CN110789331A - Servo steering wheel of robot - Google Patents
Servo steering wheel of robot Download PDFInfo
- Publication number
- CN110789331A CN110789331A CN201911274514.5A CN201911274514A CN110789331A CN 110789331 A CN110789331 A CN 110789331A CN 201911274514 A CN201911274514 A CN 201911274514A CN 110789331 A CN110789331 A CN 110789331A
- Authority
- CN
- China
- Prior art keywords
- steering
- rotating shaft
- bracket
- support
- speed reducer
- 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
- 238000013016 damping Methods 0.000 claims abstract description 25
- 239000003638 chemical reducing agent Substances 0.000 claims description 31
- 230000035939 shock Effects 0.000 claims description 22
- 239000006096 absorbing agent Substances 0.000 claims description 13
- 230000000149 penetrating effect Effects 0.000 claims description 9
- 229910000831 Steel Inorganic materials 0.000 claims description 6
- 238000010521 absorption reaction Methods 0.000 claims description 6
- 239000010959 steel Substances 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 4
- 230000003247 decreasing effect Effects 0.000 claims description 3
- 230000005291 magnetic effect Effects 0.000 claims description 3
- 230000005294 ferromagnetic effect Effects 0.000 claims description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 7
- 229910052802 copper Inorganic materials 0.000 description 7
- 239000010949 copper Substances 0.000 description 7
- 238000005299 abrasion Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
Images
Classifications
-
- 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
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/02—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
- B62D3/12—Steering gears mechanical of rack-and-pinion type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0421—Electric motor acting on or near steering gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/40—Indexing codes relating to the wheels in the suspensions
- B60G2200/422—Driving wheels or live axles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/40—Indexing codes relating to the wheels in the suspensions
- B60G2200/44—Indexing codes relating to the wheels in the suspensions steerable
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention discloses a servo steering wheel of a robot, which comprises a driving wheel module and a steering module; the driving wheel module comprises a wheel body, a driving motor and a damping bracket, and the driving motor is connected with the driving wheel through the damping bracket; the steering module comprises a steering motor, a speed reducing mechanism and a rotating shaft, wherein an output shaft of the steering motor is connected with an input end of the speed reducing mechanism, an output end of the speed reducing mechanism is connected with the rotating shaft, and the other end of the rotating shaft is connected with the damping support; the driving motor drives the wheel body to rotate; the output power of the steering motor is transmitted to the rotating shaft to drive the damping support to steer after being decelerated by the decelerating mechanism. When the steering wheel is put into use, the driving motor drives the wheel body to rotate, and the output power of the steering motor is transmitted to the rotating shaft to drive the damping support to steer after being decelerated by the decelerating mechanism; the whole steering wheel is simple in structure, and the damping support is arranged to absorb impact caused by ground obstacle impact, so that the steering wheel can adapt to various road surfaces.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a servo steering wheel of a robot.
Background
With the development of society, robots are widely used in life and industry. The robot is driven by a steering wheel.
The steering wheel is a power module with the capabilities of driving forward and backward and actively steering, a driving motor of the power module is only responsible for driving, and a steering motor of the power module is only responsible for steering, so that proper power selection can be realized, and the application of power maximization is realized. The steering engine commonly used at present has the following defects: 1. at present, an external sensor is generally adopted to be combined for use, a zero position sensor and an encoder are required to be combined for use in angle feedback detection, the encoder is required to be externally installed for driving wheel speed detection, a multi-stage speed reducer is generally adopted for a driving motor, the structure is complex, and a plurality of connecting pieces are adopted; 2. the damping mechanism is not provided, the single steering wheel is applied, the steering wheel with the damping function is fewer and has larger volume, the damping mechanism cannot be well applied to miniaturized equipment and cannot adapt to a complex road surface, and the situations of poor contact and slipping of a driving wheel can exist in a multi-steering wheel structure; 3. the universal slewing bearing is used as a supporting and rotating part and has the characteristics of simple and reliable structure, but the flat structure of the slewing bearing causes larger size, higher cost and gear leakage, and the slewing bearing cannot be suitable for outdoor complex environments.
