Low-height omni-wheel device

Abstract

The utility model discloses a low height omni-directional rudder wheel device, including mounting panel, walking wheel, drive rudder wheel drive subassembly that the walking wheel rotates and drive rudder wheel steering subassembly that the walking wheel turns. The utility model has the beneficial effect that: 1, two motors that are used for turning and driving walking wheel rotation respectively are all arranged below the mounting panel, and the intermediate transmission part is all arranged above the mounting panel, can realize the low height of whole device and the omni-directional rotation of walking wheel, make the AGV of installing rudder wheel device more flexible, 2, utilize the space of the shaft sleeve in the slewing support assembly reasonably, set up steering wheel and driving gear and other components in the space, fixed the gear box, improve the compactness of device, guarantee that device has lower height.

Description

Technical Field

[0001] This utility model belongs to the field of AGV equipment technology, specifically relating to a low-height omnidirectional steering wheel device. Background Technology

[0002] AGVs (Automated Guided Vehicles), also known as unmanned transport vehicles, are heavy-duty transport vehicles equipped with electromagnetic or optical automatic guidance devices. They can travel along pre-set guide paths and have safety protection and various transfer functions. With the continuous development of technology, AGVs are increasingly being used in logistics, battery swapping, and other fields.

[0003] The steering wheel is a key component of the AGV (Automated Guided Vehicle), serving both steering and walking functions. Because the walking wheels are located directly below the steering center, along with the accompanying steering and drive components, the steering wheel's height is relatively high, limiting the widespread application of AGVs in situations with strict space and height restrictions. To reduce the overall height of the steering wheel, existing technologies often involve placing the steering drive motor below the mounting plate, the steering transmission component above the mounting plate, and directly connecting the walking drive motor to the walking wheels. Patents such as CN208181249U, CN214838333U, and CN207078227U disclose related technical solutions.

[0004] In the above technical solution, since the walking drive motor is directly connected to the walking wheel and the steering drive motor is located below the mounting plate, the walking wheel can only turn within a range of no more than 270°. Otherwise, the walking drive motor will interfere with the steering drive motor, affecting the flexibility of the AGV. Summary of the Invention

[0005] The technical problem to be solved by this utility model is to provide a low-height omnidirectional steering wheel device, in which two motors for steering and driving the rotation of the walking wheels are respectively set below the mounting plate, and the intermediate transmission part is set above the mounting plate. This can achieve a low height of the entire device and 360° continuous omnidirectional rotation of the walking wheels, making the AGV with the steering wheel device more flexible.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a low-height omnidirectional steering wheel device, including a mounting plate, a traveling wheel, a steering wheel drive assembly for driving the traveling wheel to rotate, and a steering wheel steering assembly for driving the traveling wheel to turn. The key is that the steering wheel steering assembly includes a steering wheel that is rotatably limited on the mounting plate, a steering drive motor disposed below the mounting plate, and a steering transmission assembly disposed between the steering drive motor and the steering wheel.

[0007] The steering wheel drive assembly includes a gearbox fixed on the steering wheel, a drive gear that is rotatably limited to the center position of the steering wheel, a driven gear connected to the input shaft of the gearbox and meshing with the drive gear, a steering wheel drive motor disposed below the mounting plate and parallel to the steering drive motor, and an intermediate transmission assembly disposed between the steering wheel drive motor and the drive gear. The travel wheel is connected to the output shaft of the gearbox.

[0008] Furthermore, the steering transmission assembly includes a steering driven sprocket fixed on the steering wheel, a steering driving sprocket connected to the output shaft of the steering drive motor, a steering drive chain disposed between the steering driven sprocket and the steering driving sprocket, and a matching steering tension sprocket.

[0009] Furthermore, a slewing support assembly is provided on the mounting plate. The slewing support assembly includes a bearing housing fixed on the mounting plate, a bushing coaxially disposed with the bearing housing, and a bearing disposed between the bearing housing and the bushing. The steering wheel is fixed inside the bushing, and the steering driven sprocket is connected to the top of the bushing.

