CN211223024U

CN211223024U - Servo steering wheel of robot

Info

Publication number: CN211223024U
Application number: CN201922223018.9U
Authority: CN
Inventors: 蔡佳豪; 李金波; 明振
Original assignee: Changsha Wanwei Robot Co ltd
Current assignee: Changsha Wanwei Robot Co ltd
Priority date: 2019-12-12
Filing date: 2019-12-12
Publication date: 2020-08-11
Anticipated expiration: 2029-12-12

Abstract

The utility model discloses a robot servo steering wheel, which comprises a driving wheel module and a steering module; the driving wheel module comprises a wheel body, a driving motor and a damping bracket, and the driving motor is connected with the driving wheel through the damping bracket; the steering module comprises a steering motor, a speed reducing mechanism and a rotating shaft, wherein an output shaft of the steering motor is connected with an input end of the speed reducing mechanism, an output end of the speed reducing mechanism is connected with the rotating shaft, and the other end of the rotating shaft is connected with the damping support; the driving motor drives the wheel body to rotate; the output power of the steering motor is transmitted to the rotating shaft to drive the damping support to steer after being decelerated by the decelerating mechanism. When the steering wheel is put into use, the driving motor drives the wheel body to rotate, and the output power of the steering motor is transmitted to the rotating shaft to drive the damping support to steer after being decelerated by the decelerating mechanism; the whole steering wheel is simple in structure, and the damping support is arranged to absorb impact caused by ground obstacle impact, so that the steering wheel can adapt to various road surfaces.

Description

Servo steering wheel of robot

Technical Field

The utility model belongs to the technical field of the robot, especially, relate to a servo steering wheel of robot.

Background

With the development of society, robots are widely used in life and industry. The robot is driven by a steering wheel.

The steering wheel is a power module with the capabilities of driving forward and backward and actively steering, a driving motor of the power module is only responsible for driving, and a steering motor of the power module is only responsible for steering, so that proper power selection can be realized, and the application of power maximization is realized. The steering engine commonly used at present has the following defects: 1. at present, an external sensor is generally adopted to be combined for use, a zero position sensor and an encoder are required to be combined for use in angle feedback detection, the encoder is required to be externally installed for driving wheel speed detection, a multi-stage speed reducer is generally adopted for a driving motor, the structure is complex, and a plurality of connecting pieces are adopted; 2. the damping mechanism is not provided, the single steering wheel is applied, the steering wheel with the damping function is fewer and has larger volume, the damping mechanism cannot be well applied to miniaturized equipment and cannot adapt to a complex road surface, and the situations of poor contact and slipping of a driving wheel can exist in a multi-steering wheel structure; 3. the universal slewing bearing is used as a supporting and rotating part and has the characteristics of simple and reliable structure, but the flat structure of the slewing bearing causes larger size, higher cost and gear leakage, and the slewing bearing cannot be suitable for outdoor complex environments.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to prior art's weak point, provide a simple structure and the effectual servo rudder wheel of robot that the shock attenuation is good.

The utility model provides a servo steering wheel of a robot, which comprises a driving wheel module and a steering module; the driving wheel module comprises a wheel body, a driving motor and a damping bracket, and the driving motor is connected with the driving wheel through the damping bracket; the steering module comprises a steering motor, a speed reducing mechanism and a rotating shaft, wherein an output shaft of the steering motor is connected with an input end of the speed reducing mechanism, an output end of the speed reducing mechanism is connected with the rotating shaft, and the other end of the rotating shaft is connected with the damping support; the driving motor drives the wheel body to rotate; the output power of the steering motor is transmitted to the rotating shaft to drive the damping support to steer after being decelerated by the decelerating mechanism.

In one embodiment, the shock mount includes a lower mount, an upper mount, and a shock absorber; the lower bracket is a U-shaped bracket, and the middle parts of the two side plates are provided with through holes; the upper bracket is an n-shaped bracket which is obliquely arranged downwards, the top end of the upper bracket is provided with a circle of connecting holes, and the lower end of the upper bracket is hinged outside the lower bracket; the pair of shock absorbers is symmetrically arranged on the central plane of the wheel body in the thickness direction and is respectively arranged on two sides of the upper support and the lower support.

