Integrated steering and walking servo wheel

Abstract

The utility model relates to an AGV drive technology field, and the integrated servo steering wheel of walking turns to involve, including walking drive component, steering drive component and outer tooth type slewing bearing, walking drive component includes walking servo motor, walking wheel, walking reduction gearbox and walking brake in proper order, steering drive component includes steering servo motor, steering reduction machine, steering pinion and adapter plate in proper order, and tooth type slewing bearing includes inner ring and outer tooth type outer ring, and the bottom surface fixed with zero reset piece of outer tooth type outer ring is provided with detection switch through -hole on the adapter plate, and the bottom surface fixed with detection switch support of detection switch through -hole place of adapter plate, and the detection switch support is fixed with zero reset detection switch on, the servo steering wheel of the utility model realizes high accuracy control and stability, and walking motor and steering motor all adopt absolute value servo motor, and the encoder closed loop control ensures high accuracy control and quick response, supports high, low speed steady operation, promotes equipment motion smoothness and reliability.

Description

Technical Field

[0001] This utility model relates to the field of AGV drive technology, and in particular to an integrated servo steering wheel for walking and steering. Background Technology

[0002] Automated Guided Vehicles (AGVs), also known as automated guided vehicles or automated guided transport vehicles, are industrial vehicles that load goods automatically or manually, automatically travel along a set route or tow a cargo trolley to a designated location, and then load and unload goods automatically or manually. The steering wheel is the core steering drive module of an AGV, achieving both walking and steering functions through mechanical linkage.

[0003] The existing problems with automated guided vehicles (AGVs) are: 1. Insufficient control precision, response delay, large positioning error, and difficulty in achieving high-speed dynamic adjustment; 2. High maintenance difficulty, low integration of brakes and motors, replacement requires disassembly of the entire structure, and lack of emergency manual release mechanism in case of failure; 3. Reliability risks, lack of steering mechanical limit, easy to cause wire tangling or excessive rotation damage, and numerous signal lines leading to increased failure rate; 4. Low installation and space efficiency, existing designs have many installation steps, and unreasonable junction box layout occupies too much equipment space. Utility Model Content

[0004] The purpose of this invention is to address the shortcomings of the existing technology and provide an integrated servo steering wheel for walking and steering, achieving high-precision control and stability. Both the walking motor and the steering motor are absolute servo motors with encoder closed-loop control, ensuring high-precision control and fast response, supporting stable operation at high and low speeds, and improving the smoothness and reliability of equipment movement.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows: The integrated servo steering wheel comprises a travel drive assembly, a steering drive assembly, and an external gear slewing bearing. The travel drive assembly sequentially includes a travel servo motor, a travel wheel, a travel gearbox, and a travel brake. The top surface of the travel gearbox is a mounting plane with a number of first mounting screw holes. The travel servo motor is horizontally positioned and drives the travel wheel through the travel gearbox. The travel brake is detachable for easy maintenance and replacement, and is manually releaseable; in case of equipment failure, it can be manually released and the device pushed away.

[0006] The steering drive assembly sequentially includes a steering servo motor, a steering reducer, a steering pinion, and an adapter plate. The steering reducer is fixed to the bottom surface of an extension on one side of the adapter plate body. The steering pinion is higher than the top surface of the adapter plate extension. The adapter plate body has a first mounting through hole corresponding to the first mounting screw hole. The adapter plate is fixed to the travel reduction gearbox by a first fixing bolt. The adapter plate has a certain number of second mounting screw holes. The steering servo motor is longitudinally positioned, and its operation drives the steering pinion to rotate through the steering reducer.

[0007] The external gear slewing bearing includes an inner ring and an external gear outer ring. The inner ring has a second mounting through hole corresponding to the second mounting screw hole. The inner ring is fixed to the adapter plate by a second fixing bolt. The external gear outer ring has a certain number of steering wheel mounting holes and meshes with the steering pinion. The external gear slewing bearing can withstand axial force. The inner ring and the external gear outer ring can roll relative to each other. The automated guided vehicle (AGV) body has holes corresponding to the steering wheel mounting holes, and the external gear outer ring is fixed to the vehicle body by bolts. Because the external gear outer ring is fixed to the vehicle body and does not move, the pinion rotates around the external gear outer ring when it rotates, thereby driving the adapter plate to rotate, that is, the travel drive assembly and the steering drive assembly to rotate, thus achieving steering.

