CN216185595U - Damping omnidirectional steering wheel chassis - Google Patents
Damping omnidirectional steering wheel chassis Download PDFInfo
- Publication number
- CN216185595U CN216185595U CN202122518613.2U CN202122518613U CN216185595U CN 216185595 U CN216185595 U CN 216185595U CN 202122518613 U CN202122518613 U CN 202122518613U CN 216185595 U CN216185595 U CN 216185595U
- Authority
- CN
- China
- Prior art keywords
- gear
- chassis
- steering wheel
- rotary
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000013016 damping Methods 0.000 title claims abstract description 31
- 230000005540 biological transmission Effects 0.000 claims abstract description 18
- 230000035939 shock Effects 0.000 claims description 14
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 7
- 229910052782 aluminium Inorganic materials 0.000 claims description 7
- WABPQHHGFIMREM-UHFFFAOYSA-N lead(0) Chemical compound [Pb] WABPQHHGFIMREM-UHFFFAOYSA-N 0.000 claims description 4
- 238000005516 engineering process Methods 0.000 claims description 2
- 238000010521 absorption reaction Methods 0.000 claims 2
- 230000009194 climbing Effects 0.000 abstract description 6
- 241000380131 Ammophila arenaria Species 0.000 description 5
- 239000004411 aluminium Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Images
Landscapes
- Power Steering Mechanism (AREA)
Abstract
The utility model discloses a damping omnidirectional steering wheel chassis of a robot, which comprises a chassis bottom plate, a chassis framework, a steering gear set, a common steering wheel set, a coded disc gyroscope set, a lead plate bracket, a lead plate, a robot climbing translation driving rack, a robot climbing translation sliding rail, a chassis upper cover plate and a damping steering wheel set, wherein the chassis bottom plate, the chassis framework and the chassis upper cover plate are connected together through screws, the common steering wheel set is connected on a rotary bottom plate through a brushless servo motor and a motor fixing seat, the rotary bottom plate is fixed on the chassis bottom plate through a clamping plate, the damping steering wheel set is connected with a brushless servo motor and a sliding motor seat through a sliding rail slider, the steering gear set drives a transmission gear to rotate through the brushless servo motor, and the transmission gear is meshed with a rotary gear, thereby realizing the rotation of the common steering wheel set and the damping steering wheel set.
Description
Technical Field
The utility model relates to the field of robots, in particular to a damping omnidirectional steering wheel chassis of a mobile robot.
Background
A complete omnidirectional chassis needs four helm wheelsets at least, because ground is not completely smooth, when adopting four ordinary helm wheelsets, the unsettled condition of wheel can appear in omnidirectional chassis when ground motion to the unbalanced traction force of four ends of chassis leads to the chassis to take place the skew, the driving motor of helm wheelset adopts brushless servo motor simultaneously, wheel one side is unsettled, lead to corresponding driven brushless servo motor idle running, and other motors rotate under normal load, can lead to the error increase of chassis position location like this. When the ground fluctuation is too large, the chassis can shake violently without any buffer, thereby influencing the service life of the robot. Therefore, a shock absorbing steering wheel set which can be freely extended and retracted under a certain load is required.
Disclosure of Invention
The utility model aims to solve the problems and provide a damping omnidirectional steering wheel chassis.
