CN107985364A - A kind of steer-drive of omnidirectional running mobile platform - Google Patents

Abstract

The invention relates to a steering drive device for an omnidirectional driving mobile platform, which includes a steering gear, and also includes a steering gear steering shaft and a steering knuckle, the output shaft of the steering gear is connected to the steering gear steering shaft, and the steering knuckle is arranged at the connection between the two; One end of the steering shaft of the steering gear close to the steering gear is provided with a disc-shaped member, and the other end is connected with the driving motor connected to the wheel; the steering knuckle includes a steering gear fixing part connected to the steering gear box and a steering gear fixing part connected to the steering gear fixing part and is arranged on the disc-shaped member far away from the steering gear. The pressing member on one side of the steering gear also includes rolling and rotating assemblies respectively arranged between the disc-shaped member and the fixing part of the steering gear, and between the disc-shaped member and the pressing member, so that the steering shaft of the steering gear can be positioned on the output shaft of the steering gear. It is driven to rotate relative to the steering gear fixing part and the pressing member. Compared with the prior art, the invention has strong versatility, convenient installation and low cost, and can drive all low-speed mobile platforms similar to hand-push flatbeds, so that the mobile platform can move at ultra-low speed and in all directions.

Description

A steering drive device for an omnidirectional traveling mobile platform

technical field

The invention relates to the technical field of industrial automation, in particular to a steering drive device for an omnidirectional traveling mobile platform.

Background technique

With the rapid development of science and technology, all-round mobile technology has attracted widespread attention, and more and more occasions require flexible transportation equipment, such as automatic transport vehicles in factories, luggage delivery vehicles in airports, and automatic wheelchairs for the disabled. etc. require more flexible transport equipment. Omni-directional movement refers to the movement of three degrees of freedom of front and rear, left and right, and self-rotation on a plane. Since cars in daily life do not have the degree of freedom of self-rotation, they do not move in all directions. Parking on the side of the car is relatively difficult. trouble.

Traditional omni-directional wheels generally include the following types of omni-directional wheels, such as bull's-eye wheels, continuous switching wheels, eccentric wheels, spherical wheels, and Mecanum wheels, most of which use wheel bodies. However, the above omni-directional wheels have the following problems. 1. Poor mechanical properties. The disadvantage of traditional omni-directional wheels is that they are forced to move by the friction generated between their own wheels and the bottom surface, and the axles of the wheel body are prone to failure, which leads to limited applications. The bearing capacity is poor; and due to the structure of the mecanum wheel, the mobile platform vibrates relatively large and the noise is large when moving, which will cause adverse effects. 2. In terms of obstacle surmounting performance, the obstacle surmounting ability of traditional omni-directional wheels has been limited, mainly because the diameter of the passive wheel is too small, and the passive side may be stuck on small obstacles, such as Mecanum The Mecanum wheel adopts a wheel body structure. Mecanum wheels have poor ability to overcome obstacles in heavy loads and passive directions. These are the bottlenecks of traditional omni-directional wheels, and also limit the development of omni-directional wheels in some special-purpose directions. 3. The traditional omni-directional wheel control is more complicated, mainly because the wheel body is separated by force. When the mobile platform completes an action, each wheel body needs to cooperate with each other, resulting in a more complicated control algorithm and poor stability. Although some scientific research institutes have developed an all-round mobile platform with a wheel structure, each driving wheel needs a corner motor to control the steering. The large number of motors makes the control more complicated, difficult to ensure accuracy, and poor consistency of action .

Contents of the invention

The object of the present invention is to provide a steering drive device for an omnidirectional traveling mobile platform in order to overcome the above-mentioned defects in the prior art.

