CN211167160U - Center spinning controllable universal wheel type robot chassis - Google Patents
Center spinning controllable universal wheel type robot chassis Download PDFInfo
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- CN211167160U CN211167160U CN201921855834.5U CN201921855834U CN211167160U CN 211167160 U CN211167160 U CN 211167160U CN 201921855834 U CN201921855834 U CN 201921855834U CN 211167160 U CN211167160 U CN 211167160U
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Abstract
The utility model relates to a controllable universal wheel formula robot chassis of center spin, including frame, in-wheel motor subassembly, ring gear and steering wheel subassembly, the frame is annular slot-like, and the ring gear sets up at the frame inslot, and the outside projection of frame is equipped with the wheel hub mounting groove, and connecting gear among the in-wheel motor subassembly sets up in the wheel hub mounting groove, and connecting gear and ring gear meshing, the frame is equipped with to the inboard projection and turns to the mounting groove, and steering gear in the steering wheel subassembly sets up in turning to the mounting groove, and steering gear and ring gear meshing. The utility model has the advantages that: the steering wheel assembly is adopted for intervention, so that the robot can be manually operated, and the convenience of operation of the robot under special conditions is improved; the annular rack is adopted to limit the gear ring, so that the risk of falling off of a chain or a belt is effectively avoided, the connection relation between all the hub motor assemblies is more stable, the steering effectiveness is kept, and the stability of meshing rotation of all the gears is also ensured.
Description
Technical Field
The utility model belongs to the technical field of the robot, especially, relate to a controllable universal wheel formula robot chassis of center spin.
Background
The rotating mechanism of the robot is generally arranged on a chassis and connected with hubs, the steering of the robot is realized by adjusting the angles of the hubs, and a plurality of hubs are connected through a belt or a chain in the prior art so as to achieve the purpose of synchronous steering, but the structure is very easy to cause inflexible steering due to the falling of the belt or the chain; and it is difficult to perform manual operation while achieving automatic control. For example, patent No. 20171224544 discloses a scheme that relates to in three-wheeled free steering robot base, connects through drive chain between the sprocket, and sprocket and drive chain all set up in the driving box, and drive chain only passes through three sprocket support, and the chain appears becoming flexible easily and drops.
Disclosure of Invention
In order to solve the technical problem, the utility model provides a controllable universal wheel formula robot chassis of center spin.
The utility model adopts the technical proposal that: the chassis comprises a frame, a hub motor assembly, a gear ring and a steering wheel assembly, wherein the frame is in an annular groove shape, the gear ring is arranged in the groove of the frame, a hub mounting groove is formed in the outward protrusion of the frame, a connecting gear in the hub motor assembly is arranged in the hub mounting groove and is meshed with the gear ring, a steering mounting groove is formed in the inward protrusion of the frame, a steering gear in the steering wheel assembly is arranged in the steering mounting groove, and the steering gear is meshed with the gear ring.
Preferably, the hub motor assembly includes a motor hub, a hub rotation shaft and a connection gear fixedly connected to the hub rotation shaft, the rotation shaft passes through the bottom surface of the hub mounting groove, and the motor hub is rotatably connected below the hub rotation shaft.
Preferably, the bottom of the rotating shaft of the hub is fixedly provided with mounting plates which are parallel to each other, and the motor hub is arranged between two or more mounting plates.
Preferably, the steering wheel assembly includes a steering wheel and a steering gear coupled to each other, the steering gear being rotatably coupled in the steering mounting groove.
Preferably, the ring gear is connected with the frame by a bearing.
Preferably, the wheel hub mounting groove is no less than three, and a plurality of wheel hub mounting grooves evenly distributed are in the frame outside, and wheel hub motor element quantity is unanimous with the wheel hub mounting groove.
Preferably, the device also comprises a rack upper cover, the shape of the rack upper cover is matched with that of the rack, and the rack upper cover is buckled on the rack.
The utility model has the advantages and positive effects that: the steering wheel assembly is adopted for intervention, so that the robot can be manually operated, and the convenience of operation of the robot under special conditions is improved; the annular rack is adopted to limit the gear ring, so that the risk of falling of a chain or a belt is effectively avoided, the connection relation among all the hub motor components is more stable, the steering effectiveness is kept, and the meshing and rotating stability of all the gears is ensured; the robot chassis is simple in structure and convenient to maintain.
