CN201151425Y - Subminiature electric transmission differential steering gear - Google Patents
Subminiature electric transmission differential steering gear Download PDFInfo
- Publication number
- CN201151425Y CN201151425Y CNU2007201842816U CN200720184281U CN201151425Y CN 201151425 Y CN201151425 Y CN 201151425Y CN U2007201842816 U CNU2007201842816 U CN U2007201842816U CN 200720184281 U CN200720184281 U CN 200720184281U CN 201151425 Y CN201151425 Y CN 201151425Y
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- Prior art keywords
- planetary
- shaft
- planetary mechanical
- modified roll
- tooth
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Abstract
The utility model relates to a composition device of a micro-robot, in particular to a subminiature telex differential steering service used for the chassis of the micro-robot. The subminiature telex differential steering service comprises a main power input shaft, two steering motors of a left and a right steering motors, a left and a right power output shafts, a motor PWM controller, a zero-axis commutator, and two planetary mechanical differential mechanisms of a left and a right planetary mechanical differential mechanisms, wherein, the two steering motors of the left and the right steering motors are respectively arranged on the two planetary mechanical differential mechanisms of the left and the right planetary mechanical differential mechanisms, the two steering motors of the left and the right steering motors are connected in parallel, the motor PWM controller is arranged between the steering motors; the main power input shaft is connected with the two planetary mechanical differential mechanisms of the left and the right planetary mechanical differential mechanisms, and the left and the right power output shafts are respectively arranged on the two planetary mechanical differential mechanisms of the left and the right planetary mechanical differential mechanisms. The composition device of the utility model integrates the good control of the motor with the characteristics of the accurate operation of the planetary differential mechanism, and meanwhile, simplifies a system to a certain extent, thus leading the reliability and the stability of the system to be strengthened.
Description
Technical field
The utility model relates to the component devices of small scale robot.The micro-miniature fax differential steering device that is used for the small scale robot chassis specifically.
Background technology
At present, how crawler type and pleiotaxy robot chassis are controlled when turning in the following way:
1, adopt double-motor respectively speed governing control the speed of both sides crawler belt (wheel); Yet this scheme is the simplest disadvantage that it is difficult to overcome that but has: the controllability of direction is not good, particularly serious when speed height and complex road surface, a series of problems such as this can cause the ROBOT CONTROL accuracy to descend, and long straight-line motion is difficult to be realized, the Turning radius error is bigger.
2, adopt stepping motor or double-motor simultaneous techniques to solve the problem of taking the air line; Adopt the retarder of big converter speed ratio (having self-lock ability) or stepping motor or the accurate braking technology of DC machine to solve turning error.Used like this technology more complicated, cost also can be higher, and the employing of big converter speed ratio retarder or stepping motor also can make the kinematic velocity of robot be subjected to bigger restriction, and mechanical efficiency and reliability can be too not high yet;
3, adopt the bilateral power-transfer clutch of mechanical type to control the takeoff output of one-sided crawler belt (wheel), promptly break away from (or braking simultaneously) and turn to inner side edge power.The required manipulation force of this mechanism is bigger, and steerage gear efficient is also very low, is not suitable for doing continuous handling maneuver, has tangible wear-out part, and fault rate is bigger.
4, mechanical modified roll mechanism cooperates the controlled hydraulic motor technologies to realize turning to of no standard radius, and this is a kind ofly to turn to technology efficiently, but system complex is applied to full size vehicle mostly, and the application of hydraulic technique also is unfavorable for miniaturization.
The utility model content
For overcoming the above-mentioned defective of existing product, the utility model provides a kind of fax differential steering mechanism that combines electric machine control and modified roll mechanism preceence, raising its steerage gear efficient and reliability that not only can be by a relatively large margin, and also difficulty is comparatively moderate.
The utility model is achieved through the following technical solutions:
A kind of micro-miniature fax differential steering device, comprise the active force input shaft, about two steer motor, the left and right moving power output shaft, the motor PWM controller, zero axle commutator and about two planetary mechanical modified roll mechanisms, about two steer motor are installed in respectively wherein on two planetary mechanical modified roll mechanisms, and about two steer motor for being connected in parallel, the motor PWM controller is set between the two, the active force input shaft with about two planetary mechanical modified roll mechanisms be connected, about the left and right moving power output shaft is separately positioned on two planetary mechanical modified roll mechanisms.