[0010] Furthermore, a zero-adjustment assembly is provided on the mounting plate and on one side of the steering driven sprocket, the zero-adjustment assembly including a sensor fixed on the mounting plate.

[0011] Furthermore, a mounting bracket is provided on the steering wheel, and the rotation of the drive gear is limited on the mounting bracket.

[0012] Furthermore, the intermediate transmission assembly includes a rudder wheel driven sprocket connected to the drive gear, a rudder wheel drive sprocket connected to the output shaft of the rudder wheel drive motor, a rudder wheel drive chain disposed between the rudder wheel driven sprocket and the rudder wheel drive sprocket, and a matching rudder wheel tension sprocket.

[0013] Furthermore, a driving bevel gear connected to the input shaft is provided inside the gearbox, and a driven bevel gear meshing with the driving bevel gear is provided on the output shaft.

[0014] Furthermore, a protective housing for the steering drive motor and a protective housing for the steering wheel drive motor are provided below the mounting plate.

[0015] The beneficial effects of this invention are: 1. By placing the two motors used for steering and driving the rotation of the traveling wheels respectively below the mounting plate, and placing the intermediate transmission parts above the mounting plate, the entire device can achieve a low height and omnidirectional rotation of the traveling wheels, making the AGV with the steering wheel device more flexible; 2. The space of the central bushing of the slewing support assembly is rationally utilized, and components such as the steering wheel and drive gear are set in the space, and the gearbox is fixed, which improves the compactness of the device and ensures that the device has a low height; 3. By adopting sprocket and chain drive, the height can be reduced compared with the existing gear drive while meeting the load requirements. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the low-height omnidirectional steering wheel device of the present invention;

[0017] Figure 2 yes Figure 1 Bottom structure diagram;

[0018] Figure 3 yes Figure 1 A schematic diagram of the structure after removing the steering driven sprocket, the rudder wheel driven sprocket, the steering drive chain, the rudder wheel drive chain, and the protective housing;

[0019] Figure 4 This is a schematic diagram of the internal structure of the gearbox in the low-height omnidirectional steering wheel device of the present invention.

[0020] In the attached diagram, 1. Mounting plate, 2. Traveling wheel, 3. Steering wheel, 4. Steering drive motor, 5. Gearbox, 6. Driving gear, 7. Driven gear, 8. Input shaft, 9. Output shaft, 10. Steering wheel drive motor, 11. Steering driven sprocket, 12. Steering driving sprocket, 13. Steering drive chain, 14. Steering tension sprocket, 15. Sensor, 16. Mounting bracket, 17. Steering wheel driving sprocket, 18. Steering wheel driven sprocket, 19. Steering wheel drive chain, 20. Steering wheel tension sprocket, 21. Driving bevel gear, 22. Driven bevel gear, 23. Steering drive motor protective housing, 24. Steering wheel drive motor protective housing, 25. Bearing housing, 26. Bushing, 27. Bearing. Detailed Implementation

[0021] See appendix Figure 1-4 This utility model provides a low-height omnidirectional steering wheel device, including a mounting plate 1, a traveling wheel 2, a steering wheel drive assembly for driving the traveling wheel 2 to rotate, and a steering wheel steering assembly for driving the traveling wheel 2 to rotate back.

[0022] See appendix Figure 1The aforementioned steering wheel assembly includes a steering wheel 3 rotatably limited on a mounting plate 1, a steering drive motor 4 disposed below the mounting plate 1, and a steering transmission assembly disposed between the steering drive motor 4 and the steering wheel 3. The steering transmission assembly includes a driven steering sprocket 11 fixed to the steering wheel 3, a driving steering sprocket 12 connected to the output shaft of the steering drive motor 4, a steering drive chain 13 disposed between the driven steering sprocket 11 and the driving steering sprocket 12, and a matching steering tension sprocket 14. The steering drive motor 4 is horizontally positioned, and its output shaft is connected to a reducer fixed to the mounting plate 1. The reducer's output shaft passes upward through a through hole in the mounting plate 1 and connects to the driving steering sprocket 12. The diameter of the driving steering sprocket 12 is smaller than the diameter of the driven steering sprocket 11 to achieve speed reduction.

