CN207550349U - A kind of robot steering wheel device - Google Patents
A kind of robot steering wheel device Download PDFInfo
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- CN207550349U CN207550349U CN201721305644.7U CN201721305644U CN207550349U CN 207550349 U CN207550349 U CN 207550349U CN 201721305644 U CN201721305644 U CN 201721305644U CN 207550349 U CN207550349 U CN 207550349U
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- speed
- reducing
- mounting base
- magnetic coder
- shank
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Abstract
The utility model proposes a kind of robot steering wheel device, including shank rear shell, shank front housing, DC speed-reducing two, DC speed-reducing mounting base two, Hooks coupling universal coupling, bottom bearing axis, wheel hub motor, motor control panel end cap, wheel hub motor mounting base, the steering wheel device are driven by DC speed-reducing two, two rear end of DC speed-reducing is equipped with magnetic coder, and the steering wheel device can obtain high precision velocity and position feedback by magnetic coder.Robot can realize Omni-mobile by the steering wheel device, and pivot turn improves handling capacity of the robot in narrow passageway, and high-precision turning velocity and steering position feedback can be obtained by magnetic coder, so as to fulfill high-precision direction controlling.
Description
Technical field
The present invention relates to mobile robot technology fields, and in particular to a kind of robot steering wheel device.
Background technology
Mobile robot increasingly increases in the application of all trades and professions in recent years, and the application scenarios that robot is faced also become
It becomes increasingly complex, the overwhelming majority is turned using two wheel guide robot when mobile robot is turned at present, but two wheel guide robot turning needs
Certain turning radius is wanted, the normally travel that the situation two of turning insufficient space influences robot is will appear when space is smaller.
Invention content
The object of the present invention is to provide a kind of robot steering wheel devices.
The technical solution adopted in the present invention is：
1. a kind of robot steering wheel device, including shank rear shell (1-10), shank front housing (1-06), DC speed-reducing two
(1-16), DC speed-reducing mounting base two (1-17), Hooks coupling universal coupling (1-19), bottom bearing axis (1-18), wheel hub motor
(1-07), motor control panel end cap (1-08), wheel hub motor mounting base (1-09), the shank rear shell (1-10) and shank front housing
(1-06) is fixedly mounted, and the DC speed-reducing two (1-16) is fixedly mounted with DC speed-reducing mounting base two (1-17),
The DC speed-reducing mounting base two (1-17) is fixedly mounted on shank rear shell (1-10) and shank front housing (1-06), described
Hooks coupling universal coupling (1-19) one end is fixedly connected with DC speed-reducing two (1-16) main shaft, the other end and bottom bearing axis (1-
18) one end is fixedly connected, and the bottom bearing axis (1-18) passes through rolling with shank rear shell (1- 10) and shank front housing (1-06)
Bearing is rotatablely connected, and bottom bearing axis (1-18) other end is fixedly connected with wheel hub motor mounting base (1-09), and direct current subtracts
Speed motor two (1-16) passes through Hooks coupling universal coupling (1-19) and bottom bearing axis (1-18) drive hub motor mount (1-09)
So as to drive entire bottom joint.
2. further, DC speed-reducing two (1-16) rear end is equipped with magnetic coder, including magnetic coder (1-
26), magnetic coder mounting base (1-23), electromagnet (1-25), magnet mounting base (1-24), the magnetic coder are compiled for absolute type
Code device, the magnetic coder (1-26) are fixedly mounted with magnetic coder mounting base (1-23), the magnetic coder mounting base (1-
23) it is fixedly mounted on DC speed-reducing two (1-16) rear end face, the magnet mounting base (1-24) and DC speed-reducing
Two (1-16) rear end shafts are fixedly mounted, and the electromagnet (1-25) is fixedly mounted with magnet mounting base (1-24), and are compiled with magnetic
Code device (1-26) matches, and the electromagnet (1-25) is by magnet mounting base (1-24) with DC speed-reducing two (1-16)
Rear end shaft is rotated and is rotated, and magnetic coder (1-26) obtains the high-precision of bottom joint by detecting the rotational angle of electromagnet
Spend speed and position feedback.
