CN113147890A - Four-wheel steering robot - Google Patents
Four-wheel steering robot Download PDFInfo
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- CN113147890A CN113147890A CN202110460060.1A CN202110460060A CN113147890A CN 113147890 A CN113147890 A CN 113147890A CN 202110460060 A CN202110460060 A CN 202110460060A CN 113147890 A CN113147890 A CN 113147890A
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- 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
- B62D5/0418—Electric motor acting on road wheel carriers
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- 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
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- 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
- B62D5/0403—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by constructional features, e.g. common housing for motor and gear box
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention discloses a four-wheel steering robot, which comprises a robot body, a radar and a controller which are arranged on the robot body, suspension connecting arms which are axially and movably connected to two sides of the robot body, and steering wheels which are arranged at two ends of each suspension connecting arm; the radar is connected with the controller through a wireless link for data transmission, and the controller is connected with the steering wheel in a control mode; four independent steering wheels are adopted, and each steering wheel is driven in an independent driving mode, so that the four-wheel steering robot can realize various motion modes such as forward movement, backward movement, oblique driving, transverse driving, pivot steering and the like; the connecting parts of the two suspension connecting arms on the left side and the right side are connected by adopting a central differential mechanism, and the central differential mechanism can realize that all the two groups of steering wheels can rotate towards different directions; the steering motor is connected with the hub motor, so that the connection of a bearing part can be directly carried out on the steering motor, and the complexity of the whole power assembly is simplified.
Description
Technical Field
The invention relates to the field of robots, in particular to a four-wheel steering robot.
Background
The existing four-wheel independent steering vehicle adopts a direct current brushless motor and a plurality of parts of a wheel hub, integrates a planetary reducer, rotation with large torque can be provided, however, the motor is not bearable in the radial direction of the rotation axis, therefore, in order to achieve the purpose of bearing the rotating shaft, a plurality of additional supporting parts are required to be designed, including various rotating devices such as bearings and gears and fixed decorations, so as to realize bearing support in the radial direction of the steering, a four-wheel robot or a four-wheel unmanned vehicle, in order to pursue cost and light weight, the four-wheel independent steering device needs to adopt a tiny space layout and a light-weight structural design, the existing similar direct current brushless motors cannot be directly combined with driving wheels, and extra fixing pieces and rotating devices are needed, so that the steering mechanism is complicated, and the maintenance cost and the cost are increased;
if a conventional brushless speed reducing motor is adopted, an additional radial support piece needs to be designed, the design complexity is increased, the whole volume cannot be simplified, and meanwhile, the production cost and the processing cost of a corresponding module are increased;
so accomplish a structure that simplifies very much, will turn to motor and wheel hub and unite two into one, can have the control of cost, to the structural design integration of original complicacy, design the inside of motor, inform the motor shaft directly with the wheel hub flange integration, can save a large amount of development costs, reduce part quantity, can install the product fast simultaneously.
Disclosure of Invention
The invention provides a four-wheel steering robot, which aims to solve the technical problems that the existing similar brushless direct current motors cannot be directly combined with driving wheels, and additional fixing parts and rotating devices are needed, so that the complexity of a steering mechanism is caused, and the maintenance cost and the cost are increased; the connecting parts of the two suspension connecting arms on the left side and the right side are connected by adopting a central differential mechanism, and the rotation angles of all the two groups of steering wheels towards different directions can be realized through the central differential mechanism, so that four wheels can be always kept on the ground when the four-wheel steering robot walks on the ground of a complex road, and each wheel can bear the weight load; adopt the steering motor with the connection of in-wheel motor can be directly carry out the linking of bearing part on the steering motor, simplified the complexity of whole power assembly, design complexity greatly reduced also simultaneously, the at utmost saves space, simple structure, convenient to use for solve the defect that prior art leads to.
