CN111716389A - Robot synchronous steering chassis - Google Patents
Robot synchronous steering chassis Download PDFInfo
- Publication number
- CN111716389A CN111716389A CN202010706705.0A CN202010706705A CN111716389A CN 111716389 A CN111716389 A CN 111716389A CN 202010706705 A CN202010706705 A CN 202010706705A CN 111716389 A CN111716389 A CN 111716389A
- Authority
- CN
- China
- Prior art keywords
- steering
- wheel
- driving
- shaft
- gear
- 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
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a synchronous steering chassis of a robot, which comprises a steering driving mechanism, a transmission mechanism and a wheel body; the steering driving mechanism comprises a steering driving motor and a steering driving gear; the steering driving motor can realize positive and negative rotation, and the output end of the steering driving motor is coaxially connected with the steering driving gear; the transmission mechanism comprises a toothed belt, and the toothed belt is meshed with the steering driving gear; the wheel bodies comprise at least four, and each wheel body comprises a driving wheel, a wheel shaft, a connecting frame, a steering shaft and a steering shaft gear which are matched with each other; the steering shaft gear is meshed with the toothed belt; the upper end of the steering shaft is coaxially and fixedly connected with the steering shaft gear, and the lower end of the steering shaft is fixedly connected with the connecting frame; the wheel shaft passes through the center of the driving wheel, and the driving wheel can axially rotate around the wheel shaft; two ends of the lower part of the connecting frame are respectively fixedly connected with two ends of the wheel shaft; the driving wheel is connected to a wheel driving motor. The invention has the advantages of simple structure, simple and convenient control, easy processing and easy integration.
Description
Technical Field
The invention relates to the technical field of robot moving chassis, in particular to a robot synchronous steering chassis.
Background
The existing robot moving chassis mainly comprises a wheel type, a crawler type, a wheel-track combined type, a leg-foot type, a peristaltic type and the like, and is respectively suitable for various occasions. Among them, wheeled mobile chassis is most common, has fast, mobility advantage such as good.
For a mobile robot working in an indoor space or a narrow space, a mobile chassis is required to have the characteristics of small turning radius, strong flexibility and the like, and synchronous steering and pivot steering are two common solutions. The pivot steering is mainly two-wheel drive and four-wheel drive, and the steering at a preset angle is mainly realized through the revolution difference of wheels on two sides. However, in practical applications, due to different use environments, it is often difficult to achieve accurate steering at a predetermined angle for poor ground conditions such as uneven ground, ice and snow road, and sand scattering road, and thus deviation of an expected walking path due to an insufficient steering angle is easily caused.
A synchronous steering control method is provided by researchers aiming at a two-wheel/four-wheel independent driving mode, each driving wheel is controlled by a single motor, a closed-loop system is formed by a control system through encoder feedback arranged on a driving shaft, synchronous steering of each driving wheel is guaranteed by combining a corresponding algorithm when the driving wheels rotate, control is complex, and cost is high. In addition, a scheme for realizing synchronous steering of the driving wheels by adopting a link mechanism is also provided, and the scheme has the problems of complex design analysis, more parts, easy generation of dynamic load, low transmission efficiency and the like, and cannot realize omnidirectional movement.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a robot synchronous steering chassis which has the advantages of simple structure, simple and convenient control, easy processing and easy integration.
In order to achieve the purpose, the invention adopts the following technical scheme:
a robot synchronous steering chassis comprises a steering driving mechanism, a transmission mechanism and a wheel body;
the steering driving mechanism comprises a steering driving motor and a steering driving gear; the steering driving motor can realize positive and negative rotation, and the output end of the steering driving motor is coaxially connected with the steering driving gear;
the transmission mechanism comprises a toothed belt, and the toothed belt is meshed with the steering driving gear;
the wheel bodies comprise at least four, and each wheel body comprises a driving wheel, a wheel shaft, a connecting frame, a steering shaft and a steering shaft gear which are matched with each other; the steering shaft gear is meshed with the toothed belt; the upper end of the steering shaft is coaxially and fixedly connected with the steering shaft gear, and the lower end of the steering shaft is fixedly connected with the connecting frame; the wheel shaft penetrates through the center of the driving wheel, and the driving wheel can axially rotate around the wheel shaft; two ends of the lower part of the connecting frame are respectively fixedly connected with two ends of the wheel shaft; the driving wheel is connected to a wheel driving motor.
Further, the steering driving motor is a stepping motor.
Further, a speed reducing mechanism is arranged between the output end of the steering driving motor and the steering driving gear.
