contact with and be compressed by the obstacle when the transport equipment 100 collides with it, the processor 40 can determine whether the transport equipment 100 has collided with the obstacle based on the detection information from the contact detection elements 70. After determining that the transport equipment 100 has collided with the obstacle, the processor 40 controls multiple steering wheel devices 20 to stop working, causing the transport equipment 100 to stop moving, thereby reducing damage to the transport equipment 100 and the automated equipment or materials on the transport equipment 100 caused by the obstacle.

[0042] In the embodiments of this application, the number of radars 50 and their installation positions on the fuselage 10 are not specifically limited. For example, there may be two radars 50, the projection of the fuselage 10 on the height of the carrying equipment 100 may be rectangular, the two radars 50 may be located at two opposite corners of the fuselage 10, and both radars 50 may be fixedly connected to the frame 11 or the support plate 13 and exposed through the notch on the outer shell 12.

[0043] In the embodiments of this application, the number and shape of the contact strips 60 are not specifically limited. For example, there may be two contact strips 60, which are symmetrically arranged along the length of the transport device 100. The projection of the body 10 in the height direction of the transport device 100 may be rectangular. Each contact strip 60 extends from one long side of the body 10 to one end of the body 10 in the length direction of the transport device 100, then bends and extends to one wide side of the body 10, and then continues to extend along the width direction of the transport device 100 to the other long side of the body 10, and bends and extends again to the other long side of the body 10, and continues to extend along the length direction of the transport device 100. In this way, each contact strip 60 may cover part of the two long sides and one wide side of the outer casing 12.

[0044] In the embodiments of this application, the material of the contact strip 60 is not specifically limited. For example, the material of the contact strip 60 may be, but is not limited to, rubber, silicone, etc.

[0045] In the embodiments of this application, the type of contact detection element 70 is not specifically limited. For example, the contact detection element 70 may be, but is not limited to, a pressure sensor, a limit switch, a distance sensor, etc.

[0046] For example, multiple contact strips 60 can be fixedly mounted on the housing 12, and the multiple contact strips 60 can be hollow. The contact detection element 70 can be a pressure sensor, and each contact detection element 70 can be located inside the corresponding contact strip 60. When the contact strip 60 is squeezed, the contact detection element 70 can detect the pressure on the contact strip 60 and output the corresponding detection information to the processor 40.

[0047] For example, multiple contact strips 60 are fixedly mounted on the housing 12, and multiple contact detection elements 70 can be fixedly mounted on the frame 11 or fixedly mounted on the inside of the housing 12. The contact detection element 70 can be a pressure sensor. Each contact detection element 70 is connected to or abuts against the portion of the corresponding contact strip 60 that enters the receiving space 101. When the contact strip 60 is compressed, the pressure applied to the corresponding contact detection element 70 increases. The contact detection element 70 can detect the pressure on the contact strip 60 and output the corresponding detection information to the processor 40.

[0048] For example, multiple contact strips 60 can be movably connected to the housing 12, and their movement direction can be from the outside of the housing 12 towards the receiving space 101. The contact detection element 70 can be a limit switch or a distance sensor. Each contact detection element 70 can be fixed within the receiving space 101. When a contact strip 60 comes into contact with an obstacle, the contact strip 60 will move towards the receiving space 101 under the push of the obstacle, thereby reducing the distance between the corresponding contact detection element 70 and the contact strip 60. The contact detection element 70 can output detection information to the processor 40 based on the reduction in the distance between the contact detection element 70 and the contact strip 60.

[0049] In the embodiments of this application, the method of communication connection is not specifically limited. For example, the communication connection can be a wired communication connection implemented through a signal line. As another example, the communication connection can be a wireless communication connection implemented through technologies such as 3G, 4G, 5G, Bluetooth, wireless LAN, and cellular network.

[0050] It is understandable that the principle by which the processor 40 controls the steering wheel device 20 to stop working and adjusts the travel route of the transport equipment 100 based on the received detection information can be considered a general principle in the relevant field, and will not be elaborated here.

[0051] In embodiments of this application, the length direction, width direction, and height direction of the steering wheel device 20 can be defined as a first direction, a second direction, and a vertical direction, respectively. For example, the first direction can be... Figure 3 The X direction and its opposite direction are shown; the second direction can be... Figure 3 The Y-direction and its opposite direction are shown; the vertical direction can be... Figure 3 The Z direction and its opposite direction are shown.

