Heavy duty differential steering wheel

Abstract

The utility model discloses a heavy load differential steering wheel relates to the mobile chassis technical field of automatic guided vehicle, including the steering wheel upper flat plate, steering drive mechanism, it includes the gyration support, the gyration support rotation is installed in the steering wheel upper flat plate, and walking drive mechanism, it includes motor fixed frame, two drive assemblies and floating support subassembly, motor fixed frame with the rotation part connection of gyration support, two drive assemblies set up in the both sides of motor fixed frame, floating support subassembly symmetry sets up and its inside with drive assembly is connected, and its outside is hinged with motor fixed frame. The utility model wants to solve the technical problem in at providing a kind of heavy load differential steering wheel with compact structure, strong load capacity, steering flexible and can self-adapting road.

Description

Technical Field

[0001] This utility model relates to the field of mobile chassis technology for automated guided vehicles, specifically to a heavy-duty differential steering wheel. Background Technology

[0002] Existing AGV steering wheels generally suffer from limited load-bearing capacity and insufficient structural rigidity. Under heavy-load conditions, the suspension system of traditional steering wheels struggles to adapt effectively to uneven road surfaces, easily leading to accelerated tire wear, drive motor overload, and even jamming, affecting operational stability and reliability. Furthermore, differential drive structures for achieving flexible steering in heavy-duty AGVs are often complex, space-consuming, and lack integration. Therefore, there is an urgent need for a steering wheel module that combines high load capacity, high adaptability, high integration, and flexible steering capabilities. Utility Model Content

[0003] The technical problem to be solved by this utility model is to provide a heavy-duty differential steering wheel that is compact in structure, has strong load capacity, flexible in steering, and can adapt to road surface.

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

[0005] A heavy-duty differential steering wheel, characterized in that it comprises: a steering wheel upper plate; a steering drive mechanism including a slewing support rotatably mounted on the steering wheel upper plate; and a travel drive mechanism including a motor mounting frame, two drive assemblies, and a floating support assembly, wherein the motor mounting frame is connected to the rotating portion of the slewing support, the two drive assemblies are disposed on both sides of the motor mounting frame, the floating support assembly is symmetrically arranged with its inner side connected to the drive assembly and its outer side hinged to the motor mounting frame.

[0006] Its function is to define a basic heavy-duty differential steering wheel architecture, which realizes the steering of the entire walking mechanism through "slewing support" and differential drive through "two drive assemblies". The most critical feature is the introduction of "floating support components" and the setting of their hinge points on the motor mounting bracket, thereby solving problems such as jamming, wear and uneven load caused by uneven road surface under heavy load conditions, and ensuring stability and adaptability under high load.

[0007] Optionally, the floating support assembly includes a floating support base, a hinge shaft, and a sliding bearing. The floating support base is hinged to the motor mounting frame via the hinge shaft and the sliding bearing, and the floating support base is fixed to the upper plate of the steering wheel.

[0008] Its function is to concretize the upper-level "floating support assembly" into a classic and reliable mechanical articulation structure consisting of a "floating support seat", "hinged shaft" and "sliding bearing", and to clarify the fixed relationship between the floating support seat and the plate on the steering wheel, thereby defining a clear force flow path (the load is transmitted from the plate to the drive assembly through the support seat) and the swing center, ensuring the reliable realization of the floating function and the structural strength.

[0009] Alternatively, the sliding bearing may be a self-lubricating bearing.

[0010] Its function is to specify the use of "self-lubricating bearings", which solves the problem of difficulty in maintenance or frequent grease addition under heavy load and low speed oscillation conditions, reduces maintenance costs, and improves the reliability and service life of the system.

[0011] Alternatively, the self-lubricating bearing may be a graphite copper bushing.

[0012] Its function is to select a specific type of bearing that is particularly suitable for heavy-load, low-speed rotating and oscillating applications. Graphite copper bushings combine the high load-bearing capacity and high thermal conductivity of copper alloys with the excellent self-lubricating properties of graphite, making them a very mature and reliable choice.

[0013] Optionally, the motor mounting bracket has mounting plates at both ends that are hinged to the floating support seat. The two ends of the mounting plates are connected to the drive assembly. The top surface of the mounting plates is arc-shaped or pointed to allow floating tilt while limiting movement.

[0014] Its function is to provide a mounting point that is hinged to the floating support by setting a specific "mounting plate" structure. On the other hand, its unique "arc or pointed top surface" plays a mechanical limiting role, preventing the floating support from excessively interfering with or colliding with the motor mounting bracket during the swinging process, limiting the maximum swing angle, and protecting other components (such as motor wiring harness) from being excessively stretched or squeezed.

[0015] Optionally, the drive assembly includes an integrated drive and control motor, a drive wheel, and a steering wheel encoder. The output end of the integrated drive and control motor is connected to the drive wheel, and the steering wheel encoder is mounted on the edge of the plate on the steering wheel.

[0016] Its function is to clearly define that the drive assembly consists of three main parts: the "integrated drive and control motor," the "drive wheel," and the "steering wheel encoder." The "integrated drive and control motor" highly integrates the drive and control system, making the structure compact; the "drive wheel" is the actuator; and the "steering wheel encoder" is used to detect the motor speed and angle, providing crucial speed feedback signals for differential control, and is a key sensor for achieving precise electronic differential.

[0017] Optionally, a zero-return photoelectric sensor for detecting the steering zero position is also included.

[0018] Its function is to detect the absolute zero position (home position) of the steering mechanism. Each time the system is powered on or when needed, it uses this sensor to find the reference angle position for steering, thereby eliminating accumulated errors and achieving high-precision closed-loop control of the steering angle. This is a necessary configuration to ensure the tracking accuracy of the AGV.

[0019] Optionally, the steering wheel has a slot on its flat plate for accommodating a zero-return photoelectric sensor.

[0020] Its function is to install and adjust the sensor through the "slot" design, which allows the sensor's installation position to be finely adjusted so as to accurately align with the zero position, compensate for manufacturing and assembly errors, and simplify the on-site installation and debugging process.

[0021] Optionally, the slewing support includes a slewing bearing and bearing gaskets. The plate on the steering wheel is fixed to the slewing bearing by a threaded connection. The other side of the slewing bearing is fixedly connected to the body of the tractor vehicle to achieve horizontal slewing. Bearing gaskets are provided below the slewing bearing to adjust the axial clearance of the slewing support and improve the support rigidity.

[0022] Its function is to clarify that the slewing support consists of a "slewing bearing" and "bearing shims," ​​and to define their crucial connection: it connects to the upper plate of the steering wheel at the top, and to the vehicle body at the bottom via shims that adjust the clearance. This not only defines the basis for steering motion but also emphasizes the core role of the "bearing shims"—precisely controlling the axial clearance of the slewing bearing by adjusting the thickness of the shims, thereby maximizing support stiffness and load-bearing capacity while ensuring rotational flexibility, which is crucial for heavy-duty applications.

[0023] Compared with the prior art, the technical solution provided by this utility model has the following advantages:

[0024] This invention achieves flexible differential steering for heavy-duty AGVs by combining a slewing support with a dual-drive integrated motor. It innovatively employs a floating support assembly with a hinged shaft and self-lubricating bearings as its core, hinged to the drive assembly on the motor mounting frame. This allows the drive wheels to adapt to uneven road surfaces, effectively preventing jamming and evenly distributing heavy load pressure, significantly improving load-bearing capacity, operational stability, and service life. Simultaneously, the integrated design and compact structure of the drive-control integrated motor significantly reduce module size and save installation space. In summary, this invention effectively combines high load capacity, high adaptability, high integration, and flexible steering capability, comprehensively solving the key technical challenges of heavy-duty AGV mobile chassis. Attached Figure Description

[0025] Figure 1A schematic diagram of a heavy-duty differential steering wheel proposed for an embodiment of this utility model;

[0026] Figure 2 A schematic diagram of the bottom structure of a heavy-duty differential steering wheel, as proposed in an embodiment of this utility model;

[0027] Figure 3 An exploded view of a heavy-duty differential steering wheel as an embodiment of this utility model;

[0028] Figure 4 A schematic diagram of a heavy-duty differential steering wheel drive assembly proposed for an embodiment of this utility model;

[0029] 1. Slewing bearing; 11. Slewing bearing; 12. Bearing gasket; 2. Steering wheel upper plate; 21. Zero-return photoelectric sensor; 3. Motor mounting bracket; 31. Graphite copper sleeve; 32. Steering wheel hinge shaft; 33. Floating support seat; 34. Mounting plate; 4. Steering wheel encoder; 5. Drive assembly; 51. Drive wheel; 52. First countersunk head hex screw; 53. Second countersunk head hex screw; 6. Integrated drive and control motor; 61. Drive motor; 62. Driver. Detailed Implementation

[0030] 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.

[0031] Example

[0032] Combined with appendix Figure 1-4 A heavy-duty differential steering wheel, comprising:

[0033] Flat plate 2 on the steering wheel;

[0034] Steering drive mechanism, comprising a slewing bearing 1, the slewing bearing 1 being rotatably mounted on a plate 2 on the steering wheel; and

[0035] The walking drive mechanism includes a motor mounting frame 3, two drive assemblies 5 and a floating support assembly. The motor mounting frame 3 is connected to the rotating part of the slewing support 1. The two drive assemblies 5 are arranged on both sides of the motor mounting frame 3. The floating support assembly is symmetrically arranged and its inner side is connected to the drive assembly 5, and its outer side is hinged to the motor mounting frame 3.

[0036] Combined with appendix Figure 1The plate 2 on the steering wheel serves as the mounting base and is connected to the vehicle body. During steering, external power drives the rotating part (e.g., the inner ring) of the slewing support 1 to rotate relative to its fixed part (e.g., the outer ring), causing the connected motor mounting bracket 3 and the entire driving mechanism to rotate together, thus achieving steering. During travel, the two drive assemblies 5 can operate independently, achieving flexible forward, backward, and cornering through differential control. When encountering uneven road surfaces, the floating support assembly, with its hinge point with the motor mounting bracket 3 as its axis, allows the drive assembly 5 to swing slightly in the vertical plane, thereby adapting to the terrain and ensuring that the drive wheel 51 always effectively contacts the ground, dispersing the impact load through the hinge point rather than directly transmitting it to the drive motor 61 and the fixed structure. In this embodiment, the slewing support 1 typically consists of a slewing bearing 11 and washers; the drive assembly 5 includes a drive motor 61 and drive wheels 51; and the floating support assembly specifically consists of a support base, a hinge shaft, and bearings.

[0037] Combined with appendix Figure 3 The floating support assembly includes a floating support base 33, a hinge shaft, and a sliding bearing. The floating support base 33 is hinged to the motor mounting bracket 3 via the hinge shaft and the sliding bearing, and the floating support base 33 is fixed to the upper plate 2 of the steering wheel.

[0038] One end of the floating support 33 is fixed to the plate 2 on the steering wheel, and the other end is connected to the motor mounting bracket 3 via a hinge shaft. A sliding bearing is sleeved on the hinge shaft to reduce frictional resistance during swinging. When the drive assembly 5 encounters an obstacle and needs to be lifted, it rotates around the hinge shaft, and the sliding bearing ensures smooth swinging. In this embodiment, the sliding bearing is preferably a graphite copper sleeve 31, which has self-lubricating properties; the hinge shaft is usually a high-strength alloy steel shaft; and the floating support 33 is a casting or welded part with sufficient rigidity and strength.

[0039] The sliding bearing is a self-lubricating bearing.

[0040] Self-lubricating bearings (such as embedded solid lubricated bearings) achieve self-lubrication by forming a transfer film of solid lubricant on the surface of the friction pair during oscillation, eliminating the need for external grease fittings. Examples include various self-lubricating bearings such as graphite copper bushings 31 and engineering plastic bearings.

[0041] The self-lubricating bearing is a graphite copper bushing 31.

[0042] The graphite copper bushing 31 uses a high-strength copper alloy as its base, with graphite powder embedded in the holes as a solid lubricant. During operation, the graphite forms a smooth lubricating layer on the friction surface, while the copper base provides mechanical strength and heat dissipation. The embodiment is a standard graphite copper bushing 31 part.

[0043] The motor mounting bracket 3 has mounting plates 34 at both ends that are hinged to the floating support 33. The two ends of the mounting plates 34 are connected to the drive assembly 5. The top surface of the mounting plates 34 is arc-shaped or pointed, which is used to allow floating tilt while limiting the position.

[0044] Mounting plate 34 provides physical space for the swing of floating support 33. When drive assembly 5 swings, floating support 33 approaches the top surface of mounting plate 34. The arc or pointed design ensures that within the designed maximum swing angle, floating support 33 and mounting plate 34 make line or point contact, rather than surface collision, reducing impact and wear while providing precise positioning. In embodiments, mounting plate 34 can be an integral structure with motor mounting bracket 3, or it can be a separate component welded or bolted later.

[0045] Combined with appendix Figure 2 The drive assembly 5 includes an integrated drive and control motor 6, a drive wheel 51, and a steering wheel encoder 4. The output end of the integrated drive and control motor 6 is connected to the drive wheel 51, and the steering wheel encoder 4 is mounted on the edge of the plate 2 on the steering wheel.

[0046] The controller sends commands to the integrated drive and control motor 6, and the drive motor 61 outputs torque to drive the drive wheel 51 to rotate. The steering wheel encoder 4, mounted on the drive motor 61, detects the speed and position of the drive motor 61 in real time and feeds the signals back to the controller. The controller calculates the required differential speed between the two drive motors 61 based on the target motion trajectory and performs closed-loop control. In this embodiment, the integrated drive and control motor 6 is a module that encapsulates the drive motor 61 body and the driver 62 together; the encoder is mostly photoelectric or magnetoelectric and is directly mounted on the tail end or shaft end of the drive motor 61.

[0047] It also includes a zero-return photoelectric sensor 21 for detecting the steering zero position.

[0048] A photoelectric light-blocking plate rotates together with the rotating part of the slewing support 1. When the light-blocking plate rotates to a specific position (zero position), it blocks or allows light to pass through the zero-return photoelectric sensor 21. The sensor generates a switching signal and sends it to the controller, which then uses this position as the zero point of the steering angle. In this embodiment, the sensor typically includes a transmitter, a receiver, and a follower baffle.

[0049] The steering wheel has a slot on the flat plate 2 for accommodating the zero-return photoelectric sensor 21.

[0050] The slot provides a larger adjustment margin than a round hole. During installation, first slightly loosen the sensor screws, then move the sensor to align it with the zero-position stop, and finally tighten the screws to secure it. An example is a long, narrow hole machined into the plate 2 on the steering wheel.

[0051] The slewing support 1 includes a slewing bearing 11 and a bearing washer 12. The upper plate 2 of the steering wheel is fixed to the slewing bearing 11 by a threaded connection. The other side of the slewing bearing 11 is fixedly connected to the body of the tractor vehicle to achieve horizontal slewing. The bearing washer 12 is provided below the slewing bearing 11 to adjust the axial clearance of the slewing support 1 and improve the support rigidity.

[0052] A slewing bearing 11 (such as a crossed roller bearing) provides reliable slewing support 1. Bearing washers 12 are placed between the bearing and the mounting surface. By selecting washers of different thicknesses, excessive axial clearance can be eliminated, allowing the bearing to operate under preload, significantly improving rigidity and anti-overturning capability. In this embodiment, the upper plate 2 of the steering wheel is bolted to the upper ring of the slewing bearing 11, while the bearing washers 12 and the lower ring are bolted to the AGV body.

[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 heavy-duty differential steering wheel, characterized in that, include: Flat plate on the steering wheel; A steering drive mechanism, comprising a slewing support rotatably mounted on a plate on the steering wheel; as well as The walking drive mechanism includes a motor mounting frame, two drive assemblies, and a floating support assembly. The motor mounting frame is connected to the rotating part of the slewing support. The two drive assemblies are disposed on both sides of the motor mounting frame. The floating support assembly is symmetrically arranged and its inner side is connected to the drive assembly, while its outer side is hinged to the motor mounting frame.

2. The heavy-duty differential steering wheel according to claim 1, characterized in that, The floating support assembly includes a floating support base, a hinge shaft, and a sliding bearing. The floating support base is hinged to the motor mounting frame via the hinge shaft and the sliding bearing, and the floating support base is fixed to the upper plate of the steering wheel.

3. A heavy-duty differential steering wheel according to claim 2, characterized in that, The sliding bearing is a self-lubricating bearing.

4. A heavy-duty differential steering wheel according to claim 3, characterized in that, The self-lubricating bearing is a graphite copper bushing.

5. A heavy-duty differential steering wheel according to claim 2, characterized in that, The motor mounting bracket has mounting plates at both ends that are hinged to the floating support base. The two ends of the mounting plates are connected to the drive assembly. The top surface of the mounting plates is arc-shaped or pointed to allow floating tilt while limiting movement.

6. A heavy-duty differential steering wheel according to claim 1, characterized in that, The drive assembly includes an integrated drive and control motor, a drive wheel, and a steering wheel encoder. The output end of the integrated drive and control motor is connected to the drive wheel, and the steering wheel encoder is mounted on the edge of the plate on the steering wheel.

7. A heavy-duty differential steering wheel according to claim 1, characterized in that, It also includes a zero-return photoelectric sensor for detecting the steering zero position.

8. A heavy-duty differential steering wheel according to claim 7, characterized in that, The steering wheel has a slot on its flat plate for accommodating a zero-return photoelectric sensor.

9. A heavy-duty differential steering wheel according to claim 1, characterized in that, The slewing support includes a slewing bearing and bearing gaskets. The plate on the steering wheel is fixed to the slewing bearing by a threaded connection. The other side of the slewing bearing is fixedly connected to the body of the tractor vehicle to achieve horizontal slewing. Bearing gaskets are provided below the slewing bearing to adjust the axial clearance of the slewing support and improve the support rigidity.

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