Differential steering wheel with code reading camera

Abstract

The utility model discloses a differential rudder wheel with code reading camera relates to the technical field of latent tractor assembly, including drive wheel, slewing support, motor, parallel shaft speed reducer, articulated axle, mounting flange and camera module, drive wheel is by motor through parallel shaft speed reducer drive, slewing support is connected with latent tractor car body through mounting flane, and mounting flange realizes the left and right tilt of rudder wheel whole through articulated axle, and the motor and parallel shaft speed reducer of symmetrical design enclose camera module in rudder wheel bottom center position, and the motor and parallel shaft speed reducer are higher than camera module and are used for protecting camera module. The utility model is to solve the technical problem in at providing a differential rudder wheel with code reading camera to solve the technical problem that latent tractor is deficient in steering flexibility, compact structure and visual navigation precision.

Description

Technical Field

[0001] This utility model relates to the technical field of tractor components, specifically to a differential steering wheel with a code reader camera. Background Technology

[0002] Existing tractor-trailers mostly use a single drive wheel combined with a steering mechanism in their drive modules, which suffers from insufficient steering flexibility and a loose structural layout that results in a large space occupation. At the same time, most navigation code readers are installed off-center, making them susceptible to external interference and with limited positioning accuracy, which makes it difficult to meet the needs of tractor-trailers for efficient operation in confined spaces. Utility Model Content

[0003] The technical problem to be solved by this utility model is to provide a differential steering wheel with a code reader camera to solve the technical problems of insufficient steering flexibility, structural compactness and visual navigation accuracy of the tractor vehicle.

[0004] To solve the above problems, the technical solution provided by this utility model is as follows:

[0005] A differential steering wheel with a barcode reader camera includes a drive wheel, a slewing bearing, a motor, a parallel shaft reducer, a hinge shaft, a mounting flange, and a camera module. The drive wheel is driven by the motor via the parallel shaft reducer. The slewing bearing is connected to the body of a tractor unit via the mounting flange. The mounting flange allows the steering wheel to tilt left and right as a whole via the hinge shaft. The symmetrically designed motor and parallel shaft reducer surround the camera module at the center of the bottom of the steering wheel, and the motor and parallel shaft reducer extend above the camera module to protect it.

[0006] This differential steering wheel integrates four major functional modules: drive, steering, support, and navigation. Its core function lies in protecting and fixing the barcode reader camera at the center point of the differential steering wheel's movement through a symmetrical design and a "central enclosure" layout. This significantly improves the stability and accuracy of visual navigation while achieving differential drive and flexible steering. Its function is to provide a highly integrated drive and navigation unit, consolidating differential drive, steering, vehicle body damping adaptation, and visual navigation positioning into a compact module, aiming to simultaneously enhance the tractor's flexibility, compactness, and positioning accuracy.

[0007] Optionally, the motor integrates a drive controller.

[0008] Further optimize the integration of the motor by embedding the drive controller (such as a servo drive or frequency converter) into the motor, forming an "integrated drive motor". Its function is to reduce the installation space of external cables and independent controllers, simplify system wiring, improve the reliability of electrical connections, and make the entire steering wheel structure more compact.

[0009] Optionally, the mounting flange is fixed to the bearing of the slewing support via a threaded connection, and the other side of the bearing is fixedly connected to the body of the tractor vehicle to achieve horizontal rotation.

[0010] The connection method between the slewing bearing and the vehicle body is specifically defined. Its function is to provide a stable, reliable horizontal slewing connection structure that can withstand large axial and radial loads, ensuring smooth and stable steering.

[0011] Optionally, a pad is provided below the bearing to adjust the axial clearance of the slewing bearing and improve the support stiffness.

[0012] Adding a shim plate under the bearing of the slewing bearing allows for fine-tuning to precisely control the axial clearance (preload) of the bearing, eliminating bearing play, thereby improving the rigidity and rotational accuracy of the entire slewing bearing and preventing swaying and abnormal noise under heavy loads.

[0013] Optionally, the hinge shaft has flat rectangular structures at both ends that pass through and are connected to the mounting flange, and the flat rectangular structures are fixed to the steering wheel bracket.

[0014] The connection method between the articulated shaft and the mounting flange and steering wheel bracket is specifically defined. Its function is to ensure that the articulated shaft can only rotate and cannot undergo other unexpected movements (such as axial sliding or circumferential rotation), thereby ensuring stable and reliable tilting action.