[0052] Please refer to the following: Figures 4 to 6 In some embodiments, each steering wheel assembly 20 may include a first connecting frame 21, a second connecting frame 22, a guide assembly 23, a travel assembly 24, and a plurality of elastic elements 25.

[0053] The first connecting frame 21 may include a first connecting plate 211 and two side plates 212. The first connecting plate 211 may be connected to the receiving plate 13. The two side plates 212 may be spaced apart along the length of the transport equipment 100, and both side plates 212 are fixedly installed on the bottom of the first connecting plate 211.

[0054] The second connecting frame 22 may include a second connecting plate 221, a first side frame 222, and a second side frame 223. The second connecting plate 221 may be parallel to the first connecting plate 211 and may be located at the bottom of the first connecting plate 211. The second connecting plate 221 is located between the two side plates 212. The first side frame 222 may be fixedly installed at the bottom of the second connecting plate 221 and is located on the side of the second connecting plate 221 in a second direction. There may be two second side frames 223, which may be spaced apart in a first direction, and both second side frames 223 are fixedly connected to the first side frame 222.

[0055] There can be multiple guide components 23, each located on one side of the first side frame 222 in the first direction. Each guide component 23 may include a slide rail 231 and a slider 232. Each slide rail 231 may be fixedly mounted on one side of the first side frame 222, and each slider 232 may be fixedly mounted on the corresponding side plate 212. In each guide component 23, the slider 232 is slidably connected to the slide rail 231 in the vertical direction. In this way, the guide components 23 can achieve a vertically movable connection between the first connecting frame 21 and the second connecting frame 22.

[0056] The travel assembly 24 may include a travel wheel 241 and a travel drive component 242. The axial direction of the travel wheel 241 may coincide with a second direction. The travel drive component 242 is fixedly mounted on the first side frame 222 and is located on both sides of the first side frame 222, respectively, along with the travel wheel 241. The drive shaft of the travel drive component 242 passes through the first side frame 222 and is rotatably connected to the first side frame 222. The drive shaft of the travel drive component 242 is fixedly connected to the travel wheel 241. The travel wheel 241 may abut against the ground, and the travel drive component 242 may drive the travel wheel 241 to rotate. When the travel wheels 241 of the multiple steering wheel devices 20 rotate, the transport equipment 100 can travel on the ground. The travel drive component 242 may be communicatively connected to the processor 40.

[0057] Multiple elastic elements 25 are spaced apart on the periphery of the traveling wheel 241, and at least one elastic element 25 is provided on each second side frame 223. The two ends of each elastic element 25 can be connected to or abut against the first connecting plate 211 and the corresponding second side frame 223, respectively. The multiple elastic elements 25 can be compressed when subjected to a force applied in the vertical direction, and return to their initial state through the elastic force generated by elastic deformation when the force applied in the vertical direction is released.

[0058] It is understandable that during the movement of the transport equipment 100, when there is a bump in the ground, the traveling wheel 241 will rise or fall relative to the first connecting frame 21 as it passes over the bump. When the traveling wheel 241 rises, the second connecting frame 22 rises simultaneously, compressing multiple elastic elements 25. These elastic elements 25 can buffer the impact of the second connecting frame 22 on the first connecting frame 21. Then, when the traveling wheel 241 passes over a flat surface, the multiple elastic elements 25 can recover through elasticity, driving the second connecting frame 22 and the traveling wheel 241 vertically away from the first connecting frame 21. During this process, the height of the first connecting frame 21 can remain constant, thereby improving the stability of the transport equipment 100 and reducing the impact of bumps on the materials or automated equipment carried by the transport equipment 100. In this way, the multiple elastic elements 25 can achieve the shock absorption function during the movement of the transport equipment 100.

[0059] During the compression and recovery process of the elastic element 25, multiple guide components 23 can cooperate with the second connecting frame 22 to achieve relative vertical movement with the first connecting frame 21, and can limit the swaying of the second connecting frame 22 in other directions. In this way, the speed and stability of the vertical movement of the second connecting frame 22 and the first connecting frame 21 can be improved, the swaying of the second connecting frame 22 and the traveling device can be reduced, and the stability of the transport equipment 100 can be improved.

