A compact electric steering wheel device

Abstract

This utility model provides a compact electric steering wheel device, relating to the field of electric steering wheel technology, comprising: a base plate; a driven wheel component, which is rotatably connected to the base plate via a slewing bearing, the slewing bearing including an outer ring and an inner ring, the inner ring being connected to the base plate, the outer ring being connected to the driven wheel component, the outer ring being rotatably connected to the inner ring, and the outer ring having teeth on its outer surface; and a drive mechanism, which is drively connected to the outer ring of the slewing bearing. The beneficial effects of this utility model are: by driving a steering reducer with a steering motor, the first gear rotates, which in turn rotates the outer ring of the slewing bearing, thus achieving steering of the steering wheel. Simultaneously, the outer ring drives a second gear meshing with it to rotate. The second gear is coaxially arranged with an encoder, which records the rotation angle of the second gear, i.e., the outer ring, thereby enabling the driven wheel of the AGV with electric steering to record the position of the driven wheel after each stop.

Description

Technical Field

[0001] This utility model relates to the field of electric steering wheel technology, and in particular to a compact electric steering wheel. Background Technology

[0002] With the rapid popularization of AGV robot technology in China in recent years, various forms of AGVs have emerged, with increasingly compact vehicle structures and higher levels of automation control, which has also placed higher demands on AGV manufacturers. Especially in the fields of electric forklifts, construction robots, and cleaning robots, the demand for AGV power systems with high load-bearing capacity, small space structure, and easy control is becoming increasingly urgent.

[0003] Currently, steering wheel drive is a common drive method in AGV robots, especially for heavy-duty working conditions. Generally, the base plate of an AGV robot is equipped with several AGV steering wheels and several steering wheels. The driven wheels are usually ordinary universal rubber-coated wheels with bearings. When they rotate with the AGV steering wheels, their direction is uncertain, which leads to low overall movement control accuracy of the AGV robot. Moreover, the position of the driven wheels cannot be determined after the AGV robot stops. Utility Model Content

[0004] In view of this, an embodiment of the present invention provides a compact electric steering wheel device to solve the problems of uncertain rotation direction and uncertain position of the driven wheel in existing AGVs.

[0005] An embodiment of this utility model provides a compact electric steering wheel device, comprising: substrate; A slewing bearing, comprising an outer ring and an inner ring, the inner ring being connected to the base plate, the outer ring being rotatably connected to the inner ring, and the outer ring having gear teeth on its outer surface; The driven wheel component is rotatably connected to the underside of the base plate via a slewing bearing, and the outer ring is connected to the driven wheel component; A drive mechanism, which is connected to the outer ring of the slewing bearing, is used to drive the driven wheel component to rotate; and An encoder assembly is disposed below the base plate and connected to the slewing bearing. The encoder assembly includes a second gear and an encoder. The encoder is connected to the second gear, and the second gear meshes with the outer ring. The outer ring is driven to rotate by the drive mechanism, so that the second gear rotates synchronously under the meshing transmission of the outer ring, thereby the encoder records the steering data.

[0006] Furthermore, the encoder assembly also includes an encoder shaft and a bearing housing, the encoder shaft is rotatably connected to the bearing housing, the bearing housing is connected to the base plate, the second gear is connected to the encoder shaft, and the upper end of the encoder shaft has an encoder interface for mounting the encoder.

[0007] Furthermore, the driven wheel component includes a wheel frame, a spindle, and a driven wheel assembly. The driven wheel assembly is rotatably connected to the outside of the spindle, the spindle is connected to the wheel frame, and the wheel frame is connected to the outer ring. The wheel frame includes a support member, a connector, and a mounting plate. The support member includes a first support plate, a second support plate, and a third support plate arranged in parallel. The connector includes a first connecting plate and a second connecting plate.

[0008] Furthermore, both the mounting plate and the substrate are provided with straight grooves, and the two straight grooves are on the same reference plane, forming the origin reference.

[0009] Furthermore, the driven wheel assembly includes a first driven wheel and a second driven wheel, and both the first driven wheel and the second driven wheel are provided with a rubber coating on their outer sides.

[0010] Furthermore, the spindle is provided with a deep groove ball bearing assembly, which includes a first bearing, a second bearing, a third bearing, and a fourth bearing. The first bearing, the second bearing, the third bearing, and the fourth bearing are all used to connect the driven wheel assembly.

[0011] Furthermore, the drive mechanism includes a first gear, a reducer, and a coaxial steering motor. The output end of the coaxial steering motor is connected to the first gear via the reducer, and the first gear meshes with the outer ring.