In order to solve the technical problems, the invention provides the following technical scheme:
a four-wheel steering robot comprises a robot body, a radar and a controller which are arranged on the robot body, suspension connecting arms which are in shaft-driven connection with two sides of the robot body, and steering wheels which are arranged at two ends of each suspension connecting arm;
the radar is connected with the controller in a wireless mode for data transmission, and the controller is connected with the steering wheel in a control mode.
The four-wheel steering robot is characterized in that the two ends of the robot body are respectively provided with the bracket assembly connected with the suspension connecting arm;
the bracket assembly comprises a round shaft, a first fixing piece and a second fixing piece, and the round shaft penetrates through the first fixing piece and the second fixing piece in sequence and then is in shaft-driven connection with the suspension connecting arm;
the round shaft and the first fixing are arranged inside the robot body, the second fixing piece is arranged on the side end face of the robot body, and a cross beam which is arranged on two sides of the round shaft and connected with the first fixing piece and the second fixing piece is arranged inside the robot body.
The four-wheel steering robot is characterized in that the bottom of the robot body is provided with a support plate which is connected with the first fixing piece and the second fixing piece respectively;
the first fixing part is provided with a first bearing for fixing the circular shaft, and the second fixing part is provided with a second bearing for fixing the circular shaft.
The four-wheel steering robot is characterized in that a central differential mechanism is arranged inside the robot body, the central differential mechanism comprises a first differential gear, a fixed base and two second differential gears connected with a circular shaft respectively, the first differential gear and the two second differential gears are arranged perpendicularly, a fixed shaft is connected onto the fixed base, and the first differential gear is movably sleeved on the fixed shaft and is in contact connection with the two second differential gears respectively.
The four-wheel steering robot is characterized in that the suspension connecting arm is provided with a locking piece connected with the round shaft.
The four-wheel steering robot comprises a steering motor and a hub motor, wherein a connecting support connected with the hub motor is arranged at the bottom of the steering motor, a connecting piece connected with a cantilever support is arranged on the steering motor, and the connecting piece is arranged on one side of the steering motor and is connected to the cantilever support in a side fixing mode;
the controller is respectively in control connection the steering motor with the in-wheel motor adopts the steering motor with the in-wheel motor's connection can be directly carry out the linking of bearing part on the steering motor, has simplified the complexity of whole power assembly, and the design complexity also greatly reduced simultaneously, the at utmost saves space, simple structure, convenient to use.
The four-wheel steering robot comprises a steering motor, a steering wheel and a steering wheel, wherein the steering motor comprises an encoder, a main shaft rod, a gear base, a main shaft flange and a gear ring, and the encoder is installed at the top of the main shaft rod;
the spindle rod is coaxially arranged at the top of the spindle flange, the spindle rod is sequentially sleeved with a top fixed bearing, a fixed disc, a positioning fixed bearing and a spindle gear from top to bottom, three planetary gears which are arranged at the top of the gear base through planetary gear shafts are matched at the periphery of the spindle gear, the gear base is arranged at the top of the spindle flange, the torque force for steering is effectively increased, the gear ring is sleeved at the periphery of the three planetary gears, an annular outer cover with a U-shaped section is sleeved at the periphery of the gear ring, an outer rotor iron core sleeved on the gear ring is arranged in the annular outer cover, a magnetic spindle cover connected with the fixed disc is sleeved at the periphery of the outer rotor iron core, a spindle rear cover covering the top of the spindle rod is arranged at the top of the magnetic spindle cover, and a top cover is arranged at the top of the spindle rear cover;
a conical bearing is sleeved on the periphery of the spindle flange, a conical bearing cover is sleeved on the periphery of the conical bearing, a shell is sleeved on the periphery of the conical bearing cover, a bottom cover is installed at the bottom of the shell, and a steering base which extends out of the bottom cover and is connected with the support is arranged at the bottom of the spindle flange;
different from other products, the technical scheme adopts a 'human' type structure, four sections of rotating shafts (comprising the main shaft rod, the main shaft flange, the gear base and the steering base) with different diameters are designed on a main shaft of the steering motor, the upper conical bearing and the lower conical bearing are added in the middle section, and the upper top cover, the shell and the bottom cover are added, so that the radial enough large bearing capacity is ensured, the stable work of the motor can be still ensured under the pressure of large load and large weight.
