CN210454945U - Robot pivot steering system and robot moving platform - Google Patents
Robot pivot steering system and robot moving platform Download PDFInfo
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- CN210454945U CN210454945U CN201921326026.XU CN201921326026U CN210454945U CN 210454945 U CN210454945 U CN 210454945U CN 201921326026 U CN201921326026 U CN 201921326026U CN 210454945 U CN210454945 U CN 210454945U
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Abstract
The utility model discloses a robot pivot steering system, which comprises a driving motor, a driving rod, two groups of link mechanisms and four wheel bodies; the output shaft of the driving motor is connected with the middle part of the driving rod, two ends of the driving rod are respectively hinged with a group of link mechanisms, and each group of link mechanisms are respectively hinged with two wheel bodies; the driving motor drives the driving rod to rotate, and the driving rod drives the two groups of link mechanisms to act simultaneously, so that the four wheel bodies are driven to rotate simultaneously through the two groups of link mechanisms. The robot original steering system adopts the synchronous steering mechanism to realize the function of generating four synchronous outputs by one input, reduces the number of motors, and has the advantages of simple structure, easy processing, low cost, wide application range, good synchronism and simple and convenient control. The robot pivot steering system can be used for a robot moving platform in a patrol environment with narrow space and few obstacles.
Description
Technical Field
The utility model relates to a robot pivot system of turning to simultaneously relates to the mobile platform of robot that contains above-mentioned pivot system of turning to, belongs to the robot and turns to technical field.
Background
With the rapid development of intellectualization and logistics storage, more and more mobile devices are coming into the visual field of people. The existing robot moving platform 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 moving platform is the most common, has fast, mobility advantage such as good.
For a robot moving platform which moves indoors or in a narrow space for operation, the robot moving platform with the pivot steering system is more suitable because the robot moving platform needs to have the characteristics of small turning radius, strong flexibility and the like.
The pivot steering system is a steering system with zero turning radius and capable of enabling the robot moving platform to have pivot turning capability. The pivot steering system has the best maneuvering performance, and can provide great convenience for turning around or working of the robot moving platform in a narrow area.
The existing pivot steering system mainly comprises a set of hydraulic system arranged on each of four wheels, and the hydraulic system is used for driving each wheel to deflect. For example, the invention application with the application number of 201110432858.1 discloses an automobile lateral displacement and in-situ steering system, wherein the system utilizes a hydraulic transmission principle, four hydraulic telescopic cylinders are arranged on an automobile chassis bearing frame and corresponding positions, telescopic rods of the telescopic cylinders are connected with four bearing trundles through pressure bearings, each bearing trundle is respectively connected with a low-rotation-speed and high-torque bidirectional hydraulic motor to form a system driving wheel, and the driving wheel realizes the rotation in the positive and negative directions through the bidirectional action of the hydraulic motors. The system changes the oil way and the oil flow direction through different actions of the electromagnetic valve, and can realize the in-situ steering of the automobile at any angle within 90 degrees and 360 degrees. The system comprises four independent hydraulic telescopic cylinders, and has the defects of various oil ways, large volume, complex structure, complex control, slow response, poor synchronism and the like.
Further, a distributed drive chassis platform that achieves four wheel independent steering is disclosed in the invention patent application No. 201910114272.7. And under the stop state of the automobile, each wheel assembly is subjected to steering control through the electric push rod main body, so that the in-situ steering and reversing translation running of the automobile are realized. According to the pivot steering scheme, each wheel assembly is provided with an independent driving mechanism and an independent connecting mechanism, 4 steering motors are required to work synchronously when steering is performed, and 4 driving motors are required to work together with 4 steering motors at the same time, so that high requirements are provided for the cooperation of 8 motors of the mobile robot, the complexity of a control algorithm is increased, the omnidirectional mobile robot is unstable in motion, and the defects of large number of motors, high control difficulty, poor motion coordination, poor synchronism and the like exist.
With the wider application of the pivot steering system, the defects of the existing pivot steering system are more and more prominent, and the market requirements cannot be met.
Disclosure of Invention
The utility model aims to solve the first technical problem that provides a robot pivot a steering system.
The present invention is also directed to a robot moving platform including the above-mentioned original direction-changing system of the robot.