[0012] Furthermore, the substrate surface has multiple mounting holes, the inner ring of the slewing bearing is coaxial with one of the mounting holes, so that the rotation axis of the driven wheel component is accurately determined, and the bearing seat is rotatably connected to one of the mounting holes, so that the encoder shaft is coaxial with one of the mounting holes.

[0013] Furthermore, a pressure plate is provided at one end of the mandrel, and the pressure plate is mounted on the support member by screws.

[0014] Furthermore, the inner ring is provided with a rounded chamfer.

[0015] The beneficial effects of the technical solution provided by the embodiments of this utility model are as follows: The compact electric steering wheel device of this utility model drives the steering reducer through the steering motor and drives the first gear to rotate. The first gear drives the outer ring of the slewing bearing to rotate, thereby realizing the steering of the steering wheel. At the same time, the outer ring drives the second gear meshing with it to rotate. The second gear is coaxially set with the encoder. The encoder records the rotation angle of the second gear, that is, the outer ring. Thus, the driven wheel of the AGV with electric steering can record the position of the driven wheel after each stop, and the steering is controllable, thereby improving the accuracy of movement control. The use of a compact right-angle reducer can effectively reduce the height of the AGV. At the same time, the use of this dual-wheel structure allows for the individual replacement of the rubber-coated wheel, which is more conducive to maintenance. Attached Figure Description

[0016] Figure 1 This is a perspective view of the overall structure of the compact electric steering wheel device provided by this utility model; Figure 2 This is a perspective view of the drive mechanism of the compact electric steering wheel device provided by this utility model; Figure 3 This is a perspective view of the slewing bearing of the compact electric steering wheel device provided by this utility model; Figure 4 This is a perspective view of the encoder assembly of the compact electric steering wheel device provided by this utility model; Figure 5 This is a perspective view of the driven wheel component of the compact electric steering wheel device provided by this utility model; Figure 6 yes Figure 5 Longitudinal cross-sectional view of the driven wheel component.

[0017] In the diagram: 1. Base plate; 11. Linear groove; 2. Drive mechanism; 21. Steering motor; 22. Steering reducer; 23. First gear; 3. Slewing bearing; 31. Outer ring; 32. Inner ring; 4. Encoder assembly; 41. Second gear; 42. Bearing housing; 43. Encoder shaft; 5. Driven wheel assembly; 51. Mounting plate; 52. Connecting piece; 521. First connecting plate; 522. Second connecting plate; 53. Pressure plate; 54. Driven wheel assembly; 541. First driven wheel; 542. Second driven wheel; 55. Supporting member; 551. First support plate; 552. Second support plate; 553. Third support plate; 56. Bearing assembly; 561. First bearing; 562. Second bearing; 563. Third bearing; 564. Fourth bearing; 57. Spindle. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this utility model clearer, the embodiments of this utility model will be further described below with reference to the accompanying drawings. The following description presents a preferred embodiment of several possible embodiments of this utility model, intended to provide a basic understanding of the utility model, but not intended to identify the key or decisive elements of the utility model or to limit the scope of protection sought.

[0019] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0020] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0021] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures. Also, it should be understood that, for ease of description, the dimensions of the various parts shown in the figures are not drawn to actual scale.

[0022] In the description of this utility model, it should be noted that the circuits, electronic components and modules involved in this utility model are all existing technologies, which can be fully implemented by those skilled in the art, and need not be elaborated. The content protected by this utility model does not involve any improvement to the internal structure and method.

[0023] It should be further noted that, unless otherwise explicitly specified and limited, the terms "installation" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0024] Please refer to Figures 1 to 3 The present invention provides a compact electric steering wheel device, including a base plate 1, a driven wheel component 5, a drive mechanism 2 and an encoder assembly 4. The base plate 1 serves as the main support and connection part of the entire device. The driven wheel component 5 is rotatably connected to the base plate 1 via a slewing bearing 3. The slewing bearing 3 includes an inner ring 31 and an outer ring 32 that are rotatably connected to each other. The outer ring 32 has teeth on its outside for connecting to the drive mechanism 2.

[0025] The driven wheel component 5 is driven to rotate by the drive mechanism 2, thereby completing the steering operation of the steering wheel.

[0026] In this embodiment, the inner ring 32 of the slewing bearing 3 is connected to the base plate 1, and the outer ring 32 is connected to the driven wheel component 5. The rotational connection design of the inner and outer rings enables the driven wheel component to rotate relative to the base plate.

