CN207790839U - Turn to robot - Google Patents
Turn to robot Download PDFInfo
- Publication number
- CN207790839U CN207790839U CN201820129269.3U CN201820129269U CN207790839U CN 207790839 U CN207790839 U CN 207790839U CN 201820129269 U CN201820129269 U CN 201820129269U CN 207790839 U CN207790839 U CN 207790839U
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- China
- Prior art keywords
- mounting ring
- annular mounting
- fluted disc
- high speed
- gear
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Abstract
The utility model discloses a kind of steering robot, it includes servo motor (1), gear cover plate (3), upper annular mounting ring (7), output fluted disc (8), thin-wall bearing (9), support ring (10), lower annular mounting ring (11), it is characterised in that：Servo motor (1) is installed on the outside of gear cover plate (3), it is provided with deceleration device on the inside of gear cover plate (3), output fluted disc (8) is disposed between upper annular mounting ring (7) and lower annular mounting ring (11), it is cyclic structure to export fluted disc (8), it exports between fluted disc (8) and upper annular mounting ring (7) by thin-wall bearing (9) as support, thin-wall bearing (9) rotor portion is fixed with output fluted disc (8), turn to robot can to test vehicle carry out accurately direction controlling to reach test request, and whole device is small, it is at low cost.
Description
Technical field
The utility model is related to advanced DAS (Driver Assistant System) test devices, especially can make to be tested under automatic control state
Examination steering wheel for vehicle rotates and carries out the steering robot of accurate control.
Background technology
In the advanced DAS (Driver Assistant System) of test vehicle, such as when AEB, need to carry out the direction for being tested vehicle accurate
Control, and due to the influence of human driver's individual factor so that be extremely difficult to the requirement of experiment, it is therefore necessary to use to turn
Steering wheel is controlled instead of human driver to robot.
A kind of existing servomechanism, patent of invention number are CN102596685B, propose one kind under automatic control
The servomechanism for making car steering wheel rotate, is mainly made of the motor of central opening and circular encoder, center is opened
The motor of mouth has the ring-shaped rotor fixed on the steering wheel and the stator being anchored with anti-rotation.During the shortcomings that device, is
Entreat the motor volume of opening big and expensive.
Utility model content
In order to overcome the deficiencies of the prior art, the purpose of this utility model is to provide a kind of advanced DAS (Driver Assistant System) test use
Turn to robot.
The utility model is for its technical problem of solution and the technical solution adopted is that a kind of steering robot comprising servo
Motor, gear cover plate, upper annular mounting ring, output fluted disc, thin-wall bearing, support ring, lower annular mounting ring, it is characterised in that：
Servo motor is installed on the outside of gear cover plate, is provided with deceleration device on the inside of gear cover plate, upper annular mounting ring and
Output fluted disc is disposed between lower annular mounting ring, output fluted disc is cyclic structure, is exported between fluted disc and upper annular mounting ring
By thin-wall bearing as supporting, thin-wall bearing rotor portion is fixed with output fluted disc, and thin-wall bearing stationary part is pacified with upper annular
Dress ring is fixed, and support ring is used for the support and positioning of thin-wall bearing；Output fluted disc is fixed with lower annular mounting ring；Servo motor energy
Enough output fluted disc and lower annular mounting ring is driven to rotate by deceleration device.
Further, further include torque reaction mechanism, the upper annular mounting ring of torque reaction mechanism one end connection, torque
The other end of reaction mechanism is fixed on glass for vehicle window by sucker, and lower annular mounting ring is connected to steering wheel by fixed jaw.
Further, deceleration device includes high speed level little gear, high speed grade gear wheel, slow speed turbine stage pinion gear, wherein servo
Motor is connect by key with high speed level little gear, and high speed level little gear is intermeshed with high speed grade gear wheel, high speed level little gear
It is driven with high speed grade gear wheel and realizes primary speed-down；High speed grade gear wheel and slow speed turbine stage pinion gear coaxial transmission, the small tooth of slow speed turbine stage
Wheel realizes double reduction with output fluted disc transmission.
Further, there is the sliding slot along radial direction on fixed jaw mounting plate.
Further, force sensor in torque reaction mechanism is measured by force snesor and is applied to turning for steering wheel
To torque.
