CN109353169A - Design of a driving wheel for a rehabilitation robot - Google Patents

Design of a driving wheel for a rehabilitation robot Download PDF

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Publication number
CN109353169A
CN109353169A CN201811353724.9A CN201811353724A CN109353169A CN 109353169 A CN109353169 A CN 109353169A CN 201811353724 A CN201811353724 A CN 201811353724A CN 109353169 A CN109353169 A CN 109353169A
Authority
CN
China
Prior art keywords
shock
wheel
shaft
motor
bracket
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
Application number
CN201811353724.9A
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Chinese (zh)
Inventor
李健
王荣耀
吴青鸿
黄煜
刘岳飞
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Guangxi University of Science and Technology
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Guangxi University of Science and Technology
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Guangxi University of Science and Technology filed Critical Guangxi University of Science and Technology
Priority to CN201811353724.9A priority Critical patent/CN109353169A/en
Publication of CN109353169A publication Critical patent/CN109353169A/en
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B33/00—Castors in general; Anti-clogging castors
    • B60B33/0002—Castors in general; Anti-clogging castors assembling to the object, e.g. furniture
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B33/00—Castors in general; Anti-clogging castors
    • B60B33/04—Castors in general; Anti-clogging castors adjustable, e.g. in height; linearly shifting castors
    • B60B33/045—Castors in general; Anti-clogging castors adjustable, e.g. in height; linearly shifting castors mounted resiliently, by means of dampers

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention discloses a kind of healing robot drive wheel designs, by vehicle frame, fixing seat, shock-absorbing spring, shock bracket, electric machine support, wheel, shaft composition, specifically, fixing seat there are three being fixedly mounted on vehicle frame: fixing seat a, fixing seat b, fixing seat c, one end of the shock bracket is connect by shaft c with fixing seat c, the other end is connect by shaft d with the fixing head a of shock-absorbing spring one end, simultaneously, the fixing head b and fixing seat a or fixing seat b of the shock-absorbing spring other end are connect by shaft a or shaft b, the shock-absorbing spring is tilted a certain angle with driving wheel vertical direction；The electric machine support and wheel pass through wheel axis connection, meanwhile, electric machine support is connected as one with shock bracket.