In order to achieve the purpose, the utility model adopts the following technical scheme:
the utility model provides a shock attenuation qxcomm technology steering wheel chassis, includes chassis bottom plate, chassis skeleton, steering gear group, ordinary steering wheel wheelset, code wheel gyroscope group, lead wire board support, lead wire board, the robot climbs translation drive rack, the robot climbs translation slide rail, chassis upper cover plate, shock attenuation steering wheel wheelset, chassis bottom plate, chassis skeleton and chassis upper cover plate pass through the screw connection and are in the same place, ordinary steering wheel wheelset includes: gyration bottom plate, gyration jackshaft, cross roller bearing, the fixed cover of gyration bearing outer lane, gyration bearing fixed plate, gyration upper cover plate, gear backing plate, slewing gear, gear shaft board set screw, motor fixing base, motor cabinet set screw, brushless servo motor, aluminium frame rubber tyer, chute, incremental encoder, auxiliary stay axle, back shaft set screw, back shaft fixing base mounting screw, ordinary steering wheel wheelset passes through brushless servo motor and motor fixing base and connects on the gyration bottom plate, the gyration bottom plate passes through splint to be fixed on chassis bottom plate, the shock attenuation steering wheel wheelset includes: rotary bottom plate, gyration jackshaft, cross roller bearing, the fixed cover of slewing bearing outer lane, the slewing bearing fixed plate, the gyration upper cover plate, the gear backing plate, the slewing gear, gear shaft board set screw, auxiliary support shaft slide rail fixing base, auxiliary slide rail fixing base screw, a slide rail, incremental encoder, the encoder fixed plate, the auxiliary support shaft, back shaft set screw, the chute, chute set screw, aluminium frame rubber tyer, brushless servo motor, damping rod, pressure spring, damping seat, sliding motor seat set screw, motor seat slide rail fixing base, slide rail seat set screw, the shock attenuation steering wheel wheelset is through linking together with brushless servo motor and sliding motor seat, be connected through the slide rail slider between sliding motor seat and the motor seat slide rail fixing base, the steering gear group includes: screw, miniature flange deep groove ball bearing, bearing top cover, motor shaft sleeve, drive gear key, gear baffle, baffle jump ring, brushless servo motor, motor set screw, motor mounting panel, drive gear are beaten to the stopper, steering gear group drives drive gear through brushless servo motor and rotates, drive gear meshes with slewing gear to realize the rotation of ordinary helm wheelset and shock attenuation helm wheelset.
Preferably, the damping omnidirectional steering wheel chassis adopts a mode of matching and combining two common steering wheel sets and two damping steering wheel sets.
Preferably, the damping omnidirectional steering wheel chassis adopts a steering gear set to carry out gear meshing transmission.
Preferably, a micro flange deep groove ball bearing and a plug screw are added at the tail end of the steering gear set.
Compared with the prior art, the utility model has the following beneficial effects:
1. the damping omnidirectional steering wheel chassis provided by the utility model totally comprises four steering wheel sets, two are common steering wheel sets, and two are damping steering wheel sets, so that the left side and the right side of the chassis can be ensured to vibrate in a balanced manner.
2. According to the damping omnidirectional steering wheel chassis provided by the utility model, the miniature flange deep groove ball bearing and the plug screw are added at the tail end of the steering gear set, wherein the miniature flange deep groove ball bearing is arranged on the chassis base plate, the head and the tail of the brushless servo motor are fixed, and when the gear is stressed too much, the motor mounting plate cannot be distorted and deformed, so that the gear jumps.
Drawings
Fig. 1 is a schematic view of the general structure of the present invention.
Fig. 2 is a schematic cross-sectional structure view of a general steering wheel set according to the present invention.
Fig. 3 is a schematic cross-sectional view of the shock absorbing steering wheel set according to the present invention.
FIG. 4 is a schematic cross-sectional view of a steering gear set according to the present invention.
