CN216185443U - Rudder wheel for transfer robot - Google Patents
Rudder wheel for transfer robot Download PDFInfo
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- CN216185443U CN216185443U CN202122508604.5U CN202122508604U CN216185443U CN 216185443 U CN216185443 U CN 216185443U CN 202122508604 U CN202122508604 U CN 202122508604U CN 216185443 U CN216185443 U CN 216185443U
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- 238000013016 damping Methods 0.000 claims abstract description 75
- 230000000149 penetrating effect Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
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- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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Abstract
The utility model provides a steering wheel for a transfer robot, which mainly comprises a driving component, a steering component and an encoder component, wherein the driving component is connected with the steering component; the driving assembly comprises a motor and a steering gear in meshed connection with the motor through an idler wheel, the steering assembly comprises a damping rod and an independent driving wheel connected with the damping rod, and the independent driving wheel is arranged below the steering gear and fixedly connected with the steering gear through the damping rod, so that the steering of the independent driving wheel is realized; the encoder assembly is connected with the steering gear and used for measuring the rotation angle parameter of the independent driving wheel. The steering wheel can drive the rotating gear according to requirements, so that the steering of the transfer robot is realized, and the steering angle parameter of the robot can be measured in real time.
Description
Technical Field
The utility model relates to the technical field of mechanical steering, in particular to a steering wheel for a transfer robot.
Background
With the rapid development of industrial robot technology, the movable transfer robot is widely applied to various fields of manufacturing industry, logistics industry, transportation industry and the like at present by virtue of the characteristics of rapidness, high efficiency, energy conservation, flexibility and the like.
However, the mobile device of the existing transfer robot has high requirements on the ground environment, when obstacles appear on working road conditions, the problems of inconvenient steering and the like easily occur, the steering angle range cannot be well controlled, and oversteer is easily caused, so that the robot is damaged or the normal working progress is influenced, meanwhile, the service life of the mobile device can be shortened, and the application range of the mobile device is limited.
SUMMERY OF THE UTILITY MODEL
In view of the above, in order to achieve a good steering effect and avoid the problem of oversteer, embodiments of the present invention provide a steering wheel that can be used for a transfer robot.
An embodiment of the present invention provides a steering wheel usable with a transfer robot, including:
the driving assembly comprises a motor fixedly arranged below the frame and a steering gear driven by the motor to rotate, and the motor is in meshed connection with the steering gear;
the limiting assembly comprises a collision strip fixedly arranged on the surface of the steering gear and positioned in the radial extension direction, and two positioning columns arranged on the rotation track of the collision strip, and the rotation range of the collision strip is between the two positioning columns;
the steering assembly comprises at least two damping rods and an independent driving wheel, wherein the damping rods are arranged below the steering gear, the damping rods are respectively arranged inside and outside the independent driving wheel, the upper end of each damping rod is fixedly connected with the steering gear, and the lower end of each damping rod is connected with one side of the independent driving wheel;
and an encoder assembly for measuring the angle of rotation of the steering gear.
Furthermore, a circular steering support is arranged inside the steering gear, the steering gear and the circular steering support form a bearing structure, the steering gear can rotate along the outer wall of the steering support, and the upper end of the steering support is fixedly connected with the frame.
Further, the motor is connected with the steering gear through a gear set, wherein the gear set comprises a driving gear connected with the output end of the motor and an idler gear meshed with the driving gear, and the idler gear is also meshed with the steering gear.
Furthermore, the output end cover of the motor is provided with a protection box, the motor is fixedly connected with the frame through the protection box, the idler wheel penetrates through the side part of the protection box, a rotating shaft penetrates through the wheel center of the idler wheel, the idler wheel is fixedly connected with the protection box through the rotating shaft, and the idler wheel can rotate on the rotating shaft.
Furthermore, the collision strip is in a C shape and is located on the outer side of the independent driving wheel, the opening end of the collision strip faces the direction away from the independent driving wheel and contains each vibration damping rod on the outer side of the independent driving wheel, and the two positioning columns are located on the inner side of the independent driving wheel and fixedly connected with the frame so as to respectively limit the rotation angle range of the independent driving wheel during forward rotation and reverse rotation.
Furthermore, each damping rod includes the last damping rod, insert locate last damping rod bottom lower damping rod and damping spring, lower damping rod is in can slide from top to bottom in the last damping rod, go up the damping rod upper end with steering gear fixed connection, lower damping rod lower extreme with independent drive wheel one side is connected, go up the fixed spacing ring that is equipped with of damping rod outer wall, the fixed spacing ring that is equipped with down of damping rod outer wall, damping spring cover locate go up the spacing ring with between the spacing ring down, just damping spring is in the shrink state.