The purpose of the present invention can be achieved through the following technical solutions:

A steering drive device for an omnidirectional traveling mobile platform, including a steering gear, and also includes a steering gear steering shaft and a steering knuckle, the output shaft of the steering gear is connected to the steering gear steering shaft and the steering knuckle is arranged at the junction of the two The steering shaft of the steering gear is provided with a disc-shaped member near one end of the steering gear, and the other end is connected with the driving motor connected to the wheel; the steering knuckle includes a steering gear fixing part connected to the steering gear casing and a steering gear fixing part connected And the pressing member arranged on the side of the disc-shaped member away from the steering gear also includes rolling and rotating assemblies respectively arranged between the disc-shaped member and the steering gear fixing part, and between the disc-shaped member and the pressing member, so that the The steering gear steering shaft can be driven by the steering gear output shaft to rotate relative to the steering gear fixing part and the pressing member.

Preferably, the rolling and rotating assembly includes: corresponding circumferential groove-shaped raceways respectively provided on the opposite sides of the disc-shaped member and the steering gear fixing part, and on the opposite sides of the disc-shaped member and the pressing member, and on the corresponding A ball assembly arranged between two sets of raceways.

Preferably, the inner surface of the circumferential groove raceway is in close contact with the balls in the ball assembly.

Preferably, the cross-sectional shape of the circumferential grooved raceway is a semicircle, an inverted triangle, an inverted trapezoid or a rectangle.

Preferably, the rolling and rotating assembly includes: corresponding planar bearing races respectively provided on the opposite sides of the disc-shaped member and the steering gear fixing part, and on the opposite sides of the disc-shaped member and the pressing member, and on the corresponding two sides A ball assembly arranged between two flat bearing races.

Preferably, the disc-shaped member is a shaft ring of a two-way plane bearing, and the rolling and rotating assembly includes two seat rings of the two-way plane bearing, which are respectively arranged on two opposite surfaces of the steering gear fixing part and the pressing member, and It includes two ball assemblies arranged between the shaft ring and the race.

Preferably, the disc-shaped member is a flange.

Preferably, the drive motor is a geared motor.

Preferably, the driving motor is provided with a driving fixing plate, and the steering shaft of the steering gear is connected to the driving fixing plate.

Preferably, the output shaft of the drive motor is connected to the wheel through a drive coupling.

Compared with the prior art, the present invention has the following advantages:

1. Strong versatility, easy installation, and low cost. It can drive all low-speed mobile platforms similar to hand-push flatbed vehicles. The mobile platform installed with this steering drive device can not only realize the forward, reverse, and turning functions of normal vehicles, but also Realize operations such as horizontal running, oblique running, and 360-degree in-situ rotation, and the running speed of the mobile platform can realize ultra-low speed (2m/s) speed regulation operation, and can be used as the walking part of unattended functional robots in some very small public places Or low-speed warehousing and logistics trolleys.

2. The steering knuckle with double rolling structure can ensure that the steering gear shaft remains stationary during the rotation process, and there will be no friction and interference between the rotating part and the static part.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the present invention;

Fig. 2 is a schematic diagram of the device structure of Embodiment 1 of the present invention;

Fig. 3 is a schematic diagram of the structure of the device according to Embodiment 2 of the present invention.

Marked in the figure: 1. Drive fixing plate, 2. Steering gear shaft, 3. Drive coupling, 4. Wheel, 5. Steering knuckle, 6. Steering gear, 7. Driving motor, 8. Steering gear fixing part, 9. Compression member, 10. Raceway, 11. Disc-shaped member, 12. Plane bearing.

Detailed ways

The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is carried out on the premise of the technical solution of the present invention, and detailed implementation and specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.

