CN108082281A - Robot turning mechanism - Google Patents
Robot turning mechanism Download PDFInfo
- Publication number
- CN108082281A CN108082281A CN201711308920.XA CN201711308920A CN108082281A CN 108082281 A CN108082281 A CN 108082281A CN 201711308920 A CN201711308920 A CN 201711308920A CN 108082281 A CN108082281 A CN 108082281A
- Authority
- CN
- China
- Prior art keywords
- speed reducer
- driving member
- steering spindle
- drive mechanism
- slowing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 51
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 40
- 230000005540 biological transmission Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D9/00—Steering deflectable wheels not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/043—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/06—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of change-speed gearing
- B60K17/08—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of change-speed gearing of mechanical type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0069—Disposition of motor in, or adjacent to, traction wheel the motor axle being perpendicular to the wheel axle
- B60K2007/0084—Disposition of motor in, or adjacent to, traction wheel the motor axle being perpendicular to the wheel axle the motor axle being vertical
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot turning mechanisms,Including driving structure,Tire,Car owner's beam,Slowing-down structure and drive mechanism,Slowing-down structure includes speed reducer and inputs end connection,Speed reducer and reductor shaft,Drive mechanism includes steering spindle driving member,Pinboard and wheel carrier,Driving structure includes motor,The output shaft of motor stretches into speed reducer input end connection and coordinates with speed reducer input end connection,Speed reducer inputs end connection and reductor shaft is individually fixed in the opposite end of speed reducer,Reductor shaft is partially submerged into steering spindle driving member and is fixedly connected with steering spindle driving member,Steering spindle driving member is fixedly connected with pinboard,Wheel carrier is fixedly installed in pinboard,Tire is installed on wheel carrier,Driving structure,Slowing-down structure,Drive mechanism and tire are installed on car owner's beam,Motor drives tire to be turned to respect to car owner's beam by slowing-down structure and drive mechanism.By above-mentioned design, robot turning mechanism is simple in structure, bodywork height is low, light-weight, work efficiency is high.
Description
Technical field
The present invention relates to robot more particularly to a kind of robot turning mechanisms.
Background technology
The steering structure that wheeled crusing robot uses at present has differential steering and 360 degree of pivot stud two ways.Difference
Speed is turned to and turned to using the differential between travel wheel, and this method belongs to passive steering on driving is turned to, and shortcoming is apparent, is turned
It is big to radius.And 360 degree rotate in place formula steering, 4 tires first mutual one circle of phase composition during steering, then pass through wheel drive
It forms 360 degree of original place to rotate, after the completion of to be diverted, then tire be adjusted to straight-going state.360 degree of pivot stud structures are multiple because of it
Miscellaneous steering mechanism causes internal structure complicated, and bodywork height is drawn high, and whole car weight increases.Common 360 degree of steering structures are answered
Miscellaneous, stroke is long, this consumes energy the movement increased when robot inspection works, so as to reduce work efficiency.
The content of the invention
For overcome the deficiencies in the prior art, it is an object of the invention to provide a kind of bodywork height is low, light-weight, work
Efficient robot turning mechanism.
The purpose of the present invention is realized using following technical scheme：
A kind of robot turning mechanism, including driving structure, tire and car owner's beam, the robot turning mechanism further includes
Slowing-down structure and drive mechanism, the slowing-down structure include speed reducer input end connection, speed reducer and reductor shaft, the biography
Dynamic structure includes steering spindle driving member, pinboard and wheel carrier, and the driving structure includes motor, and the output shaft of the motor stretches into
Speed reducer input end connection simultaneously with speed reducer input end connection cooperation, the speed reducer input end connection and
The reductor shaft is individually fixed in the opposite end of the speed reducer, and the reductor shaft is partially submerged into the steering spindle transmission
Part is simultaneously fixedly connected with the steering spindle driving member, and the steering spindle driving member is fixedly connected with the pinboard, the wheel carrier
Be fixedly installed in the pinboard, the tire is installed on the wheel carrier, the driving structure, slowing-down structure, drive mechanism and
Tire is installed on car owner's beam, and the motor drives the tire with respect to institute by the slowing-down structure and the drive mechanism
State the steering of car owner's beam.
Further, the drive mechanism further includes axis pin, and the axis pin is through the reductor shaft and both ends and institute
Stating the fixation of steering spindle driving member makes the reductor shaft be fixedly connected with the steering spindle driving member.
Further, the reductor shaft and the steering spindle driving member clearance fit.