Furthermore, the transmission mechanism also comprises a tension wheel and a clamping groove; the tensioning wheel is arranged in the clamping groove, can move in the clamping groove and is fixed at any position; the tensioning wheel is meshed with the toothed belt and is tightly attached to the toothed belt, and the tensioning wheel is used for controlling the tensioning force of the toothed belt.
Furthermore, the steering gear box further comprises a bearing frame, the steering driving motor is arranged at the bottom of the bearing frame, the steering driving gear is arranged at the top of the bearing frame, and the output end of the steering driving motor penetrates through the bearing frame to be coaxially connected with the steering driving gear; the toothed belt, the steering shaft gear and the clamping groove are all arranged at the top of the bearing frame, and the upper end of the steering shaft penetrates through the bearing frame and is coaxially and fixedly connected with the steering shaft gear.
Furthermore, a second supporting piece is fixedly sleeved on the steering shaft, and the second supporting piece is located at the bottom of the bearing frame and is in contact with the bearing frame to support the bearing frame.
And furthermore, the second support piece is fixed on the steering shaft by a fastening screw.
Further, the wheel driving motor adopts a hub motor.
Further, a bearing is arranged between the driving wheel and the wheel shaft.
The invention has the beneficial effects that: the invention adopts a mechanical structure to realize the synchronous steering of each driving wheel in the chassis, reduces the number of motors and solves the problems of complicated control and higher cost of the independent driving chassis; in addition, the invention adopts a mechanism that the toothed belt and the gear are meshed, and solves the problems of complicated design analysis, more parts, easy generation of dynamic load and low transmission efficiency of a connecting rod mechanism.
Drawings
Fig. 1 is a perspective view of a synchronous steering chassis in embodiment 1 of the present invention;
fig. 2 is a front view of a synchronous steering chassis in embodiment 1 of the present invention;
fig. 3 is a side view of a synchronous steering chassis in embodiment 1 of the present invention;
fig. 4 is a plan view of a synchronous steering chassis according to embodiment 1 of the present invention;
fig. 5 is a schematic structural view of a wheel body in embodiment 1 of the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings, and it should be noted that the present embodiment is based on the technical solution, and the detailed implementation and the specific operation process are provided, but the protection scope of the present invention is not limited to the present embodiment.
Example 1
A robot synchronous steering chassis is shown in figures 1-5 and comprises a bearing frame 4, a steering driving mechanism, a transmission mechanism and a wheel body;
the steering driving mechanism comprises a steering driving motor 7 and a steering driving gear 1; the steering driving motor 7 is fixed at the bottom of the bearing frame 4, and can realize forward and reverse rotation; the steering driving gear 1 is arranged at the top of the bearing frame 4, and the output end of the steering driving motor 7 penetrates through the bearing frame 4 to be coaxially connected with the steering driving gear 1.
Preferably, the steering driving motor 7 is a stepping motor, which facilitates precise control.
Preferably, a speed reduction mechanism is provided between the output end of the steering drive motor 7 and the steering drive gear 1. The speed reduction mechanism is used for reducing the rotating speed of an output shaft of the steering driving motor 7 and increasing the torque transmitted to the steering driving gear 1, and can be a planetary speed reducer, so that the size is reduced conveniently.
The transmission mechanism comprises a toothed belt 3, and the toothed belt 3 is meshed with the steering driving gear 1.
Preferably, the transmission mechanism further comprises a tension wheel 8 and a clamping groove 11; the tensioning wheel 8 is arranged in the clamping groove 11, can move in the clamping groove 11 and is fixed at any position; the tensioning wheel 8 is meshed with the toothed belt 3 and is tightly attached to the toothed belt 3, and is used for controlling the tensioning force of the toothed belt 3; the clamping groove 11 is arranged at the top of the bearing frame 4. The clamping groove 11 can be independently manufactured and fixedly connected with the bearing frame 4, and can also be integrally processed with the bearing frame 4. In addition, a fastening bolt can be arranged on the tensioning wheel 8, an internal thread hole penetrating from the top to the bottom is formed in the tensioning wheel 8, the fastening bolt is in threaded fit with the internal thread hole, when the position of the tensioning wheel 8 needs to be adjusted, the fastening bolt is unscrewed to enable the bottom end of the fastening bolt to be separated from the clamping groove, and after the tensioning wheel 8 is moved to the needed position, the fastening bolt is screwed until the bottom end of the fastening bolt is tightly matched with the bottom of the clamping groove, and the fastening bolt is fixed by means of friction force between the bottom end of the fastening bolt and the bottom. The bottom end of the fastening bolt can be provided with an anti-slip pad and the like to increase the friction force between the fastening bolt and the clamping groove.