Disclosure of Invention
The invention aims to provide a servo steering wheel of a robot, which has a simple structure and a good damping effect and aims at overcoming the defects in the prior art.
The invention provides a servo steering wheel of a robot, which comprises a driving wheel module and a steering module; the driving wheel module comprises a wheel body, a driving motor and a damping bracket, and the driving motor is connected with the driving wheel through the damping bracket; the steering module comprises a steering motor, a speed reducing mechanism and a rotating shaft, wherein an output shaft of the steering motor is connected with an input end of the speed reducing mechanism, an output end of the speed reducing mechanism is connected with the rotating shaft, and the other end of the rotating shaft is connected with the damping support; the driving motor drives the wheel body to rotate; the output power of the steering motor is transmitted to the rotating shaft to drive the damping support to steer after being decelerated by the decelerating mechanism.
In one embodiment, the shock mount includes a lower mount, an upper mount, and a shock absorber; the lower bracket is a U-shaped bracket, and the middle parts of the two side plates are provided with through holes; the upper bracket is an n-shaped bracket which is obliquely arranged downwards, the top end of the upper bracket is provided with a circle of connecting holes, and the lower end of the upper bracket is hinged outside the lower bracket; the pair of shock absorbers is symmetrically arranged on the central plane of the wheel body in the thickness direction and is respectively arranged on two sides of the upper support and the lower support.
Preferably, pin shafts are welded on two sides of the lower support, pin shafts are welded on two sides of the upper support, radial holes are formed in the outer portions of the pin shafts, and two ends of the shock absorber are respectively sleeved outside the pin shafts and are positioned through split pins penetrating through the radial holes.
In a specific embodiment, the novel wear-resistant device further comprises a hinge seat, wherein a through hole is formed in the center of the hinge seat, a circle of connecting holes are formed in the periphery of the hinge seat, and a wear-resistant sleeve is embedded in the through hole; the hinged seat is connected with the upper bracket through a bolt penetrating through the connecting hole, and the upper bracket is sleeved outside the lower bracket and is connected with the lower bracket through a rotating shaft bolt penetrating through the wear-resistant sleeve.
Furthermore, the rotating shaft bolt comprises a cylindrical head, a polished rod section and a threaded section, the outer diameters of the cylindrical head, the polished rod section and the threaded section are sequentially decreased, the cylindrical head is a hexagon socket head, the rotating shaft bolt is sleeved in the wear-resistant sleeve through the polished rod section, and the threaded section is in threaded connection with the lower support.
Preferably, the driving motor is a hub motor, threads are arranged at two ends of a central shaft of the hub motor, and planes are arranged at the outer ends of the thread sections; the driving motor is embedded in the wheel body, and the central shaft penetrates through the upper through hole of the lower support and then is locked by a nut.
In one embodiment, the speed reducing mechanism comprises a main speed reducer and a secondary speed reducer, wherein the input end of the main speed reducer is connected with the steering motor, the output shaft of the main speed reducer is connected with the input gear of the secondary speed reducer, and the output end of the secondary speed reducer is connected with the rotating shaft.
In order to control the steering angle conveniently, two ends of an output shaft of the main speed reducer extend out of the main speed reducer, and a strong magnetic steel sleeve is arranged outside the top end of the output shaft of the main speed reducer; an angle sensor is arranged at the position corresponding to the ferromagnetic steel sleeve under the steering motor.
In order to improve the assembly precision, the shell of the auxiliary speed reducer comprises an upper shell and a lower shell, a circle of groove is formed in the outer edge of the upper shell, a matched protrusion is formed in the outer edge of the lower shell, and the upper shell and the lower shell are matched with the protrusion through the groove to improve the installation precision.
In order to avoid the collision to lead to the connecting piece to damage, the pivot is the step shaft, and the top of pivot is equipped with the jack catch of evagination, establishes the draw-in groove in the output gear of vice reduction gear, and the pivot links to each other with its top and vice reduction gear, and the jack catch extends in the draw-in groove and packs the cushion rubber, with its bottom with shock absorber support links to each other through the bolt that passes the connecting hole.