Further, the drive mechanism further includes deep groove ball bearing and axle sleeve, and the steering spindle driving member is contained in institute
State axle sleeve, the deep groove ball bearing be sheathed on the steering spindle driving member and positioned at the steering spindle driving member and the axle sleeve it
Between.
Further, the drive mechanism further includes bearing rib, and the deep groove ball bearing quantity is 2, the bearing interstage sleeve
Arranged on the steering spindle driving member and between 2 deep groove ball bearings.
Further, the slowing-down structure further includes plane bearing and flexbile gear tabletting, and the plane bearing is sheathed on described
Speed reducer inputs end connection, and the flexbile gear tabletting is installed on the plane bearing with the fixation plane bearing.
Further, the slowing-down structure further includes motor contact, and the driving structure further includes encoder, described
Upper encoder is contained in the motor contact and positioned at the flexbile gear tabletting one side, the motor contact and the flexbile gear pressure
Piece connects.
Further, the speed reducer is harmonic wave speed reducing machine.
Further, the drive mechanism further includes lower encoder and turns to encoder, and the steering encoder fixes peace
Loaded on the pinboard and it is contained in the lower encoder.
Compared with prior art, the output shaft of robot turning mechanism motor of the present invention stretches into speed reducer input end connection simultaneously
With speed reducer input end connection cooperation, speed reducer input end connection and reductor shaft are individually fixed in opposite the two of speed reducer
End, reductor shaft are partially submerged into steering spindle driving member and are fixedly connected with steering spindle driving member, steering spindle driving member and pinboard
It is fixedly connected, wheel carrier is fixedly installed in pinboard, and tire is installed on wheel carrier, driving structure, slowing-down structure, drive mechanism and tire
Car owner's beam is installed on, motor drives tire car owner's beam relatively to turn to, passes through above-mentioned design, sheet by slowing-down structure and drive mechanism
The robot turning mechanism of invention is simple in structure, bodywork height is low, light-weight, work efficiency is high.
Description of the drawings
Fig. 1 is a structure diagram of robot turning mechanism of the present invention；
Fig. 2 is the enlarged drawing at the A of Fig. 1 robots turning mechanism.
In figure：100th, robot turning mechanism；10th, driving structure；12nd, motor；14th, upper encoder；20th, slowing-down structure；
21st, motor contact；22nd, flexbile gear tabletting；23rd, plane bearing；24th, speed reducer input end connection；25th, speed reducer；26th, slow down
Arbor；30th, drive mechanism；31st, axle sleeve；32nd, steering spindle driving member；33rd, axis pin；34th, deep groove ball bearing；35th, bearing rib；36、
Pinboard；37th, lower encoder；38th, encoder is turned to；39th, wheel carrier；40th, tire；50th, Che Zhuliang.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment belongs to the scope of protection of the invention.
It should be noted that when component is referred to as " being fixed on " another component, it can be directly on another component
Or there may also be components placed in the middle.When a component is considered as " connection " another component, it can be directly connected to
To another component or it may be simultaneously present component placed in the middle.When a component is considered as " being arranged at " another component, it
Can be set directly on another component or may be simultaneously present component placed in the middle.Term as used herein is " vertical
", " horizontal ", "left", "right" and similar statement for illustrative purposes only.
Unless otherwise defined, all of technologies and scientific terms used here by the article is with belonging to technical field of the invention
The normally understood meaning of technical staff is identical.Term used in the description of the invention herein is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term as used herein " and/or " include one or more phases
The arbitrary and all combination of the Listed Items of pass.
It please refers to Fig.1 to Fig. 2, a kind of robot turning mechanism 100 includes driving structure 10, slowing-down structure 20, transmission knot
Structure 30, tire 40 and car owner's beam 50.
Driving structure 10 includes motor 12, upper encoder 14.
Slowing-down structure 20 includes motor contact 21, flexbile gear tabletting 22, plane bearing 23, speed reducer input end connection
24th, speed reducer 25 and reductor shaft 26.Speed reducer 25 is harmonic wave speed reducing machine.
Drive mechanism 30 includes axle sleeve 31, steering spindle driving member 32, axis pin 33, deep groove ball bearing 34, bearing rib 35, switching
Plate 36, lower encoder 37 turn to encoder 38 and wheel carrier 39.