The advantageous effect of the utility model is：It can be in the case where not carrying out any repacking to test vehicle, by it
Be fixed between steering wheel and glass for vehicle window, and to test vehicle carry out accurately direction controlling to reach test request, and
Whole device it is small, it is at low cost.In addition, fixed jaw arrangement has the spy for overcoming steering wheel and turning to robot decentraction
Point.
Description of the drawings
Fig. 1 is the exploded view for turning to robot；
Fig. 2 is the shaft side figure for turning to robot；
Fig. 3 is the relevant position sectional view of rotational structure.
Wherein：1- servo motors, 2- bearing (ball) covers, 3- gear cover plates, 4- high speed grades gear wheel, 5- slow speed turbine stages pinion gear,
Annular installation under the upper annular mounting ring of 6- high speed level little gears, 7-, 8- outputs fluted disc, 9- thin-wall bearings, 10- support rings, 11-
Ring, 12- fixed jaws mounting plate, 13- fixed jaws, 14- steering wheels, 15- torque reactions mechanism, 16- force snesors, 17- suckers.
Specific implementation mode
The technology implementation process of the utility model is further elaborated below in conjunction with the accompanying drawings：
Shown in attached drawing 1, this embodiment offers a kind of steering robots comprising：Servo motor 1, bearing (ball) cover
2, gear cover plate 3, high speed grade gear wheel 4, slow speed turbine stage pinion gear 5, high speed level little gear 6, upper annular mounting ring 7, output fluted disc
8, thin-wall bearing 9, support ring 10, lower annular mounting ring 11, fixed jaw mounting plate 12, fixed jaw 13, torque reaction mechanism 15,
Force snesor 16, sucker 17.
Wherein, it is used as power plant, servo motor 1 to be installed on 3 outside of gear cover plate, gear cover plate 3 using servo motor 1
Inside is provided with deceleration device, and output fluted disc 8 is disposed between upper annular mounting ring 7 and lower annular mounting ring 11, exports fluted disc 8
For cyclic structure, exporting has thin-wall bearing 9 as support, 9 rotor portion of thin-wall bearing between fluted disc 8 and upper annular mounting ring 7
It is fixed with output fluted disc 8,9 stationary part of thin-wall bearing is fixed with upper annular mounting ring 7, and support ring 10 is used for thin-wall bearing 9
Support and positioning.Fluted disc 8 is exported to fix with lower annular mounting ring 11.When servo motor 1 rotates, after deceleration device slows down
Output fluted disc 8 and the rotation of lower annular mounting ring 11 are driven, there are one phases to make upper annular mounting ring 7 and lower annular mounting ring 11
To rotation.
The upper annular mounting ring 7 of torque reaction mechanism 15 one end connection, the other end of torque reaction mechanism 15 pass through suction
Disk 17 is fixed on glass for vehicle window, and lower annular mounting ring 11 is connected to steering wheel 14 by fixed jaw 13, and lower annular mounting ring 11 is logical
It crosses fixed jaw 13 and is connected to steering wheel 14, the relative rotation in this way can achieve the purpose that steering wheel rotation.
Deceleration device includes high speed level little gear 6, high speed grade gear wheel 4, slow speed turbine stage pinion gear 5, wherein the servo motor
1 is connect by key with high speed level little gear 6, directly high speed level little gear 6 is driven to rotate, high speed level little gear 6 and high speed grade are big
4 outer tooth engagement of gear, the high speed level little gear 6 reach primary speed-down effect with the transmission of high speed grade gear wheel 4；The high speed grade
Gear wheel 4 and 5 coaxial transmission of slow speed turbine stage pinion gear, the slow speed turbine stage pinion gear 5 reach double reduction effect with the output transmission of fluted disc 8
Fruit；
Referring to attached drawing 1-3, there are the sliding slot along radial direction, such the utility model to turn to machine on fixed jaw mounting plate 12
People can be suitable for different size of steering wheel；And between fixed jaw mounting plate 12 and fixed jaw 13 be it is hinged, in this way
Even if having a certain range of nonconcentricity between steering wheel and steering robot, interference will not be generated, and install
It also can be very convenient.
Force sensor 16 in torque reaction mechanism 15 can be measured by force snesor 16 by the transmission principle of power and be applied
It is added on the steering torque of steering wheel 14.
Bearing (ball) cover 2 is set to gear cover plate 3, with the bearing to closing high speed grade gear wheel 4 and slow speed turbine stage pinion gear 5.
Specific case used herein is expounded the principles of the present invention and embodiment, above example
Explanation be merely used to help understand the core concept of the utility model.It should be pointed out that for the ordinary skill of the art
For personnel, without departing from the principle of this utility model, several improvements and modifications can be made to this utility model,
Modifications and modifications also fall within the protection scope of the claims of the utility model.
Claims (5)
1. a kind of steering robot comprising servo motor (1), gear cover plate (3), upper annular mounting ring (7), output fluted disc
(8), thin-wall bearing (9), support ring (10), lower annular mounting ring (11), it is characterised in that：
Servo motor (1) is installed on the outside of gear cover plate (3), and deceleration device, upper annular installation are provided on the inside of gear cover plate (3)
Output fluted disc (8) is disposed between ring (7) and lower annular mounting ring (11), output fluted disc (8) is cyclic structure, exports fluted disc
(8) it is used as and is supported by thin-wall bearing (9) between upper annular mounting ring (7), thin-wall bearing (9) rotor portion and output fluted disc
(8) fixed, thin-wall bearing (9) stationary part is fixed with upper annular mounting ring (7), and support ring (10) is for thin-wall bearing (9)
Support and positioning；It is fixed with lower annular mounting ring (11) to export fluted disc (8)；Servo motor (1) can be driven by deceleration device
Export fluted disc (8) and lower annular mounting ring (11) rotation.
2. a kind of steering robot according to claim 1, it is characterised in that：Further include torque reaction mechanism (15),
The upper annular mounting ring (7) of torque reaction mechanism (15) one end connection, the other end of torque reaction mechanism (15) pass through sucker
(17) it is fixed on glass for vehicle window, lower annular mounting ring (11) is connected to steering wheel (14) by fixed jaw (13).
3. a kind of steering robot according to claim 1, it is characterised in that：Deceleration device includes high speed level little gear
(6), high speed grade gear wheel (4), slow speed turbine stage pinion gear (5), wherein servo motor (1) is connected by key and high speed level little gear (6)
It connects, high speed level little gear (6) is intermeshed with high speed grade gear wheel (4), high speed level little gear (6) and high speed grade gear wheel (4)
Primary speed-down is realized in transmission；High speed grade gear wheel (4) and slow speed turbine stage pinion gear (5) coaxial transmission, slow speed turbine stage pinion gear (5) with it is defeated
Go out fluted disc (8) transmission and realizes double reduction.
4. a kind of steering robot according to claim 1, it is characterised in that：Fixed jaw mounting plate has on (12) along radius
The sliding slot in direction.
5. a kind of steering robot according to claim 1, it is characterised in that：Torque reaction mechanism effectively passes on (15)
Sensor (16) measures the steering torque for being applied to steering wheel (14) by force snesor (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820129269.3U CN207790839U (en) | 2018-01-25 | 2018-01-25 | Turn to robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820129269.3U CN207790839U (en) | 2018-01-25 | 2018-01-25 | Turn to robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207790839U true CN207790839U (en) | 2018-08-31 |
Family
ID=63270478
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820129269.3U Active CN207790839U (en) | 2018-01-25 | 2018-01-25 | Turn to robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207790839U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114572302A (en) * | 2022-03-04 | 2022-06-03 | 中国人民解放军军事科学院国防科技创新研究院 | Steering mechanism of automatic driving robot |
| CN114932944A (en) * | 2022-05-31 | 2022-08-23 | 中国汽车工程研究院股份有限公司 | Power-assisted steering anti-interference robot |
-
2018
- 2018-01-25 CN CN201820129269.3U patent/CN207790839U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114572302A (en) * | 2022-03-04 | 2022-06-03 | 中国人民解放军军事科学院国防科技创新研究院 | Steering mechanism of automatic driving robot |
| CN114932944A (en) * | 2022-05-31 | 2022-08-23 | 中国汽车工程研究院股份有限公司 | Power-assisted steering anti-interference robot |
| CN114932944B (en) * | 2022-05-31 | 2023-03-14 | 中国汽车工程研究院股份有限公司 | Power-assisted steering anti-interference robot |
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| GR01 | Patent grant |