Furthermore, a penetrating wheel hub shaft is arranged at the wheel center of the independent driving wheel, connecting blocks are fixedly arranged at two ends of the wheel hub shaft respectively, and the lower ends of the lower damping rods on any side of the independent driving wheel are fixedly connected with the connecting blocks on the same side.
Further, be equipped with the mounting panel on the steering gear lower terminal surface, the mid point of mounting panel with steering gear's axis coincidence, the mid point department of the upper surface of mounting panel is equipped with the pivot, the pivot runs through steering support and with encoder subassembly fixed connection.
Further, the encoder assembly comprises a rotary encoder and an encoder seat for installing the rotary encoder, the rotary encoder is fixedly installed on the frame through the encoder seat, and the rotary encoder is fixedly connected with the rotating shaft.
The technical scheme provided by the embodiment of the utility model has the following beneficial effects: the utility model relates to a steering wheel for a transfer robot, which drives an idler wheel to rotate through a motor so as to drive a steering gear to rotate, thereby driving an independent driving wheel to steer; the collision strip and the positioning column are matched with each other, so that the forward and reverse rotation angle parameters of the independent driving wheel are limited, and the problem of equipment damage caused by excessive steering of the independent driving wheel is solved; damping is realized through a damping spring; and the rotation angle condition of the independent driving wheel is measured in real time through a rotary encoder. The structure provided by the utility model can meet the vibration reduction requirement, can measure the steering angle in real time, more importantly can prevent over steering, and is simple in overall structure design, low in cost and convenient to detach, maintain, repair or replace.
Drawings
Fig. 1 is a schematic view showing an overall structure of a steering wheel for a transfer robot according to the present invention;
fig. 2 is a schematic view showing a lower structure of a steering wheel of a transfer robot according to the present invention;
FIG. 3 is a schematic structural view of the drive assembly 2 of FIG. 1;
fig. 4 is a schematic structural view of the motor 201 and its connecting parts in fig. 3;
fig. 5 is a schematic structural view of the steering gear 204 and its connecting parts in fig. 3;
FIG. 6 is a schematic view of the damper rod 301 of FIG. 3;
FIG. 7 is a schematic diagram of the structure of the encoder assembly 4 of FIG. 1;
in the figure: 1-frame, 2-drive assembly, 201-motor, 202-protection box, 203-idle wheel, 204-steering gear, 205-steering support, 206-motor shaft, 207-driving gear, 3-steering assembly, 301-vibration damping rod, 3011-upper vibration damping rod, 3012-upper limiting ring, 3013-vibration damping spring, 3014-lower limiting ring, 3015-lower vibration damping rod, 302-independent drive wheel, 303-connecting block, 304-hub shaft, 4-encoder assembly, 401-rotary encoder, 402-encoder seat, 403-encoder output port, 5-rotating shaft, 6-mounting plate, 7-collision strip, 8-left positioning column and 9-right positioning column.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be further described with reference to the accompanying drawings.
Referring to fig. 1 and 2, an embodiment of the present invention provides a steering wheel for a transfer robot, which is mainly applied to the technical field of mechanical automatic steering, and mainly includes a frame 1, a driving assembly 2, a steering assembly 3, a limiting assembly, and an encoder assembly 4.
The driving assembly 2 is fixedly arranged at the bottom of the frame 1, the steering assembly 3 comprises at least two vibration damping rods 301 and independent driving wheels 302 connected with the lower ends of the vibration damping rods 301, the upper ends of the vibration damping rods 301 are fixedly connected with the driving assembly 2, the driving assembly 2 drives the vibration damping rods 301 to twist so as to achieve steering of the independent driving wheels 302, the limiting assembly is used for limiting the rotation angle range of the independent driving wheels 302, and the encoder assembly 4 is connected with the driving assembly 2 and used for measuring rotation angle parameters of the independent driving wheels 302.
In this embodiment, the number of all the damping rods 301 is four, and the damping rods are respectively disposed inside and outside the independent driving wheel 302.
Referring to fig. 3 and 4, the driving assembly 2 includes a motor 201, an idler gear 203 driven by the motor 201, and a steering gear 204 externally engaged with the idler gear 203, wherein a motor shaft 206 of the motor 201 is sleeved with a driving gear 207, and the driving gear 207 is externally engaged with the idler gear 203, so that the motor 201 can drive the steering gear 204 to rotate.