The four-wheel steering robot is characterized in that the outer rotor iron core is a 36-slot outer rotor iron core, and a copper wire is wound on the outer rotor iron core;
the outer diameter of the outer rotor iron core is 81 millimeters, and the thickness of the outer rotor iron core is 20 millimeters.
The four-wheel steering robot is characterized in that an upper top cover is arranged at the bottom of the conical bearing cover.
In the four-wheel steering robot, the tops of the three planetary gears are covered with a planetary gear outer cover sleeved on the periphery of the positioning fixed bearing.
According to the technical scheme, the four independent hub motors are mainly arranged, each hub motor is provided with the steering motor, the hub motors have radial supporting force, and are assembled with the steering motors into a whole, so that the four-wheel steering robot can be directly used on four-wheel independent steering vehicles, the front-and-back movement and the left-and-right translation of the four-wheel steering robot can be realized, the in-situ steering can be realized, and the function which can not be met by similar products can be realized;
the core of the technical scheme is that a new motor shaft design is adopted, a planetary reducer device, an outer roller direct-current brushless motor and a radial bearing function are combined into 1, meanwhile, the hub motor and the steering motor are designed into an integrated structure, the integrated structure is designed into an integrated structure, the planetary gear is miniaturized, the planetary gear is arranged in the steering motor, a double-cone bearing is designed on a main shaft rod adopted by the technical scheme for supporting, a cone bearing cover is fixed, the large radial bearing function is achieved, the problem that a common motor cannot bear the load is solved, the motor of the technical scheme can be directly used as the load of a weight and is directly connected with a wheel structure to bear the weight of an unmanned vehicle/robot, and the problem that the structure bearing is not needed to be additionally designed is solved, so that the size is only 1/3 of a product with the same function in the market, and the occupied space of parts is greatly reduced, the assembly cost is also reduced;
a group of tapered roller thrust bearings are adopted in a single steering wheel to ensure the axial load of the steering motor, the main shaft rod of the steering motor and the steering base of the hub motor are combined into a whole, the integrated design simplifies the structural complexity, the front and the rear steering wheels on one side form a group, the left side and the right side of the robot body are provided with two groups, the two groups of steering wheels are connected through the robot body to form a four-wheel steering robot, the joints of the two suspension connecting arms on the left side and the right side are connected through the central differential mechanism, the central differential can realize that all the two groups of steering wheels can rotate in different directions, namely, the four-wheel steering robot can be ensured to be always kept on the ground when walking on the ground of a complex road, and each wheel can bear the weight load.
The technical scheme provided by the four-wheel steering robot has the following technical effects:
four independent steering wheels are arranged on a robot body to form a four-wheel steering robot, and each steering wheel is driven in an independent driving mode, so that the four-wheel steering robot can realize various motion modes such as forward movement, backward movement, oblique driving, transverse driving, pivot steering and the like;
the connecting parts of the two suspension connecting arms on the left side and the right side are connected by adopting a central differential mechanism, and the rotation angles of all the two groups of steering wheels towards different directions can be realized through the central differential mechanism, so that four wheels can be always kept on the ground when the four-wheel steering robot walks on the ground of a complex road, and each wheel can bear the weight load;
adopt the steering motor with the connection of in-wheel motor can be directly carry out the linking of bearing part on the steering motor, simplified the complexity of whole power assembly, design complexity greatly reduced also simultaneously, the at utmost saves space, simple structure, convenient to use.
Drawings
FIG. 1 is a schematic structural diagram of a four-wheel steering robot according to the present invention;
FIG. 2 is a schematic structural diagram of a single-side suspension connecting arm in the four-wheel steering robot according to the present invention;
FIG. 3 is a schematic diagram of the internal structure of a four-wheel steering robot according to the present invention;
FIG. 4 is a schematic structural diagram of a steering motor and a hub motor in the four-wheel steering robot according to the present invention;
FIG. 5 is a schematic diagram of an internal structure of a steering motor in the four-wheel steering robot according to the present invention;
fig. 6 is a schematic structural diagram of a steering motor in the four-wheel steering robot according to the present invention.
