A type of drive wheel

Abstract

This utility model discloses a drive steering wheel in the field of wheeled robots, comprising: a walking assembly including a walking wheel, a walking frame, and a walking motor; the walking frame is U-shaped, the walking wheel is rotatably connected to the walking frame via a rotating shaft, the walking motor is fixedly mounted on one side of the walking frame, and its output shaft is fixedly connected to the rotating shaft on the same side; a steering assembly located on the top of the walking frame; and a shock-absorbing assembly vertically positioned between the steering assembly and the vehicle body. The beneficial effects of this utility model are: by setting the steering assembly on the top of the walking assembly and vertically mounting the shock-absorbing assembly on the steering assembly, the distance between the vehicle chassis and the walking plane can be increased, improving the vehicle's ability to walk on undulating roads and making the vehicle more adaptable to different road surfaces.

Description

Technical Field

[0001] This utility model relates to the field of wheeled robots, specifically to a drive steering wheel. Background Technology

[0002] In the field of wheeled robots, automated logistics equipment such as Automated Guided Vehicles (AGVs) are increasingly widely used in warehousing, factories, ports, and other scenarios. The steering wheel structure, as the core movable component of this type of equipment, directly determines the overall flexibility and movement accuracy of the vehicle.

[0003] This type typically consists of two parts: a steering motor and a wheel drive motor. The steering motor controls the vehicle's direction of movement, while the wheel drive motor controls the vehicle's overall movement. The steering wheel chassis control logic enables omnidirectional movement control of the steering wheel structure chassis.

[0004] Most existing steering wheels are only suitable for flat ground operations. On undulating roads, they can easily cause platform vibration and inaccurate positioning. Later, some drive steering wheels with shock absorption structures appeared. Although they have shock absorption functions and can operate on undulating roads, due to their installation position, the chassis of most of them is still close to the ground, making it impossible for the vehicle to move on roads with large undulations.

[0005] Therefore, we propose a drive wheel. Summary of the Invention

[0006] In view of the above-mentioned shortcomings of the prior art, the present invention provides a drive steering wheel.

[0007] To achieve the above-mentioned objectives, the technical solution adopted by this utility model is as follows: A drive steering wheel includes: a travel assembly including a travel wheel, a travel frame, and a travel motor; the travel frame is U-shaped; the travel wheel is rotatably connected to the travel frame via a rotating shaft; the travel motor is fixedly mounted on one side of the travel frame, and its output shaft is fixedly connected to the rotating shaft on the same side; a steering assembly located on the top of the travel frame for steering the travel wheel; and a shock absorption assembly vertically located between the steering assembly and the vehicle body for shock absorption of the vehicle body.

[0008] By placing the steering component on top of the walking assembly and vertically mounting the shock absorber on the steering component, the distance between the vehicle chassis and the ground can be effectively increased, improving the vehicle's ability to travel on undulating roads and making the vehicle more adaptable to road conditions.

[0009] Further defining the steering assembly, it includes a steering top plate, a steering bottom plate, a connecting rod, a steering servo, a drive gear, a reduction gear, a rotary bearing, an upper pad, a lower pad, and a pad block. The steering top plate and the steering bottom plate are fixedly connected by the connecting rod. The steering servo is fixedly mounted on the steering top plate, with its output shaft passing downward through the steering top plate. The drive gear is fixedly connected to the output shaft of the steering servo and is located between the steering top plate and the steering bottom plate. The bottom surface of the upper pad is provided with a retaining ring, the outer diameter of which is interference-fitted with the inner diameter of the rotary bearing, and the depth is the same as the inner depth of the rotary bearing. The lower pad is fixedly connected to the top plate of the running frame. The top and bottom surfaces of the pad block contact the upper pad and the top plate of the running frame, respectively. The lower pad has a through hole for the pad block to pass through. The reduction gear, the upper pad, the pad block, and the top plate of the running frame are fixedly connected by bolts, and the reduction gear meshes with the drive gear. The outer ring of the rotary bearing is fixedly locked inside the steering bottom plate, and the running frame is located below the steering bottom plate.

[0010] When the travel assembly needs to be turned, the steering servo drives the drive gear to rotate, the drive gear drives the reduction gear to rotate, and the reduction gear rotates the inner ring of the rotating bearing and the travel frame to rotate, thus realizing the overall steering of the travel assembly. This steering assembly setting can increase the distance between the travel wheels and the chassis, increase the height of the chassis, and ensure its travel performance on undulating roads.