The output end cover of the motor 201 is provided with a protection box 202, the motor 201 is fixedly connected with the frame 1 through the protection box 202, the upper end of the protection box 202 is provided with a through hole, the protection box 202 is used for protecting the motor shaft 206 and the driving gear 207, the idler 203 is arranged on one side of the protection box 202 in a penetrating manner, the wheel center of the idler 203 is provided with a rotating shaft in a penetrating manner, the idler 203 is fixedly connected with the protection box 202 through the rotating shaft, and the idler 203 can rotate on the rotating shaft.
Referring to fig. 5, a steering support 205 is disposed inside the steering gear 204, the steering support 205 is shaped like a circular ring, the two forms a bearing structure, the steering gear 204 can rotate along an outer wall of the steering support 205, and an upper end of the steering support 205 is fixedly connected to the frame 1.
Referring to fig. 1, 2 and 5, the limiting assembly includes a striking strip 7 disposed on the lower surface of the steering gear 204, and a left positioning column 8 and a right positioning column 9 disposed on the rotation track of the striking strip 7, and the rotation range of the striking strip 7 is between the left positioning column 8 and the right positioning column 9.
The collision strip 7 is C-shaped and is located outside the independent driving wheel 302, an open end of the collision strip 7 faces a direction away from the independent driving wheel 302 and contains the two damping rods 301 outside the independent driving wheel 302, the lower surface of the bottom plate of the frame 1 inside the independent driving wheel 302 is provided with the left positioning column 8 and the right positioning column 9, and the two positioning columns are matched with the collision strip 7 and used for respectively limiting the rotation angle ranges of the independent driving wheel 302 in the positive direction and the negative direction.
Referring to fig. 2 and 6, each of the damping rods 301 includes an upper damping rod 3011, a lower damping rod 3015 inserted into the bottom of the upper damping rod 3011, and a damping spring 3013, the upper end of the lower damping rod 3015 can slide up and down inside the lower end of the upper damping rod 3011, the upper end of the upper damping rod 3011 is fixedly connected to the steering gear 204, the lower end of the lower damping rod 3015 is connected to one side of the independent driving wheel 302, an upper limiting ring 3012 is fixedly disposed on the outer wall of the upper damping rod 3011, a lower limiting ring 3014 is fixedly disposed on the outer wall of the lower damping rod 3015, the damping spring 3013 is sleeved between the upper limiting ring 3012 and the lower limiting ring 3014, and the damping spring 3013 is in a contracted state, so as to achieve a damping effect.
The wheel center of the independent driving wheel 302 is provided with a penetrating hub shaft 304, two ends of the hub shaft 304 are respectively provided with a connecting block 303, the lower end of each lower damping rod 3015 is fixedly connected with the connecting block 303 on the corresponding side, and thus the independent driving wheel 302 can be driven to turn by twisting the damping rods 301.
Referring to fig. 5 and 7, the lower end surface of the steering gear 204 is further provided with an installation plate 6, the center of the installation plate 6 is overlapped with the central axis of the steering gear 204, a rotation shaft 5 is arranged at the midpoint of the upper surface of the installation plate 6, and the rotation shaft 5 penetrates through the steering support 205 and the frame 1 from bottom to top and is fixedly connected with the encoder assembly 4.
The encoder assembly 4 comprises a rotary encoder 401 and an encoder seat 402 for mounting the rotary encoder 401, the rotary encoder 401 is fixedly mounted on the frame 1 through the encoder seat 402, an encoder output port 403 of the rotary encoder 401 is fixedly connected with the rotating shaft 5, and the rotary encoder 401 is used for measuring a steering angle parameter of the independent driving wheel 302.
In the present embodiment, first, the vehicle body 1 is movable.
Secondly, the motor 201 on the driving assembly 2 drives the steering gear 204 to rotate, and the steering gear 204 is fixedly connected with the independent driving wheel 302 through each vibration damping rod 301, so that the steering gear 204 can drive the independent driving wheel 302 to steer when rotating, and meanwhile, the vibration damping rods 301 can realize vibration damping.
Finally, the rotary encoder 401 on the encoder assembly 4 is fixedly connected with the rotating shaft 5, so as to measure the rotating angle parameter of the steering gear 204, and thus obtain the rotating angle parameter of the independent driving wheel 302.
In this document, the terms front, back, upper and lower are used to define the components in the drawings and the positions of the components relative to each other, and are used for clarity and convenience of the technical solution. It is to be understood that the use of the directional terms should not be taken to limit the scope of the claims.