In order to realize the technical purpose, the utility model adopts the following technical scheme:
according to a first aspect of an embodiment of the present invention, a robot pivot steering system is provided, which includes a driving motor, a driving rod, two sets of link mechanisms, and four wheels;
the output shaft of the driving motor is connected with the middle part of the driving rod, two ends of the driving rod are respectively hinged with a group of link mechanisms, and each group of link mechanisms is hinged with two wheel bodies;
the driving motor drives the driving rod to rotate, and the driving rod drives the two groups of link mechanisms to act simultaneously, so that the four wheel bodies are driven to rotate simultaneously through the two groups of link mechanisms.
Preferably, each group of link mechanisms comprises three connecting rods, wherein one end of one connecting rod is hinged with one end of the driving rod, and the other end of the connecting rod is hinged with one end of the other two connecting rods; the other ends of the other two connecting rods are respectively hinged with a wheel body.
Preferably, when the driving rod drives the two groups of link mechanisms to act, the hinge points between the three links in the two groups of link mechanisms move towards or away from each other along the guide rail fixed on the bearing frame.
Preferably, the two guide rails are located on a central axis of the bearing frame, and the length directions of the two guide rails are arranged along the central axis.
Preferably, the wheel body comprises a wheel and a steering arm, and the steering arm is used for assisting the wheel to steer; one end of the steering arm is hinged with the outermost connecting rod in the connecting rod mechanism, and the other end of the steering arm is connected with the wheel; a through hole is formed in the middle of the steering arm and is used for being matched with a steering shaft fixed on the bearing frame; when the link mechanism drives the wheel body to rotate, the steering arm drives the wheel to rotate around the steering shaft.
Preferably, the wheel is formed by assembling a tire, a rim and a hub motor, the tire is installed outside the rim, the hub motor is installed in the center of the rim, a stator part of the hub motor is connected to the bottom end of the bearing frame, and a rotor part of the hub motor is connected with the hub.
Preferably, when the straight-driving mode is switched to the in-situ steering mode, the driving motor and the driving rod drive the left front wheel to rotate clockwise and the right front wheel to rotate anticlockwise through one group of link mechanisms, and simultaneously drive the left rear wheel to rotate anticlockwise and the right rear wheel to rotate clockwise through the other group of link mechanisms; stopping rotation when the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel rotate to be tangent to the same circle;
when the pivot steering mode is switched to the straight-ahead mode, the driving motor and the driving rod drive the left front wheel, the right front wheel, the left rear wheel and the right rear wheel to return to the straight-ahead position simultaneously through two groups of link mechanisms.
Preferably, the driving motor is arranged on the bearing frame, the driving motor is a bidirectional rotating motor, and the driving motor is a stepping motor.
Preferably, a speed reducing mechanism is arranged between the output shaft of the driving motor and the middle part of the driving rod.
According to the utility model discloses the second aspect of the embodiment provides a robot moving platform, includes above-mentioned robot and turns to the system in situ.
The utility model provides a robot pivot a steering system, it is rotatory through single driving motor drive actuating lever to it is rotatory to take place simultaneously to drive four wheel bodies of two sets of link mechanism control through the actuating lever. The robot original steering system adopts the synchronous steering mechanism to realize the function of generating four synchronous outputs by one input, reduces the number of motors, has the advantages of simple structure, easy processing, low cost, wide application range, simple and convenient control, good synchronism and the like, and solves the problems of large number of motors, large control difficulty, poor synchronism, poor action harmony and the like existing in the prior art when a plurality of power-assisted steering systems respectively drive a single wheel to rotate. The robot pivot steering system can be used for a robot moving platform in a patrol environment with narrow space and few obstacles.
Drawings
Fig. 1 is a working state diagram of the robot pivot steering system provided by the present invention in a straight-ahead mode;
fig. 2 is a working state diagram of the robot pivot steering system provided by the present invention in the pivot steering mode;
fig. 3 is a schematic diagram illustrating a switching principle of the in-situ steering system of the robot switching from the straight-moving mode to the in-situ steering mode;
fig. 4 is a schematic structural diagram of a wheel body used in the robot pivot steering system provided by the present invention;
FIG. 5 is a flowchart illustrating the operation of the present invention in switching from a straight mode to a pivot steering mode;
fig. 6 is a flowchart illustrating a process of switching the pivot steering system of the robot from the pivot steering mode to the straight mode.