[0011] Further specifying, the shock absorption assembly includes a shock absorber, the bottom end of which is rotatably connected to the steering base plate via a lower hinge seat, and the top end of which is rotatably connected to the vehicle chassis via an upper hinge seat. The edge of the steering top plate is provided with a groove for the shock absorber to pass through vertically. The shock absorber is limited in its stroke and vertical direction by a limiting structure.

[0012] This design, with both the top and bottom of the shock absorber rotatably connected, simplifies installation. A limiting structure is also included to restrict the shock absorber's movement, preventing it from deflecting and protecting its travel to avoid damage due to excessive compression.

[0013] Further defined, the limiting structure includes a limiting slider and a limiting block; the top of the limiting block is fixedly connected to the vehicle chassis, the limiting slider is fixed between the steering top plate and the steering bottom plate by a fixing block, the top and bottom ends of the fixing block are respectively fixedly connected to the steering top plate and the steering bottom plate by bolts, the lower part of the limiting block is recessed along its length direction with a slide rail, the two sides of the slide rail are recessed with grooves, the limiting slider is U-shaped and the inner wall of the opening is provided with a slide strip that cooperates with the groove, in the installed state, the top height of the slide rail is lower than the maximum stroke height of the shock absorber.

[0014] This limiting structure, with the limiting slider fixed on the steering assembly slidably connected to the slide rail, and the slide groove and slide bar working together, can limit the vertical movement of the shock absorber and prevent it from deviating. The connection point between the top of the slide rail and the limiting block can limit the maximum sliding height of the limiting slider, thereby limiting the compression stroke of the shock absorber and protecting the working stroke of the shock absorber.

[0015] Furthermore, the limiting structure is provided in two sets, which are symmetrically arranged about the axis of the shock absorber; this arrangement of two sets of limiting structures can make the force more balanced and improve the stability of the overall structure.

[0016] Furthermore, through holes are provided at the center of the steering top plate, steering bottom plate, reduction gear, steering bearing, and the top plate of the traveling frame to allow the wiring to pass through. A slip ring is installed in the through hole of the steering top plate to constrain the wiring. This through hole design allows for a more reasonable wiring connection of the traveling motor, preventing wiring from becoming tangled or damaged during steering.

[0017] The beneficial effects of this utility model are as follows: by setting a steering component on the top of the walking component and vertically setting a shock absorption component on the steering component, the distance between the vehicle chassis and the walking plane can be increased, the vehicle's ability to walk on undulating roads can be improved, and the vehicle's adaptability to different road surfaces can be better. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a three-dimensional structural schematic diagram of the present invention from another perspective; Figure 3 This is a cross-sectional view of a portion of the steering components; Figure 4 This is a schematic diagram of the engagement state of the limiting structure.

[0019] The symbols for each component are as follows: Walking assembly 1, walking wheel 11, walking frame 12, walking motor 13, steering assembly 2, steering top plate 21, steering bottom plate 22, connecting rod 23, steering servo 24, drive gear 25, reduction gear 26, rotating bearing 27, upper pad 28, retaining ring 281, lower pad 29, pad block 210, shock absorption assembly 3, shock absorber 31, lower hinge seat 32, upper hinge seat 33, limiting structure 4, limiting slider 41, fixing block 411, sliding bar 412, limiting block 42, slide rail 421, slide groove 422, slip ring 5. Detailed Implementation

[0020] The specific embodiments of this utility model are described below to enable those skilled in the art to understand this utility model. However, it should be understood that this utility model is not limited to the scope of the specific embodiments. For those skilled in the art, as long as various changes are within the spirit and scope of this utility model as defined and determined by the appended claims, these changes are obvious. All utility model creations utilizing the concept of this utility model are within the scope of protection.