The steering mechanism comprises a driving wheel module and a steering module, wherein the driving module comprises a damping support, the steering module is connected with the damping support, a driving motor drives a wheel body to rotate when the steering mechanism is put into use, and the output power of the steering motor is transmitted to a rotating shaft to drive the damping support to steer after being decelerated by a deceleration mechanism; the whole steering wheel is simple in structure, and the damping support is arranged to absorb impact caused by ground obstacle impact, so that the steering wheel can adapt to various road surfaces.
Drawings
FIG. 1 is an axial schematic view of a preferred embodiment of the present invention.
Fig. 2 is an enlarged schematic axial view of the driving wheel module in the preferred embodiment.
Fig. 3 is a schematic cross-sectional view of a-a in fig. 2.
Fig. 4 is an enlarged schematic view of fig. 3 at B.
Fig. 5 is a schematic cross-sectional view of the steering module in the preferred embodiment.
Fig. 6 is a schematic cross-sectional view of C-C in fig. 5.
Sequence numbers of the drawings:
1-a driving wheel module, wherein the driving wheel module,
11-a wheel body, wherein the wheel body is provided with a plurality of wheels,
12-a drive motor for driving the motor,
13-damping support, 131-lower support, 132-upper support, 133-damper, 134-pin shaft, 135-hinge seat, 136-wear-resistant sleeve, 137-rotating shaft bolt, 138-split pin;
2-the direction of rotation module is provided,
21-a steering motor, which is driven by a motor,
22-speed reducing mechanism, 221-main speed reducer, 222-auxiliary speed reducer,
23-a rotating shaft, 231-a claw,
24-a high-magnetic steel sleeve, 25-an angle sensor, 26-a shock-absorbing rubber pad.
Detailed Description
As shown in fig. 1, the servo steering wheel for a robot disclosed in this embodiment includes a driving wheel module 1 and a steering module 2; the driving wheel module is fixed below an output shaft of the steering module through six screws, and the rotation of the output shaft of the steering module directly drives the driving wheel module to deflect left and right.
As shown in fig. 2 and 3, the driving wheel module 1 includes a wheel body 11, a driving motor 12, and a shock-absorbing bracket 13. The wheel body 11 is an outer-ring tire. The driving motor 12 is a hub motor matched with an outer-ring tire, is embedded in a wheel body and is connected with the damping support 13 through a central shaft of the driving motor, threads are arranged outside the end parts of two ends of the central shaft of the driving motor, and a pair of planes are milled at the outer ends of the thread sections so as to clamp a wrench during connection.
The shock-absorbing bracket 13 includes a lower bracket 131, an upper bracket 132, and a shock absorber 133. The lower bracket 131 is a U-shaped bracket, the two side plates of which are welded with pin shafts 134 at the root, the middle part of which is provided with a through hole, and the end part of which is provided with a threaded hole. The upper bracket is an n-shaped bracket, the top end of the upper bracket is provided with a circle of connecting holes, and two sides of the bottom end of the upper bracket are connected with hinged seats 14. As shown in fig. 4, the hinge base 135 is a cylindrical base body, a wear-resistant sleeve 136 is embedded in the center of the base body, a circle of connecting holes are arranged in an annular array around the axial center, and the hinge base is connected with the upper bracket through bolts penetrating through the connecting holes. The lower support is horizontally arranged, and two ends of the central shaft respectively penetrate through holes on two sides of the lower support and are matched with corresponding nuts to lock so as to complete the installation of the lower support; then the upper bracket is downwards inclined and sleeved outside the lower bracket and is hinged through a rotating shaft bolt 137 penetrating through a hinge seat 135, a copper gasket is arranged between the upper bracket and the lower bracket, and the copper gasket is in contact limit with the hinge seat and the wear-resistant sleeve, so that a gap exists between the upper bracket and the lower bracket, and direct abrasion is avoided. The rotating shaft bolt 137 comprises a cylindrical head, a polished rod section and a threaded section, the outer diameters of the cylindrical head, the polished rod section and the threaded section are sequentially decreased, the cylindrical head is a hexagon socket head, the rotating shaft bolt is sleeved in the wear-resistant sleeve through the polished rod section, and the threaded section is in threaded connection with the lower support. After the upper and lower brackets are mounted, the two ends of the damper 133 are respectively sleeved outside the pin 134 and positioned by a cotter pin 138 passing through the radial hole. The steering module 2 is installed on the top of the upper bracket and connected by bolts passing through the connecting holes.