As a kind of improvement of the present utility model, described planetary mechanical modified roll mechanism comprises the input tooth, the center sun wheel, satellite gear, the satellite gear gear ring, pinion carrier and output shaft, described zero axle commutator comprises turbo-shaft tooth group, zero axle commutating tooth group, zero axle, driving cog, described steer motor is connected with a joggle by motor output worm screw and turbo-shaft tooth group, the transmission gear of turbo-shaft tooth group is connected with a joggle with center sun wheel and zero axle commutating tooth group respectively, zero axle commutating tooth group links to each other with zero axle engagement, and drive driving cog, described input tooth and satellite gear gear ring are connected with a joggle, output shaft is captiveed joint with pinion carrier, and described active force input shaft power take-off shaft is captiveed joint with output shaft with the input tooth of planetary mechanical modified roll mechanism respectively.
As a kind of improvement of the present utility model, described zero axle commutating tooth group is combined by two axle gear and zero shaft drive tooth.
As a kind of improvement of the present utility model, described zero axle commutating tooth group can be made up of straight-tooth or awl tooth.
As a kind of improvement of the present utility model, described planetary mechanical modified roll mechanism is outside equipped with casing and case lid.
As a kind of improvement of the present utility model, described zero axle commutator places in the casing of planetary mechanical modified roll mechanism or places outside the casing.
Below the utility model is further described:
Entire mechanism is made of basic elements of character such as steer motor, motor PWM controller, planetary mechanical modified roll mechanisms.Its constructional feature is that left and right sides crawler belt (wheel) respectively has one group of planetary mechanical modified roll mechanism (bus duct), planetary mechanical modified roll mechanism (bus duct) is by the center sun wheel, gear ring, satellite gear and pinion carrier, output shaft constitutes, steering power is connected in parallel by two but is installed on the center sun wheel that steer motor on planetary mechanical modified roll mechanism (bus duct) casing is input to planetary separately mechanical modified roll mechanism (bus duct) respectively, active force is imported by the planetary mechanical modified roll mechanisms in both sides (bus duct) gear ring, pinion carrier is then synthesized the steering power on active force on the gear ring and the center sun wheel and is exported by the output shaft that is fixed on the pinion carrier, then be connected by zero axle that has commutator between the planetary mechanical modified roll mechanisms in both sides (bus duct), steer motor is then by PWM controller control rotating speed and direction.
The utility model compared with prior art has following beneficial effect:
1, the steer motor by special use cooperates planetary cross-country power mechanism to realize the differential motion of both sides wheel, combine the good controlled and planetary cross-country power mechanism of motor and move characteristic accurately, system is simplified to a certain extent, the reliability and stability of system are strengthened;
2, can realize that controlled stepless regulation Turning radius turns to, turning efficiency is more satisfactory;
Inboard crawler belt produces regenerating power and can feed back to outside crawler belt by zero axle when 3, turning to, and has improved the degree of utilization of power;
4, steer motor only participates in work when needs turn to, and has reduced the consumption of the energy, and this is more favourable to the work-hours that prolongs robot;
5, owing to link with zero axle between the bus duct of the left and right sides, do not have in steer motor to have guaranteed the strict conformance of bilateral crawler belt (wheel) rotating speed under the situation of action;
6, steering power is divided into left and right sides two-way steer motor and imports respectively, makes entire arrangement more flexible, and reliability also further is improved.
Description of drawings
Fig. 1 is a structural representation of the present utility model.
Fig. 2 is the structural representation of right steering motor of the present utility model and right planetary mechanical modified roll mechanism.
The specific embodiment
With reference to the accompanying drawings and by embodiment the utility model is described in further detail.
In conjunction with the accompanying drawings 1, a kind of micro-miniature fax differential steering device, comprise active force input shaft 10, about two steer motor 30,40, left and right moving power output shaft 70,80 is characterized in that: this device also comprises motor PWM controller 20, zero axle commutator 90 and about two planetary mechanical modified roll mechanisms 50,60, about two steer motor 30,40 are installed in respectively wherein on two planetary mechanical modified roll mechanisms 50,60, and about two steer motor 30,40 for being connected in parallel, and motor PWM controller 20 is set between the two, active force input shaft 10 with about two planetary mechanical modified roll mechanisms 50,60 connect, about left and right moving power output shaft 70,80 is separately positioned on two planetary mechanical modified roll mechanisms 50,60.