[0015] Optionally, the camera module includes a barcode reader camera and a camera mounting base. The barcode reader camera is fixed to the center area of ​​the bottom of the steering wheel via the camera mounting base, with its lens facing the ground.

[0016] The composition and installation orientation of the camera module are specifically defined. Its function is to precisely and stably fix the code reader camera in the optimal position at the center of the bottom of the steering wheel, and ensure that its lens is facing correctly, so as to continuously and clearly collect ground navigation information.

[0017] Optionally, the camera mount is provided with an oblong hole for adjusting the mounting position.

[0018] The camera mount has been optimized with the addition of a position adjustment function. This function allows for fine-tuning of the camera's mounting position to compensate for manufacturing and assembly errors, ensuring that the camera's optical axis is precisely aligned with the desired center of the field of view, and guaranteeing optimal code reading performance.

[0019] Alternatively, the drive wheel adopts a rubber-coated wheel structure, which has good ground adhesion and shock absorption performance.

[0020] The material and structural properties of the drive wheel are defined. Its function is to ensure sufficient friction (adhesion) between the drive wheel and the ground to transmit traction, while also having a certain shock absorption capacity to protect the precision components inside the drive wheel (such as cameras and motors) from the impact and vibration of the ground.

[0021] Compared with the prior art, the technical solution provided by this utility model has the following advantages:

[0022] The technical solution provided by this utility model significantly improves the overall performance of the tractor unit by highly integrating the symmetrically arranged differential drive unit with the slewing support, articulated shaft, and centrally located barcode reader camera. Its differential drive structure greatly enhances the vehicle's steering flexibility and maneuverability, enabling zero-radius turning. The compact modular design saves installation space and optimizes the overall vehicle layout. The protective placement of the barcode reader camera at the center of the steering wheel bottom effectively avoids collision interference, reduces image distortion, and significantly improves the accuracy and stability of navigation and positioning. Simultaneously, the articulated shaft structure and the rubber drive wheels work together to enhance the vehicle's adaptability to uneven terrain and its shock absorption performance. Attached Figure Description

[0023] Figure 1 A schematic diagram of a differential steering wheel with a barcode reader camera, provided as an embodiment of this utility model;

[0024] Figure 2 A schematic diagram of the bottom structure of a differential steering wheel with a barcode reader camera, as proposed in an embodiment of this utility model;

[0025] Figure 3 A schematic diagram of the hinge shaft of a differential steering wheel with a barcode reader camera, as proposed in an embodiment of this utility model;

[0026] Figure 4 An exploded view of a differential steering wheel with a barcode reader camera, as proposed in an embodiment of this utility model;

[0027] 1. Drive wheel; 2. Slewing bearing; 21. Bearing; 22. Pad; 3. Motor; 4. Parallel shaft reducer; 5. Hinge shaft; 51. Flat square; 6. Mounting flange; 7. Camera module; 71. Code reader camera; 72. Camera mounting base. Detailed Implementation

[0028] To further understand the content of this utility model, a detailed description of this utility model will be provided in conjunction with the accompanying drawings and embodiments.

[0029] Example 1

[0030] Combined with appendix Figure 1-4A differential steering wheel with a barcode reader camera includes a drive wheel 1, a slewing bearing 2, a motor 3, a parallel shaft reducer 4, a hinge shaft 5, a mounting flange 6, and a camera module 7. The drive wheel 1 is driven by the motor 3 via the parallel shaft reducer 4. The slewing bearing 2 is connected to the body of a tractor unit via the mounting flange 6. The mounting flange 6 allows the steering wheel to tilt left and right as a whole via the hinge shaft 5. Figure 2 The symmetrically designed motor 3 and parallel shaft reducer 4 surround the camera module 7 at the center of the bottom of the steering wheel, and the motor 3 and parallel shaft reducer 4 extend above the camera module 7 to protect the camera module 7.