After the driving wheel module 1 is assembled, the shock absorber is triangular with the upper support and the lower support, the upper support is hinged with the lower support, a wear-resistant flexible rotating shaft structure is designed, the rotating shaft structure can rotate freely, the shock absorber is compressed when an obstacle is met, the lower support and the hub motor can rotate upwards around the position of the rotating shaft, vibration is reduced, and large impact can be borne. For the pin joint, because install wear-resisting cover in the articulated seat, wear-resisting cover is interference fit with articulated seat. One end of the rotating shaft bolt is a threaded section, the middle section of the rotating shaft bolt is a precisely machined cylinder, one end of the rotating shaft bolt is a hexagonal socket head, and the threaded section and the middle section of the rotating shaft bolt are provided with a step. The cylindrical section of the rotating shaft bolt is arranged in the copper sleeve hole, and the thread section of the rotating shaft bolt penetrates through the copper gasket and is fixed on the lower support of the driving motor. The rotating shaft bolt and the copper sleeve are in clearance fit and can rotate freely, and the copper gasket is in contact spacing with the hinge base and the copper sleeve, so that a gap exists between the upper motor support and the lower motor support, and direct abrasion is avoided.
As shown in fig. 5 and 6, the steering module 2 includes a steering motor 21, a reduction mechanism 22, and a rotating shaft 23. The reduction mechanism 22 includes a final drive 221 and a final drive 222. The input end of the main reducer 221 is connected with the steering motor, the output shaft is connected with the input gear of the auxiliary reducer, and the output end of the auxiliary reducer is connected with the rotating shaft. The two ends of the output shaft of the main speed reducer extend out of the main speed reducer, a strong magnetic steel sleeve 24 is arranged outside the top end of the output shaft, and an angle sensor 25 is arranged at a corresponding position below the steering motor so as to control the steering angle. The casing of the auxiliary speed reducer 222 includes an upper casing and a lower casing, a circle of groove is arranged on the outer edge of the upper casing, a matched protrusion is arranged on the outer edge of the lower casing, and the upper casing and the lower casing are matched with each other through the groove and the protrusion to improve the installation accuracy. The pivot 23 is the step shaft, and the top of pivot is equipped with four jack catchs 231 of evagination, establishes four draw-in grooves in the output gear of auxiliary reduction gear, and the pivot links to each other with its top and auxiliary reduction gear, and the jack catch extends in the draw-in groove and packs eight shock attenuation cushion 26, can bear two directions of just reversing and strike, leads to the gear to damage when preventing the striking. The bottom of the rotating shaft is connected with the damping support through a bolt penetrating through the connecting hole.
The lower end of the output shaft of the main speed reducer is matched with an input gear of the auxiliary speed reducer by a D-shaped hole shaft. And a small deep groove ball bearing, a thrust ball bearing and a large deep groove ball bearing are sequentially arranged between the output end and the rotating shaft and between the output gear along the axial direction, and the three bearings are arranged in a cavity formed by an upper shell and a lower shell of the auxiliary speed reducer. The rotating shaft is a stepped shaft, the thrust ball bearings are arranged above the gear ring and mainly bear axial force, and the large deep groove ball bearings and the small deep groove ball bearings are arranged at two ends of the output shaft and bear radial force, so that the output shaft is always kept vertical.