3. circlip for shaft is installed further, on the bottom bearing axis (1-18) there are card slot, on card slot additional to rolling
Dynamic bearing carries out axial limiting.
The beneficial effects of the invention are as follows：Mobile robot can realize Omni-mobile, pirouette by installing the steering wheel device additional
It is curved, handling capacity of the robot in narrow passageway is improved, and high-precision turning velocity can be obtained by magnetic coder and is turned
To position feedback, so as to fulfill high-precision direction controlling.
Description of the drawings
One inside modules structure chart of Fig. 1 pedipulators；
One module axonometric drawing of Fig. 2 pedipulators；
Fig. 3 steering wheel device internal structure charts.
Specific embodiment
In order to it is clearer, completely illustrate technical scheme of the present invention, the present invention is made below in conjunction with the accompanying drawings further
Explanation.Wherein, the drawings are for illustrative purposes only and are merely schematic diagrams rather than pictorial diagram, it is impossible to be interpreted as to this patent
Limitation；In order to be better described the embodiment of the present invention, certain components in attached drawing have omission, zoom in or out, not
Represent the size of actual product；The same or similar label correspond to the same or similar components.
1. as shown in Fig. 1~2, a kind of robot steering wheel device, including shank rear shell (1-10), shank front housing (1-06),
DC speed-reducing two (1-16), DC speed-reducing mounting base two (1-17), Hooks coupling universal coupling (1-19), bottom bearing axis
(1-18), wheel hub motor (1-07), motor control panel end cap (1- 08), wheel hub motor mounting base (1-09), the shank rear shell
(1-10) is fixedly mounted with shank front housing (1-06), the DC speed-reducing two (1-16) and DC speed-reducing mounting base two
(1-17) is fixedly mounted, before the DC speed-reducing mounting base two (1-17) is fixedly mounted on shank rear shell (1-10) and shank
On shell (1-06), described Hooks coupling universal coupling (1-19) one end is fixedly connected with DC speed-reducing two (1-16) main shaft, the other end
It is fixedly connected with bottom bearing axis (1-18) one end, before the bottom bearing axis (1-18) and shank rear shell (1-10) and shank
Shell (1-06) is rotatablely connected by rolling bearing, bottom bearing axis (1-18) other end and wheel hub motor mounting base (1-09)
It is fixedly connected, DC speed-reducing two (1-16) passes through Hooks coupling universal coupling (1-19) and bottom bearing axis (1-18) drive hub
Motor mount (1-09) is so as to drive entire bottom joint.
2. as shown in figure 3, the DC speed-reducing two (1-16) rear end is equipped with magnetic coder, including magnetic coder (1-
26), magnetic coder mounting base (1-23), electromagnet (1-25), magnet mounting base (1-24), the magnetic coder are compiled for absolute type
Code device, the magnetic coder (1-26) are fixedly mounted with magnetic coder mounting base (1-23), the magnetic coder mounting base (1-
23) it is fixedly mounted on DC speed-reducing two (1-16) rear end face, the magnet mounting base (1-24) and DC speed-reducing
Two (1-16) rear end shafts are fixedly mounted, and the electromagnet (1-25) is fixedly mounted with magnet mounting base (1-24), and are compiled with magnetic
Code device (1-26) matches, and the electromagnet (1-25) is by magnet mounting base (1-24) with DC speed-reducing two (1-16)
Rear end shaft is rotated and is rotated, and magnetic coder (1-26) obtains the high-precision of bottom joint by detecting the rotational angle of electromagnet
Spend speed and position feedback.
3. as shown in figure 3, circlip for shaft is installed additional there are card slot on the bottom bearing axis (1-18), on card slot to rolling
Dynamic bearing carries out axial limiting.