[0060] It is understood that multiple elastic elements 25 are distributed around the periphery of the running wheel 241 and connected to or abutting against the second side frame 223 located around the periphery of the running wheel 241. Compared to the related art where the elastic elements 25 used for shock absorption are placed above the steering wheel, the overall height of the steering wheel device 20 can be reduced, thereby reducing the height of the transport equipment 100 and lowering the center of gravity of the steering wheel device 20 and the transport equipment 100. Furthermore, the sway amplitude of the elastic elements 25 located around the running wheel 241 during deformation can be reduced. This improves the stability of the transport equipment 100 and reduces the risk of the transport equipment 100 falling over due to instability. At the same time, the multiple elastic elements 25 located around the running wheel 241 make the internal structure of the steering wheel device 20 more compact, reducing the space occupied by the steering wheel device 20 in the housing space 101 and improving the space utilization rate of the transport equipment 100.

[0061] In the embodiments of this application, the number of first side frames 222 in each steering wheel device 20 is not specifically limited. For example, there can be two first side frames 222, which can be spaced apart along the second direction. The travel wheel 241 can be located between the two first side frames 222, and the travel drive member 242 can be fixedly installed on one of the first side frames 222. The travel wheel 241 is rotatably connected to the other first side frame 222.

[0062] Each second side frame 223 is fixedly connected to two first side frames 222, and the two second side frames 223 are located on both sides of each first side frame 222 in a first direction.

[0063] It is understood that a rotatable connection can be achieved through a rotating connector, allowing two components to rotate relative to each other. In the embodiments of this application, the type of rotating connector is not specifically limited. For example, a rotating connector can be, but is not limited to, bearings, hinges, etc.

[0064] In the embodiments of this application, the type of driving component 242 is not specifically limited. For example, the driving component 242 may be, but is not limited to, an electric motor.

[0065] In the embodiments of this application, the number of guide components 23 is not specifically limited. For example, when there are two first side frames 222, the guide components 23 can be arranged in two rows, with the two rows of guide components 23 spaced apart along the first direction and respectively connected to the two side plates 212. Each row of guide components 23 has two guide components 23, the slide rails 231 of the two guide components 23 can be fixedly connected to the sides of the two first side frames 222 respectively, and the sliders 232 of the two guide components 23 are fixedly connected to the corresponding side plates 212; each elastic element 25 can be located between the two guide components 23 corresponding to a row of guide components 23.

[0066] In the embodiments of this application, the type of elastic element 25 is not specifically limited. For example, elastic element 25 can be, but is not limited to, a spring.

[0067] In the embodiments of this application, the number of elastic elements 25 in each steering wheel device 20 is not specifically limited. For example, there may be two elastic elements 25, with the two elastic elements 25 located on the two second side frames 223 respectively.

[0068] It is understood that in each steering wheel device 20, a guide rod passing through the elastic member 25 and the first connecting plate 211 can also be provided on each second side frame 223, or a guide rod passing through the elastic member 25 and the second side frame 223 can be provided on the first connecting plate 211; and a damping member can also be provided corresponding to the elastic member 25 to cooperate with the elastic member 25 to achieve the shock absorption function. The embodiments of this application will not be described in detail here.

[0069] In some embodiments, clearance grooves 2121 may be provided on the side of the two side plates 212 facing each other, and each clearance groove 2121 may allow the corresponding elastic member 25 to pass through, so as to avoid the elastic member 25 from interfering with the side plate 212.

[0070] In some embodiments, a plurality of limiting members 213 are fixedly connected to the side of the first connecting plate 211. The plurality of limiting members 213 may be spaced apart. Each limiting member 213 includes a first extension extending in a vertical direction and a second extension located at the bottom end of the first extension and extending in a second direction toward the second connecting frame 22. The first extension and the second extension may be integrally formed and fixed. Each first extension is fixedly connected to the first connecting plate 211 and spaced apart from the second connecting frame 22 in the second direction. Each second extension may be located below the second connecting plate 221. The projection of each second extension in the vertical direction coincides with the projection of the second connecting plate 221 in the vertical direction.