Compared with the existing steering wheel, the steering wheel integrates all the parts, and is suitable for various automatic mobile devices. The driving motor is an in-wheel motor, and is integrated, so that the structure is simple and reliable, the protection performance is good, the gear transmission is avoided, and the gear damage can not occur in the impact and emergency acceleration and deceleration environments. The steering module adopts a supporting structure, the steering motor and the angle sensor are integrally arranged, the size is small, and the control is simple. The support between the rotating shaft and the speed reducing mechanism adopts a combined bearing design, and has strong bearing capacity, small transverse size, small gap and small virtual position angle. The shock absorber is arranged, compared with other shock-absorbing steering wheels or robot chassis with shock absorption, the shock absorption system is additionally arranged outside the whole steering wheel, the shock absorption system has the advantages of small volume, simple structure and small unsprung mass, and the shock absorption rubber cushion is arranged between the rotating shaft and the output gear, so that the shock absorption system can play a role in buffering, is used for absorbing impact caused by impact of ground obstacles and enables the steering wheel to adapt to various road surfaces.
Claims (10)
1. A servo steering wheel of robot, its characterized in that: the steering device comprises a driving wheel module and a steering module;
the driving wheel module comprises a wheel body, a driving motor and a damping bracket, and the driving motor is connected with the driving wheel through the damping bracket;
the steering module comprises a steering motor, a speed reducing mechanism and a rotating shaft, wherein an output shaft of the steering motor is connected with an input end of the speed reducing mechanism, an output end of the speed reducing mechanism is connected with the rotating shaft, and the other end of the rotating shaft is connected with the damping support;
the driving motor drives the wheel body to rotate; the output power of the steering motor is transmitted to the rotating shaft to drive the damping support to steer after being decelerated by the decelerating mechanism.
2. The robotic servo rudder wheel according to claim 1, wherein: the shock absorption support comprises a lower support, an upper support and a shock absorber; the lower bracket is a U-shaped bracket, and the middle parts of the two side plates are provided with through holes; the upper bracket is an n-shaped bracket which is obliquely arranged downwards, the top end of the upper bracket is provided with a circle of connecting holes, and the lower end of the upper bracket is hinged outside the lower bracket; the pair of shock absorbers is symmetrically arranged on the central plane of the wheel body in the thickness direction and is respectively arranged on two sides of the upper support and the lower support.
3. The robotic servo rudder wheel according to claim 2, wherein: the shock absorber is characterized in that pin shafts are welded on two sides of the lower support, pin shafts are welded on two sides of the upper support, radial holes are formed in the outer portions of the pin shafts, and two ends of the shock absorber are respectively sleeved outside the pin shafts and are positioned through split pins penetrating through the radial holes.
4. The robotic servo rudder wheel according to claim 2, wherein: the wear-resistant device also comprises a hinge seat, wherein a through hole is formed in the center of the hinge seat, a circle of connecting holes are formed in the periphery of the hinge seat, and a wear-resistant sleeve is embedded in the through hole; the hinged seat is connected with the upper bracket through a bolt penetrating through the connecting hole, and the upper bracket is sleeved outside the lower bracket and is connected with the lower bracket through a rotating shaft bolt penetrating through the wear-resistant sleeve.
5. The robotic servo rudder wheel according to claim 4, wherein: the rotating shaft bolt comprises a cylindrical head, a polished rod section and a threaded section, the outer diameter of the cylindrical head is gradually decreased, the cylindrical head is a hexagon socket head, the rotating shaft bolt is sleeved in the wear-resistant sleeve through the polished rod section, and the threaded section is in threaded connection with the lower support.
6. The robotic servo rudder wheel according to claim 2, wherein: the driving motor is a hub motor, threads are arranged at two ends of a central shaft of the hub motor, and planes are arranged at the outer ends of the thread sections; the driving motor is embedded in the wheel body, and the central shaft penetrates through the upper through hole of the lower support and then is locked by a nut.
7. The robotic servo rudder wheel according to claim 2, wherein: the speed reducing mechanism comprises a main speed reducer and an auxiliary speed reducer, the input end of the main speed reducer is connected with the steering motor, the output shaft of the main speed reducer is connected with the input gear of the auxiliary speed reducer, and the output end of the auxiliary speed reducer is connected with the rotating shaft.
8. The robotic servo rudder wheel according to claim 7 wherein: both ends of an output shaft of the main speed reducer extend out of the main speed reducer, and a strong magnetic steel sleeve is arranged outside the top end of the output shaft; an angle sensor is arranged at the position corresponding to the ferromagnetic steel sleeve under the steering motor.