During mounter people's turning mechanism 100, the output shaft of motor 12 stretches into motor contact 21.It is upper encoder 14, soft
Wheel tablet 22 and plane bearing 23 are installed on speed reducer input end connection 24.Flexbile gear tabletting 22 is located at upper encoder 14 and plane
Between bearing 23.The output shaft of motor 12 stretches into speed reducer input end connection 24 and is fixed with speed reducer input end connection 24
Connection.Upper encoder 14 is contained in motor contact 21 at this time.Flexbile gear tabletting 22 be located at upper 14 one side of encoder to prevent on
Encoder 14 departs from motor contact 21.Plane bearing 23 is located in the concave ring of flexbile gear tabletting 22, when making the work of plane bearing 23
Bearing the uplifting pressure of 25 driving wheel of harmonic wave speed reducing machine can also be freely rotated.Speed reducer 25 and reductor shaft 26 and speed reducer are defeated
Enter the opposite end that end connection 24 is fixedly connected and is located at speed reducer input end connection 24 respectively.Axis pin 33 passes through speed reducer
Axis 26 and both ends are fixedly connected respectively with steering spindle driving member 32 makes reductor shaft 26 be fixedly connected with steering spindle driving member 32.
Reductor shaft 26 and 32 clearance fit of steering spindle driving member.
The quantity of deep groove ball bearing 34 is 2, and two deep groove ball bearings 34 and bearing rib 35 are sheathed on steering spindle driving member 32,
Bearing rib 35 is between two deep groove ball bearings 34.Axle sleeve 31 is fixedly installed in car owner's beam 50.Steering spindle driving member 32, deep-groove ball
Bearing 34 and bearing rib 35 are contained in axle sleeve 31.32 end of steering spindle driving member is fixedly installed in pinboard 36, pinboard 36 with
Wheel carrier 39 is fixedly connected.Tire 40 is installed on wheel carrier 39.Encoder 38 is turned to be fixedly installed in pinboard 36 and be contained in lower volume
Code device 37.
During using robot turning mechanism 100, the motor 12 of driving structure 10 drives speed reducer 25 to operate by output shaft,
Speed reducer 25 drives steering spindle driving member 32 to be rotated relative to car owner's beam 50 by reductor shaft 26, and steering spindle driving member 32 is by turning
Fishplate bar 36 and wheel carrier 39 make tire 40 be turned to respect to car owner's beam 50.
By above-mentioned design, robot turning mechanism 100 of the invention is simple in structure, bodywork height is low, light-weight, work
It is efficient.
It will be apparent to those skilled in the art that technical solution that can be as described above and design, make other various
Corresponding change and deformation, and all these changes and deformation should all belong to the protection domain of the claims in the present invention
Within.
Claims (9)
1. a kind of robot turning mechanism, including driving structure, tire and car owner's beam, it is characterised in that：The robot turns
Mechanism further includes slowing-down structure and drive mechanism, and the slowing-down structure includes speed reducer input end connection, speed reducer and deceleration
Arbor, the drive mechanism include steering spindle driving member, pinboard and wheel carrier, and the driving structure includes motor, the motor
Output shaft stretch into speed reducer input end connection and with speed reducer input end connection cooperation, the speed reducer is defeated
Enter end connection and the reductor shaft is individually fixed in the opposite end of the speed reducer, the reductor shaft is partially submerged into institute
It states steering spindle driving member and is fixedly connected with the steering spindle driving member, the steering spindle driving member is fixed with the pinboard to be connected
Connect, the wheel carrier is fixedly installed in the pinboard, and the tire is installed on the wheel carrier, the driving structure, slowing-down structure,
Drive mechanism and tire are installed on car owner's beam, and the motor passes through described in the slowing-down structure and drive mechanism drive
The relatively described car owner's beam of tire turns to.
2. robot turning mechanism according to claim 1, it is characterised in that：The drive mechanism further includes axis pin, institute
State axis pin makes the reductor shaft and the steering through the reductor shaft and both ends with steering spindle driving member fixation
Axis driving member is fixedly connected.
3. robot turning mechanism according to claim 2, it is characterised in that：The reductor shaft is passed with the steering spindle
Moving part clearance fit.
4. robot turning mechanism according to claim 1, it is characterised in that：The drive mechanism further includes deep-groove ball axis
It holds and axle sleeve, the steering spindle driving member is contained in the axle sleeve, the deep groove ball bearing is sheathed on the steering spindle driving member
And between the steering spindle driving member and the axle sleeve.
5. robot turning mechanism according to claim 4, it is characterised in that：The drive mechanism further includes bearing rib,
The deep groove ball bearing quantity is 2, and the bearing rib is sheathed on the steering spindle driving member and between 2 deep groove ball bearings.