Wherein the reference numbers are as follows:
the robot comprises a robot body 101, a radar 102, a suspension connecting arm 103, a steering motor 104, a hub motor 105, a bracket assembly 106, a connecting bracket 107, a connecting piece 108, a circular shaft 201, a first fixing piece 202, a second fixing piece 203, a cross beam 204, a supporting plate 205, a first bearing 206, a second bearing 207, a locking piece 208, a first differential gear 301, a fixed base 302, a second differential gear 303, a fixed shaft 304, a top cover 401, a main shaft rear cover 402, an annular outer cover 403, a shell 404, a bottom cover 405, an encoder 501, a main shaft rod 502, a main shaft flange 503, a gear ring 504, a top fixed bearing 505, a fixed plate 506, a positioning fixed bearing 507, a main shaft gear 508, a planetary gear shaft 509, a planetary gear 510, a steering base 511, an outer rotor core 512, a magnetic ingot cover 513, a conical bearing 514, a conical bearing cover 515, an upper top cover 516, a planetary gear outer cover 517 and a gear base 518.
Detailed Description
In order to make the technical means, the inventive features, the objectives and the effects of the invention easily understood and appreciated, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the specific drawings, and it is obvious that the described embodiments are a part of the embodiments of the present invention, but not all of the embodiments.
All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions under which the present invention can be implemented, so that the present invention has no technical significance, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention.
In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.
A preferred embodiment of the present invention provides a four-wheel steering robot, which aims to adopt four independent steering wheels to be mounted on a robot body to form a four-wheel steering robot, and each steering wheel is driven in an independent driving manner, so that the four-wheel steering robot can realize various movement manners such as forward movement, backward movement, oblique driving, transverse driving, pivot steering, and the like; the connecting parts of the two suspension connecting arms on the left side and the right side are connected by adopting a central differential mechanism, and the rotation angles of all the two groups of steering wheels towards different directions can be realized through the central differential mechanism, so that four wheels can be always kept on the ground when the four-wheel steering robot walks on the ground of a complex road, and each wheel can bear the weight load; adopt the steering motor with the connection of in-wheel motor can be directly carry out the linking of bearing part on the steering motor, simplified the complexity of whole power assembly, design complexity greatly reduced also simultaneously, the at utmost saves space, simple structure, convenient to use.
As shown in fig. 1-2, a four-wheel steering robot comprises a robot body 101, a radar 102 and a controller mounted on the robot body 101, suspension connecting arms 103 pivotally connected to both sides of the robot body 101, and steering wheels mounted at both ends of each suspension connecting arm 103;
the radar 102 is in data transmission through wireless connection with the controller, and the controller controls the steering wheel to move according to the data transmitted by the radar 102.
As shown in fig. 2, a bracket assembly 106 connected with the suspension connecting arm 103 is mounted at both ends of the robot body 101;
the bracket assembly 106 comprises a round shaft 201, a first fixing member 202 and a second fixing member 203, wherein the round shaft 201 penetrates through the first fixing member 202 and the second fixing member 203 in sequence and then is in shaft-driven connection with the suspension connecting arm 103;
the round shaft 201 and the first fixing part are both arranged inside the robot body 101, the second fixing part 203 is arranged on the side end face of the robot body 101, and a cross beam 204 which is arranged on two sides of the round shaft 201 and connected with the first fixing part 202 and the second fixing part 203 is arranged inside the robot body 101.
Wherein, the bottom of the robot body 101 is provided with a supporting plate 205 which is respectively connected with the first fixing part 202 and the second fixing part 203;
the first fixing member 202 is provided with a first bearing 206 for fixing the circular shaft 201, and the second fixing member 203 is provided with a second bearing 207 for fixing the circular shaft 201.