Drawings
FIG. 1 is a schematic cross-sectional structure of an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an embodiment of the present invention;
fig. 3 is a schematic structural view of a hub motor assembly according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an embodiment of the present invention.
In the figure:
1. frame 11, wheel hub mounting groove 2, ring gear
3. Wheel hub motor assembly 31, connecting gear 32 and wheel hub rotating shaft
33. Motor hub 41, rotating gear 42 and steering wheel
5. Upper cover of rack
Detailed Description
An embodiment of the present invention is described below with reference to the drawings.
As shown in fig. 1 and 4, the utility model relates to a center spin controllable universal wheel type robot chassis, which comprises a frame 1, a wheel hub motor component 3, a gear ring 2 and a steering wheel component. Frame 1 is annular slot-like, and ring gear 2 sets up at 1 inslot in the frame, and ring gear 2 passes through the bearing with frame 1 and is connected, and ring gear 2 replaces belt or the chain that tradition used through ring gear 2 and the cooperation of ring frame 1 at 1 within range rotations in annular frame, has effectively avoided the risk that drops, increases wheel pivoted stability. The frame 1 is provided with a hub mounting groove 11 protruding outwards for mounting a wheel below a ground disc, the hub mounting groove 11 is communicated with an annular groove of the frame 1 into a whole, a rotating gear 41 arranged in the hub mounting groove is meshed with a gear ring 2, and the gear ring 2 can drive the rotating gear 41 to rotate when rotating, so that the direction of the wheel is changed; wheel hub mounting groove 11 includes 3 at least, and 3 quantity of wheel hub motor element are unanimous with wheel hub mounting groove 11, according to robot size and volume, set for different wheel quantity, and 11 evenly distributed in each wheel hub mounting groove keep 1 focus of frame stable in the frame outside 1. In order to realize manual control of the direction of the wheel hub, a steering mounting groove is convexly arranged on the inner side of the annular frame 1, a rotatable rotating gear is arranged in the steering mounting groove, the steering gear can be sleeved on a rotating fixed shaft fixed in the steering mounting groove and meshed with the gear ring 2, and the purpose of rotating the gear ring 2 is realized by fixedly connecting a steering wheel 42 with the steering gear through rotation, so that the connecting gear 31 is transferred and the direction of the wheel hub is rotated; the steering wheel 42 can be driven by a motor or manually rotated by a person to improve the flexibility of the robot movement.
As shown in fig. 3, the hub motor assembly 3 comprises a motor hub 33, a hub rotating shaft 32 and a connecting gear 31, wherein the connecting gear 31 is fixedly connected with the hub rotating shaft 32, the rotating shaft penetrates through the bottom surface of the hub mounting groove 11, and the motor hub 33 is rotatably connected below the hub rotating shaft 32; specifically, the mounting plates which are parallel to each other are fixedly arranged at the bottom of the hub rotating shaft 32, the motor hub 33 is arranged between two or more mounting plates, the hub direction is consistent with the gear angle, and the hub direction can be adjusted through the rotating gear 41. As shown in fig. 2, the steering wheel steering device further comprises a frame upper cover 5, the shape of the frame upper cover 5 is matched with that of the frame 1, the frame upper cover 5 is buckled on the frame 1 to seal an annular groove of the frame 1, dust accumulation is avoided, the installation is convenient, and the steering wheel extends out of the frame upper cover 5 to facilitate operation.
Example (b):
the utility model provides a controllable universal wheeled robot chassis of central spin, which comprises a frame 1, wheel hub motor element 3, ring gear 2 and steering wheel subassembly, frame 1 is annular slot-like, ring gear 2 sets up in frame 1 inslot, ring gear 2 passes through the bearing with frame 1 and is connected, frame 1 outside protrusion is equipped with wheel hub mounting groove 11, wheel hub mounting groove 11 includes threely, three wheel hub mounting groove 11 evenly distributed is in the frame 1 outside, connecting gear 31 among three wheel hub motor element 3 sets up in wheel hub mounting groove 11, connecting gear 31 and ring gear 2 meshing, frame 1 inside protrusion is equipped with the steering mounting groove, steering wheel subassembly includes interconnect's steering wheel and steering gear, steering gear rotatable coupling is in the steering mounting groove, the steering gear in the steering wheel subassembly sets up in the steering mounting groove, steering gear and ring gear 2 meshing.