In conjunction with the accompanying drawings shown in 2, described planetary mechanical modified roll mechanism 50 comprises input tooth 7, center sun wheel 9, satellite gear 13, satellite gear gear ring 14, pinion carrier 12 and output shaft 8, described zero axle commutator 90 comprises turbo-shaft tooth group 2, zero axle commutating tooth group 4, zero axle 5, driving cog 6, described steer motor 30 is connected with a joggle by motor output worm screw 3 and turbo-shaft tooth group 2, the transmission gear of turbo-shaft tooth group 2 is connected with a joggle with center sun wheel 9 and zero axle commutating tooth group 4 respectively, 5 engagements link to each other zero axle commutating tooth group 4 with zero axle, and drive driving cog 6, described input tooth 14 and satellite gear gear ring 14 are connected with a joggle, output shaft 8 is captiveed joint with pinion carrier 12, and described active force input shaft 10 power take-off shafts 70 are captiveed joint with output shaft 8 with the input tooth 7 of planetary mechanical modified roll mechanism 50 respectively.Wherein, turbo-shaft tooth group 2 is fixed on the axle with center sun wheel 9 ingear transmission gears by turbine and one and constitutes.Adopting the worm screw turbo drive is in order to make steering power have reverse self-lock ability, for improving its driving efficiency, to have used the multi-start worm screw technology; Zero axle commutating tooth group 4 is combined by two axle gear (is positioned at the opposite side casing) and zero shaft drive tooth, and two side center sun wheels were reversed relatively when final realization zero axle rotated.This commutator also can be realized by one group of finishing bevel gear cuter, also can be arranged in the casing outside separately.
Embodiment is the fax differential steering device of straight-tooth axle gear zero axle reverse drive in an employing multi-start worm screw and the case.
During the vehicle straight-line travelling, steer motor is action not, and because the self-locking action of worm screw makes the center sun wheel be in stationary state, active force is passed to output shaft by gear ring, satellite gear, pinion carrier like this, because the active force of left and right sides casing is from same propulsion source, so the rotating speed of left and right output shaft is identical; When vehicle turns to, steer motor is rotated to a certain direction, the power that passes to turbo-shaft tooth group by worm screw will drive the center sun wheel and rotate to a direction, according to the planetary cross-country power mechanism principle of work, output after pinion carrier (connecting firmly with the output shaft) kinematic velocity of this moment and direction will superpose by the motion of gear ring and center sun wheel; Again because the input of steer motor is also relevant with the center sun wheel machinery of offside by the commutating tooth group, this just causes the action of steer motor can make the rotating speed of both sides output shaft do oppositely directed relatively motion, the speed of i.e. side speed increase opposite side then lowers, and the amplitude of increase and decrease equates.In this process because inboard crawler belt (wheel) is to slow down, the outside is to quicken, the inboard just will inevitably want affluence to come out by some energy, this part energy can be delivered to the energy that outside crawler belt (wheel) just in time can compensate the required increase in the outside by zero axle, has improved to turn to energy utilization ratio.Obviously, as long as change the rotating speed and the direction of steer motor, vehicle just can be realized turning to by the Turning radius of various needs, even can also realize pivot stud (only having the counter-rotational relatively no-radius of two side crawler belts (wheel) to turn to) under the situation that active force is cut off.
The device that the utility model provides also can only be provided with a steer motor, steer motor respectively by worm screw with about the center sun wheel of two planetary mechanical modified roll mechanisms be connected and be meshed.
Certainly; the utility model can also have other various embodiments; under the situation that does not deviate from the utility model spirit and essence thereof; those of ordinary skill in the art can make various corresponding changes and distortion according to the present invention, but these corresponding change and distortion all should belong to the utility model the protection domain of claim.
Claims (6)
1. micro-miniature fax differential steering device, comprise active force input shaft (10), about two steer motor (30,40), left and right moving power output shaft (70,80), it is characterized in that: this device also comprises motor PWM controller (20), zero axle commutator (90) and about two planetary mechanical modified roll mechanisms (50,60), two steer motor (30 wherein, 40) be installed in respectively about two planetary mechanical modified roll mechanisms (50,60) on, and about two steer motor (30,40) for being connected in parallel, motor PWM controller (20) is set between the two, active force input shaft (10) with about two planetary mechanical modified roll mechanisms (50,60) connect left and right moving power output shaft (70,80) be separately positioned on about on two planetary mechanical modified roll mechanisms (50,60).