The wheel bodies comprise at least four, and each wheel body comprises a driving wheel 6, a wheel shaft 9, a connecting frame 5, a steering shaft 12 and a steering shaft gear 2 which are matched with each other; the steering shaft gear 2 is arranged at the top of the bearing frame 4 and is meshed with the toothed belt 3; the upper end of the steering shaft 12 penetrates through the bearing frame 4 and is coaxially and fixedly connected with the steering shaft gear 2, and the lower end of the steering shaft is fixedly connected with the connecting frame 5; the wheel shaft 9 passes through the center of the driving wheel 6, and the driving wheel 6 can axially rotate around the wheel shaft 9; two ends of the lower part of the connecting frame 5 are respectively fixedly connected with two ends of the wheel shaft 9; the upper part of the driving wheel 6 is positioned at the connecting frame 5 and is not contacted with the connecting frame 5; the drive wheel 6 is connected to a wheel drive motor. Preferably, the wheel driving motor is an in-wheel motor. Each drive wheel 6 may be individually connected to a wheel drive motor.
Preferably, a bearing is arranged between the driving wheel 6 and the wheel shaft 9 for reducing the friction between the driving wheel 6 and the wheel shaft 9.
Preferably, a support element 14 can be provided between the bottom of the steering shaft gear 2 and the top of the carrier 4 for reducing friction between the toothed belt 3 and the carrier 4.
Preferably, a second supporting member 10 is fixedly sleeved on the steering shaft 12, and the second supporting member 10 is located at the bottom of the bearing frame 4 and is in contact with the bearing frame 4 for supporting the bearing frame 4. In this embodiment, the second supporting member 10 is fixed to the steering shaft 12 by a fastening screw 13, and the positioning adjustment of the second supporting member 10 can be performed by the fastening screw 13.
Example 2
The embodiment provides a use method of the robot synchronous steering chassis, which comprises the following specific processes:
when the movable chassis moves, the wheel driving motor is started, and drives the driving wheel to rotate, so that the movable chassis moves; when steering is needed, the steering driving motor is started, the steering driving motor drives the steering driving gear to rotate, and the steering driving gear drives the toothed belt to start rotating, so that the steering shaft gears of the wheel bodies are driven to rotate; and torque is transmitted among the steering shaft gear, the steering shaft, the connecting frame and the driving wheels in sequence, and finally the driving wheels are synchronously steered.
In the above process, the steering driving motor can drive the steering driving gear to rotate 360 °, and therefore, the steering shaft gear and the driving wheel can also realize 360 ° rotation. And the steering driving motor can drive the steering driving gear to rotate positively and negatively, so that the driving wheel can realize left and right steering.
Various corresponding changes and modifications can be made by those skilled in the art based on the above technical solutions and concepts, and all such changes and modifications should be included in the protection scope of the present invention.
Claims (9)
1. A robot synchronous steering chassis is characterized by comprising a steering driving mechanism, a transmission mechanism and a wheel body;
the steering driving mechanism comprises a steering driving motor and a steering driving gear; the steering driving motor can realize positive and negative rotation, and the output end of the steering driving motor is coaxially connected with the steering driving gear;
the transmission mechanism comprises a toothed belt, and the toothed belt is meshed with the steering driving gear;
the wheel bodies comprise at least four, and each wheel body comprises a driving wheel, a wheel shaft, a connecting frame, a steering shaft and a steering shaft gear which are matched with each other; the steering shaft gear is meshed with the toothed belt; the upper end of the steering shaft is coaxially and fixedly connected with the steering shaft gear, and the lower end of the steering shaft is fixedly connected with the connecting frame; the wheel shaft penetrates through the center of the driving wheel, and the driving wheel can axially rotate around the wheel shaft; two ends of the lower part of the connecting frame are respectively fixedly connected with two ends of the wheel shaft; the driving wheel is connected to a wheel driving motor.
2. The robotic synchronous steering chassis of claim 1, wherein the steering drive motor is a stepper motor.
3. The robotic synchronous steering chassis of claim 1, wherein a speed reduction mechanism is disposed between the output of the steering drive motor and the steering drive gear.
4. The robot synchronous steering chassis according to claim 1, wherein the transmission mechanism further comprises a tension wheel and a clamping groove; the tensioning wheel is arranged in the clamping groove, can move in the clamping groove and is fixed at any position; the tensioning wheel is meshed with the toothed belt and is tightly attached to the toothed belt, and the tensioning wheel is used for controlling the tensioning force of the toothed belt.
5. The robot synchronous steering chassis according to claim 4, further comprising a bearing frame, wherein the steering driving motor is arranged at the bottom of the bearing frame, the steering driving gear is arranged at the top of the bearing frame, and the output end of the steering driving motor passes through the bearing frame and is coaxially connected with the steering driving gear; the toothed belt, the steering shaft gear and the clamping groove are all arranged at the top of the bearing frame, and the upper end of the steering shaft penetrates through the bearing frame and is coaxially and fixedly connected with the steering shaft gear.