[0031] Drive Principle: When the motor 3 is energized, it rotates. Its power is amplified and reduced in speed by the parallel shaft reducer 4 before being transmitted to the drive wheel 1, thereby generating traction to propel the vehicle forward and backward. Steering Principle: The inner and outer rings of the slewing support 2 can rotate relative to each other. The mounting flange 6 is fixed to the vehicle body, and the entire steering wheel unit can rotate 360° horizontally around the central axis of the slewing support 2, thus achieving omnidirectional steering of the vehicle. Shock Absorption and Adaptation Principle: The hinge shaft 5 acts as a lateral pivot, allowing the entire steering wheel assembly to tilt left and right at a certain angle around this axis. When the vehicle is traveling on uneven roads, this structure ensures that the drive wheel 1 always keeps in contact with the ground, providing passive shock absorption and adapting to the ground. Navigation and Protection Principle: The symmetrically arranged motor 3 and reducer form a robust frame, protecting the barcode reader 71 in its central "safe zone." The camera is located at the bottom center, enabling it to directly and stably read navigation markers (such as QR codes) on the ground, and the surrounding mechanical components effectively prevent the camera from being directly impacted.

[0032] The physical structure of this differential steering wheel includes: two drive wheels 1, a slewing bearing assembly 2, two motors 3, two parallel shaft reducers 4 (each matched with a motor 3), a hinge shaft 5, a mounting flange 6, and a camera module 7. The motors 3 and reducers are symmetrically distributed on the left and right sides, while the camera module 7 is mounted at the bottom center between them, forming a compact "square" layout.

[0033] Motor 3 integrates a drive controller. The drive controller directly receives commands (such as CAN bus signals) from the upper-level motion control system and immediately drives motor 3 to perform precise speed and torque control. Because the controller is integrated with motor 3, the signal transmission path is extremely short, reducing electromagnetic interference and improving control response speed and accuracy.

[0034] The rear end or interior of the housing of motor 3 is no longer empty, but integrates a drive controller board containing power and control circuits. The leads of motor 3 include not only power cables, but also communication and power interfaces, forming a complete drive unit.

[0035] The mounting flange 6 is fixed to the bearing 21 of the slewing support 2 by a threaded connection. The other side of the bearing 21 is fixedly connected to the body of the tractor vehicle to achieve horizontal rotation.

[0036] Combined with appendix Figure 4 The mounting flange 6 is fastened to one ring (as shown in the upper ring) of the bearing 21 (usually a crossed roller bearing 21 or a four-point contact ball bearing 21) of the slewing support 2 via threads (bolts). The other ring (as shown in the lower ring) of the bearing 21 is fixed to the body of the tractor unit. When the steering wheel needs to turn, the drive unit consisting of the motor 3 and the reducer drives the drive wheel 1 to rotate around the central axis of the bearing 21, thereby achieving the horizontal rotational movement of the entire module relative to the vehicle body.

[0037] The slewing bearing 2 is a standard component, containing a bearing 21. The mounting flange 6 is a disc-shaped part, connected to the upper ring of the bearing 21 by a ring of bolts. The lower ring of the bearing 21 is also designed with mounting holes, connected to the vehicle body structure by another ring of bolts.

[0038] A pad 22 is provided below the bearing 21 to adjust the axial clearance of the slewing support 2 and improve the support rigidity.

[0039] By selecting shims 22 of different thicknesses, the relative distance between the upper and lower rings of bearing 21 can be finely adjusted. Increasing the thickness of shim 22 will increase the preload, reduce the clearance, and improve rigidity, but may increase rotational resistance; decreasing the thickness of shim 22 has the opposite effect. By selecting shims 22 of appropriate thickness, the commissioning personnel can ensure that bearing 21 operates under optimal preload.

[0040] One or more metal pads 22 are added between the bearing 21 and the vehicle body mounting surface. The pad 22 is ring-shaped and is fitted over the bearing 21 or sits inside the bearing 21 bore.

[0041] Combined with appendix Figure 3 The hinge shaft 5 has flat square 51 structures at both ends and passes through and is connected to the mounting flange 6. The flat square 51 structures are fixed to the steering wheel bracket.

[0042] The flat rectangular structures 51 (D-shaped or square cut surfaces) at both ends of the hinge shaft 5 engage with the corresponding planes on the steering wheel bracket, achieving circumferential fixation of the shaft and the bracket (i.e., the shaft cannot rotate on its own). Then, this fixed shaft passes through the light hole or bearing 21 on the mounting flange 6, allowing the mounting flange 6 to tilt freely left and right around the hinge shaft 5.