2. micro-miniature fax differential steering device according to claim 1, it is characterized in that: described planetary mechanical modified roll mechanism (50) comprises input tooth (7), center sun wheel (9), satellite gear (13), satellite gear gear ring (14), pinion carrier (12) and output shaft (8), described zero axle commutator (90) comprises turbo-shaft tooth group (2), zero axle commutating tooth group (4), zero axle (5), driving cog (6), described steer motor (30) is connected with a joggle by motor output worm screw (3) and turbo-shaft tooth group (2), the transmission gear of turbo-shaft tooth group (2) is connected with a joggle with center sun wheel (9) and zero axle commutating tooth group (4) respectively, zero axle commutating tooth group (4) links to each other with zero axle (5) engagement, and drive driving cog (6), described input tooth (14) and satellite gear gear ring (14) are connected with a joggle, output shaft (8) is captiveed joint with pinion carrier (12), and described active force input shaft (10) power take-off shaft (70) is captiveed joint with output shaft (8) with the input tooth (7) of planetary mechanical modified roll mechanism (50) respectively.
3. micro-miniature fax differential steering device according to claim 2 is characterized in that: described zero axle commutating tooth group (4) is combined by two axle gear and zero shaft drive tooth.
4. micro-miniature fax differential steering device according to claim 2 is characterized in that: described zero axle commutating tooth group (4) can be made up of straight-tooth or awl tooth.
5. micro-miniature fax differential steering device according to claim 1 and 2 is characterized in that: described planetary mechanical modified roll mechanism is outside equipped with casing (15) and case lid (16).
6. micro-miniature fax differential steering device according to claim 2 is characterized in that: described zero axle commutator (90) places in the casing (15) of planetary mechanical modified roll mechanism or places outside the casing (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007201842816U CN201151425Y (en) | 2007-10-15 | 2007-10-15 | Subminiature electric transmission differential steering gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007201842816U CN201151425Y (en) | 2007-10-15 | 2007-10-15 | Subminiature electric transmission differential steering gear |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201151425Y true CN201151425Y (en) | 2008-11-19 |
Family
ID=40127104
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2007201842816U Expired - Fee Related CN201151425Y (en) | 2007-10-15 | 2007-10-15 | Subminiature electric transmission differential steering gear |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201151425Y (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103244635A (en) * | 2012-02-03 | 2013-08-14 | 中国人民解放军63983部队 | Compound transmission mechanism |
| CN105501055A (en) * | 2014-09-26 | 2016-04-20 | 上海中科深江电动车辆有限公司 | Transmission device and driving control method for track vehicle |
| WO2020088420A1 (en) * | 2018-11-02 | 2020-05-07 | 杭州海康机器人技术有限公司 | Unmanned guided carrier and chassis therefor |
| CN112590926A (en) * | 2020-12-18 | 2021-04-02 | 盐城市新明悦机械制造有限公司 | Motor differential steering device and control method thereof |
-
2007
- 2007-10-15 CN CNU2007201842816U patent/CN201151425Y/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103244635A (en) * | 2012-02-03 | 2013-08-14 | 中国人民解放军63983部队 | Compound transmission mechanism |
| CN105501055A (en) * | 2014-09-26 | 2016-04-20 | 上海中科深江电动车辆有限公司 | Transmission device and driving control method for track vehicle |
| CN105501055B (en) * | 2014-09-26 | 2018-07-24 | 上海中科深江电动车辆有限公司 | The transmission device and travel control method of endless-track vehicle |
| WO2020088420A1 (en) * | 2018-11-02 | 2020-05-07 | 杭州海康机器人技术有限公司 | Unmanned guided carrier and chassis therefor |
| EP3875353A4 (en) * | 2018-11-02 | 2021-12-22 | Hangzhou Hikrobot Technology Co., Ltd. | Unmanned guided carrier and chassis therefor |
| CN112590926A (en) * | 2020-12-18 | 2021-04-02 | 盐城市新明悦机械制造有限公司 | Motor differential steering device and control method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20081119 Termination date: 20101015 |