[0071] The elastic force of multiple elastic elements 25 can drive the second connecting frame 22 away from the first connecting frame 21 in the vertical direction. Multiple second extensions can abut against the bottom of the second connecting frame 22 to limit the distance of the second connecting frame 22 away from the first connecting frame 21, thereby preventing the slider 232 from disengaging from the slide rail 231 and improving the stability of the steering wheel device 20 during operation.

[0072] In some embodiments, each steering wheel assembly 20 may further include a steering component 26 and a connecting plate 27. The steering component 26 may include a first gear 261, a second gear 262, and a steering drive element 263. The first gear 261 may be fixedly mounted on top of the first connecting frame 21. The connecting plate 27 may be located on top of the first gear 261 and rotatably connected to the first gear 261. The connecting plate 27 may be fixedly connected to the receiving plate 13.

[0073] The steering drive component 263 can be communicatively connected to the processor 40. The steering drive component 263 can be fixedly mounted on the first connecting plate 211 or either side plate 212, and is located below the first connecting plate 211. The first connecting plate 211 may have a passage 2111 through which the drive shaft of the steering drive component 263 can pass. The second gear 262 can be fixedly connected to the drive shaft of the steering drive component 263 and is located above the first connecting plate 211. The first gear 261 meshes with the second gear 262.

[0074] It can be understood that the steering drive 263 drives the first gear 261 to rotate. The rotation of the first gear 261 can drive the second gear 262 and the first connecting frame 21 to rotate relative to the connecting disc 27, thereby causing the travel component 24 of the second connecting frame 22 to rotate synchronously. This causes the travel wheel 241 in the steering wheel device 20 to rotate around the central axis whose extension direction coincides with the vertical direction, thus realizing the steering of the travel wheel 241. When the transport equipment 100 is moving, the steering of the travel wheel 241 can change the travel direction of the transport equipment 100. The processor 40 can adjust the travel route of the transport equipment 100 by controlling the operation of the steering drive 263 to change the travel direction of the transport equipment 100 according to the preset route and the detection information output by the radar 50 and the contact detection element 70.

[0075] In the embodiments of this application, the type of steering drive 263 is not specifically limited. For example, steering drive 263 may be, but is not limited to, a motor.

[0076] In some embodiments, each steering wheel device 20 further includes a detection head 28 and a zero-point detection element 29. The detection head 28 can be fixedly mounted on the first connecting frame 21, and the zero-point detection element 29 can be fixedly mounted on the connecting plate 27. When the projection of the detection head 28 in the vertical direction coincides with the projection of the zero-point detection element 29 in the vertical direction, the zero-point detection element 29 can detect the position of the detection head 28. The zero-point detection element 29 can be communicatively connected to the processor 40. When the zero-point detection element 29 detects the passage of the detection head 28, it can output a zero-point signal to the processor 40 to notify the processor 40 that the first connecting frame 21 is at the steering zero point.

[0077] It can be understood that when the first connecting frame 21 is at the steering zero point, the steering angle of the first connecting frame 21 can be regarded as 0 degrees. When the steering drive 263 drives the first connecting frame 21 to rotate, the processor 40 can determine the steering angle of the traveling wheel 241 based on the working time of the steering drive 263 or the angle of rotation of the first gear 261. When the processor 40 controls the transport equipment 100 to travel straight, the processor 40 can control the steering drive 263 to work and make the first connecting frame 21 rotate. When the zero point detection element 29 detects the passing of the detection head 28, it can be determined that the steering angle of the first bogie has returned to 0 degrees. At this time, the processor 40 can control the steering drive 263 to stop working, and the transport equipment 100 can travel straight.

[0078] In the embodiments of this application, the type of steering drive component 263 is not specifically limited. For example, steering drive component 263 may be, but is not limited to, an infrared sensor, a proximity switch, etc.

[0079] Please refer to the following: Figure 7 In some embodiments, the outer casing 12 may include a first casing 121 and a second casing 122. The first casing 121 may be located outside the frame 11 and may be fixedly connected to the receiving plate 13. The receiving space 101 is located inside the first casing 121. The first casing 121 has a clearance opening 1211 at the middle of one side in the width direction. The second casing 122 is detachably connected to the first casing 121, and the second casing 122 may cover the clearance opening 1211.