The hub motor component 3 comprises a motor hub 33, a hub rotating shaft 32 and a connecting gear 31, wherein the connecting gear 31 is fixedly connected with the hub rotating shaft 32, the rotating shaft penetrates through the bottom surface of the hub mounting groove 11, the motor hub 33 is rotatably connected below the hub rotating shaft 32, mounting plates which are parallel to each other are fixedly arranged at the bottom of the hub rotating shaft 32, and the motor hub 33 is arranged between two or more mounting plates. The device also comprises a rack upper cover 5, wherein the shape of the rack upper cover 5 is matched with that of the rack 1, and the rack upper cover 5 is buckled on the rack 1.
While one embodiment of the present invention has been described in detail, the description is only a preferred embodiment of the present invention, and should not be considered as limiting the scope of the present invention. All the equivalent changes and improvements made according to the application scope of the present invention should still fall within the patent coverage of the present invention.
Claims (7)
1. The utility model provides a controllable universal wheeled robot chassis of center spin which characterized in that: including frame, in-wheel motor subassembly, ring gear and steering wheel subassembly, the frame is annular trough-shaped, the ring gear sets up the frame inslot, the frame is to the outside outstanding wheel hub mounting groove that is equipped with, connecting gear among the in-wheel motor subassembly sets up in the wheel hub mounting groove, connecting gear with the ring gear meshing, the frame is to the inboard outstanding mounting groove that turns to that is equipped with, steering gear in the steering wheel subassembly sets up turn to in the mounting groove, steering gear with the ring gear meshing.
2. The chassis of a central spin controllable universal wheeled robot of claim 1, wherein: the hub motor assembly comprises a motor hub, a hub rotating shaft and a connecting gear, wherein the connecting gear is fixedly connected with the hub rotating shaft, the rotating shaft penetrates through the bottom surface of the hub mounting groove, and the motor hub is rotatably connected below the hub rotating shaft.
3. The chassis of a central spin controllable universal wheeled robot of claim 2, wherein: the wheel hub axis of rotation bottom is fixed and is equipped with the mounting panel that is parallel to each other, motor wheel hub sets up between two or more mounting panels.
4. The chassis of a central spin controllable universal wheeled robot of claim 1, wherein: the steering wheel assembly comprises a steering wheel and a steering gear which are connected with each other, and the steering gear is rotatably connected in the steering mounting groove.
5. The chassis of a central spin controllable universal wheeled robot of claim 1, wherein: the gear ring is connected with the rack through a bearing.
6. The chassis of the central spin controllable universal wheeled robot of any one of claims 1-5, wherein: three, a plurality of are no less than to the wheel hub mounting groove evenly distributed is in the frame outside, wheel hub motor element quantity with the wheel hub mounting groove is unanimous.
7. The chassis of claim 6, wherein: the rack is characterized by further comprising a rack upper cover, wherein the shape of the rack upper cover is matched with that of the rack, and the rack upper cover is buckled on the rack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921855834.5U CN211167160U (en) | 2019-10-31 | 2019-10-31 | Center spinning controllable universal wheel type robot chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921855834.5U CN211167160U (en) | 2019-10-31 | 2019-10-31 | Center spinning controllable universal wheel type robot chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211167160U true CN211167160U (en) | 2020-08-04 |
Family
ID=71818989
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921855834.5U Active CN211167160U (en) | 2019-10-31 | 2019-10-31 | Center spinning controllable universal wheel type robot chassis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211167160U (en) |
-
2019
- 2019-10-31 CN CN201921855834.5U patent/CN211167160U/en active Active
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Zhang Wu Inventor after: OuYang Xiaoping Inventor after: Guo Kai Inventor before: Zhang Wu Inventor before: OuYang Xiaoping Inventor before: Guo Kai Inventor before: Wu Jianfei |
|
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 300459 No.399 Huixiang Road, Tanggu ocean hi tech Zone, Binhai New Area, Tianjin Patentee after: Tianjin Institute of advanced technology Address before: 300349 No.399 Huixiang Road, Tanggu ocean hi tech Zone, Binhai New Area, Tianjin Patentee before: TIANJIN BINHAI CIVIL-MILITARY INTEGRATED INNOVATION INSTITUTE |