Embodiment one

As shown in Figure 1, a kind of steering drive device of omnidirectional driving mobile platform comprises steering gear 6, steering gear steering shaft 2 and steering knuckle 5, the output shaft of steering gear 6 is connected with steering gear steering shaft 2 and steering knuckle 5 is set At the junction of the two; the steering gear steering shaft 2 is provided with a disc member 11 near one end of the steering gear 6, and the other end is connected with the drive motor 7 connected to the wheel 4; the steering knuckle 5 includes a steering gear connected to the steering gear 6 casing The fixing part 8 and the pressing member 9 connected to the steering gear fixing part 8 and arranged on the side of the disc-shaped member 11 away from the steering gear 6 also include a disc-shaped member respectively arranged between the disc-shaped member 11 and the steering gear fixing part 8 The rolling and rotating assembly between 11 and the pressing member 9 enables the steering gear steering shaft 2 to rotate relative to the steering gear fixing part 8 and the pressing member 9 driven by the output shaft of the steering gear 6 . The pressing member 9 is not in contact with the steering shaft 2 of the steering gear, and is used for pressing the rolling and rotating assembly between the fixing members 7 of the steering gear. The steering knuckle 5 can ensure that the casing of the steering gear 6 remains stationary during the rotation of the rotating shaft, and no friction and interference will occur between the rotating part and the stationary part.

The driving motor 7 is connected to the driving fixed plate 1, and is sometimes installed obliquely relative to the horizontal position, so as to reduce the turning radius of the steering mechanism and not interfere with the position of the upper steering gear 6. The drive motor 7 can be a geared motor with a gear box with a large reduction ratio, or a direct-drive motor or an in-wheel motor with an ultra-low speed. The power source of the steering part can be a high-torque steering gear 6, or it can be realized by driving a geared motor with a large output torque or an ultra-low-speed high-torque direct-drive motor through an electronic module with a steering gear control function. For non-low-speed operation occasions, it is only necessary to replace the appropriate drive part power source device according to the engineering requirements.

The output shaft of the drive motor 7 is connected with the wheel 4 through a drive coupling 3 . One end of the drive coupling 3 is connected to the drive motor 7, and a non-slip concentric connection must be made according to the characteristics of the output shaft, and the other end is connected to the wheel 4 in a non-slip concentric connection, which can be connected with a keyway or a hub hole (PCD hole), and has The central axis part is inserted into the 4 matching points of the wheel.

The upper part of the driving fixing plate 1 is connected with the steering shaft 2 of the steering gear, and the connection methods include bolt connection, riveting or welding. The steering gear steering shaft 2 ensures the stability of this part of the structure by means of the structural support of the drive fixed plate 1 and the reduction box housing of the drive motor 7.

As shown in Figure 2, in this embodiment, the disk-shaped member 11 is a flange, and the rolling and rotating assembly includes: the two sides opposite to the steering gear fixing part 8 of the flange and the two sides opposite to the pressing member 9 are respectively arranged The corresponding circumferential grooved raceway 10 constitutes two sets of circumferential raceways 10, and the groove shape and groove size of the corresponding two raceways 10 are the same; The ball assembly can make the balls for the bearings roll on the inner circumference of the raceway 10 centeringly.

The cross-sectional shape of the raceway 10 may be a semicircle whose radius is equal to that of the ball. In order to simplify the processing, the cross-sectional shape can be adjusted to be inverted triangle, inverted trapezoid or rectangle, etc. When it is inverted triangle or inverted trapezoid, it must ensure that the groove surface is tangent to the ball. The round faces are in contact with the balls. Since the contact surface between the circumferential groove raceway 10 and the ball is very small, the hardness of the contact part with the ball needs to be guaranteed according to the load requirement, so as to ensure the dimensional stability under long-term operation.

Embodiment two

As shown in Figure 3, in this embodiment, the disc-shaped member 11 is a flange, and the rolling assembly includes two plane bearings 12, which specifically include: on the two sides opposite to the flange and the steering gear fixing part 8, the flange and the pressing member The races of the corresponding planar bearings 12 are respectively arranged on the opposite two sides of 9, and the ball assembly is arranged between the two corresponding races.