[0027] Please refer to Figure 2 It should be noted that the drive mechanism 2 is connected to the outer ring 32 of the slewing bearing 3, and its function is to drive the driven wheel component 5 to achieve the steering function. Specifically, the drive mechanism 2 consists of a first gear 23, a reducer 22 and a coaxial steering motor 21. The coaxial steering motor 21 serves as a power source, and its output end reduces the speed and increases the torque through the reducer 22, and then transmits it to the first gear 23. The first gear 23 meshes with the gear teeth on the outer ring 32 of the slewing bearing 3.

[0028] When the output shaft of the coaxial steering motor 21 rotates, it drives the outer ring 32 to rotate through the first gear 23, thereby driving the driven wheel component 5 to achieve steering operation.

[0029] This configuration provides precise and stable steering power, meeting the steering needs of the wheels under different driving conditions.

[0030] Please refer to Figure 1 and Figure 4 In this embodiment, the encoder assembly 4 is mounted below the base plate 1 and connected to the slewing bearing 3. The encoder assembly 4 includes a second gear 41, a bearing housing 42, an encoder, and an encoder shaft 43. The encoder shaft 43 is rotatably connected to the bearing housing 42, and the bearing housing 42 is connected to the base plate 1. The second gear 41 is connected to the encoder shaft 43, and the encoder shaft 43 meshes with the outer ring 32 of the slewing bearing 3 through the second gear 41. By utilizing the rotational motion during the steering process, the encoder on the encoder shaft 43 can record accurate steering data, providing an important basis for the steering control of the vehicle.

[0031] In the specific implementation process, when the drive mechanism 2 drives the outer ring 32 of the slewing bearing 3 to rotate, the gear teeth of the outer ring 32 drive the second gear 41 to rotate synchronously, and the second gear 41 drives the encoder shaft 43 connected to it to rotate, thereby causing the encoder on the encoder shaft 43 to record the rotation angle data of the second gear 21, reflecting the actual steering situation of the driven wheel component 5.

[0032] It should be noted that the encoder interface reserved at the upper end of the encoder shaft 43 facilitates the installation of the encoder, enabling the encoder to be firmly connected to the encoder shaft and ensuring the stability and accuracy of data transmission.

[0033] Please refer to Figure 5 and Figure 6In an optional embodiment, the driven wheel component 5 consists of a wheel frame, a spindle 57, and a driven wheel assembly 54. The driven wheel assembly 54 is rotatably connected to the outside of the spindle 57, the spindle is connected to the wheel frame, and the wheel frame as a whole is connected to the outer ring 32 of the slewing bearing 3, thus forming a complete driven wheel support and rotation structure.

[0034] Specifically, the wheel frame includes a support member 55, a connector 52, and a mounting plate 51. The support member includes a first support plate 551, a second support plate 552, and a third support plate 553 arranged in parallel. This design can improve the overall strength and stability of the wheel frame and ensure the reliable operation of the driven wheel assembly during operation. The connector 52 includes a first connecting plate 521 and a second connecting plate 522 arranged in parallel, which are used to tightly connect the various parts of the wheel frame together and enhance the overall integrity of the wheel frame structure. The driven wheel assembly 54 includes a first driven wheel 541 and a second driven wheel 542. The rubber coating on the outer side of the driven wheel assembly 54 can increase the friction between the driven wheel assembly 54 and the ground or other objects in contact, thereby improving grip and transmission performance.

[0035] In another alternative embodiment, the deep groove ball bearing assembly 56 disposed on the spindle 57 includes a first bearing 561, a second bearing 562, a third bearing 563 and a fourth bearing 564, which are evenly distributed and connected to the driven wheel assembly 54.

[0036] The bearing assembly 56 bears the radial and axial loads generated by the driven wheel assembly 54 during operation, reducing friction and wear and extending the service life of the driven wheel assembly 54.

[0037] In another alternative embodiment, please refer to Figure 1 Multiple mounting holes penetrate the surface of the substrate 1. The inner ring 31 of the slewing bearing 3 is coaxial with one of the mounting holes, which ensures that the rotation axis of the driven wheel component 5 is accurate. At the same time, the bearing housing 42 is rotatably connected in another mounting hole, so that the encoder shaft 43 is coaxial with the mounting hole, which ensures the installation accuracy and stability of the encoder assembly 4 and helps to improve the accuracy of the encoder recording data.

[0038] A pressure plate 53 is provided at one end of the spindle 57 and the pressure plate 53 is fixed to the support member 55 by screws, thereby axially limiting the driven wheel assembly 54, preventing the driven wheel assembly 54 from axially moving during use, and ensuring that the driven wheel assembly 54 and the spindle 57 maintain a tight connection and stable rotation relationship.