[0080] The fuselage 10 may also include a support frame 14, which can be housed within the receiving space 101 and is correspondingly provided with the clearance opening 1211. The support frame 14 can slide and engage with the frame 11 along the width direction of the transport equipment 100, and the support frame 14 can pass through the clearance opening 1211 along the width direction of the transport equipment 100 to enter or exit the receiving space 101. The bottom of the support frame 14 has multiple mounting openings 141, some of which are spaced apart along the width direction of the transport equipment 100, and some of which are spaced apart along the length direction of the transport equipment 100. Each mounting opening 141 has multiple guide wheels 142, which can be arranged along the width direction of the transport equipment 100, and the axial direction of each guide wheel 142 can coincide with the length direction of the transport equipment 100 and is rotatably connected to the support frame 14. Each guide wheel 142 can protrude from the top surface of the bottom of the support frame 14.

[0081] The transport device 100 may also include a battery 80, which is supported on a plurality of guide wheels 142 and can be housed within a space formed by a support frame 14. The battery 80 can enter or exit the housing space 101 synchronously with the support frame 14. When the battery 80 is located within the housing space 101, it can be located in the center of the housing space 101. The battery 80 can power a plurality of power-consuming components in the transport device 100 (e.g., processor 40, drive unit 242, steering drive unit 263, radar 50, contact detection unit 70, and zero-point detection unit 29).

[0082] It is understandable that when the battery 80 moves from one side of the support frame 14 to the middle of the support frame 14, the battery 80 can come into contact with multiple guide wheels 142. The multiple guide wheels 142 can rotate during the movement of the battery 80, thereby reducing the resistance encountered by the battery 80 and improving the smoothness of the movement of the battery 80.

[0083] It is understandable that the battery 80 is located in the middle of the containment space 101, which can increase the counterweight in the middle of the transport equipment 100 and make the center of gravity of the transport equipment 100 more stable.

[0084] In the embodiments of this application, the method of detachable connection is not specifically limited. For example, the method of detachable connection may include, but is not limited to, magnetic connection, snap-fit ​​connection, etc.

[0085] Please refer to the following: Figure 8 and Figure 9 It is understood that a connector 143 can be fixedly installed on the support frame 14. The connector 143 can be connected to the interface (not shown) on the battery 80 and can be electrically connected to the components in the carrier equipment 100 that require power consumption, so as to enable the battery 80 to supply power to other components in the carrier equipment 100.

[0086] A latch 81 can also be provided on the battery 80, and the latch 81 and the interface can be located on opposite sides of the battery 80. A locking hole 144 can be provided on the support frame 14 to cooperate with the latch 81. After the interface of the battery 80 is connected to the connector 143, the operator can operate the latch 81 to insert the latch 81 into the locking hole 144, thereby fixing the battery 80 on the support frame 14, reducing the shaking of the battery 80 on the support frame 14, and improving the stability of the transport equipment 100.

[0087] In some embodiments, the transport device 100 may further include two electronic control mechanisms 90. The two electronic control mechanisms 90 may be located at opposite ends of the receiving space 101 along the length of the transport device 100 and are fixedly mounted on the frame 11. Both electronic control mechanisms 90 can be powered by the battery 80, and the two electronic control mechanisms 90 can cooperate to control some components in the transport device 100 to achieve their functions.

[0088] It is understandable that the two electronic control mechanisms 90 can be located at the front and rear ends of the transport equipment 100 respectively, thereby working with the battery 80 to further improve the stability of the center of gravity of the transport equipment 100 and reduce the probability of the transport equipment 100 falling over due to instability.

[0089] It is understood that the processor 40 may be located in either of the two electronic control mechanisms 90, or may be composed of some or all of the components of the two electronic control mechanisms 90. The embodiments of this application do not limit this.

[0090] The transport device 100 provided by the embodiments of this application allows the shock-absorbing elastic element 25 in each steering wheel device 20 to be disposed around the periphery of the running wheel 241, thereby reducing the height of the steering wheel device 20 and the height of the transport device 100, lowering the center of gravity of the transport device 100, and reducing the sway amplitude generated when the elastic element 25 deforms. This improves the stability of the transport device 100 and reduces the probability of the transport device 100 falling over due to instability. Furthermore, the battery 80 and the two electronic control devices can increase the counterweight at the middle, front, and rear of the transport device 100, improving the stability of the transport device 100 and reducing the probability of the transport device 100 falling over due to instability.