9. The robotic servo rudder wheel according to claim 7 wherein: the shell of the auxiliary speed reducer comprises an upper shell and a lower shell, a circle of groove is formed in the outer edge of the upper shell, a matched protrusion is formed in the outer edge of the lower shell, and the upper shell and the lower shell are matched with the protrusion through the groove to improve installation accuracy.
10. The robotic servo rudder wheel according to claim 7 wherein: the pivot is the step shaft, and the top of pivot is equipped with the jack catch of evagination, establishes the draw-in groove in the output gear of vice reduction gear, and the pivot links to each other with its top and vice reduction gear, and the jack catch extends in the draw-in groove and packs the shock attenuation cushion, with its bottom with shock absorber support links to each other through the bolt that passes the connecting hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911274514.5A CN110789331A (en) | 2019-12-12 | 2019-12-12 | Servo steering wheel of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911274514.5A CN110789331A (en) | 2019-12-12 | 2019-12-12 | Servo steering wheel of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110789331A true CN110789331A (en) | 2020-02-14 |
Family
ID=69448216
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911274514.5A Pending CN110789331A (en) | 2019-12-12 | 2019-12-12 | Servo steering wheel of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110789331A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111634333A (en) * | 2020-06-15 | 2020-09-08 | 清华大学 | Electric vehicle chassis suitable for automatic driving and electric control system and vehicle with electric vehicle chassis |
| CN112621708A (en) * | 2020-08-21 | 2021-04-09 | 智慧起源机器人(苏州)有限公司 | Steering unit and track robot assembly |
| CN113895512A (en) * | 2021-11-18 | 2022-01-07 | 许昌许继软件技术有限公司 | Steering mechanism, robot chassis and robot |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110048834A1 (en) * | 2009-09-01 | 2011-03-03 | Jungheinrich Aktiengesellschaft | Drive and steering apparatus for an industrial truck |
| CN201784716U (en) * | 2010-07-01 | 2011-04-06 | 广西柳工机械股份有限公司 | Frame hinge device |
| CN103359233A (en) * | 2013-07-23 | 2013-10-23 | 湖南湖大艾盛汽车技术开发有限公司 | Combinable vehicle chassis device |
| CN105173066A (en) * | 2015-09-21 | 2015-12-23 | 中国运载火箭技术研究院 | Electrically-driven nose wheel steering device for unmanned aerial vehicle |
| CN205833385U (en) * | 2016-08-04 | 2016-12-28 | 江苏华大离心机制造有限公司 | The driving means of pull bar in a kind of vertical bag-pulling centrifuge |
| CN106394153A (en) * | 2016-11-25 | 2017-02-15 | 山东大学 | Travelling and steering servo driving wheel integrating hydraulic brake and suspension system |
| CN206561895U (en) * | 2017-01-24 | 2017-10-17 | 五邑大学 | It is a kind of can singlehanded manipulation four-wheel steering mobile platform |
| CN108909436A (en) * | 2018-06-29 | 2018-11-30 | 北京工业大学 | Independent steering driving wheel for comprehensive autonomous mobile platform |
| WO2019185090A1 (en) * | 2018-03-28 | 2019-10-03 | Schaeffler Technologies AG & Co. KG | Wheel module for a motor vehicle |
| CN110316278A (en) * | 2019-05-24 | 2019-10-11 | 广州市中立智能装备科技有限公司 | A kind of differential driving steering wheel |
| CN211223669U (en) * | 2019-12-12 | 2020-08-11 | 长沙万为机器人有限公司 | Robot chassis |
| CN211223024U (en) * | 2019-12-12 | 2020-08-11 | 长沙万为机器人有限公司 | Servo steering wheel of robot |
-
2019
- 2019-12-12 CN CN201911274514.5A patent/CN110789331A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110048834A1 (en) * | 2009-09-01 | 2011-03-03 | Jungheinrich Aktiengesellschaft | Drive and steering apparatus for an industrial truck |