Description

A kind of healing robot drive wheel design
Technical field
The present invention relates to a kind of healing robot drive wheel designs.
Background technique
The driving wheel of Traditional Rehabilitation robot mostly uses greatly direct insertion motor, and volume is necessarily large and bulky, and reduces overall structure Portability, be simutaneously arranged trouble, integrally-built spatial scalability reduces.The control that direct insertion motor moves driving wheel Precision is limited, and there is certain limitation in workable place.In addition, traditional driving wheel lacks damping hold-down mechanism, work as driving wheel It is arranged in middle position, when by rough road surface, overall structure, which will appear, significantly to be shaken, on four feet of robot Universal wheel can be in the vacant state of certain time.
Summary of the invention
In view of the above shortcomings of the prior art, the technical problem to be solved in the present invention is to provide a kind of drivings of healing robot Wheel design improves drive efficiency, increases integrally-built portability, while improving driving wheel while satisfaction driving requires Stability in operation process.
The specific technical solution that the present invention takes is:
A kind of healing robot drive wheel design, by vehicle frame, fixing seat, shock-absorbing spring, shock bracket, electric machine support, vehicle Wheel, shaft composition are specifically fixedly mounted on vehicle frame there are three fixing seat: fixing seat a, fixing seat b, fixing seat c, described to subtract One end of shake bracket is connect by shaft c with fixing seat c, and the other end is connected by the fixing head a of shaft d and shock-absorbing spring one end It connects, meanwhile, the fixing head b and fixing seat a or fixing seat b of the shock-absorbing spring other end are connect by shaft a or shaft b, the suction Shake spring is tilted a certain angle with driving wheel vertical direction；The electric machine support and wheel pass through wheel axis connection, meanwhile, motor Bracket is connected as one with shock bracket.
Preferably, the fixing seat and vehicle frame are connected by screw bolts installation.
Preferably, the electric machine support is bolted with shock bracket use and is integrated.
Preferably, the mountable multiple shock-absorbing springs of the above-mentioned healing robot drive wheel design.
Preferably, above-mentioned healing robot drive wheel design is made of Novel aluminum alloy material.
Preferably, above-mentioned healing robot drive wheel design is driven using hub motor, the hub motor installation It is hinged with electric machine support in wheel.
Further, the hub motor uses DC brushless motor, and PLC control can be used.
Preferably, the shock bracket is alternatively at damp adjustable damper.
Further, the damp adjustable damper is ER fluid damper, realizes that dynamic controls.
Preferably, a locking mechanism can be increased on the wheel, improve the safety of user.
The beneficial effects of the present invention are:
1, the present invention is effectively utilized existing installation space, and volume of part is small, and carrying and installation is more convenient, and shock absorbing part is adopted With pure mechanic structure, theory of mechanics is easily understood, part can voluntarily fabrication design, cost is greatly saved.
2, the present invention does not use disposable processing method, and part is readily removable, can reduce the maintenance difficulty of user of service, improves whole Body structure service life, and drive efficiency is higher than general driving wheel, can meet higher driving requirement, increase product utilization rate.
3, the present invention installs two adjacent fixing seats, so that the initial makeup location of shock-absorbing spring is adjustable, according to reality It is required that making spring that there is different relaxation degree in initial time, to realize different degrees of damping effect.
4, the present invention has abandoned traditional direct insertion motor, and using hub motor, hub motor selects DC brushless motor, Brushless motor does not have noise, and healing robot uses in the quiet place such as hospital mostly, and the small driving wheel of noise has very big excellent Gesture, other brushless motor long service life, speed is faster.
5, mechanical structure portion of the present invention is all detachably to install, and ensure that integrally-built lasting usability, composition portion The simple easy processing of part, only user does not provide the portability of dismounting or renewal part, and carries out for user to this structure Voluntarily repacking provides possible.
6, the present invention increases dedicated damping, this not only improves the security and stability of structure, also solves part and leads The hanging problem occurred when jolting to wheel.
7, shock-absorbing spring end of the present invention is connected with shock bracket, and shock-absorbing spring and driving wheel vertical direction tilt certain angle Degree, increases the adjusting stroke of shock-absorbing spring, damping effect also obtains a degree of promotion.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of drive wheel design described in embodiment 1；
Fig. 2 is the structural schematic diagram of shock bracket；
Fig. 3 is the structural schematic diagram of shock-absorbing spring；
In figure, 1. vehicle frames；21. fixing seat a；22. fixing seat b；23. fixing seat c；3. shock-absorbing spring；31. fixing head a； 32. fixing head b；4. shock bracket；5. electric machine support；6. wheel；61. axletree；71. shaft a；72. shaft b；73. shaft c； 74. shaft d.
Specific embodiment
The invention will be described in further detail with reference to the accompanying drawing.
Embodiment 1
A kind of healing robot drive wheel design, as shown in Figure 1, by vehicle frame 1, fixing seat, shock-absorbing spring 3, shock bracket 4, electric machine support 5, wheel 6, shaft composition, specifically, vehicle frame 1 is bolted installation, and there are three fixing seats: fixing seat a21, consolidating Reservation b22, fixing seat c23, in conjunction with Fig. 2,3 as can be seen that one end of the shock bracket 4 passes through shaft c73 and fixing seat c23 Connection, the other end are connect by shaft d74 with the fixing head a31 of 3 one end of shock-absorbing spring, meanwhile, 3 other end of shock-absorbing spring is consolidated Determine head b32 and connect with fixing seat a21 or fixing seat b22 by shaft a71 or shaft b72, the shock-absorbing spring 3 and driving wheel are perpendicular Histogram is to being tilted a certain angle；The electric machine support 5 is connect with wheel 6 by axletree 61, meanwhile, electric machine support 5 and damping 4 use of bracket, which is bolted, to be integrated.The design is driven using hub motor, and the hub motor is mounted in wheel 6, Hinged with electric machine support 5, hub motor uses DC brushless motor, and PLC control can be used
Embodiment 2
Structure and embodiment 1 are unanimous on the whole, and difference is to be mounted with multiple shock-absorbing springs.
Embodiment 3
Structure and embodiment 1 are unanimous on the whole, and difference is that the shock bracket has been substituted for damp adjustable damper, institute It is ER fluid damper with damp adjustable damper, realizes that dynamic controls.
Embodiment 4
Structure and embodiment 1 are unanimous on the whole, and difference is on wheel that a locking mechanism can be increased, and improve user's Safety.

Claims (10)