As shown in fig. 3, a central differential is disposed inside the robot body 101, the central differential includes a first differential gear 301, a fixed base 302 and second differential gears 303 respectively connected to the two circular shafts 201, the first differential gear 301 and the two second differential gears 303 are vertically disposed, the fixed base is connected to a fixed shaft 304, and the first differential gear 301 is movably sleeved on the fixed shaft 304 and is respectively in contact connection with the two second differential gears 303.
Wherein, a locking piece 208 connected with the round shaft 201 is arranged on the hanging connecting arm 103.
As shown in fig. 4, the steering wheel includes a steering motor 104 and a hub motor 105, a connecting bracket 107 connected to the hub motor 105 is disposed at the bottom of the steering motor 104, a connecting member 108 connected to the cantilever bracket is mounted on the steering motor 104, and the connecting member 108 is disposed at one side of the steering motor 104 and connected to the cantilever bracket in a side fixing manner;
the controller controls and connects the steering motor 104 and the in-wheel motor 105 respectively, and the steering motor 104 and the in-wheel motor 105 are connected, so that the bearing part can be directly connected on the steering motor 104, the complexity of the whole power assembly is simplified, the design complexity is greatly reduced, the space is saved to the maximum degree, the structure is simple, and the use is convenient.
As shown in fig. 5-6, the steering motor 104 includes an encoder 501, a spindle shaft 502, a gear base 518, a spindle flange 503, and a gear ring 504, wherein the encoder 501 is mounted on the top of the spindle shaft 502;
the main shaft rod 502 is coaxially arranged at the top of a main shaft flange 503, the main shaft rod 502 is sequentially sleeved with a top fixed bearing 505, a fixed disc 506, a positioning fixed bearing 507 and a main shaft gear 508 from top to bottom, three planetary gears 510 arranged at the tops of gear bases 518 through planetary gear shafts 509 are matched at the periphery of the main shaft gear 508, the gear bases 518 are arranged at the top of the main shaft flange 503, the steering torque is effectively increased, a gear ring 504 is sleeved at the peripheries of the three planetary gears 510, an annular outer cover 403 with a U-shaped section is sleeved at the periphery of the gear ring 504, an outer rotor iron core 512 sleeved on the gear ring 504 is arranged in the annular outer cover 403, a magnetic spindle cover 513 connected with the fixed disc 506 is sleeved at the periphery of the outer rotor iron core 512, a main shaft rear cover 402 covering the top of the main shaft rod 502 is arranged at the top of the magnetic spindle cover 513, and a top cover 401 is arranged at the top of the main shaft rear cover 402;
a conical bearing 514 is sleeved on the periphery of the spindle flange 503, a conical bearing cover 515 is sleeved on the periphery of the conical bearing 514, a shell 404 is sleeved on the periphery of the conical bearing cover 515, a bottom cover 405 is installed at the bottom of the shell 404, and a steering base 511 which extends out of the bottom cover 405 and is connected with a support is arranged at the bottom of the spindle flange 503;
different from other products, the technical scheme adopts a 'man' shaped structure, four sections of rotating shafts (comprising a main shaft rod 502, a main shaft flange 503, a gear base 518 and a steering base 511) with different diameters are designed on a main shaft of a steering motor 104, two conical bearings 514 which are arranged up and down are added in the middle section, and a top cover 516, a shell 404 and a bottom cover 405 are added, so that the radial enough bearing capacity is ensured, the stable work of the motor can be ensured under the pressure of large load and large weight, the whole technical scheme simplifies the volume and the complexity of the whole equipment, is a steering wheel of an unmanned vehicle or a robot with four wheels steering independently, and has the advantages of saving the complexity of part splicing, and being capable of directly adopting the motor to fix the wheel, and bearing the weight of the unmanned vehicle or the robot.
The outer rotor core 512 is a 36-slot outer rotor core, and a copper wire is wound on the outer rotor core 512;
the outer diameter of the outer rotor core 512 is 81 mm, and the thickness of the outer rotor core 512 is 20 mm.