The side of the steering gear fixing part 8 facing the flange has a concave structure, which can position the first seat ring of the plane bearing 12; the side of the flange facing the steering gear fixing part 8 has a cylindrical boss structure, which is just inserted into the The second race corresponds to the first race. The side of the flange facing the pressing member 9 has another cylindrical boss structure, which can be inserted into the third seat ring of the plane bearing 12; the pressing member 9 has a concave table feature on the side facing the flange, which can be positioned and placed with The third race corresponds to the fourth race.

When the length of the output shaft of the steering gear 6 is limited, the coupling locking member can be placed in the middle of the two plane bearings 12, that is, in the flange.

Other structures of the device are the same as in Embodiment 1.

Embodiment three

In this embodiment, the disk-shaped member 11 is the shaft ring of the bidirectional plane bearing 12, and the rolling and rotating assembly includes two seat rings of the bidirectional plane bearing 12, which are respectively arranged on the two opposite surfaces of the steering gear fixing part 8 and the pressing member 9. It also includes two ball assemblies arranged between the shaft washer and the race.

Other structures of the device are the same as in Embodiment 1.

Claims (10)

1. a kind of steer-drive of omnidirectional running mobile platform, including steering engine, it is characterised in that further include steering engine steering spindle And knuckle, steering engine steering spindle described in the output axis connection of the steering engine and knuckle is located at both junctions；The rudder Machine steering spindle is equipped with discoid component close to one end of steering engine, and the other end is connected with being connected the driving motor of wheel；The knuckle Steering engine fixing piece steering engine fixing piece described with connection including connecting steering engine babinet is simultaneously located at discoid component away from steering engine side Press component, further include and be respectively arranged between discoid component and the steering engine fixing piece, discoid component and press between component Rotary components are rolled, the steering engine steering spindle opposite steering engine fixing piece under the drive of steering engine output shaft is revolved with component is pressed Turn.

A kind of 2. steer-drive of omnidirectional running mobile platform according to claim 1, it is characterised in that the rolling Dynamic rotary components include：In the discoid component two sides opposite with steering engine fixing piece, discoid component and press the opposite two sides of component The corresponding circumference flute profile raceway set respectively, and the ball assembly set between corresponding two groups of raceways.

A kind of 3. steer-drive of omnidirectional running mobile platform according to claim 2, it is characterised in that the circle The inner surface of all flute profile raceways is close to the ball in ball assembly.

A kind of 4. steer-drive of omnidirectional running mobile platform according to claim 2, it is characterised in that the circle The cross sectional shape of all flute profile raceways is semicircle, up-side down triangle, inverted trapezoidal or rectangle.

A kind of 5. steer-drive of omnidirectional running mobile platform according to claim 1, it is characterised in that the rolling Dynamic rotary components include：In the discoid component two sides opposite with steering engine fixing piece, discoid component and press the opposite two sides of component The corresponding plane bearing seat ring set respectively, and the ball set set between corresponding two plane bearing seat rings Part.

A kind of 6. steer-drive of omnidirectional running mobile platform according to claim 1, it is characterised in that the disk Shape component is the blowout patche of two-way plane bearing, and the rotary components that roll include two seat rings of two-way plane bearing, set respectively On steering engine fixing piece two faces opposite with component is pressed, two ball sets being located between the blowout patche and seat ring are further included Part.

A kind of 7. steer-drive of omnidirectional running mobile platform according to claim 1, it is characterised in that the disk Shape component is flange.

A kind of 8. steer-drive of omnidirectional running mobile platform according to claim 1, it is characterised in that the drive Dynamic motor is decelerating motor.

A kind of 9. steer-drive of omnidirectional running mobile platform according to claim 1, it is characterised in that the drive Dynamic motor is equipped with driving fixed plate, and the steering engine turns to and drives fixed plate described in axis connection.

10. the steer-drive of a kind of omnidirectional running mobile platform according to claim 1, it is characterised in that described The output shaft of motor is driven by driving shaft joint to be connected with wheel.