[0023] See appendix Figure 2 and 3 A slewing support assembly is provided on the mounting plate 1 to rotate and limit the steering wheel 3 and support the load-bearing part. The slewing support assembly includes a bearing seat 25 fixed in a mounting hole on the mounting plate 1, a bushing 26 coaxially disposed with the bearing seat 25, and a bearing 27 disposed between the bearing seat 25 and the bushing 26. The steering wheel 3 is fixed inside the bushing 26. In a specific implementation, the steering driven sprocket 11 is annular and fixed to the top of the bushing 26 to facilitate the installation of the steering wheel driven sprocket 18.

[0024] See appendix Figure 1 and 3 A zero-adjustment assembly is provided on the mounting plate 1 and on one side of the steering driven sprocket 11. The zero-adjustment assembly includes a sensor 15 fixed on the mounting plate 1.

[0025] See appendix Figure 1-4 The aforementioned steering wheel drive assembly includes a gearbox 5 fixed to the bottom of the steering wheel 3, a drive gear 6 whose rotation is limited at the center of the steering wheel 3, a driven gear 7 connected to the input shaft 8 of the gearbox 5 and meshing with the drive gear 6, a steering wheel drive motor 10 disposed below the mounting plate 1 and parallel to the steering drive motor 4, and an intermediate transmission assembly disposed between the steering wheel drive motor 10 and the drive gear 6. The travel wheel 2 is connected to the output shaft 9 of the gearbox 5. The meshing of the drive gear 6 and the driven gear 7 transmits the motor's power to the gearbox 5. The number of teeth on the drive gear 6 and the driven gear 7 can be the same or different, thereby achieving the purpose of transmitting power only or transmitting power while decelerating. In this embodiment, the two gears have the same number of teeth.

[0026] The intermediate transmission assembly includes a rudder wheel driven sprocket 18 connected to the drive gear 6, a rudder wheel drive sprocket 17 connected to the output shaft of the rudder wheel drive motor 10, a rudder wheel drive chain 19 disposed between the rudder wheel driven sprocket 18 and the rudder wheel drive sprocket 17, and a matching rudder wheel tension sprocket 20. The rudder wheel drive motor 10 is horizontally positioned and parallel to the steering drive motor 4. The output shaft of the motor is connected to a reducer fixed on the mounting plate 1, and the output shaft of the reducer passes upward through a through hole on the mounting plate 1 and connects to the rudder wheel drive sprocket 17. A drive bevel gear 21 connected to the input shaft 8 is provided in the gearbox 5, and a driven bevel gear 22 meshing with the drive bevel gear 21 is provided on the output shaft 9. The diameter of the rudder wheel drive sprocket 17 is smaller than the diameter of the rudder wheel driven sprocket 18 to achieve deceleration. The number of teeth on the drive bevel gear 21 and the driven bevel gear 22 can be the same or different, thereby achieving the purpose of transmitting power only or transmitting power while simultaneously decelerating. In this embodiment, the two gears have the same number of teeth.

[0027] The bearing mounting cavity in the bearing housing 25 is located below the mounting holes of the mounting plate 1, thus avoiding an increase in the device height caused by placing it above the mounting plate 1. The steering wheel 3 is fixed to the middle of the bushing 26, dividing the cavity of the bushing 26 into upper and lower parts.

[0028] The tops of the traveling wheels 2 and the gearbox 5 are both located within the lower cavity, avoiding the impact on the device height caused by the bearing housing 25 being entirely below the mounting plate 1. A mounting bracket 16 is installed in the upper cavity to fix the steering wheel 3. The drive gear 6 is rotatably limited on the mounting bracket 16 via a connecting shaft and bearing. The drive gear 6 is located within the mounting cavity of the mounting bracket 16 and connected to one end of the connecting shaft, while the other end of the connecting shaft is connected to the steering wheel driven sprocket 18.

[0029] Below the mounting plate 1 are a steering drive motor protective housing 23 and a steering wheel drive motor protective housing 24.