Wherein, the bottom of the conical bearing cap 515 is provided with an upper top cover 516.
Wherein, the top of the three planetary gears 510 is covered with a planetary gear outer cover 517 sleeved on the periphery of the fixed bearing 507.
According to the technical scheme, the four independent hub motors 105 are mainly arranged, each hub motor 105 is provided with the steering motor 104, the hub motors 105 have radial supporting force and are assembled with the steering motors 104 into a whole, the four-wheel steering robot can be directly used on four-wheel independent steering vehicles, the four-wheel steering robot can move forwards and backwards and move left and right, in-situ steering can be realized, and functions which cannot be met by similar products can be realized;
the core of the technical scheme is that a new motor shaft design is adopted, a planetary reducer device, an outer roller direct current brushless motor and a radial bearing function are combined into 1, meanwhile, a hub motor 105 and a steering motor 104 are integrally designed, the design is minimized in size, the hub motor and the steering motor are integrated and miniaturized, a planetary gear 510 is arranged in the steering motor 104, a double-cone bearing 514 is designed on a main shaft rod 502 for supporting, a cone bearing cover 515 is fixed, the radial bearing function is very high, the problem that a common motor cannot bear the load is solved, the motor of the technical scheme can be directly used as the load of a heavy object, is directly connected with a wheel structure, bears the weight of an unmanned vehicle/robot, and the problem that the load of the structure is not required to be additionally designed, so that the volume is only 1/3 of products with the same functions in the market, the occupied space of parts is greatly reduced, the assembly cost is also reduced;
a group of tapered roller thrust bearings are adopted in a single steering wheel, the axial load of a steering motor 104 is guaranteed, a main shaft rod 502 of the steering motor 104 and a steering base 511 of an in-wheel motor 105 are combined into a whole, the structural complexity is simplified through integrated design, a front steering wheel and a rear steering wheel on a single side are in a group, the left side and the right side of a robot body 101 are in two groups, the two groups of steering wheels are connected through the robot body 101 to form a four-wheel steering robot, a central differential mechanism is adopted at the joint of two suspension connecting arms 103 on the left side and the right side to connect, the rotation angles of the two groups of steering wheels towards different directions can be achieved through the central differential mechanism, namely, four wheels of the four-wheel steering robot can be always kept on the ground when walking on the ground of a complex road, and meanwhile, each wheel can bear the weight load.
In summary, the four-wheel steering robot of the invention adopts four independent steering wheels to be installed on the robot body to form the four-wheel steering robot, and each steering wheel is driven in an independent driving mode, so that the four-wheel steering robot can realize various motion modes such as forward movement, backward movement, oblique driving, transverse driving, in-situ steering and the like; the connecting parts of the two suspension connecting arms on the left side and the right side are connected by adopting a central differential mechanism, and the rotation angles of all the two groups of steering wheels towards different directions can be realized through the central differential mechanism, so that four wheels can be always kept on the ground when the four-wheel steering robot walks on the ground of a complex road, and each wheel can bear the weight load; adopt the steering motor with the connection of in-wheel motor can be directly carry out the linking of bearing part on the steering motor, simplified the complexity of whole power assembly, design complexity greatly reduced also simultaneously, the at utmost saves space, simple structure, convenient to use.
Specific embodiments of the invention have been described above. It is to be understood that the invention is not limited to the particular embodiments described above, in that devices and structures not described in detail are understood to be implemented in a manner common in the art; various changes or modifications may be made by one skilled in the art within the scope of the claims without departing from the spirit of the invention, and without affecting the spirit of the invention.
Claims (10)
1. A four-wheel steering robot is characterized by comprising a robot body, a radar and a controller which are arranged on the robot body, suspension connecting arms which are in shaft-driven connection with two sides of the robot body, and steering wheels which are arranged at two ends of each suspension connecting arm;
the radar is connected with the controller in a wireless mode for data transmission, and the controller is connected with the steering wheel in a control mode.