[0008] A zero-return plate is fixed to the bottom surface of the external gear outer ring. The zero-return plate is semi-circular. A detection switch through-hole is provided on the adapter plate. A detection switch bracket is fixed to the bottom surface of the adapter plate at the detection switch through-hole. A zero-return detection switch is fixed on the detection switch bracket. The detection end of the zero-return detection switch is located inside the detection switch through-hole and points to the bottom surface of the external gear outer ring. When the steering wheel turns to the zero position, the zero-return plate is detected by the zero-return detection switch, triggering a zero-return signal. This signal is used for the initial position calibration of the steering wheel mechanism, ensuring that the steering angle reference is consistent each time it starts, and avoiding cumulative errors that affect navigation accuracy.

[0009] Preferably, the top surface of the traveling gearbox is provided with at least one first positioning hole, and the adapter plate is provided with a corresponding second positioning hole. Positioning pins are provided in the first and second positioning holes for positioning during installation.

[0010] Preferably, a junction box for the walking servo motor is fixed to the top of the walking servo motor. The junction box is a high-current junction box, which is convenient for wiring and occupies little space.

[0011] Preferably, the top surface of the traveling gearbox is provided with a cable passage groove on the side near the junction box of the traveling servo motor, and the adapter plate is provided with a cable passage hole. The cable passage hole is an oblong hole, with one end located in the middle of the adapter plate body and the other end located above the junction box of the traveling servo motor. The cable passage groove and the cable passage hole are used to accommodate the cable passing through.

[0012] Preferably, the outer ring of the external tooth type has a raised annular step on the inner edge of its bottom surface, and the inner ring of the zero return plate abuts against the annular step.

[0013] Preferably, a mechanical limit screw is fixed to the bottom surface of the outer toothed outer ring. The mechanical limit screw is located near one end of the zero return plate, which restricts the steering wheel from rotating within a range of 270° to prevent the wire from being twisted.

[0014] Preferably, the wheels are PU wheels. PU wheels, also known as PU injection wheels, are tires made of polyurethane material, which has properties such as high elasticity, wear resistance, and tear resistance, and is made from cast elastomer raw materials.

[0015] Preferably, the zero-return detection switch is a cylindrical diffuse reflection photoelectric sensor. The surface of the zero-return plate is specially treated (such as a mirror or high diffuse reflection coating) to ensure that light is efficiently reflected to the photoelectric sensor. When the AGV steering wheel moves to the zero-return plate position, the intensity of the reflected light received by the photoelectric sensor changes abruptly, triggering a position calibration signal.

[0016] Preferably, the walking servo motor and the steering servo motor are absolute servo motors, which are motors that can acquire and maintain the absolute position information of the motor shaft or load in real time. Even if the system is powered off and then powered on again, it can immediately identify the current position without having to return to zero. It relies on an absolute encoder, which records position information through a unique encoding method (such as Gray code).

[0017] The advantages of this utility model are: 1. It achieves high-precision control and stability. Both the walking motor and the steering motor adopt absolute value servo motors and encoder closed-loop control to ensure high-precision control and fast response, support stable operation at high and low speeds, and improve the smoothness and reliability of equipment movement.

[0018] 2. Structure and maintenance convenience: The walking motor is equipped with a high-current junction box, which simplifies wiring and saves space. It adopts a detachable brake, which is convenient for maintenance and replacement. It supports manual release, so the equipment can be moved manually after release when it fails. The integrated design simplifies the installation process and reduces the complexity of on-site assembly.

[0019] 3. Enhanced safety and durability: The zero-return structure ensures consistent steering angle reference every time it starts. The outer gear disc of the slewing support is equipped with mechanical limit screws, limiting the steering wheel's steering range to 270°, effectively preventing wire twisting damage. The absolute value motor has fewer signal wires, simplifying wiring and extending service life.

[0020] 4. Optimized mechanical transmission: The steering part bears axial force through the slewing support bearing, and the pinion drives the fixed structure of the external gear ring to achieve smooth steering transmission. The walking part efficiently transmits the motor power to the PU wheel through the reducer to ensure reliable torque output. Attached Figure Description

[0021] Figure 1 The three-dimensional representation of this utility model Figure 1 ; Figure 2 The three-dimensional representation of this utility model Figure 2 ; Figure 3 The three-dimensional walking drive component in this utility model Figure 1 ; Figure 4 The three-dimensional walking drive component in this utility model Figure 2 ; Figure 5 This is a front view of the walking drive component in this utility model; Figure 6 The three-dimensional representation of the steering drive assembly in this utility model Figure 1 ; Figure 7 The three-dimensional representation of the steering drive assembly in this utility model Figure 2 ; Figure 8 This is a front view of the steering drive assembly in this utility model; Figure 9 This utility model relates to a three-dimensional external gear slewing bearing. Figure 1 ; Figure 10 This utility model relates to a three-dimensional external gear slewing bearing. Figure 2 .