[0030] The specific working process of this utility model device is as follows: During use, it is fixed to the bottom of the frame. When in motion, the steering wheel drive motor 10 transmits power to the traveling wheel 2 through the chain and sprocket transmission assembly, gear set, and gearbox, driving the traveling wheel 2 to rotate and thus propelling the entire RGV forward or backward. When steering is required, the steering drive motor 4 drives the bushing 26 to rotate through the chain and sprocket transmission assembly, causing the traveling wheel 2 to rotate by the required angle to change the vehicle's direction of travel.

[0031] Finally, it is necessary to note that the above content is only used to help understand the technical solution of the present invention and should not be construed as a limitation on the scope of protection of the present invention; any non-essential improvements and adjustments made by those skilled in the art based on the above content of the present invention are all within the scope of protection claimed by the present invention.

Claims

1. A low-height omnidirectional steering wheel device, comprising a mounting plate (1), a traveling wheel (2), a steering wheel drive assembly for driving the traveling wheel (2) to rotate, and a steering wheel steering assembly for driving the traveling wheel (2) to turn, characterized in that: The steering wheel assembly includes a steering wheel (3) that is rotatably limited on the mounting plate (1), a steering drive motor (4) disposed below the mounting plate (1), and a steering transmission assembly disposed between the steering drive motor (4) and the steering wheel (3); The steering wheel drive assembly includes a gearbox (5) fixed on the steering wheel (3), a drive gear (6) rotatably limited to the center of the steering wheel (3), a driven gear (7) connected to the input shaft (8) of the gearbox (5) and meshing with the drive gear (6), a steering wheel drive motor (10) disposed below the mounting plate (1) and parallel to the steering drive motor (4), and an intermediate transmission assembly disposed between the steering wheel drive motor (10) and the drive gear (6). The travel wheel (2) is connected to the output shaft (9) of the gearbox (5).

2. The low-altitude omnidirectional steering wheel device according to claim 1, characterized in that: The steering transmission assembly includes a steering driven sprocket (11) fixed on the steering wheel (3), a steering driving sprocket (12) connected to the output shaft of the steering drive motor (4), a steering drive chain (13) disposed between the steering driven sprocket (11) and the steering driving sprocket (12), and a matching steering tension sprocket (14).

3. The low-altitude omnidirectional steering wheel device according to claim 2, characterized in that: A slewing support assembly is provided on the mounting plate (1). The slewing support assembly includes a bearing seat (25) fixed on the mounting plate (1), a bushing (26) coaxially disposed with the bearing seat (25), and a bearing (27) disposed between the bearing seat (25) and the bushing (26). The steering wheel (3) is fixed inside the bushing (26), and the steering driven sprocket (11) is connected to the top of the bushing (26).

4. The low-altitude omnidirectional steering wheel device according to claim 2, characterized in that: A zero-adjustment assembly is provided on the mounting plate (1) and on one side of the steering driven sprocket (11). The zero-adjustment assembly includes a sensor (15) fixed on the mounting plate (1).

5. The low-altitude omnidirectional steering wheel device according to claim 1, characterized in that: A mounting bracket (16) is provided on the steering wheel (3), and the drive gear (6) is limited to rotation on the mounting bracket (16).

6. The low-altitude omnidirectional steering wheel device according to claim 1, characterized in that: The intermediate transmission assembly includes a rudder wheel driven sprocket (18) connected to the drive gear (6), a rudder wheel drive sprocket (17) connected to the output shaft of the rudder wheel drive motor (10), a rudder wheel drive chain (19) disposed between the rudder wheel driven sprocket (18) and the rudder wheel drive sprocket (17), and a matching rudder wheel tension sprocket (20).

7. The low-altitude omnidirectional steering wheel device according to claim 1, characterized in that: The gearbox (5) is provided with a driving bevel gear (21) connected to the input shaft (8), and the output shaft (9) is provided with a driven bevel gear (22) that meshes with the driving bevel gear (21).

8. The low-altitude omnidirectional steering wheel device according to any one of claims 1-7, characterized in that: Below the mounting plate (1) are provided a steering drive motor protective housing (23) and a steering wheel drive motor protective housing (24).

Images