[0091] Meanwhile, the multiple elastic elements 25 located around the running wheel 241 can make the internal structure of the steering wheel device 20 more compact, reduce the space occupied by the steering wheel device 20 in the housing space 101, and improve the space utilization rate in the transport equipment 100.

[0092] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that this application can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments described above should be considered exemplary and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this application.

Claims

1. A joy wheel device characterized by comprising: include: First connecting frame; A guide assembly includes a slide rail and a slider, the slide rail extending in a vertical direction, the slider being slidably connected to the slide rail in the vertical direction, and the slider being disposed on the first connecting frame; The second connecting frame, wherein the slide rail is disposed on the second connecting frame; A driving component includes a driving wheel and a driving drive, the driving drive is mounted on the second connecting frame, the driving drive is connected to the driving wheel, and is used to drive the driving wheel to rotate; Multiple elastic elements are spaced apart on the periphery of the driving wheel, and the two ends of each elastic element are respectively connected to or abut against the first connecting frame and the second connecting frame.

2. The joy wheel device as claimed in claim 1, characterized in that The first connecting frame includes: First connecting plate; Two side plates are spaced apart along the length of the steering wheel device and are both located at the bottom of the first connecting plate. The driving wheel is housed between the two side plates, and each side plate is connected to the corresponding slider.

3. The joy wheel device as claimed in claim 2, characterized in that The second connecting frame includes: The second connecting plate is spaced apart from the first connecting plate in the vertical direction and is located between the two side plates; The first side frame is disposed at the bottom of the second connecting plate and located on one side of the traveling wheel, and the slide rail is disposed on the first side frame; Two second side frames are spaced apart along the length of the steering wheel device and are both connected to the first side frame; the two ends of each elastic member respectively abut against or connect to the bottom of the first connecting plate and the top of the corresponding second side frame.

4. The joy pad device of claim 1, wherein Each of the steering wheel devices further includes a steering assembly, the steering assembly comprising: A first gear is connected to a first connecting frame, and the first gear is rotatably connected to a fuselage, the fuselage being used to house the steering wheel assembly; The second gear meshes with the first gear; A steering drive component is mounted on the first connecting frame and connected to the second gear. The steering drive component is used to drive the second gear to rotate, so that the first connecting frame and the first gear rotate synchronously.

5. The joy wheel device as recited in claim 4, wherein The steering wheel assembly also includes: A connecting plate is used to connect to the machine body. The connecting plate is located between the first gear and the machine body and is rotatably connected to the first gear.

6. The joy wheel device as claimed in claim 5, characterized in that The steering wheel assembly also includes: The detection head is mounted on the first connecting frame; A zero-point detection element is installed on the connecting plate and is used to detect the position of the detection head in order to calibrate the rotation zero point of the first connecting frame.

7. A transport device, characterized in that, include: The fuselage has a storage space that penetrates the bottom of the fuselage vertically. A plurality of steering wheel devices as described in any one of claims 1 to 6, wherein the plurality of steering wheel devices are spaced apart and housed in the housing space.

8. The carrier apparatus of claim 7, wherein, The transport equipment also includes: The battery is housed within the housing space and supported by the fuselage, with the battery located in the middle of the housing space; Two electronic control mechanisms are housed within the housing space and are connected to the fuselage. The two electronic control mechanisms are located at opposite ends of the housing space along the length of the transport equipment.

9. The carrier apparatus of claim 8, wherein, The fuselage includes: A first housing, wherein the receiving space is formed within the first housing, and a clearance opening is formed on one side of the first housing; A support bracket is housed within the receiving space and connected to the first housing. The support bracket is correspondingly arranged with the clearance opening. Multiple guide wheels are rotatably connected to the support bracket. The axial direction of the guide wheels is perpendicular to the opening direction of the clearance opening. The multiple guide wheels are used to support the battery. A second housing is detachably connected to the first housing, and the second housing blocks the clearance opening.

10. The carrier apparatus of claim 7, wherein, The transport equipment also includes: Multiple radars are spaced apart on the fuselage. The multiple radars are used to detect obstructions around the transport equipment and to trigger the transport equipment to avoid the obstructions. A contact strip is provided around the perimeter of the machine body; A contact detection element is connected to the contact strip. The contact detection element is used to detect the contact between the contact strip and the obstruction, and to trigger the transport equipment to stop moving.

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