Detailed Description
The technical solution of the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
The utility model provides a robot original place a steering system drives the actuating lever rotation through single driving motor to drive simultaneously two sets ofly respectively with the both ends articulated link mechanism action of actuating lever, thereby drive four wheel body synchronous rotations, possess advantages such as simple structure, workable, with low costs, range of application are wide, the synchronism is good, control is simple and convenient.
As shown in fig. 1 to 3, the robot steering system of the present invention includes a bearing frame (not shown), a driving motor 1, a driving rod 2, two sets of link mechanisms, two guide rails, and four wheel bodies; the output shaft of the driving motor 1 is connected with the middle part of the driving rod 2, two ends of the driving rod 2 are respectively hinged with a group of link mechanisms, and each group of link mechanisms is hinged with two wheel bodies; the driving motor 1 drives the driving rod 2 to rotate around the midpoint (the rotating shaft is located in the vertical direction and is perpendicular to the bearing frame, and the output shaft of the driving motor 1 can be regarded as the rotating shaft), and the driving rod 2 simultaneously drives the two groups of link mechanisms to act, so that the four wheel bodies are simultaneously driven to rotate through the two groups of link mechanisms, and the switching between the straight-moving mode and the in-situ steering mode is realized.
Specifically, the driving motor 1 is directly disposed on the bearing frame or disposed on the bearing frame through a connecting member (e.g., a motor bracket), and the driving motor 1 is a bidirectional rotating motor capable of rotating forward and backward for providing power to the driving rod 2. The output shaft of the driving motor 1 can be directly fixedly connected with the middle part of the driving rod 2, for example, the output shaft of the driving motor 1 is vertically inserted into a connecting hole formed in the middle part of the driving rod 2, and when the output shaft of the driving motor 1 rotates, the output shaft directly drives the parts, located on two sides of the connecting hole, of the driving rod 2 to rotate around the output shaft of the driving motor 1 in the horizontal plane. Or, a speed reducing mechanism may be disposed between the output shaft of the driving motor 1 and the middle portion of the driving rod 2, the output shaft of the driving motor 1 and the middle portion of the driving rod 2 realize power transmission through the speed reducing mechanism, and the speed reducing mechanism is configured to reduce the rotation speed of the output shaft of the driving motor 1 and increase the torque transmitted to the driving rod 2. The speed reducing mechanism can be a planetary speed reducer, so that the size is convenient to reduce. Preferably, the driving motor 1 may be a stepping motor, which facilitates precise control of the deflection angle of the driving rod 2.
Each group of connecting rod mechanisms comprises three connecting rods, wherein one end of one connecting rod is hinged with one end of the driving rod 2, and the other end of the connecting rod is hinged with one end of the other two connecting rods; the other ends of the other two connecting rods are respectively hinged with a wheel body.
Referring to fig. 1, a first link mechanism hinged to a first end (upper end shown in fig. 1) of a driving lever 2 and a second link mechanism hinged to a second end (lower end shown in fig. 1) of the driving lever 2 are disposed in up-down symmetry. The first link mechanism is used for realizing the power transmission from the driving motor 1 and the driving rod 2 to the two front wheels, and the second link mechanism is used for realizing the power transmission from the driving motor 1 and the driving rod 2 to the two rear wheels.
The first connecting rod mechanism comprises a first connecting rod 3, a second connecting rod 4 and a third connecting rod 5, and the first end of the driving rod 2 is hinged with the first end of the first connecting rod 3; the second end of the first connecting rod 3 is hinged with the first end of the second connecting rod 4 and the first end of the third connecting rod 5; the second end of the second connecting rod 4 is hinged with a first wheel body 11 (a left front wheel); the second end of the third link 5 is hinged with the second wheel body 13 (right front wheel).