2. The four-wheel steering robot as claimed in claim 1, wherein a bracket assembly connected to the suspension link arm is installed at both ends of the robot body;
the bracket assembly comprises a round shaft, a first fixing piece and a second fixing piece, and the round shaft penetrates through the first fixing piece and the second fixing piece in sequence and then is in shaft-driven connection with the suspension connecting arm;
the round shaft and the first fixing are arranged inside the robot body, the second fixing piece is arranged on the side end face of the robot body, and a cross beam which is arranged on two sides of the round shaft and connected with the first fixing piece and the second fixing piece is arranged inside the robot body.
3. A four-wheel steering robot as claimed in claim 2, wherein a support plate is provided at the bottom of the robot body to be connected to the first fixing member and the second fixing member, respectively;
the first fixing part is provided with a first bearing for fixing the circular shaft, and the second fixing part is provided with a second bearing for fixing the circular shaft.
4. The four-wheel steering robot as claimed in claim 3, wherein a central differential mechanism is disposed inside the robot body, the central differential mechanism includes a first differential gear, a fixed base and two second differential gears respectively connected to the two circular shafts, the first differential gear is perpendicular to the two second differential gears, the fixed base is connected to a fixed shaft, and the first differential gear is movably sleeved on the fixed shaft and is respectively connected to the two second differential gears in a contact manner.
5. A four-wheel steering robot as claimed in claim 4, wherein a locking member for connecting said circular shaft is mounted on said suspension connecting arm.
6. A four-wheel steering robot as claimed in any one of claims 1 to 5, wherein the steering wheel comprises a steering motor and a hub motor, a connecting bracket connected with the hub motor is arranged at the bottom of the steering motor, and a connecting piece connected with the cantilever bracket is arranged on the steering motor;
the controller is respectively connected with the steering motor and the hub motor in a control mode.
7. A four-wheel steering robot as claimed in claim 6, wherein the steering motor comprises an encoder, a main shaft, a gear base, a main shaft flange, and a gear ring, the encoder being mounted on the top of the main shaft;
the spindle rod is coaxially arranged at the top of the spindle flange, the spindle rod is sequentially sleeved with a top fixed bearing, a fixed disc, a positioning fixed bearing and a spindle gear from top to bottom, three planetary gears which are arranged at the top of the gear base through planetary gear shafts are matched at the periphery of the spindle gear, the gear base is arranged at the top of the spindle flange, the gear ring is sleeved at the periphery of the three planetary gears, an annular outer cover with a U-shaped section is sleeved at the periphery of the gear ring, an outer rotor iron core sleeved on the gear ring is arranged in the annular outer cover, a magnetic spindle cover connected with the fixed disc is sleeved at the periphery of the outer rotor iron core, a spindle rear cover covering the top of the spindle rod is arranged at the top of the magnetic spindle cover, and a top cover is arranged at the top of the spindle rear cover;
a conical bearing is sleeved on the periphery of the spindle flange, a conical bearing cover is sleeved on the periphery of the conical bearing, a shell is sleeved on the periphery of the conical bearing cover, a bottom cover is installed at the bottom of the shell, and a steering base which extends out of the bottom cover and is connected with the support is arranged at the bottom of the spindle flange;
the connector is connected to the outer wall of the housing.
8. The four-wheel steering robot as claimed in claim 7, wherein the outer rotor core is a 36-slot outer rotor core, and copper wires are wound around the outer rotor core;
the outer diameter of the outer rotor iron core is 81 millimeters, and the thickness of the outer rotor iron core is 20 millimeters.
9. A four-wheel steering robot as claimed in claim 7, wherein the bottom of said conical bearing cap is provided with an upper cap.