Preferably, pin shafts are welded on two sides of the lower support, pin shafts are welded on two sides of the upper support, radial holes are formed in the outer portions of the pin shafts, and two ends of the shock absorber are respectively sleeved outside the pin shafts and are positioned through split pins penetrating through the radial holes.

In a specific embodiment, the novel wear-resistant device further comprises a hinge seat, wherein a through hole is formed in the center of the hinge seat, a circle of connecting holes are formed in the periphery of the hinge seat, and a wear-resistant sleeve is embedded in the through hole; the hinged seat is connected with the upper bracket through a bolt penetrating through the connecting hole, and the upper bracket is sleeved outside the lower bracket and is connected with the lower bracket through a rotating shaft bolt penetrating through the wear-resistant sleeve.

Furthermore, the rotating shaft bolt comprises a cylindrical head, a polished rod section and a threaded section, the outer diameters of the cylindrical head, the polished rod section and the threaded section are sequentially decreased, the cylindrical head is a hexagon socket head, the rotating shaft bolt is sleeved in the wear-resistant sleeve through the polished rod section, and the threaded section is in threaded connection with the lower support.

Preferably, the driving motor is a hub motor, threads are arranged at two ends of a central shaft of the hub motor, and planes are arranged at the outer ends of the thread sections; the driving motor is embedded in the wheel body, and the central shaft penetrates through the upper through hole of the lower support and then is locked by a nut.

In one embodiment, the speed reducing mechanism comprises a main speed reducer and a secondary speed reducer, wherein the input end of the main speed reducer is connected with the steering motor, the output shaft of the main speed reducer is connected with the input gear of the secondary speed reducer, and the output end of the secondary speed reducer is connected with the rotating shaft.

In order to control the steering angle conveniently, two ends of an output shaft of the main speed reducer extend out of the main speed reducer, and a strong magnetic steel sleeve is arranged outside the top end of the output shaft of the main speed reducer; an angle sensor is arranged at the position corresponding to the ferromagnetic steel sleeve under the steering motor.

In order to improve the assembly precision, the shell of the auxiliary speed reducer comprises an upper shell and a lower shell, a circle of groove is formed in the outer edge of the upper shell, a matched protrusion is formed in the outer edge of the lower shell, and the upper shell and the lower shell are matched with the protrusion through the groove to improve the installation precision.

In order to avoid the collision to lead to the connecting piece to damage, the pivot is the step shaft, and the top of pivot is equipped with the jack catch of evagination, establishes the draw-in groove in the output gear of vice reduction gear, and the pivot links to each other with its top and vice reduction gear, and the jack catch extends in the draw-in groove and packs the cushion rubber, with its bottom with shock absorber support links to each other through the bolt that passes the connecting hole.

The utility model comprises a driving wheel module and a steering module, wherein the driving module comprises a damping support, the steering module is connected with the damping support, a driving motor drives a wheel body to rotate when the steering module is put into use, and the output power of the steering motor is transmitted to a rotating shaft after being decelerated by a decelerating mechanism to drive the damping support to steer; the whole steering wheel is simple in structure, and the damping support is arranged to absorb impact caused by ground obstacle impact, so that the steering wheel can adapt to various road surfaces.

Drawings

Fig. 1 is an axial view of a preferred embodiment of the present invention.

Fig. 2 is an enlarged schematic axial view of the driving wheel module in the preferred embodiment.

Fig. 3 is a schematic cross-sectional view of a-a in fig. 2.

Fig. 4 is an enlarged schematic view of fig. 3 at B.

Fig. 5 is a schematic cross-sectional view of the steering module in the preferred embodiment.

Fig. 6 is a schematic cross-sectional view of C-C in fig. 5.

Sequence numbers of the drawings:

1-a driving wheel module, wherein the driving wheel module,

11-a wheel body, wherein the wheel body is provided with a plurality of wheels,

12-a drive motor for driving the motor,

13-damping support, 131-lower support, 132-upper support, 133-damper, 134-pin shaft, 135-hinge seat, 136-wear-resistant sleeve, 137-rotating shaft bolt, 138-split pin;

2-the direction of rotation module is provided,

21-a steering motor, which is driven by a motor,

22-speed reducing mechanism, 221-main speed reducer, 222-auxiliary speed reducer,

23-a rotating shaft, 231-a claw,

24-a high-magnetic steel sleeve, 25-an angle sensor, 26-a shock-absorbing rubber pad.

Detailed Description

As shown in fig. 1, the servo steering wheel for a robot disclosed in this embodiment includes a driving wheel module 1 and a steering module 2; the driving wheel module is fixed below an output shaft of the steering module through six screws, and the rotation of the output shaft of the steering module directly drives the driving wheel module to deflect left and right.

As shown in fig. 2 and 3, the driving wheel module 1 includes a wheel body 11, a driving motor 12, and a shock-absorbing bracket 13. The wheel body 11 is an outer-ring tire. The driving motor 12 is a hub motor matched with an outer-ring tire, is embedded in a wheel body and is connected with the damping support 13 through a central shaft of the driving motor, threads are arranged outside the end parts of two ends of the central shaft of the driving motor, and a pair of planes are milled at the outer ends of the thread sections so as to clamp a wrench during connection.

The shock-absorbing bracket 13 includes a lower bracket 131, an upper bracket 132, and a shock absorber 133. The lower bracket 131 is a U-shaped bracket, the two side plates of which are welded with pin shafts 134 at the root, the middle part of which is provided with a through hole, and the end part of which is provided with a threaded hole. The upper bracket is an n-shaped bracket, the top end of the upper bracket is provided with a circle of connecting holes, and two sides of the bottom end of the upper bracket are connected with hinged seats 14. As shown in fig. 4, the hinge base 135 is a cylindrical base body, a wear-resistant sleeve 136 is embedded in the center of the base body, a circle of connecting holes are arranged in an annular array around the axial center, and the hinge base is connected with the upper bracket through bolts penetrating through the connecting holes. The lower support is horizontally arranged, and two ends of the central shaft respectively penetrate through holes on two sides of the lower support and are matched with corresponding nuts to lock so as to complete the installation of the lower support; then the upper bracket is downwards inclined and sleeved outside the lower bracket and is hinged through a rotating shaft bolt 137 penetrating through a hinge seat 135, a copper gasket is arranged between the upper bracket and the lower bracket, and the copper gasket is in contact limit with the hinge seat and the wear-resistant sleeve, so that a gap exists between the upper bracket and the lower bracket, and direct abrasion is avoided. The rotating shaft bolt 137 comprises a cylindrical head, a polished rod section and a threaded section, the outer diameters of the cylindrical head, the polished rod section and the threaded section are sequentially decreased, the cylindrical head is a hexagon socket head, the rotating shaft bolt is sleeved in the wear-resistant sleeve through the polished rod section, and the threaded section is in threaded connection with the lower support. After the upper and lower brackets are mounted, the two ends of the damper 133 are respectively sleeved outside the pin 134 and positioned by a cotter pin 138 passing through the radial hole. The steering module 2 is installed on the top of the upper bracket and connected by bolts passing through the connecting holes.

After the driving wheel module 1 is assembled, the shock absorber is triangular with the upper support and the lower support, the upper support is hinged with the lower support, a wear-resistant flexible rotating shaft structure is designed, the rotating shaft structure can rotate freely, the shock absorber is compressed when an obstacle is met, the lower support and the hub motor can rotate upwards around the position of the rotating shaft, vibration is reduced, and large impact can be borne. For the pin joint, because install wear-resisting cover in the articulated seat, wear-resisting cover is interference fit with articulated seat. One end of the rotating shaft bolt is a threaded section, the middle section of the rotating shaft bolt is a precisely machined cylinder, one end of the rotating shaft bolt is a hexagonal socket head, and the threaded section and the middle section of the rotating shaft bolt are provided with a step. The cylindrical section of the rotating shaft bolt is arranged in the copper sleeve hole, and the thread section of the rotating shaft bolt penetrates through the copper gasket and is fixed on the lower support of the driving motor. The rotating shaft bolt and the copper sleeve are in clearance fit and can rotate freely, and the copper gasket is in contact spacing with the hinge base and the copper sleeve, so that a gap exists between the upper motor support and the lower motor support, and direct abrasion is avoided.

As shown in fig. 5 and 6, the steering module 2 includes a steering motor 21, a reduction mechanism 22, and a rotating shaft 23. The reduction mechanism 22 includes a final drive 221 and a final drive 222. The input end of the main reducer 221 is connected with the steering motor, the output shaft is connected with the input gear of the auxiliary reducer, and the output end of the auxiliary reducer is connected with the rotating shaft. The two ends of the output shaft of the main speed reducer extend out of the main speed reducer, a strong magnetic steel sleeve 24 is arranged outside the top end of the output shaft, and an angle sensor 25 is arranged at a corresponding position below the steering motor so as to control the steering angle. The casing of the auxiliary speed reducer 222 includes an upper casing and a lower casing, a circle of groove is arranged on the outer edge of the upper casing, a matched protrusion is arranged on the outer edge of the lower casing, and the upper casing and the lower casing are matched with each other through the groove and the protrusion to improve the installation accuracy. The pivot 23 is the step shaft, and the top of pivot is equipped with four jack catchs 231 of evagination, establishes four draw-in grooves in the output gear of auxiliary reduction gear, and the pivot links to each other with its top and auxiliary reduction gear, and the jack catch extends in the draw-in groove and packs eight shock attenuation cushion 26, can bear two directions of just reversing and strike, leads to the gear to damage when preventing the striking. The bottom of the rotating shaft is connected with the damping support through a bolt penetrating through the connecting hole.

The lower end of the output shaft of the main speed reducer is matched with an input gear of the auxiliary speed reducer by a D-shaped hole shaft. And a small deep groove ball bearing, a thrust ball bearing and a large deep groove ball bearing are sequentially arranged between the output end and the rotating shaft and between the output gear along the axial direction, and the three bearings are arranged in a cavity formed by an upper shell and a lower shell of the auxiliary speed reducer. The rotating shaft is a stepped shaft, the thrust ball bearings are arranged above the gear ring and mainly bear axial force, and the large deep groove ball bearings and the small deep groove ball bearings are arranged at two ends of the output shaft and bear radial force, so that the output shaft is always kept vertical.

Compare in current steering wheel, the utility model discloses integrated as an organic whole with each part, applicable in all kinds of automatic movement equipment. The driving motor is an in-wheel motor, and is integrated, so that the structure is simple and reliable, the protection performance is good, the gear transmission is avoided, and the gear damage can not occur in the impact and emergency acceleration and deceleration environments. The steering module adopts a supporting structure, the steering motor and the angle sensor are integrally arranged, the size is small, and the control is simple. The support between the rotating shaft and the speed reducing mechanism adopts a combined bearing design, and has strong bearing capacity, small transverse size, small gap and small virtual position angle. The shock absorber is arranged, compared with other shock-absorbing steering wheels or robot chassis with shock absorption, the shock absorption system is additionally arranged outside the whole steering wheel, the shock absorption system has the advantages of small volume, simple structure and small unsprung mass, and the shock absorption rubber cushion is arranged between the rotating shaft and the output gear, so that the shock absorption system can play a role in buffering, is used for absorbing impact caused by impact of ground obstacles and enables the steering wheel to adapt to various road surfaces.