Claims (3)
1. a kind of robot steering wheel device, including shank rear shell (1-10), shank front housing (1-06), two (1- of DC speed-reducing
16), DC speed-reducing mounting base two (1-17), Hooks coupling universal coupling (1-19), bottom bearing axis (1-18), wheel hub motor (1-
07), motor control panel end cap (1-08), wheel hub motor mounting base (1-09), the shank rear shell (1-10) and shank front housing (1-
06) it is fixedly mounted, the DC speed-reducing two (1-16) is fixedly mounted with DC speed-reducing mounting base two (1-17), described
DC speed-reducing mounting base two (1-17) is fixedly mounted on shank rear shell (1-10) and shank front housing (1-06), described universal
Shaft coupling (1-19) one end is fixedly connected with DC speed-reducing two (1-16) main shaft, the other end and bottom bearing axis (1-18) one
End is fixedly connected, and the bottom bearing axis (1-18) is forwarded with shank rear shell (1-10) and shank front housing (1-06) by the axis of rolling
Dynamic connection, bottom bearing axis (1-18) other end are fixedly connected with wheel hub motor mounting base (1-09), DC speed-reducing
Two (1-16) are by Hooks coupling universal coupling (1-19) and bottom bearing axis (1-18) drive hub motor mount (1-09) so as to drive
Move entire bottom joint.
2. robot steering wheel device as described in claim 1, it is further characterized in that：Two (the 1- of DC speed-reducing
16) rear end is equipped with magnetic coder, including magnetic coder (1-26), magnetic coder mounting base (1-23), electromagnet (1-25), magnet
Mounting base (1-24), the magnetic coder are absolute type encoder, the magnetic coder (1-26) and magnetic coder mounting base (1-
23) it is fixedly mounted, the magnetic coder mounting base (1-23) is fixedly mounted on DC speed-reducing two (1-16) rear end face, institute
It states magnet mounting base (1-24) to be fixedly mounted with DC speed-reducing two (1-16) rear end shaft, the electromagnet (1-25) and magnetic
Iron mounting base (1-24) is fixedly mounted, and matches with magnetic coder (1-26), and the electromagnet (1-25) is installed by magnet
Seat (1-24) is rotated with DC speed-reducing two (1-16) rear end shaft and is rotated, and magnetic coder (1-26) is by detecting electromagnet
Rotational angle and obtain the high precision velocity and position feedback of bottom joint.
3. robot steering wheel device as described in claim 1, it is further characterized in that：On the bottom bearing axis (1-18)
Circlip for shaft is installed additional there are card slot, on card slot, and axial limiting is carried out to rolling bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721305644.7U CN207550349U (en) | 2017-10-11 | 2017-10-11 | A kind of robot steering wheel device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721305644.7U CN207550349U (en) | 2017-10-11 | 2017-10-11 | A kind of robot steering wheel device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207550349U true CN207550349U (en) | 2018-06-29 |
Family
ID=62675532
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721305644.7U Active CN207550349U (en) | 2017-10-11 | 2017-10-11 | A kind of robot steering wheel device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207550349U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107757748A (en) * | 2017-10-11 | 2018-03-06 | 深圳市普渡科技有限公司 | A kind of robot steering wheel device |
| CN110091705A (en) * | 2019-06-06 | 2019-08-06 | 广东博智林机器人有限公司 | Steering wheel device and carrier |
| CN111231652A (en) * | 2020-01-17 | 2020-06-05 | 宁德师范学院 | Omnidirectional movement chassis structure with symmetrically distributed steering wheels and steering wheels thereof |
-
2017
- 2017-10-11 CN CN201721305644.7U patent/CN207550349U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107757748A (en) * | 2017-10-11 | 2018-03-06 | 深圳市普渡科技有限公司 | A kind of robot steering wheel device |
| CN107757748B (en) * | 2017-10-11 | 2024-04-09 | 深圳市普渡科技有限公司 | Steering wheel device of robot |
| CN110091705A (en) * | 2019-06-06 | 2019-08-06 | 广东博智林机器人有限公司 | Steering wheel device and carrier |
| CN111231652A (en) * | 2020-01-17 | 2020-06-05 | 宁德师范学院 | Omnidirectional movement chassis structure with symmetrically distributed steering wheels and steering wheels thereof |
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