6. robot turning mechanism according to claim 1, it is characterised in that：The slowing-down structure further includes plane bearing
And flexbile gear tabletting, the plane bearing are sheathed on the speed reducer input end connection, the flexbile gear tabletting is installed on described flat
Spherical bearing is with the fixation plane bearing.
7. robot turning mechanism according to claim 6, it is characterised in that：The slowing-down structure further includes motor connection
Part, the driving structure further include encoder, and the upper encoder is contained in the motor contact and positioned at the flexbile gear
Tabletting one side, the motor contact are connected with the flexbile gear tabletting.
8. robot turning mechanism according to claim 1, it is characterised in that：The speed reducer is harmonic wave speed reducing machine.
9. robot turning mechanism according to claim 1, it is characterised in that：The drive mechanism further includes lower encoder
And encoder is turned to, the steering encoder is fixedly installed in the pinboard and is contained in the lower encoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711308920.XA CN108082281A (en) | 2017-12-11 | 2017-12-11 | Robot turning mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711308920.XA CN108082281A (en) | 2017-12-11 | 2017-12-11 | Robot turning mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108082281A true CN108082281A (en) | 2018-05-29 |
Family
ID=62174613
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711308920.XA Pending CN108082281A (en) | 2017-12-11 | 2017-12-11 | Robot turning mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108082281A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108622196A (en) * | 2018-06-25 | 2018-10-09 | 中国人民解放军第二军医大学 | The compliance steer protective device of the novel steering integrated assembly of driving |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20010008985A1 (en) * | 2000-01-17 | 2001-07-19 | Masayoshi Wada | Omnidirectional vehicle and method of controlling the same |
| CN101973307A (en) * | 2010-10-19 | 2011-02-16 | 吉林大学 | Main pin zero bias wire-controlled independent driven and steering automobile running mechanism and electric vehicle |
| CN102437677A (en) * | 2011-10-18 | 2012-05-02 | 中国科学院上海技术物理研究所 | Light and small driving mechanism for space |
| CN103527720A (en) * | 2012-07-05 | 2014-01-22 | 北京精密机电控制设备研究所 | Harmonic reducer |
| CN105835945A (en) * | 2016-04-27 | 2016-08-10 | 哈尔滨工大服务机器人有限公司 | Steering mechanism and wheeled robot including same |
| CN106208543A (en) * | 2016-07-30 | 2016-12-07 | 深圳市优必选科技有限公司 | Servo motor and control method thereof |
| CN106394153A (en) * | 2016-11-25 | 2017-02-15 | 山东大学 | Travelling and steering servo driving wheel integrating hydraulic brake and suspension system |
| CN106739909A (en) * | 2017-01-06 | 2017-05-31 | 深圳大学 | Electric vehicle hub turns to suspension system |
| CN207773234U (en) * | 2017-12-11 | 2018-08-28 | 浙江捷尚人工智能研究发展有限公司 | Robot turning mechanism |
-
2017
- 2017-12-11 CN CN201711308920.XA patent/CN108082281A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20010008985A1 (en) * | 2000-01-17 | 2001-07-19 | Masayoshi Wada | Omnidirectional vehicle and method of controlling the same |
| CN101973307A (en) * | 2010-10-19 | 2011-02-16 | 吉林大学 | Main pin zero bias wire-controlled independent driven and steering automobile running mechanism and electric vehicle |
| CN102437677A (en) * | 2011-10-18 | 2012-05-02 | 中国科学院上海技术物理研究所 | Light and small driving mechanism for space |
| CN103527720A (en) * | 2012-07-05 | 2014-01-22 | 北京精密机电控制设备研究所 | Harmonic reducer |
| CN105835945A (en) * | 2016-04-27 | 2016-08-10 | 哈尔滨工大服务机器人有限公司 | Steering mechanism and wheeled robot including same |
| CN106208543A (en) * | 2016-07-30 | 2016-12-07 | 深圳市优必选科技有限公司 | Servo motor and control method thereof |
| CN106394153A (en) * | 2016-11-25 | 2017-02-15 | 山东大学 | Travelling and steering servo driving wheel integrating hydraulic brake and suspension system |
| CN106739909A (en) * | 2017-01-06 | 2017-05-31 | 深圳大学 | Electric vehicle hub turns to suspension system |
| CN207773234U (en) * | 2017-12-11 | 2018-08-28 | 浙江捷尚人工智能研究发展有限公司 | Robot turning mechanism |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108622196A (en) * | 2018-06-25 | 2018-10-09 | 中国人民解放军第二军医大学 | The compliance steer protective device of the novel steering integrated assembly of driving |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
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Application publication date: 20180529 |