[0039] The rounded chamfer on the inner ring 32 serves as a guide during installation, facilitating the assembly of the inner ring 32 of the slewing bearing 3 with the base plate 1 and other related components, reducing assembly difficulty, and also helping to reduce stress concentration, thereby improving the fatigue strength and service life of the slewing bearing.

[0040] In this document, the directional terms such as front, back, top, and bottom are defined based on the location of the components in the accompanying drawings and their relative positions to each other, solely for the purpose of clarity and convenience in expressing the technical solution. It should be understood that these are relative concepts and can vary depending on the method of use and placement; the use of directional terms should not limit the scope of protection claimed in this application.

[0041] Where there is no conflict, the above embodiments and features described herein can be combined with each other.

[0042] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A compact electrically powered steered wheel arrangement characterised in that, The application relates to a rotary mechanism, which comprises the following components: a substrate (1); a rotary bearing (3) comprising an outer ring (31) and an inner ring (32), the inner ring (32) being connected to the substrate (1), the outer ring (31) being rotationally connected to the inner ring (32), and the outer ring (31) being externally provided with gear teeth; a driven wheel component (5) rotationally connected to the substrate (1) below through the rotary bearing (3), the outer ring (31) being connected to the driven wheel component (5); a driving mechanism (2) drivingly connected to the outer ring (31) of the rotary bearing (3) for driving the driven wheel component (5) to rotate; and an encoder assembly (4) arranged below the substrate (1) and connected to the rotary bearing (3), the encoder assembly (4) comprising a second gear (41) and an encoder connected to the second gear (41), the second gear (41) being engaged with the outer ring (31), the outer ring (31) being driven to rotate by the driving mechanism (2), so that the second gear (41) synchronously rotates under the engagement driving of the outer ring (31), and the rotation data is recorded by the encoder.

2. A compact electrically powered steering wheel assembly as claimed in claim 1, wherein: The encoder assembly (4) further comprises an encoder shaft (43) and a bearing seat (42), the encoder shaft (43) being rotationally connected to the bearing seat (42), the bearing seat (42) being connected to the substrate (1), the second gear (41) being connected to the encoder shaft (43), and the upper end of the encoder shaft (43) being reserved with an encoder interface for mounting the encoder.

3. A compact electrically powered steering wheel assembly as claimed in claim 1, wherein: The driven wheel component (5) comprises a wheel frame, a mandrel (57) and a driven wheel set (54), the driven wheel set (54) being rotationally connected to the outside of the mandrel (57), the mandrel (57) being connected to the wheel frame, and the wheel frame being connected to the outer ring (31); the wheel frame comprises a support component (55), a connecting piece (52) and a mounting plate (51), the support component (55) comprising first, second and third support plates (551, 552 and 553) arranged in parallel; the connecting piece (52) comprises first and second connecting plates (521 and 522).

4. A compact electrically powered steering wheel assembly as claimed in claim 3, wherein: The mounting plate (51) and the substrate (1) are both provided with linear grooves (11), the two linear grooves (11) being on the same reference surface and constituting an origin reference.

5. A compact electrically powered steering wheel assembly as claimed in claim 3, wherein: The driven wheel set (54) comprises first and second driven wheels (541 and 542), the outer sides of the first and second driven wheels (541 and 542) being both provided with rubber layers.

6. A compact electrically powered steering wheel assembly as claimed in claim 3, wherein: The mandrel (57) is provided with a deep groove ball bearing set (56), the bearing set (56) comprising first, second, third and fourth bearings (561, 562, 563 and 564), and the first, second, third and fourth bearings (561, 562, 563 and 564) all being used for connecting the driven wheel set (54).

7. A compact electrically powered steering wheel assembly as defined in claim 1 wherein: The driving mechanism (2) comprises a first gear (23), a speed reducer (21) and a coaxial steering motor (22), an output end of the coaxial steering motor (22) is drivingly connected to the first gear (23) through the speed reducer (21), and the first gear (23) is engaged with the outer ring (31).

8. A compact electrically powered steering wheel assembly as defined in claim 2 wherein: The substrate (1) is provided with a plurality of mounting holes penetrating through the surface, the inner ring (32) of the slewing bearing (3) is coaxial with one of the mounting holes, the rotation axis of the driven wheel member (5) is accurately determined, and the bearing seat (42) is rotatably connected in one of the mounting holes, so that the encoder shaft (43) is coaxially arranged in one of the mounting holes.

9. A compact electrically powered steering wheel assembly as defined in claim 3 wherein: One end of the mandrel (57) is provided with a pressing plate (53), and the pressing plate (53) is arranged on the supporting member (55) through a screw.

10. A compact electrically powered steering wheel assembly as claimed in claim 1, wherein: An arc chamfer is arranged on the inner ring (32).

Images