10. A four-wheel steering robot as claimed in claim 7, wherein the tops of three said planetary gears are covered with a planetary gear housing fitted around the periphery of said fixed bearing.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110460060.1A CN113147890A (en) | 2021-04-27 | 2021-04-27 | Four-wheel steering robot |
| CN202110789601.5A CN113460157A (en) | 2021-04-27 | 2021-07-13 | Four-wheel steering robot |
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| CN202110460060.1A CN113147890A (en) | 2021-04-27 | 2021-04-27 | Four-wheel steering robot |
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| CN113147890A true CN113147890A (en) | 2021-07-23 |
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| CN202110789601.5A Pending CN113460157A (en) | 2021-04-27 | 2021-07-13 | Four-wheel steering robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113859359A (en) * | 2021-12-03 | 2021-12-31 | 南京天创电子技术有限公司 | Movement control method of light explosion-proof four-wheel eight-drive chassis |
| CN114408051A (en) * | 2022-02-21 | 2022-04-29 | 之江实验室 | Three-wheel light detection sampling wheel type robot with active suspension structure |
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| DE102004006722A1 (en) * | 2004-02-11 | 2005-09-01 | Zf Friedrichshafen Ag | Steering and wheel drive for industrial truck has drive motor, steering motor and steering transmission installed co-axially with one another and in series one behind other |
| JP5240683B2 (en) * | 2007-06-08 | 2013-07-17 | 独立行政法人 宇宙航空研究開発機構 | Traveling mechanism with rocker crawler |
| KR100970422B1 (en) * | 2008-07-31 | 2010-07-15 | 그린모텍(주) | Electromotive forklift truck travelling steering apparatus |
| CN102390224A (en) * | 2011-10-11 | 2012-03-28 | 魏海兵 | Differential mechanism of hub motor driven vehicle |
| CN103832209B (en) * | 2014-03-24 | 2015-12-23 | 青岛理工大学 | Agricultural vehicle chassis with adjustable wheel track |
| CN104802783B (en) * | 2015-03-30 | 2017-06-13 | 重庆嘉陵全域机动车辆有限公司 | A kind of electric control braking differential steering device suitable for automatic driving vehicle |
| CN106972692A (en) * | 2017-04-05 | 2017-07-21 | 中山市朗宇模型有限公司 | A kind of transmission mechanism is built in the external rotor brushless reducing motor of stator |
| CN207360453U (en) * | 2017-05-24 | 2018-05-15 | 海南大学 | A kind of bearing-type four-wheel moves machine carriage |
| DE102018107358A1 (en) * | 2018-03-28 | 2019-10-02 | Schaeffler Technologies AG & Co. KG | Wheel module for a motor vehicle |
| CN108583684A (en) * | 2018-05-26 | 2018-09-28 | 苏州智泉农业科技有限公司 | A kind of 4 wheel driven revolving support running gear and control method |
| CN110194216A (en) * | 2019-06-24 | 2019-09-03 | 深圳凌众大通智能科技有限公司 | A kind of adaptive Agricultural Robot chassis of dependent moved entirely based on four-wheel |
| CN210618270U (en) * | 2019-06-24 | 2020-05-26 | 深圳凌众大通智能科技有限公司 | Agricultural robot chassis with independent suspension based on four-wheel full-automatic |
| CN110171475A (en) * | 2019-07-02 | 2019-08-27 | 洛阳履坦智能科技有限公司 | The double power flow differential steering drive mechanism of a11wheel drive, all-wheel steering mobile device |
| CN111645777B (en) * | 2020-05-27 | 2021-06-15 | 农业农村部南京农业机械化研究所 | Wheeled agricultural robot with self-adaptive wheel track adjusting function and adjusting method thereof |
-
2021
- 2021-04-27 CN CN202110460060.1A patent/CN113147890A/en not_active Withdrawn
- 2021-07-13 CN CN202110789601.5A patent/CN113460157A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113859359A (en) * | 2021-12-03 | 2021-12-31 | 南京天创电子技术有限公司 | Movement control method of light explosion-proof four-wheel eight-drive chassis |
| CN114408051A (en) * | 2022-02-21 | 2022-04-29 | 之江实验室 | Three-wheel light detection sampling wheel type robot with active suspension structure |
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| Publication number | Publication date |
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| CN113460157A (en) | 2021-10-01 |
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Application publication date: 20210723 |