The features of the embodiments and embodiments described herein above may be combined with each other without conflict.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the utility model, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. Rudder wheel for a transfer robot, comprising:
the driving assembly comprises a motor fixedly arranged below the frame and a steering gear driven by the motor to rotate, and the motor is in meshed connection with the steering gear;
the limiting assembly comprises a collision strip fixedly arranged on the surface of the steering gear and positioned in the radial extension direction, and two positioning columns arranged on the rotation track of the collision strip, and the rotation range of the collision strip is between the two positioning columns;
the steering assembly comprises at least two damping rods and an independent driving wheel, wherein the damping rods are arranged below the steering gear, the damping rods are respectively arranged inside and outside the independent driving wheel, the upper end of each damping rod is fixedly connected with the steering gear, and the lower end of each damping rod is connected with one side of the independent driving wheel;
and an encoder assembly for measuring the angle of rotation of the steering gear.
2. A steering wheel usable with a transfer robot according to claim 1, wherein: the steering gear is internally provided with a circular steering support, the steering gear and the circular steering support form a bearing structure, the steering gear can rotate along the outer wall of the steering support, and the upper end of the steering support is fixedly connected with the frame.
3. A steering wheel usable with a transfer robot according to claim 1, wherein: the motor with the steering gear passes through the gear train and connects, wherein the gear train include with the driving gear that the output of motor is connected, with the idler of driving gear meshing, the idler still with steering gear meshes.
4. A steering wheel usable with a transfer robot according to claim 3, wherein: the output end cover of the motor is provided with a protection box, the motor is fixedly connected with the frame through the protection box, the idler wheel penetrates through the side part of the protection box, a rotating shaft penetrates through the wheel center of the idler wheel, the idler wheel is fixedly connected with the protection box through the rotating shaft, and the idler wheel can rotate on the rotating shaft.
5. A steering wheel usable with a transfer robot according to claim 1, wherein: the collision strip is C-shaped and is positioned on the outer side of the independent driving wheel, the opening end of the collision strip faces the direction far away from the independent driving wheel and contains each damping rod on the outer side of the independent driving wheel, and the two positioning columns are positioned on the inner side of the independent driving wheel and are fixedly connected with the frame and used for respectively limiting the rotation angle range of the independent driving wheel during forward rotation and reverse rotation.
6. A steering wheel usable with a transfer robot according to claim 1, wherein: each the damping rod includes the damping rod, inserts and locates lower damping rod and damping spring of last damping rod bottom, the damping rod is in down the damping rod is interior to slide from top to bottom, go up the damping rod upper end with steering gear fixed connection, the damping rod lower extreme down with independent drive wheel one side is connected, it is fixed to be equipped with the spacing ring on the damping rod outer wall to go up, the damping rod outer wall is fixed to be equipped with down the spacing ring down, the damping spring cover is located go up the spacing ring with between the spacing ring down, just damping spring is in the shrink state.
7. A steering wheel usable with a transfer robot according to claim 6, wherein: the wheel center of the independent driving wheel is provided with a through type wheel hub shaft, two ends of the wheel hub shaft are respectively and fixedly provided with a connecting block, and the lower ends of the lower vibration damping rods on any side of the independent driving wheel are fixedly connected with the connecting blocks on the same side.
8. A steering wheel usable with a transfer robot according to claim 2, wherein: be equipped with the mounting panel on the steering gear lower terminal surface, the mid point of mounting panel with steering gear's axis coincidence, the mid point department of the upper surface of mounting panel is equipped with the pivot, the pivot runs through steering support and with encoder subassembly fixed connection.
9. A steering wheel usable with a transfer robot according to claim 8, wherein: the encoder assembly comprises a rotary encoder and an encoder seat used for installing the rotary encoder, the rotary encoder is fixedly installed on the frame through the encoder seat, and the rotary encoder is fixedly connected with the rotating shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122508604.5U CN216185443U (en) | 2021-10-18 | 2021-10-18 | Rudder wheel for transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122508604.5U CN216185443U (en) | 2021-10-18 | 2021-10-18 | Rudder wheel for transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216185443U true CN216185443U (en) | 2022-04-05 |
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ID=80883927
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122508604.5U Active CN216185443U (en) | 2021-10-18 | 2021-10-18 | Rudder wheel for transfer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216185443U (en) |
-
2021
- 2021-10-18 CN CN202122508604.5U patent/CN216185443U/en active Active
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20231101 Address after: 430000, Room 5, 2nd Floor, Building 3, No. 1550 Jiefang Avenue, Jiang'an District, Wuhan City, Hubei Province Patentee after: Wuhan Huaxin Microcontrol Technology Co.,Ltd. Address before: 430000 No. 009, 4 / F, precision technology building, Fenghuo technology innovation Valley, No. 88, YouKeYuan Road, Hongshan District, Wuhan City, Hubei Province Patentee before: Wuhan Haikun Equipment Technology Co.,Ltd. |