[0043] The hinge shaft 5 is a stepped shaft with two parallel cut surfaces machined at both ends to form a flat square 51. The steering wheel bracket (a structural component supporting the motor 3 and the reducer) has corresponding mounting holes with flat squares 51. After the shaft passes through, it is locked in place with a snap ring or nut. The entire assembly is then hinged to the lug holes on both sides of the mounting flange 6 via this shaft.

[0044] The camera module 7 includes a barcode reader 71 and a camera mount 72. The barcode reader 71 is fixed to the center area of ​​the bottom of the steering wheel via the camera mount 72, and its lens faces the ground.

[0045] The code reader camera 71 is rigidly fixed to the main body of the steering wheel via the transition part, camera mount 72. Because it is located at the center of the motion unit (steering wheel) and the lens is perpendicular to the ground, it can read the navigation code directly below with minimal image distortion and maximum stability, providing accurate position and posture feedback for the vehicle.

[0046] The camera module 7 includes an industrial barcode reader camera 71 (or vision camera) and a camera mount 72 made of metal or plastic. One end of the mount is fixed to the base plate of the steering wheel with screws, and the other end is fixed to the camera body through a standard interface (such as a threaded hole), ensuring that the camera lens is vertically downward.

[0047] The camera mount 72 has a slotted hole for adjusting the mounting position.

[0048] The oblong hole is a long, narrow mounting hole. Loosening the fixing screws allows the camera mount 72 to slide slightly along the length of the oblong hole. After adjusting to the desired position, tighten the screws to re-secure the mount. This is a simple and effective coarse adjustment mechanism.

[0049] On the base plate of the camera mounting bracket 72, the mounting hole for connecting with the rudder wheel body is not a round hole, but is machined into an oblong hole (or a long oval hole).

[0050] The drive wheel 1 adopts a rubber-coated wheel structure, which has good ground adhesion and shock absorption performance.

[0051] The wheel's interior is typically a metal hub (providing structural strength), covered by a layer of rubber (such as polyurethane or other elastic materials). The rubber material provides a high coefficient of friction, ensuring no slippage; its elasticity absorbs minor vibrations and impacts from the ground, acting as a shock absorber.

[0052] The drive wheel 1 consists of an inner aluminum alloy or steel wheel body and an outer layer of injection-molded rubber tread.

[0053] The present invention and its embodiments have been described above illustratively. This description is not restrictive, and the figures shown are only one embodiment of the present invention; the actual structure is not limited thereto. Therefore, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the inventive spirit of the present invention, such designs should fall within the protection scope of the present invention.

Claims

1. A differential steering wheel with a barcode reader camera, characterized in that, It includes a drive wheel, a slewing bearing, a motor, a parallel shaft reducer, a hinge shaft, a mounting flange, and a camera module. The drive wheel is driven by the motor via the parallel shaft reducer. The slewing bearing is connected to the body of the tractor vehicle via the mounting flange. The mounting flange allows the entire steering wheel to tilt left and right via the hinge shaft. The symmetrically designed motor and parallel shaft reducer surround the camera module at the center of the bottom of the steering wheel, and the motor and parallel shaft reducer extend above the camera module to protect it.

2. A differential steering wheel with a barcode reader camera according to claim 1, characterized in that, The motor integrates a drive controller.

3. A differential steering wheel with a barcode reader camera according to claim 1, characterized in that, The mounting flange is fixed to the bearing of the slewing support by a threaded connection, and the other side of the bearing is fixedly connected to the body of the tractor vehicle to achieve horizontal rotation.

4. A differential steering wheel with a barcode reader camera according to claim 3, characterized in that, A pad is provided below the bearing to adjust the axial clearance of the slewing bearing and improve the support stiffness.

5. A differential steering wheel with a barcode reader camera according to claim 1, characterized in that, The hinge shaft has flat square structures at both ends that pass through and are connected to the mounting flange. The flat square structures are fixed to the steering wheel bracket.

6. A differential steering wheel with a barcode reader camera according to claim 1, characterized in that, The camera module includes a barcode reader camera and a camera mounting base. The barcode reader camera is fixed to the center area of ​​the bottom of the steering wheel via the camera mounting base, and its lens faces the ground.

7. A differential steering wheel with a barcode reader camera according to claim 6, characterized in that, The camera mount has an oblong hole for adjusting the mounting position.

8. A differential steering wheel with a barcode reader camera according to any one of claims 1 to 7, characterized in that, The drive wheel adopts a rubber-coated wheel structure, which has good ground adhesion and shock absorption performance.

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