[0022] Explanation of key component symbols in the diagram: 10. Walking drive assembly; 11. Walking servo motor; 12. Walking wheel; 13. Walking gearbox; 13.1. First mounting screw hole; 13.2. First positioning hole; 13.3. Cable tray; 14. Walking brake; 15. Walking servo motor junction box; 20. Steering drive assembly; 21. Steering servo motor; 22. Steering reducer; 23. Steering pinion; 24. Adapter plate; 24.1. First mounting through hole; 24.2. Second mounting screw hole; 24.3. Detection switch through hole; 24.4. Second positioning hole; 24.5. Wiring hole; 25. First fixing bolt; 26. Detection switch bracket; 27. Zero return detection switch; 28. Positioning pin; 30. External gear slewing bearing; 31. Inner ring; 31.1. Second mounting through hole; 32. External gear outer ring; 32.1. Steering wheel mounting hole; 32.2. Annular step; 33. Second fixing bolt; 34. Zero return plate; 35. Mechanical limit screw. Detailed Implementation

[0023] To more clearly illustrate this utility model, the following description, in conjunction with the accompanying drawings, will provide further details.

[0024] Example 1: As Figure 1-2 As shown, the integrated servo steering wheel includes a walking drive assembly 10, a steering drive assembly 20, and an external gear slewing bearing 30.

[0025] Combination Figure 3-5 As shown, the walking drive assembly 10 includes a walking servo motor 11, a walking wheel 12, a walking gearbox 13, and a walking brake 14 in sequence. The top surface of the walking gearbox 13 is a mounting plane, on which a certain number of first mounting screw holes 13.1 are provided.

[0026] Combination Figure 6-8 As shown, the steering drive assembly 20 sequentially includes a steering servo motor 21, a steering reducer 22, a steering pinion 23, and an adapter plate 24. The steering reducer 22 is fixed to the bottom surface of the extension on one side of the main body of the adapter plate 24. The steering pinion 23 is higher than the top surface of the extension of the adapter plate 24. The main body of the adapter plate 24 is provided with a first mounting through hole 24.1 corresponding to the first mounting screw hole 13.1. The adapter plate 24 is fixed to the travel reduction gearbox 13 by a first fixing bolt 25. The adapter plate 24 is provided with a certain number of second mounting screw holes 24.2.

[0027] Combination Figure 9-10 As shown, the external gear slewing bearing 30 includes an inner ring 31 and an external gear outer ring 32. The inner ring 31 is provided with a second mounting through hole 31.1 corresponding to the second mounting screw hole 24.2. The inner ring 31 is fixed to the adapter plate 24 by a second fixing bolt 33. The external gear outer ring 32 is provided with a certain number of steering wheel mounting holes 32.1. The external gear outer ring 32 meshes with the steering pinion 23.

[0028] The outer ring 32 has a zero-return plate 34 fixed on its bottom surface. The zero-return plate 34 is semi-circular. The adapter plate 24 has a detection switch through hole 24.3. The bottom surface of the adapter plate 24 at the detection switch through hole 24.3 is fixed with a detection switch bracket 26. The zero-return detection switch 27 is fixed on the detection switch bracket 26. The detection end of the zero-return detection switch 27 is located inside the detection switch through hole 24.3 and points to the bottom surface of the outer ring 32.

[0029] Example 2: Combination Figure 3 and Figure 6-8 As shown, based on Embodiment 1, the top surface of the traveling reduction gearbox 13 is provided with at least one first positioning hole 13.2, and the adapter plate 24 is provided with a corresponding second positioning hole 24.4. Positioning pins 28 are provided in the first positioning hole 13.2 and the second positioning hole 24.4.

[0030] Example 3: Combination Figure 3 and Figure 5 As shown, based on Embodiment 1 or Embodiment 2, a walking servo motor junction box 15 is fixed to the top of the walking servo motor 11, and a wire-passing groove 13.3 is provided on the top surface of the walking gearbox 13 near the walking servo motor junction box 15. Figure 6-7 As shown, the adapter plate 24 is provided with a wire hole 24.5. The wire hole 24.5 is an oblong hole, with one end located in the middle of the main body of the adapter plate 24 and the other end located above the junction box 15 of the walking servo motor.

[0031] Example 4: Combination Figure 10 As shown, based on Embodiment 1, Embodiment 2 or Embodiment 3, the inner edge of the bottom surface of the outer toothed outer ring 32 is provided with a raised annular step 32.2, and the inner ring of the zero return plate 34 abuts against the annular step 32.2.

[0032] Example 5: Combination Figure 10 As shown, based on Embodiment 1, Embodiment 2, Embodiment 3 or Embodiment 4, a mechanical limiting screw 35 is fixed on the bottom surface of the outer toothed outer ring 32, and the mechanical limiting screw 35 is located near one end of the zeroing plate 34.

[0033] Example 6: Based on the above examples, the walking wheel 12 is a PU wheel, the zero-return detection switch 27 is a cylindrical diffuse reflection photoelectric sensor, and the walking servo motor 11 and the steering servo motor 21 are absolute value servo motors.

[0034] The above description is only a specific embodiment of the present utility model, but the structural features of the present utility model are not limited thereto. The present utility model can be used in similar products. Any changes or modifications made by those skilled in the art within the scope of the present utility model are covered by the patent scope of the present utility model.

Claims

1. A servo steering wheel integrating walking and steering functions, characterized in that: It includes a travel drive assembly (10), a steering drive assembly (20), and an external gear slewing bearing (30). The walking drive assembly (10) includes a walking servo motor (11), a walking wheel (12), a walking gearbox (13) and a walking brake (14) in sequence. The top surface of the walking gearbox (13) is a mounting plane, and a certain number of first mounting screw holes (13.1) are provided on it. The steering drive assembly (20) includes a steering servo motor (21), a steering reducer (22), a steering pinion (23), and an adapter plate (24) in sequence. The steering reducer (22) is fixed to the bottom surface of the extension on one side of the main body of the adapter plate (24). The steering pinion (23) is higher than the top surface of the extension of the adapter plate (24). The main body of the adapter plate (24) is provided with a first mounting through hole (24.1) corresponding to the first mounting screw hole (13.1). The adapter plate (24) is fixed to the travel reduction gearbox (13) by a first fixing bolt (25). The adapter plate (24) is provided with a certain number of second mounting screw holes (24.2). The external gear slewing bearing (30) includes an inner ring (31) and an external gear outer ring (32). The inner ring (31) is provided with a second mounting through hole (31.1) corresponding to the second mounting screw hole (24.2). The inner ring (31) is fixed to the adapter plate (24) by a second fixing bolt (33). The external gear outer ring (32) is provided with a certain number of steering wheel mounting holes (32.1). The external gear outer ring (32) meshes with the steering pinion (23). The bottom surface of the outer toothed outer ring (32) is fixed with a zero return plate (34), which is semi-circular. The adapter plate (24) is provided with a detection switch through hole (24.3). The bottom surface of the adapter plate (24) at the detection switch through hole (24.3) is fixed with a detection switch bracket (26). The detection switch bracket (26) is fixed with a zero return detection switch (27). The detection end of the zero return detection switch (27) is located inside the detection switch through hole (24.3) and points to the bottom surface of the outer toothed outer ring (32).

2. The integrated servo steering wheel for walking and steering according to claim 1, characterized in that: The top surface of the traveling speed reduction gearbox (13) is provided with at least one first positioning hole (13.2), and the adapter plate (24) is provided with a corresponding second positioning hole (24.4). Positioning pins (28) are provided in the first positioning hole (13.2) and the second positioning hole (24.4).

3. The integrated servo steering wheel for walking and steering according to claim 1, characterized in that: The walking servo motor (11) is fixed with a walking servo motor junction box (15) on top.

4. The integrated servo steering wheel for walking and steering according to claim 3, characterized in that: The top surface of the walking gearbox (13) near the walking servo motor junction box (15) is provided with a wire groove (13.3), and the adapter plate (24) is provided with a wire hole (24.5). The wire hole (24.5) is an oblong hole, with one end located in the middle of the main body of the adapter plate (24) and the other end located above the walking servo motor junction box (15).

5. The integrated servo steering wheel for walking and steering according to claim 1, characterized in that: The outer toothed outer ring (32) has a raised annular step (32.2) on the inner edge of its bottom surface, and the inner ring of the zero return plate (34) abuts against the annular step (32.2).

6. The integrated servo steering wheel for walking and steering according to claim 1, characterized in that: The bottom surface of the outer toothed outer ring (32) is fixed with a mechanical limit screw (35), and the mechanical limit screw (35) is located near one end of the zero return plate (34).

7. The integrated servo steering wheel for walking and steering according to any one of claims 1-6, characterized in that: The walking wheel (12) is a PU wheel.

8. The integrated servo steering wheel for walking and steering according to any one of claims 1-6, characterized in that: The zero-return detection switch (27) is a cylindrical diffuse reflection photoelectric sensor.

9. The integrated servo steering wheel for walking and steering according to any one of claims 1-6, characterized in that: The walking servo motor (11) and the steering servo motor (21) are absolute value servo motors.

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