1.一种康复机器人驱动轮设计，其特征在于由车架、固定座、吸震弹簧、减震支架、电机支架、车轮、轴杆组成，具体地，车架上固定安装有三个固定座：固定座a、固定座b、固定座c，所述减震支架的一端通过轴杆c与固定座c连接，另一端通过轴杆d与吸震弹簧一端的固定头a连接，同时，吸震弹簧另一端的固定头b与固定座a或固定座b通过轴杆a或轴杆b连接，所述吸震弹簧与驱动轮竖直方向倾斜一定角度；所述电机支架与车轮通过车轮轴连接，同时，电机支架与减震支架连接为一体。1. A rehabilitation robot drive wheel design is characterized in that it is composed of a vehicle frame, a fixed seat, a shock-absorbing spring, a shock-absorbing support, a motor support, a wheel, and a shaft rod. Specifically, three fixed seats are fixedly installed on the vehicle frame: fixed Seat a, fixed seat b, and fixed seat c, one end of the shock-absorbing bracket is connected with the fixed seat c through the shaft c, the other end is connected with the fixed head a at one end of the shock-absorbing spring through the shaft d, and at the same time, the other end of the shock-absorbing spring is connected The fixed head b is connected with the fixed seat a or the fixed seat b through the shaft a or the shaft b, the shock-absorbing spring is inclined at a certain angle with the vertical direction of the driving wheel; the motor bracket is connected with the wheel through the wheel shaft, and at the same time, the motor The bracket is connected with the shock-absorbing bracket as a whole. 2.根据权利要求1所述的驱动轮设计，其特征在于所述固定座与车架采用螺栓连接安装。2 . The driving wheel design according to claim 1 , wherein the fixing seat and the frame are connected and installed by bolts. 3 . 3.根据权利要求1所述的驱动轮设计，其特征在于所述电机支架与减震支架使用螺栓连接为一体。3 . The drive wheel design according to claim 1 , wherein the motor bracket and the shock-absorbing bracket are integrally connected by bolts. 4 . 4.根据权利要求1所述的驱动轮设计，其特征在于所述上述康复机器人驱动轮设计可安装多个吸震弹簧。4 . The drive wheel design according to claim 1 , wherein a plurality of shock-absorbing springs can be installed in the drive wheel design of the rehabilitation robot. 5 . 5.根据权利要求1所述的驱动轮设计，其特征在于上述康复机器人驱动轮设计采用新型铝合金材料制作。5 . The driving wheel design according to claim 1 , wherein the driving wheel design of the rehabilitation robot is made of a new type of aluminum alloy material. 6 . 6.根据权利要求1所述的驱动轮设计，其特征在于上述康复机器人驱动轮设计采用轮毂电机进行驱动，所述轮毂电机安装在车轮内，与电机支架铰接。6 . The driving wheel design according to claim 1 , wherein the driving wheel design of the rehabilitation robot is driven by an in-wheel motor, and the in-wheel motor is installed in the wheel and is hinged with the motor bracket. 7 . 7.根据权利要求6所述的驱动轮设计，其特征在于所述轮毂电机采用直流无刷电机，可使用PLC控制。7. The drive wheel design according to claim 6, wherein the in-wheel motor adopts a DC brushless motor, which can be controlled by PLC. 8.根据权利要求1所述的驱动轮设计，其特征在于所述减震支架可替换成阻尼可调式减震器。8. The drive wheel design of claim 1, wherein the shock mount is replaceable with a damping adjustable shock absorber. 9.根据权利要求8所述的驱动轮设计，其特征在于所述阻尼可调式减震器为电流变液减震器，实现动态控制。9 . The drive wheel design according to claim 8 , wherein the damping adjustable shock absorber is an electrorheological fluid shock absorber, which realizes dynamic control. 10 . 10.根据权利要求1-9任意一种所述的驱动轮设计，其特征在于所述车轮上可增加一个锁死机构，提高使用者的安全性。10. The driving wheel design according to any one of claims 1-9, wherein a locking mechanism can be added to the wheel to improve the safety of the user.
CN201811353724.9A 2018-11-14 2018-11-14 Design of a driving wheel for a rehabilitation robot Pending CN109353169A (en)

Priority Applications (1)

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Application Number Priority Date Filing Date Title
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112277552A (en) * 2019-07-25 2021-01-29 山东大学 A Modular AGV Independent Suspension Device and Its Application
CN112536807A (en) * 2020-12-03 2021-03-23 广西科技大学 Movable type driving wheel mounting device for rehabilitation robot

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CN207345389U (en) * 2017-09-29 2018-05-11 北京正合慧视科技有限公司 Robot castor and walking robot
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CN108749554A (en) * 2018-04-18 2018-11-06 北京理工大学 With the matched electric automobile hub power drive system of independent suspension
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US20020190492A1 (en) * 2001-06-15 2002-12-19 Strong Russell W. Integrated wheel suspension system
CN200957847Y (en) * 2006-10-10 2007-10-10 浙江诺力机械股份有限公司 Supporting-wheel balance mecahnism for five-wheeled chassis warehousing machinery
CN201633846U (en) * 2009-09-10 2010-11-17 熊耀榜 Reverse electric tricycle rear-wheel suspension driving device
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CN102431586A (en) * 2011-10-24 2012-05-02 上海航天汽车机电股份有限公司 Integrated steering and suspension system
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CN107244201A (en) * 2017-05-05 2017-10-13 清华大学 360 degree of unilateral independent suspension systems of omnidirectional
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CN209240785U (en) * 2018-11-14 2019-08-13 广西科技大学 A driving wheel for a rehabilitation robot

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112277552A (en) * 2019-07-25 2021-01-29 山东大学 A Modular AGV Independent Suspension Device and Its Application
CN112277552B (en) * 2019-07-25 2025-01-14 山东大学 A modular AGV independent suspension device and its application
CN112536807A (en) * 2020-12-03 2021-03-23 广西科技大学 Movable type driving wheel mounting device for rehabilitation robot

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Application publication date: 20190219