AGV 및 자율주행로봇용 조향 장치

Joint (300) delivering the driving force one end is combined in the motor shaft of the steering motor (200) in order to be rotatable the motor shaft is installed as to the steering system (1000) for the running gear in the shaft of the steering motor (200): pipe through hole (110) combined on one side of the body plate (100) so that the motor shaft be drivable in the body plate (100): steering motor axis acceptance groove (120), and the wheel assembly (400) is located on surface if it gets on and it is combined in the other end of the joint (300) and it operates with the circulation of the joint (300) and which rotates and are included. As to joint (300), the penetration hole (110) and steering motor axis acceptance groove (120) are formed. As to the wheel assembly (400) is located on surface if it gets on and it is combined in the other end of the joint (300) and it operates with the circulation of the joint (300) and which rotates and, the first drive wheel (410b) operating with the either side in the respective first drive motor (410a) and rotates and the second driver wheel (420b) operating with the second driver motor (420a) and rotates are installed. Of the body plate (100). While PICS head (332) having the external diameter that the joint (300) is greater than the external diameter of the upper end of the inner ring support (331) while being fixed to and combined with the upper side of the inner ring support (331): inner ring support (331) in which the level difference supporting the cross roller bearing (310) is formed in the outer circumference of the bottom while the outer circumference is combined in the inner circumference of the cross roller bearing (310): cross roller bearing (310) which is arranged so that the roller be orthognal between the inner ring and outer-race: at least a part of the outer circumference in the inner circumference of the pipe through hole (110) the level difference supporting the cross roller bearing (310) is formed in the inner circumference of the bottom the inner circumference is combined in the outer circumference of the cross roller bearing (310) are installed so that the outer circumference face in the inner circumference of the Steering gear (322): steering motor axis acceptance groove (120) in which at least a part of the outer circumference in the inner circumference of the pipe through hole (110) it has the inside diameter smaller than the inside diameter of the upper end of the outer-race support (323) it is fixed to and combined with the upper side of the outer-race support (323): outer-race support (323) facing face the outer circumference is combined in the motor shaft of the steering motor (200) and it gathers together. The steering system comprising: the motor gear (321) delivering the driving force in the Steering gear (322) it is engaged with the Steering gear (322); the cover support (333) having the inner hole which accommodates the motor gear (321), and the Steering gear (322) and PICS head (332) while being fixed to and combined on the pipe through hole (110) of one side of the body plate (100) and steering motor axis acceptance groove (120); the steering support (324) having the outer side surface which is located on surface if it gets and it is combined in the lower surface of the outer-race support (323) ; and is greater than the external diameter of the outer-race support (323). Of the body plate (100) and the cover (334): in which the motor axis hole which is corresponded to the location of the steering motor axis acceptance groove (120) the motor shaft of the steering motor (200) is combined it is drivable is formed it is fixed to and combined with the upper side of the cover support (333) and PICS head (332).