| CN201784716U (en) * | 2010-07-01 | 2011-04-06 | 广西柳工机械股份有限公司 | Frame hinge device |
| CN103359233A (en) * | 2013-07-23 | 2013-10-23 | 湖南湖大艾盛汽车技术开发有限公司 | Combinable vehicle chassis device |
| CN105173066A (en) * | 2015-09-21 | 2015-12-23 | 中国运载火箭技术研究院 | Electrically-driven nose wheel steering device for unmanned aerial vehicle |
| CN205833385U (en) * | 2016-08-04 | 2016-12-28 | 江苏华大离心机制造有限公司 | The driving means of pull bar in a kind of vertical bag-pulling centrifuge |
| CN106394153A (en) * | 2016-11-25 | 2017-02-15 | 山东大学 | Travelling and steering servo driving wheel integrating hydraulic brake and suspension system |
| CN206561895U (en) * | 2017-01-24 | 2017-10-17 | 五邑大学 | It is a kind of can singlehanded manipulation four-wheel steering mobile platform |
| WO2019185090A1 (en) * | 2018-03-28 | 2019-10-03 | Schaeffler Technologies AG & Co. KG | Wheel module for a motor vehicle |
| CN108909436A (en) * | 2018-06-29 | 2018-11-30 | 北京工业大学 | Independent steering driving wheel for comprehensive autonomous mobile platform |
| CN110316278A (en) * | 2019-05-24 | 2019-10-11 | 广州市中立智能装备科技有限公司 | A kind of differential driving steering wheel |
| CN211223669U (en) * | 2019-12-12 | 2020-08-11 | 长沙万为机器人有限公司 | Robot chassis |
| CN211223024U (en) * | 2019-12-12 | 2020-08-11 | 长沙万为机器人有限公司 | Servo steering wheel of robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111634333A (en) * | 2020-06-15 | 2020-09-08 | 清华大学 | Electric vehicle chassis suitable for automatic driving and electric control system and vehicle with electric vehicle chassis |
| CN112621708A (en) * | 2020-08-21 | 2021-04-09 | 智慧起源机器人(苏州)有限公司 | Steering unit and track robot assembly |
| CN113895512A (en) * | 2021-11-18 | 2022-01-07 | 许昌许继软件技术有限公司 | Steering mechanism, robot chassis and robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110789331A (en) | Servo steering wheel of robot | |
| CN108146145B (en) | Electric wheel with large-gear-ratio planetary reducer and vehicle | |
| US7422080B2 (en) | In-wheel motor system | |
| CN211223024U (en) | Servo steering wheel of robot | |
| CN216185444U (en) | Four-wheel-drive four-rotation robot wheel train structure | |
| CN211223669U (en) | Robot chassis | |
| CN108146144B (en) | A wheel hub subassembly, electronic round and vehicle for electronic round | |
| CN108128141B (en) | Force transmission method of electric wheel and vehicle using same | |
| CN108128142B (en) | A wheel hub rim structure, electronic round and vehicle for electronic round | |
| CN210734281U (en) | Suspension integrated wire-controlled steering mechanism for electric wheel driven automobile | |
| CN111605397A (en) | Array type hub motor driving system and multi-wheel hub motor integration and brake steering integrated unmanned vehicle chassis | |
| CN211220723U (en) | Patrol robot | |
| CN211442545U (en) | Mobile robot chassis | |
| CN101628420B (en) | Wheels of robot with driving and slip measuring capability adapted to rough ground | |
| CN211440003U (en) | Inspection robot | |
| CN211710941U (en) | Industrial spot inspection robot | |
| CN102180100A (en) | Universal motor-driven chassis | |
| CN205971451U (en) | A turn to centering mechanism for harvester | |
| CN211969621U (en) | Split type AGV | |
| CN212401396U (en) | Rubber crawler-type suspension damping tank chassis | |
| CN212827869U (en) | Steering rudder of robot | |
| CN113428259B (en) | Wheeled mobile robot of high adaptability | |
| CN220262523U (en) | Suspension mechanism | |
| CN114604079B (en) | Wheel structure with built-in speed reducer and motor | |
| CN220615406U (en) | Suspension and drive assembly of heavy load bearing vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |