CN214875110U - Steering mechanism applied to mobile robot and mobile robot - Google Patents
Steering mechanism applied to mobile robot and mobile robot Download PDFInfo
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- CN214875110U CN214875110U CN202023205055.6U CN202023205055U CN214875110U CN 214875110 U CN214875110 U CN 214875110U CN 202023205055 U CN202023205055 U CN 202023205055U CN 214875110 U CN214875110 U CN 214875110U
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Abstract
The utility model provides a steering mechanism applied to a mobile robot, which comprises a steering driving device and two steering wheels, wherein the two steering wheels are symmetrically arranged at two sides of the steering driving device, and each steering wheel comprises a linkage part, a steering shaft, a steering seat and a wheel; the wheels are arranged on the steering seat in a relatively rotating manner, the steering shaft is vertically arranged on the steering seat, the steering seat is connected with the body of the mobile robot through the steering shaft, and the steering seat can rotate around the steering shaft; the steering driving device is fixed relative to the vehicle body of the mobile robot, one end of the linkage piece is hinged with the output end of the steering driving device, and the other end of the linkage piece is hinged with the end part of the steering seat; the steering driving device drives the linkage piece to swing so as to enable the steering seat to rotate around the steering shaft; the utility model provides a mobile robot uses above-mentioned steering mechanism. The steering mechanism of the utility model has simple structure and small volume; the utility model discloses a mobile robot can carry out nimble rotation according to ackerman principle to adapt to different task demands.
Description
Technical Field
The utility model belongs to the technical field of mobile robot and specifically relates to indicate a be applied to mobile robot's steering mechanism and mobile robot.
Background
The common vehicle-type mobile robot adopts a trapezoidal ackerman steering mechanism which is the same as an automobile, so that the vehicle-type mobile robot can perform curved movement on the ground, but the trapezoidal ackerman steering mechanism has high manufacturing cost and is of a vertical structure and cannot be simply transplanted to a small vehicle-type mobile robot, and in order to overcome the problem that the trapezoidal ackerman steering mechanism occupies a vertical space, the Chinese patent No. CN201811561406.1 discloses a wheel electric steering axle which comprises a welding beam, a rotating power piece, a steering gear, a screw and a steering knuckle; the rotary power part and the steering machine are both arranged on the welding beam and are in power connection with each other, the number of the screw rods and the steering knuckles is two, two ends of the steering machine are respectively connected with the screw rods, the screw rods are hinged with the steering knuckles, and the two steering knuckles are respectively hinged at two ends of the welding beam; when the torque is input by rotating the power part, the traversing mechanism drives the two screw rods to move transversely left and right, then drives the steering knuckle to rotate on the welding beam, and the electric steering axle adopts a horizontal parallelogram structure, so that the vertical height of the vehicle type mobile robot applying the electric steering axle can be reduced, but the electric steering axle has a complex structure, is difficult to further miniaturize and is not beneficial to being applied to a small vehicle type mobile robot.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome prior art's not enough, provide a be applied to mobile robot's steering mechanism, simple structure, small in size is applicable to the minicar formula mobile robot.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
the steering mechanism applied to the mobile robot comprises a steering driving device and two steering wheels, wherein the two steering wheels are symmetrically arranged on two sides of the steering driving device and comprise a linkage piece, a steering shaft, a steering seat and wheels; the wheels are arranged on a steering seat in a relatively rotating manner, the steering shaft is vertically arranged on the steering seat, the steering seat is connected with a vehicle body of the mobile robot through the steering shaft, and the steering seat can rotate around the steering shaft; the steering driving device is fixed relative to the vehicle body of the mobile robot, one end of the linkage piece is hinged with the output end of the steering driving device, and the other end of the linkage piece is hinged with the end part of the steering seat; the steering driving device drives the linkage piece to swing so as to enable the steering seat to rotate around the steering shaft.
Compared with the prior art, the utility model discloses a be applied to mobile robot's steering mechanism, it mainly comprises steering drive, linkage, steering spindle, steering seat and wheel, restricts the position of two directive wheels through the automobile body that utilizes mobile robot, saves and sets up the supporter between steering drive and steering seat, the utility model discloses the during operation turns to drive output power and makes linkage to left side or right side swing, steering seat revolutes thereupon and drives the wheel to axial left side or right side swing and turn to, the utility model has the advantages of simple structure, small in size, low cost, easy manufacturing, be convenient for install fast and use to and be convenient for maintain, be applicable to the small-size car formula mobile robot.
Preferably, the steering driving device comprises a steering engine and a fixed frame, the fixed frame is fixedly connected with the body of the mobile robot, and the steering engine is arranged on the fixed frame; the steering engine is characterized in that a connecting piece is arranged at the output end of the steering engine, the steering engine can drive the outer end of the connecting piece to swing left and right, and the two linkage pieces are respectively hinged with the outer end of the connecting piece.
Steering drive spare part is small in quantity, simple structure, and spare part is cheap easily to be obtained, low cost, in addition, through set up the connecting piece on the output that turns to the steering wheel and supply two linkage parts to connect to ensure the synchronism when two directive wheels turn to, improve and use the utility model discloses a mobile robot turns to the effect.
Preferably, the linkage part comprises a cross rod and knuckle bearings arranged at two ends of the cross rod, the knuckle bearing at one end of the cross rod is connected with the output end of the steering driving device, and the knuckle bearing at the other end of the cross rod is connected with the end part of the steering seat.
The linkage piece adopts the arrangement mode, so that the linkage piece can be ensured to be connected with one end of the steering driving device and one end of the steering seat to be in a movable state, the linkage piece is prevented from blocking the rotation of the steering seat in the swinging process, and meanwhile, the service life of the linkage piece is prolonged.
Preferably, the cross bar is movably inserted into the knuckle bearing; the cross rod is provided with a locking piece, and the locking piece is used for limiting the distance between the cross rod and the knuckle bearing.
Above-mentioned mode of setting up makes the horizontal pole with distance between the joint bearing is adjustable, thereby makes the utility model discloses can produce and need adjust the horizontal pole with distance between the joint bearing to the mobile robot that adapts to different specifications improves the utility model discloses an application scope.
Preferably, the steering seat comprises a seat body and a connecting shaft, the connecting shaft is fixedly arranged on one side of the seat body far away from the steering driving device, the wheels are rotatably arranged on the outer side of the connecting shaft, the steering shaft is arranged on the seat body, and one end of the linkage part is connected with the end part of the seat body.
The seat that turns to adopts above-mentioned mode of setting up, on the one hand, the producer that can be convenient for will turn to on the seat installs the automobile body to mobile robot to improve the equipment speed, on the other hand is fixed owing to turn to the seat automobile body relative mobile robot in vertical orientation, is connected the connecting axle with the seat that turns to and can provide fixed axle center for the wheel and carry out the rotation along the axle center direction, thereby is convenient for use the utility model discloses a mobile robot turns to.
Preferably, the end face of the seat body is provided with a connecting arm extending outwards, and the linkage part is hinged to the connecting arm.
Through the pedestal terminal surface sets up the linking arm, is convenient for provide the tie point for the linkage, reduces the utility model discloses an equipment degree of difficulty, the producer of being convenient for produces fast.
Preferably, the outer side of the seat body is provided with a jack, and the connecting shaft is inserted into the jack; and a gland is arranged on the outer side of the steering seat and is used for fixing the connecting shaft on the seat body.
The steering seat is formed by assembling the seat body, the connecting shaft and the gland, the production difficulty of a single part can be reduced, and therefore the production cost is reduced.
Preferably, a shaft sleeve is sleeved outside the connecting shaft and located between the seat body and the wheel.
The distance between the seat body and the wheel can be limited by the shaft sleeve, so that the wheel is prevented from interfering with the seat body.
Preferably, the steering shaft penetrates through the steering seat, and the upper end and the lower end of the steering shaft are fixedly connected with the vehicle body of the mobile robot relatively.
This kind of mode of setting can ensure the directive wheel relative movement robot is stable to be connected to reliability when improving the directive wheel and rotating improves the utility model discloses stability when turning to.
Another object of the utility model is to provide an use above-mentioned steering mechanism's mobile robot, including organism, controlling means, drive arrangement and steering mechanism set up on the organism, drive arrangement steering mechanism with the controlling means electricity is connected.
Compared with the prior art, the utility model discloses a mobile robot installs simple structure, small in size's steering mechanism, and it can carry out nimble rotation according to ackermann principle to adapt to different task demands, and mobile robot can design as little as possible, thereby makes the utility model is suitable for a task operation that the space is less.
Drawings
Fig. 1 is a first angle schematic of the present invention;
fig. 2 is a first angle schematic of the present invention;
fig. 3 is an exploded view of the present invention;
FIG. 4 is an assembled view of the steering drive and linkage;
FIG. 5 is a schematic view of a linkage;
FIG. 6 is a schematic view of a fifth wheel;
fig. 7 is an exploded view of the fifth wheel.
Description of reference numerals:
the steering mechanism comprises a steering driving device 1, a steering engine 11, a connecting piece 12, a fixed frame 13, a hinged shaft 14, a steering wheel 2, a linkage piece 21, a cross rod 22, a knuckle bearing 23, a locking piece 24, a steering shaft 3, a steering seat 4, a seat body 41, a jack 42, a connecting arm 43, a gland 44, a through hole 45, a connecting shaft 46, a convex edge 47, a shaft sleeve 48, wheels 5, a baffle 51 and screws 52.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings:
example one
Referring to fig. 1 to 7, the steering mechanism applied to the mobile robot of the present embodiment includes a steering driving device 1 and two steering wheels 2, wherein the two steering wheels 2 are symmetrically disposed on two sides of the steering driving device 1, and the steering wheels 2 include a linkage 21, a steering shaft 3, a steering base 4 and wheels 5; the wheels 5 are arranged on a steering seat 4 in a relatively rotating manner, the steering shaft 3 is vertically arranged on the steering seat 4, the steering seat 4 is connected with a vehicle body (not shown in the figure) of the mobile robot through the steering shaft 3, and the steering seat 4 can rotate around the steering shaft 3; the steering driving device 1 is fixed relative to the body of the mobile robot, one end of the linkage piece 21 is hinged with the output end of the steering driving device 1, and the other end of the linkage piece 21 is hinged with the end part of the steering seat 4; the steering drive device 1 drives a linkage piece 21 to swing so as to rotate the steering base 4 around the steering shaft 3.
Specifically, a baffle plate 51 and a screw 52 are arranged at the side part of the wheel 5, the baffle plate 51 presses against the outer side of the middle part of the wheel 5, and the screw 52 penetrates through the baffle plate 51 and is connected with the steering seat 4.
Referring to fig. 1 to 4, the steering driving device 1 includes a steering engine 11 and a fixed frame 13, the fixed frame 13 is fixedly connected with a vehicle body of the mobile robot, and the steering engine 11 is arranged on the fixed frame 13; the output end of the steering engine 11 is provided with a connecting piece 12, the steering engine 11 can drive the outer end of the connecting piece 12 to swing left and right, and the two linkage pieces 21 are respectively hinged with the outer end of the connecting piece 12.
Specifically, the hinged end of one of the link members 21 is located below the connecting member 12, the hinged end of the other link member 21 is located above the connecting member 12, and the two link members 21 and the connecting member 12 are connected by the hinge shaft 14.
Turn to 1 spare part of drive arrangement few, simple structure, spare part is cheap easily obtained, low cost, in addition, through set up connecting piece 12 on the output that turns to steering wheel 11 and supply two linkage 21 to connect to ensure the synchronism when two directive wheel 2 turn to, improve and use the utility model discloses a mobile robot turns to the effect.
Referring to fig. 1, 2, 3 and 5, the linkage 21 includes a cross bar 22 and knuckle bearings 23 disposed at two ends of the cross bar 22, the knuckle bearing 23 at one end of the cross bar 22 is connected to the output end of the steering driving device 1, and the knuckle bearing 23 at the other end of the cross bar 22 is connected to the end of the steering base 4.
By adopting the arrangement mode, the linkage part 21 can ensure that one end of the linkage part 21 connected with the steering driving device 1 and one end of the linkage part connected with the steering seat 4 are in a movable state, so that the linkage part 21 is prevented from blocking the steering seat 4 to rotate in the swinging process, and the service life of the linkage part 21 is prolonged.
Referring to fig. 5, the cross bar 22 is movably inserted into the knuckle bearing 23; the crossbar 22 is provided with a locking member 24, and the locking member 24 is used for limiting the distance between the crossbar 22 and the spherical plain bearing 23.
Specifically, the end of the cross bar 22 is screwed with the knuckle bearing 23.
Above-mentioned mode of setting up makes horizontal pole 22 with distance between the joint bearing 23 is adjustable, thereby makes the utility model discloses can produce and need adjust horizontal pole 22 with distance between the joint bearing 23 to the mobile robot who adapts to different specifications improves the utility model discloses an application scope.
Referring to fig. 6 to 7, the steering base 4 includes a base body 41 and a connecting shaft 46, the connecting shaft 46 is fixedly disposed on a side of the base body 41 away from the steering driving device 1, the wheels 5 are rotatably disposed on an outer side of the connecting shaft 46, the steering shaft 3 is disposed on the base body 41, and one end of the linkage 21 is connected to an end of the base body 41.
Turn to seat 4 and adopt above-mentioned mode of setting up, on the one hand, can be convenient for the producer will turn to seat 4 and install to mobile robot's automobile body on to improve the equipment speed, on the other hand, because turn to seat 4 fixed at vertical orientation relative mobile robot's automobile body, with turn to seat 4 and be connected connecting axle 46 and can provide fixed axle center for wheel 5 and carry out the rotation along the axle center direction, thereby be convenient for use the utility model discloses a mobile robot turns to.
Referring to fig. 6 to 7, the end surface of the seat body 41 is provided with a connecting arm 43 extending outwards, and the link member 21 is hinged to the connecting arm 43.
Through pedestal 41 terminal surface sets up linking arm 43, is convenient for provide the tie point for linkage 21, reduces the utility model discloses an equipment degree of difficulty, the producer of being convenient for produces fast.
Referring to fig. 7, an insertion hole 42 is formed in the outer side of the seat body 41, and the connecting shaft 46 is inserted into the insertion hole 42; a gland 44 is arranged on the outer side of the steering seat 4, and the gland 44 is used for fixing the connecting shaft 46 on the seat body 41.
Specifically, a through hole 45 through which a connecting shaft 46 passes is formed in the middle of the gland 44, and the gland 44 is sleeved outside the connecting shaft 46 and is fixedly connected with the base body 41 through a bolt or a screw; the outer side of the connecting shaft 46 is provided with a convex edge 47, and the inner side of the gland 44 is pressed against the convex edge 47 to limit the outward movement range of the connecting shaft 46.
The steering seat 4 is assembled by the seat body 41, the connecting shaft 46 and the gland 44, the production difficulty of a single part can be reduced, so that the production cost is reduced, and the arrangement mode can ensure that the connecting shaft 46 is fixedly arranged relative to the seat body 41, so that the wheel 5 can be conveniently installed.
Referring to fig. 6 to 7, a sleeve 48 is sleeved on the connecting shaft 46, and the sleeve 48 is located between the seat body 41 and the wheel 5.
The bushing 48 is disposed to limit the distance between the seat body 41 and the wheel 5, so as to avoid the wheel 5 interfering with the seat body 41.
Referring to fig. 6, the steering shaft 3 penetrates through the steering base 4, and the upper end and the lower end of the steering shaft 3 are fixedly connected with respect to the vehicle body of the mobile robot.
Specifically, a bearing (not shown) is disposed in the steering seat 4.
This kind of mode of setting can ensure the 2 relative movement robot of directive wheel are stably connected to reliability when improving directive wheel 2 and rotating improves the utility model discloses stability when turning to.
Compared with the prior art, the utility model discloses a be applied to mobile robot's steering mechanism, it mainly comprises steering drive 1, linkage 21, steering spindle 3, steering seat 4 and wheel 5, leads to the position that two directive wheels 2 are injectd to mobile robot's automobile body, saves and sets up the supporter between steering drive 1 and steering seat 4, the utility model discloses the during operation turns to 1 output power of drive and makes linkage 21 to left side or right side swing, steering seat 4 drives wheel 5 around steering spindle 3 to left side or right side swing thereupon and turns to, the utility model has the advantages of simple structure, small in size, low cost, easy manufacturing, be convenient for install and use fast to and be convenient for maintain, be applicable to the small-vehicle type mobile robot.
Example two
Another object of the utility model is to provide an use above-mentioned steering mechanism's mobile robot, including organism, controlling means, drive arrangement and steering mechanism set up on the organism, drive arrangement steering mechanism with the controlling means electricity is connected.
The present description does not show the drawings of the present embodiment, but the present embodiment falls within the protection scope of the claims of the present invention.
Compared with the prior art, the utility model discloses a mobile robot installs simple structure, small in size's steering mechanism, and it can carry out nimble rotation according to ackermann principle to adapt to different task demands, and mobile robot can design as little as possible, thereby makes the utility model is suitable for a task operation that the space is less.
Variations and modifications to the above-described embodiments may occur to those skilled in the art, in light of the above teachings and teachings. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the present invention should fall within the protection scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.
Claims (10)
1. The steering mechanism applied to the mobile robot is characterized by comprising a steering driving device and two steering wheels, wherein the two steering wheels are symmetrically arranged on two sides of the steering driving device and comprise a linkage part, a steering shaft, a steering seat and wheels;
the wheels are arranged on a steering seat in a relatively rotating manner, the steering shaft is vertically arranged on the steering seat, the steering seat is connected with a vehicle body of the mobile robot through the steering shaft, and the steering seat can rotate around the steering shaft;
the steering driving device is fixed relative to the vehicle body of the mobile robot, one end of the linkage piece is hinged with the output end of the steering driving device, and the other end of the linkage piece is hinged with the end part of the steering seat;
the steering driving device drives the linkage piece to swing so as to enable the steering seat to rotate around the steering shaft.
2. The steering mechanism applied to the mobile robot is characterized in that the steering driving device comprises a steering engine and a fixed frame, the fixed frame is fixedly connected with a vehicle body of the mobile robot, and the steering engine is arranged on the fixed frame;
the steering engine is characterized in that a connecting piece is arranged at the output end of the steering engine, the steering engine can drive the outer end of the connecting piece to swing left and right, and the two linkage pieces are respectively hinged with the outer end of the connecting piece.
3. The steering mechanism applied to the mobile robot as claimed in claim 1, wherein the linkage member comprises a cross bar and knuckle bearings arranged at two ends of the cross bar, the knuckle bearing at one end of the cross bar is connected with the output end of the steering driving device, and the knuckle bearing at the other end of the cross bar is connected with the end of the steering base.
4. The steering mechanism applied to a mobile robot of claim 3, wherein the cross bar is movably inserted into the knuckle bearing;
the cross rod is provided with a locking piece, and the locking piece is used for limiting the distance between the cross rod and the knuckle bearing.
5. The steering mechanism applied to a mobile robot of claim 1, wherein the steering base comprises a base body and a connecting shaft, the connecting shaft is fixedly disposed on a side of the base body away from the steering driving device, the wheel is rotatably disposed on an outer side of the connecting shaft, the steering shaft is disposed on the base body, and one end of the linkage is connected to an end of the base body.
6. The steering mechanism applied to a mobile robot of claim 5, wherein the end face of the seat body is provided with a connecting arm extending outwards, and the linkage piece is hinged with the connecting arm.
7. The steering mechanism applied to the mobile robot of claim 5, wherein an insertion hole is formed at the outer side of the seat body, and the connecting shaft is inserted into the insertion hole;
and a gland is arranged on the outer side of the steering seat and is used for fixing the connecting shaft on the seat body.
8. The steering mechanism applied to the mobile robot as claimed in claim 5, wherein a bushing is sleeved outside the connecting shaft, and the bushing is located between the seat body and the wheel.
9. The steering mechanism applied to the mobile robot of claim 1, wherein the steering shaft penetrates through the steering base, and the upper end and the lower end of the steering shaft are fixedly connected with respect to the vehicle body of the mobile robot.
10. A mobile robot, comprising a body, a control device, a driving device and a steering mechanism, wherein the control device, the driving device and the steering mechanism are arranged on the body, the driving device and the steering mechanism are electrically connected with the control device, and the steering mechanism is the steering mechanism applied to the mobile robot as claimed in any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023205055.6U CN214875110U (en) | 2020-12-25 | 2020-12-25 | Steering mechanism applied to mobile robot and mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023205055.6U CN214875110U (en) | 2020-12-25 | 2020-12-25 | Steering mechanism applied to mobile robot and mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214875110U true CN214875110U (en) | 2021-11-26 |
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ID=78925641
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202023205055.6U Active CN214875110U (en) | 2020-12-25 | 2020-12-25 | Steering mechanism applied to mobile robot and mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214875110U (en) |
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2020
- 2020-12-25 CN CN202023205055.6U patent/CN214875110U/en active Active
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