Claims

1. A servo steering wheel of robot, its characterized in that: the steering device comprises a driving wheel module and a steering module;

the driving wheel module comprises a wheel body, a driving motor and a damping bracket, and the driving motor is connected with the driving wheel through the damping bracket;

the steering module comprises a steering motor, a speed reducing mechanism and a rotating shaft, wherein an output shaft of the steering motor is connected with an input end of the speed reducing mechanism, an output end of the speed reducing mechanism is connected with the rotating shaft, and the other end of the rotating shaft is connected with the damping support;

the driving motor drives the wheel body to rotate; the output power of the steering motor is transmitted to the rotating shaft to drive the damping support to steer after being decelerated by the decelerating mechanism.

2. The robotic servo rudder wheel according to claim 1, wherein: the shock absorption support comprises a lower support, an upper support and a shock absorber; the lower bracket is a U-shaped bracket, and the middle parts of the two side plates are provided with through holes; the upper bracket is an n-shaped bracket which is obliquely arranged downwards, the top end of the upper bracket is provided with a circle of connecting holes, and the lower end of the upper bracket is hinged outside the lower bracket; the pair of shock absorbers is symmetrically arranged on the central plane of the wheel body in the thickness direction and is respectively arranged on two sides of the upper support and the lower support.

3. The robotic servo rudder wheel according to claim 2, wherein: the shock absorber is characterized in that pin shafts are welded on two sides of the lower support, pin shafts are welded on two sides of the upper support, radial holes are formed in the outer portions of the pin shafts, and two ends of the shock absorber are respectively sleeved outside the pin shafts and are positioned through split pins penetrating through the radial holes.

4. The robotic servo rudder wheel according to claim 2, wherein: the wear-resistant device also comprises a hinge seat, wherein a through hole is formed in the center of the hinge seat, a circle of connecting holes are formed in the periphery of the hinge seat, and a wear-resistant sleeve is embedded in the through hole; the hinged seat is connected with the upper bracket through a bolt penetrating through the connecting hole, and the upper bracket is sleeved outside the lower bracket and is connected with the lower bracket through a rotating shaft bolt penetrating through the wear-resistant sleeve.

5. The robotic servo rudder wheel according to claim 4, wherein: the rotating shaft bolt comprises a cylindrical head, a polished rod section and a threaded section, the outer diameter of the cylindrical head is gradually decreased, the cylindrical head is a hexagon socket head, the rotating shaft bolt is sleeved in the wear-resistant sleeve through the polished rod section, and the threaded section is in threaded connection with the lower support.

6. The robotic servo rudder wheel according to claim 2, wherein: the driving motor is a hub motor, threads are arranged at two ends of a central shaft of the hub motor, and planes are arranged at the outer ends of the thread sections; the driving motor is embedded in the wheel body, and the central shaft penetrates through the upper through hole of the lower support and then is locked by a nut.

7. The robotic servo rudder wheel according to claim 2, wherein: the speed reducing mechanism comprises a main speed reducer and an auxiliary speed reducer, the input end of the main speed reducer is connected with the steering motor, the output shaft of the main speed reducer is connected with the input gear of the auxiliary speed reducer, and the output end of the auxiliary speed reducer is connected with the rotating shaft.

8. The robotic servo rudder wheel according to claim 7 wherein: both ends of an output shaft of the main speed reducer extend out of the main speed reducer, and a strong magnetic steel sleeve is arranged outside the top end of the output shaft; an angle sensor is arranged at the position corresponding to the ferromagnetic steel sleeve under the steering motor.

9. The robotic servo rudder wheel according to claim 7 wherein: the shell of the auxiliary speed reducer comprises an upper shell and a lower shell, a circle of groove is formed in the outer edge of the upper shell, a matched protrusion is formed in the outer edge of the lower shell, and the upper shell and the lower shell are matched with the protrusion through the groove to improve installation accuracy.

10. The robotic servo rudder wheel according to claim 7 wherein: the pivot is the step shaft, and the top of pivot is equipped with the jack catch of evagination, establishes the draw-in groove in the output gear of vice reduction gear, and the pivot links to each other with its top and vice reduction gear, and the jack catch extends in the draw-in groove and packs the shock attenuation cushion, with its bottom with shock absorber support links to each other through the bolt that passes the connecting hole.