The second connecting rod mechanism comprises a fourth connecting rod 7, a fifth connecting rod 8 and a sixth connecting rod 9, and the first end of the driving rod 2 is hinged with the first end of the fourth connecting rod 7; the second end of the fourth connecting rod 7 is hinged with the first end of the fifth connecting rod 8 and the first end of the sixth connecting rod 9; the second end of the fifth connecting rod 8 is hinged with a third wheel body 15 (a left rear wheel); the second end of the sixth link 9 is hinged to a fourth wheel body 17 (right rear wheel).
As shown in fig. 1, two guide rails are provided on the carrier, the first guide rail 6 is provided between the first wheel 11 and the second wheel 13, and the second guide rail 10 is provided between the third wheel 15 and the fourth wheel 17. The first guide rail 6, the driving motor 1 and the second guide rail 10 are arranged on the central axis of the bearing frame at the same time, and the middle parts of the driving motor 1 and the driving rod 2 are positioned at the central position of the bearing frame. The first guide rail 6 and the second guide rail 10 are respectively arranged along the central axis of the bearing frame in the length direction, so that the movement direction of sliding back and forth along the central axis of the bearing frame is limited.
The first guide rail 6 and the second guide rail 10 are respectively provided with a sliding block matched with the first guide rail 6, wherein the sliding block arranged on the first guide rail 6 is connected with the second end of the first connecting rod 3 (namely the hinge point of the three connecting rods in the first connecting rod mechanism); the slide block arranged on the second guide rail 10 is connected with the second end of the fourth connecting rod 7 (namely the hinge point of the three connecting rods in the second connecting rod mechanism); the first guide rail 6 and the second guide rail 10 are used to constrain the degrees of freedom of the two sets of link mechanisms, respectively. When the driving rod 2 drives the two groups of link mechanisms to act, the hinge points between the three connecting rods in the two groups of link mechanisms respectively move along the guide rails 6 and 10 fixed on the bearing frame, namely move oppositely or move back to back along the central axis of the bearing frame.
As shown in fig. 4, the four wheels respectively include wheels 19 and steering arms 20, and the steering arms 20 are used for assisting the steering of the wheels 19. One end of the steering arm 20 is connected with the center of the wheel 19, the rotating shaft of the steering arm 20 is overlapped with the rotating shaft of the wheel 19, and the wheel 19 can rotate around the steering arm 20; the other end (free end) of the steering arm 20 is hinged to the second end of an outboard one of the links in the linkage. The steering arm 20 is provided with two through holes, wherein a first through hole 21 arranged at the free end of the steering arm 20 is used for being hinged with the second end of a connecting rod positioned at the outer side in the connecting rod mechanism, and a second through hole 22 arranged at the middle part of the steering arm 20 is used for being matched with a steering shaft fixed on a bearing frame, so that when the connecting rod mechanism acts, the steering arm 20 drives the wheels 19 to rotate around the steering shaft.
Specifically, the steering arm of the first wheel 11 is hinged to the second end of the second link 4, the steering arm of the second wheel 13 is hinged to the second end of the third link 5, the steering arm of the third wheel 15 is hinged to the second end of the fifth link 8, and the steering arm of the fourth wheel 17 is hinged to the second end of the sixth link 9. The first steering shaft 12, the second steering shaft 14, the third steering shaft 16 and the fourth steering shaft 18 are respectively vertically arranged on a bearing frame. When the four steering arms are driven by the link mechanism to rotate, the steering arms of the first wheel body 11 drive the wheels to rotate around the first steering shaft 12, the steering arms of the second wheel body 13 drive the wheels to rotate around the second steering shaft 14, the steering arms of the third wheel body 15 drive the wheels to rotate around the third steering shaft 16, and the steering arms of the fourth wheel body 17 drive the wheels to rotate around the fourth steering shaft 18.
In this embodiment, the wheel 19 is assembled from a tire, a rim on which the tire is mounted, and a hub motor on which the hub motor is mounted in the center of the rim, the stator portion of the hub motor being connected to the bottom end of the carrier, and the rotor of the hub motor being connected to the hub. Wherein the in-wheel motor rotates around the steering shaft along with the wheel 19 during pivot steering. The rotation of the wheels of each wheel body about the respective steering arm is driven by a hub motor. The rotation of the wheel 19 in the straight mode may also be driven by the in-wheel motor. The rotation of the wheels 19 about the steering arms 20 may be driven by other forms of linear motors or linear drive systems.