6. The robot synchronous steering chassis according to claim 5, wherein a second supporting member is fixedly sleeved on the steering shaft, and the second supporting member is located at the bottom of the bearing frame, is in contact with the bearing frame and is used for supporting the bearing frame.
7. The robot synchronous steering chassis of claim 6, wherein the second support member is fixed to the steering shaft by a fastening screw.
8. The robotic synchronous steering chassis of claim 1, wherein the wheel drive motor is an in-wheel motor.
9. The robotic synchronous steering chassis of claim 1, wherein a bearing is disposed between the drive wheel and the axle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010706705.0A CN111716389A (en) | 2020-07-21 | 2020-07-21 | Robot synchronous steering chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010706705.0A CN111716389A (en) | 2020-07-21 | 2020-07-21 | Robot synchronous steering chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111716389A true CN111716389A (en) | 2020-09-29 |
Family
ID=72573026
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010706705.0A Pending CN111716389A (en) | 2020-07-21 | 2020-07-21 | Robot synchronous steering chassis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111716389A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112616388A (en) * | 2020-11-20 | 2021-04-09 | 黑龙江省农业科学院水稻研究所 | Rice transplanter capable of adjusting wide and narrow rows |
| CN113545709A (en) * | 2021-07-09 | 2021-10-26 | 胡天琦 | Intelligent robot chassis structure with flexible steering function |
| CN114227764A (en) * | 2021-12-30 | 2022-03-25 | 重庆特斯联智慧科技股份有限公司 | Robot steering chassis structure suitable for small space |
-
2020
- 2020-07-21 CN CN202010706705.0A patent/CN111716389A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112616388A (en) * | 2020-11-20 | 2021-04-09 | 黑龙江省农业科学院水稻研究所 | Rice transplanter capable of adjusting wide and narrow rows |
| CN112616388B (en) * | 2020-11-20 | 2022-07-29 | 黑龙江省农业科学院水稻研究所 | Rice transplanter capable of adjusting wide and narrow rows |
| CN113545709A (en) * | 2021-07-09 | 2021-10-26 | 胡天琦 | Intelligent robot chassis structure with flexible steering function |
| CN114227764A (en) * | 2021-12-30 | 2022-03-25 | 重庆特斯联智慧科技股份有限公司 | Robot steering chassis structure suitable for small space |
| CN114227764B (en) * | 2021-12-30 | 2024-06-18 | 重庆特斯联智慧科技股份有限公司 | Robot steering chassis structure suitable for small space |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111716389A (en) | Robot synchronous steering chassis | |
| CN201042980Y (en) | Castor floating structure for wheeled mobile welding robot | |
| CN111196309A (en) | Wheel track adjustable carrying platform | |
| CN109760742B (en) | Variable tread omnidirectional four-wheel drive mobile chassis | |
| CN104149857A (en) | Wheel track stepless regulation type omnibearing mobile platform truck chassis | |
| CN110654194A (en) | Six-wheel independently-steering liftable mobile platform | |
| CN212241121U (en) | Robot synchronous steering chassis | |
| CN113044109A (en) | Four-wheel independent drive independent steering chassis | |
| CN102673672A (en) | Driving and steering integrated magnetic wheel device for magnetic adsorption wall-climbing robot | |
| CN110758591A (en) | Double-roller omnidirectional power caster of mobile robot and omnidirectional mobile platform | |
| CN203637974U (en) | Differential gear chassis integrated with all-direction wheel | |
| CN205737694U (en) | A kind of intelligent carriage differential steering device | |
| CN214420135U (en) | Novel driving universal wheel and automatic moving trolley | |
| CN103495968A (en) | Chassis mechanism for mobile welding robot | |
| CN210707706U (en) | Steering driving wheel | |
| CN211001619U (en) | Double-roller omnidirectional power caster of mobile robot and omnidirectional mobile platform | |
| CN211568084U (en) | Novel electrically-driven steering wheel set | |
| CN114074723A (en) | Wheel-track type mobile robot based on Mecanum wheels | |
| CN214492399U (en) | Omnidirectional forward moving type AGV driving axle | |
| CN216942557U (en) | Chassis of walking device | |
| CN212220365U (en) | Driving wheel mechanism of multidirectional driving transfer vehicle | |
| CN209142222U (en) | The controllable walking mechanism of angle of turn | |
| CN221457840U (en) | Agricultural robot platform | |
| CN215316502U (en) | Movable chassis structure of welding robot | |
| CN111071035A (en) | Motor-driven four-wheel walking and steering mechanism |
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 |