[0021] Example: like Figures 1-4As shown, a drive steering wheel includes a travel assembly 1, a steering assembly 2, a shock absorption assembly 3, and a limiting structure 4. The travel assembly 1 includes a travel wheel 11, a travel frame 12, and a travel motor 13. The travel frame 12 is U-shaped, and the travel wheel 11 is rotatably connected to the travel frame 12 via a rotating shaft. The travel motor 13 is fixedly mounted on one side of the travel frame 12, and its output shaft is fixedly connected to the rotating shaft on the same side. The steering assembly 2 is used to steer the travel wheel 11. The steering assembly 2 includes a steering top plate 21, a steering bottom plate 22, a connecting rod 23, a steering servo motor 24, a drive gear 25, a reduction gear 26, a rotating bearing 27, an upper pad 28, a lower pad 29, and a pad block 210. The steering top plate 21 and the steering bottom plate 22 are fixedly connected by the connecting rod 23, and the steering servo motor... Steering gear 24 is fixedly mounted on steering top plate 21, with its output shaft passing downward through steering top plate 21. Drive gear 25 is fixedly connected to the output shaft of steering servo 24 and located between steering top plate 21 and steering bottom plate 22. A retaining ring 281 is provided on the bottom surface of upper pad 28. The outer diameter of retaining ring 281 is interference-fitted with the inner diameter of the inner ring of rotating bearing 27, and its depth is the same as the inner ring depth of rotating bearing 27. Lower pad 29 is fixedly connected to the top plate of traveling frame 12. The top and bottom surfaces of pad 210 contact the upper pad 28 and the top plate of traveling frame 12, respectively. A through hole is provided on lower pad 29 for pad 210 to pass through. Reduction gear 26, upper pad 28, pad 210, and the top plate of traveling frame 12 are fixedly connected by bolts. Furthermore, reduction gear 26 and drive gear 25 are fixedly connected... Wheel 25 meshes, and the outer ring of rotating bearing 27 is fixedly mounted inside steering base plate 22. The running frame 12 is located below steering base plate 22. Shock absorber assembly 3 is used to dampen the vehicle body. Shock absorber assembly 3 includes shock absorber 31. The bottom end of shock absorber 31 is rotatably connected to steering base plate 22 via lower hinge seat 32, and the top end is rotatably connected to vehicle chassis via upper hinge seat 33. The edge of steering top plate 21 has a groove for shock absorber 31 to pass vertically. Shock absorber 31 is limited in stroke and vertical direction by limiting structure 4. Two sets of limiting structures 4 are provided, symmetrically arranged about the axis of shock absorber 31. Limiting structure 4 includes limiting slider 41 and limiting block 42. The top end of limiting block 42 is fixedly connected to vehicle chassis, and the limiting slider 41... The fixed block 411 is fixed between the steering top plate 21 and the steering bottom plate 22. The top and bottom ends of the fixed block 411 are fixed to the steering top plate 21 and the steering bottom plate 22 respectively by bolts. The lower part of the limiting block 42 is recessed along its length direction with a slide 421. The two sides of the slide 421 are recessed with grooves 422. The limiting slider 41 is U-shaped and the inner wall of the opening is provided with a slide strip 412 that cooperates with the groove 422. In the installed state, the top height of the slide 421 is lower than the maximum stroke height of the shock absorber 31. The center of the steering top plate 21, the steering bottom plate 22, the reduction gear 26, the steering bearing, and the top plate of the travel frame 12 are all provided with through holes for the line to pass through. The through hole of the steering top plate 21 is fitted with a slip ring 5 to constrain the line.

[0022] By placing the steering assembly 2 on top of the walking assembly 1 and vertically mounting the shock absorber 3 on the steering assembly 2, the distance between the vehicle chassis and the ground can be effectively increased, improving the vehicle's ability to travel on undulating roads and making the vehicle more adaptable to road conditions. When the walking assembly 1 needs to be turned, the steering servo 24 drives the drive gear 25 to rotate, the drive gear 25 drives the reduction gear 26 to rotate, and the rotation of the reduction gear 26 drives the inner ring of the rotating bearing 27 and the walking frame 12 to rotate, realizing the overall steering of the walking assembly 1. This arrangement of the steering assembly 2 increases the distance between the walking wheels 11 and the vehicle chassis, raising the height of the vehicle chassis and ensuring its walking performance on undulating roads. By rotatably connecting the top and bottom of the shock absorber 31, the installation becomes simpler, and the setting of the limiting structure 4 limits the shock absorber 31. The positioning structure 4 prevents the shock absorber 31 from deflecting and protects its stroke, avoiding damage due to excessive compression stroke. The limiting structure 4 connects the limiting slider 41, fixed to the steering assembly 2, to the slide rail 421. The slide groove 422 and slide bar 412 work together to limit the vertical movement of the shock absorber 31, preventing it from shifting. The connection point between the top of the slide rail 421 and the limiting block 42 restricts the maximum sliding height of the limiting slider 41, thus limiting the compression stroke of the shock absorber 31 and protecting its working stroke. This dual limiting structure 4 ensures more balanced force distribution and improves the overall structural stability. The through-hole design allows for a more rational wiring connection for the travel motor 13, preventing wiring tangling or damage during steering.

Claims

1. A drive steering wheel, characterized in that, include: The walking assembly (1) includes a walking wheel (11), a walking frame (12) and a walking motor (13). The walking frame (12) is U-shaped. The walking wheel (11) is rotatably connected to the walking frame (12) through a rotating shaft. The walking motor (13) is fixedly installed on one side of the walking frame (12) and its output shaft is fixedly connected to the rotating shaft on the same side. Steering assembly (2), located on top of the walking frame (12), is used to steer the walking wheels (11); The shock absorber assembly (3) is vertically positioned between the steering assembly (2) and the vehicle body to reduce the vibration of the vehicle body.

2. A drive steering wheel according to claim 1, characterized in that, The steering assembly (2) includes a steering top plate (21), a steering bottom plate (22), a connecting rod (23), a steering servo (24), a drive gear (25), a reduction gear (26), a rotating bearing (27), an upper pad (28), a lower pad (29), and a pad block (210). The steering top plate (21) and the steering bottom plate (22) are fixedly connected by the connecting rod (23). The steering servo (24) is fixedly mounted on the steering top plate (21) and its output shaft passes downward through the steering top plate (21). The drive gear (25) is fixedly connected to the output shaft of the steering servo (24) and is located between the steering top plate (21) and the steering bottom plate (22). The bottom surface of the upper pad (28) is provided with a retaining ring (281). The outer diameter of the retaining ring (281) and the inner diameter of the inner ring of the rotating bearing (27) are interference-fitted, and the depth is the same as the inner ring depth of the rotating bearing (27). The lower... The pad (29) and the top plate of the walking frame (12) are fixedly connected. The top and bottom surfaces of the pad (210) are in contact with the upper pad (28) and the top plate of the walking frame (12) respectively. The lower pad (29) has a through hole for the pad (210) to pass through. The reduction gear (26), the upper pad (28), the pad (210), and the top plate of the walking frame (12) are fixedly connected by bolts. The reduction gear (26) meshes with the driving gear (25). The outer ring of the rotating bearing (27) is fixedly installed in the steering base plate (22). The walking frame (12) is located below the steering base plate (22).

3. A drive steering wheel according to claim 2, characterized in that, The shock absorber assembly (3) includes a shock absorber (31). The bottom end of the shock absorber (31) is rotatably connected to the steering base plate (22) via a lower hinge (32), and the top end is rotatably connected to the vehicle chassis via an upper hinge (33). The edge of the steering top plate (21) is provided with a groove for the shock absorber (31) to pass through vertically. The shock absorber (31) is limited in stroke and vertical direction by a limiting structure (4).

4. A drive steering wheel according to claim 3, characterized in that, The limiting structure (4) includes a limiting slider (41) and a limiting block (42); the top of the limiting block (42) is fixedly connected to the chassis of the vehicle body, the limiting slider (41) is fixed between the steering top plate (21) and the steering bottom plate (22) by a fixing block (411), the top and bottom ends of the fixing block (411) are respectively fixedly connected to the steering top plate (21) and the steering bottom plate (22) by bolts, the lower part of the limiting block (42) is recessed along its length direction with a slide rail (421), the two sides of the slide rail (421) are recessed with a groove (422), the limiting slider (41) is U-shaped and the inner wall of the opening is provided with a slide bar (412) that cooperates with the groove (422), in the installed state, the top height of the slide rail (421) is lower than the maximum stroke height of the shock absorber (31).

5. A drive steering wheel according to claim 4, characterized in that, The limiting structure (4) is provided in two sets, and the two sets of the limiting structure (4) are symmetrically arranged about the axis of the shock absorber (31).

6. A drive steering wheel according to claim 5, characterized in that, The steering top plate (21), steering bottom plate (22), reduction gear (26), steering bearing, and traveling frame (12) all have through holes at the center of their top plates for the passage of the line. A slip ring (5) for constraining the line is fitted inside the through hole of the steering top plate (21).

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