The operation principle of the robot pivot steering system in the two modes of the straight mode (normal mode) and the pivot steering mode and the switching process between the two modes will be described with reference to fig. 1 to 3 and fig. 5 and 6.
When a controller of the robot mobile platform receives an in-place steering command to start in-place steering, the controller controls the driving motor 1 to rotate forwards, the driving rod 2 rotates anticlockwise around the middle point along with the driving rod, the two groups of connecting rod mechanisms are driven to act, hinge points of three connecting rods in the two groups of connecting rod mechanisms move oppositely, and meanwhile, steering arms and wheels of the four wheel bodies are driven to rotate around respective steering shafts. The first wheel 11 and the fourth wheel 17 rotate clockwise, and the second wheel 13 and the third wheel 15 rotate counterclockwise. When the four wheels rotate to the designated positions (the four wheels are respectively tangent to the same circle), the driving motor 1 stops rotating and is locked. At the moment, the hub motor of each wheel drives the wheel to move forwards or backwards, and the pivot steering can be realized.
When the pivot steering is finished, the controller receives a forward command, the controller controls the driving motor 1 to rotate reversely, the driving rod 2 rotates clockwise around the middle point along with the reverse command, the two groups of link mechanisms are driven to act, hinge points of three links in the two groups of link mechanisms move back to back, and meanwhile, the steering arms and the wheels of the four wheel bodies are driven to rotate around respective steering shafts. The first wheel 11 and the fourth wheel 17 rotate counterclockwise, and the second wheel 13 and the third wheel 15 rotate clockwise. When the four wheels are rotated to a specified position (the four wheels are restored to the parallel vertical position), the drive motor 1 is stopped and locked. At the moment, the wheel hub motor of each wheel drives the wheel to move forwards or backwards, and the straight movement can be realized.
That is, when the straight-moving mode is switched to the pivot steering mode, the driving motor 1 and the driving rod 2 drive the left front wheel 11 to rotate clockwise and the right front wheel 13 to rotate counterclockwise through one group of link mechanisms; the left rear wheel 15 is driven to rotate anticlockwise through another group of link mechanisms, and the right rear wheel 17 is driven to rotate clockwise. When the pivot steering mode is switched to the straight-ahead mode, the driving motor 1 and the driving rod 2 drive the left front wheel 11, the right front wheel 13, the left rear wheel 15 and the right rear wheel 17 to return to the straight-ahead position simultaneously through two groups of link mechanisms.
The robot pivot steering system provided by the utility model is introduced above, wherein a single driving rod is adopted to drive two groups of link mechanisms to realize the transmission of force between the driving motor and four wheel bodies, and the steering of the wheels is controlled, the structure is simple, the occupied space is small, and the processing cost is low; the steering is realized by adopting a single driving motor, and the control is simple; a synchronous steering mechanism is adopted, so that the synchronism is good; the problems that the traditional in-situ steering system is complex in wheel structure, poor in synchronism, complex in control and the like are solved.
The utility model discloses provide simultaneously and install the robot moving platform of above-mentioned robot turn to system in turn. The robot mobile platform has two working modes, one mode is a common straight-going mode, the other mode is a pivot steering mode, steering at any angle can be realized through the pivot steering mode, and then the use requirement of the robot mobile platform can be met by combining the straight-going mode.
To sum up, the utility model provides a robot original place a steering system is rotatory through single driving motor drive actuating lever to it is rotatory to take place simultaneously to drive four wheel bodies of two sets of link mechanism control through the actuating lever, realizes the synchronous revolution of four wheel bodies. The robot original steering system adopts the synchronous steering mechanism to realize the function of generating four synchronous outputs by one input, reduces the number of motors and solves the defects that in the prior art, a plurality of power-assisted steering systems respectively drive a single wheel to rotate, the number of motors is large, the synchronism is poor, the control difficulty is high, the action coordination is poor and the like. The robot original steering system has the advantages of simple structure, easiness in processing, low cost, wide application range, good synchronism, simplicity and convenience in control and the like. The robot pivot steering system can be used for a robot moving platform in a patrol environment with narrow space and few obstacles.
The above detailed description is made on the robot pivot steering system and the robot moving platform thereof provided by the present invention. Any obvious modifications to the above would be obvious to those of ordinary skill in the art, without departing from the spirit of the present invention, and it is intended to constitute a violation of the patent rights of the present invention and to bear the relevant legal responsibility.
Claims (10)
1. A robot pivot steering system is characterized by comprising a driving motor, a driving rod, two groups of link mechanisms and four wheel bodies;
the output shaft of the driving motor is connected with the middle part of the driving rod, two ends of the driving rod are respectively hinged with a group of link mechanisms, and each group of link mechanisms is hinged with two wheel bodies;
the driving motor drives the driving rod to rotate, and the driving rod drives the two groups of link mechanisms to act simultaneously, so that the four wheel bodies are driven to rotate simultaneously through the two groups of link mechanisms.
2. The robotic pivot steering system according to claim 1, wherein:
each group of connecting rod mechanisms comprises three connecting rods, wherein one end of one connecting rod is hinged with one end of the driving rod, and the other end of the connecting rod is hinged with one end of the other two connecting rods; the other ends of the other two connecting rods are respectively hinged with a wheel body.
3. The robotic pivot steering system according to claim 2 wherein:
when the driving rod drives the two groups of the connecting rod mechanisms to act, the hinge joints between the three connecting rods in the two groups of the connecting rod mechanisms move oppositely or back to back along the guide rails fixed on the bearing frame.
4. The robotic pivot steering system according to claim 3 wherein:
the two guide rails are positioned on a central axis of the bearing frame, and the length directions of the two guide rails are arranged along the central axis direction.
5. The robotic pivot steering system according to claim 1, wherein:
the wheel body comprises wheels and a steering arm, and the steering arm is used for assisting the wheels to steer; one end of the steering arm is hinged with the outermost connecting rod in the connecting rod mechanism, and the other end of the steering arm is connected with the wheel; a through hole is formed in the middle of the steering arm and is used for being matched with a steering shaft fixed on the bearing frame; when the link mechanism drives the wheel body to rotate, the steering arm drives the wheel to rotate around the steering shaft.
6. The robotic pivot steering system according to claim 5 wherein:
the wheel is formed by assembling a tire, a rim and a hub motor, the tire is installed outside the rim, the hub motor is installed in the center of the rim, a stator part of the hub motor is connected to the bottom end of the bearing frame, and a rotor part of the hub motor is connected with the hub.
7. The robotic pivot steering system according to claim 1, wherein:
when the straight-moving mode is switched to the pivot steering mode, the driving motor and the driving rod drive the left front wheel to rotate clockwise and the right front wheel to rotate anticlockwise through one group of connecting rod mechanisms, and simultaneously drive the left rear wheel to rotate anticlockwise and the right rear wheel to rotate clockwise through the other group of connecting rod mechanisms; stopping rotation when the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel rotate to be tangent to the same circle;
when the pivot steering mode is switched to the straight-ahead mode, the driving motor and the driving rod drive the left front wheel, the right front wheel, the left rear wheel and the right rear wheel to return to the straight-ahead position simultaneously through two groups of link mechanisms.
8. The robotic pivot steering system according to claim 1, wherein:
the driving motor is arranged on the bearing frame, the driving motor is a bidirectional rotating motor, and the driving motor is a stepping motor.
9. The robotic pivot steering system according to claim 1, wherein:
and a speed reducing mechanism is arranged between the output shaft of the driving motor and the middle part of the driving rod.
10. A robotic mobile platform comprising the robotic pivot steering system of claim 1.
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| CN201921326026.XU CN210454945U (en) | 2019-08-15 | 2019-08-15 | Robot pivot steering system and robot moving platform |
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| CN201921326026.XU CN210454945U (en) | 2019-08-15 | 2019-08-15 | Robot pivot steering system and robot moving platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110497960A (en) * | 2019-08-15 | 2019-11-26 | 公安部第一研究所 | A kind of robot pivot steering system and robot moving platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110497960A (en) * | 2019-08-15 | 2019-11-26 | 公安部第一研究所 | A kind of robot pivot steering system and robot moving platform |
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