The labels in the figure are: 1 is a chassis base plate, 2 is a chassis framework, 3 is a steering gear set, 4 is a common steering wheel set, 5 is a coded disc gyroscope set, 6 is a lead plate bracket, 7 is a lead plate, 8 is a robot climbing translation driving rack, 9 is a robot climbing translation sliding rail, 10 is a chassis upper cover plate, 11 is a damping steering wheel set, 12 is a rotary base plate, 13 is a rotary intermediate shaft, 14 is a crossed roller bearing, 15 is a rotary bearing outer ring fixing sleeve, 16 is a rotary bearing fixing plate, 17 is a rotary upper cover plate, 18 is a gear cushion plate, 19 is a rotary gear, 20 is a gear shaft plate fixing screw, 21 is a motor fixing seat, 22 is a motor seat fixing screw, 23 is a brushless servo motor, 24 is an aluminum frame rubber wheel, 25 is a wiring frame, 26 is an incremental encoder, 27 is an auxiliary supporting shaft, 28 is a supporting shaft fixing screw, 29 is a supporting shaft fixing seat, and 30 is a supporting shaft fixing seat mounting screw, 31 is an auxiliary support shaft slide rail fixing seat, 32 is an auxiliary slide rail fixing seat screw, 33 is a slide rail, 34 is an encoder fixing plate, 35 is a chute fixing screw, 36 is a damping rod, 37 is a pressure spring, 38 is a damping seat, 39 is a sliding motor seat, 40 is a sliding motor seat fixing screw, 41 is a motor seat slide rail fixing seat, 42 is a slide rail seat fixing screw, 43 is a ramming screw, 44 is a micro flange deep groove ball bearing, 45 is a bearing top sleeve, 46 is a motor shaft sleeve, 47 is a transmission gear key, 48 is a gear baffle, 49 is a baffle snap spring, 50 is a motor fixing screw, 51 is a motor mounting plate, and 52 is a transmission gear.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the following embodiments and accompanying drawings.
As shown in fig. 1, a damping omnidirectional steering wheel chassis comprises a chassis base plate 1, a chassis frame 2, a steering gear set 3, a common steering wheel set 4, a coded disc gyroscope set 5, a lead plate bracket 6, a lead plate 7, a robot climbing translation driving rack 8, a robot climbing translation slide rail 9, a chassis upper cover plate 10 and a damping steering wheel set 11, wherein the chassis base plate 1, the chassis frame 2 and the chassis upper cover plate 10 are connected together through screws, the common steering wheel set 4 is connected to a rotary base plate 12 through a brushless servo motor 23 and a motor fixing seat 21, the rotary base plate 12 is fixed on the chassis base plate 1 through a clamping plate, the damping steering wheel set 11 is connected together with the brushless servo motor 23 and a sliding motor seat 39 through a slide rail 33, the steering gear set 3 drives a transmission gear 52 to rotate through the brushless servo motor 23, the transmission gear 52 is meshed with the rotary gear 19, so that the rotation of the common steering wheel set 4 and the damping steering wheel set 11 is realized.
As shown in fig. 2, the general steering wheel group 4 includes: the device comprises a rotary bottom plate 12, a rotary intermediate shaft 13, a crossed roller bearing 14, a rotary bearing outer ring fixing sleeve 15, a rotary bearing fixing plate 16, a rotary upper cover plate 17, a gear base plate 18, a rotary gear 19, a gear shaft plate fixing screw 20, a motor fixing seat 21, a motor fixing seat fixing screw 22, a brushless servo motor 23, an aluminum frame rubber wheel 24, a wiring frame 25, an incremental encoder 26, an auxiliary support shaft 27, a support shaft fixing screw 28, a support shaft fixing seat 29 and a support shaft fixing seat mounting screw 30.
As shown in fig. 3, the shock absorbing steering wheel set includes 11: the device comprises a rotary bottom plate 12, a rotary intermediate shaft 13, a crossed roller bearing 14, a rotary bearing outer ring fixing sleeve 15, a rotary bearing fixing plate 16, a rotary upper cover plate 17, a gear cushion plate 18, a rotary gear 19, a gear shaft plate fixing screw 20, an auxiliary support shaft slide rail fixing seat 31, an auxiliary slide rail fixing seat screw 32, a slide rail 33, an incremental encoder 26, an encoder fixing plate 34, an auxiliary support shaft 27, a support shaft fixing screw 28, a chute 25, a chute fixing screw 35, an aluminum frame rubber wheel 24, a brushless servo motor 23, a damping rod 36, a pressure spring 37, a damping seat 38, a sliding motor seat 39, a sliding motor seat fixing screw 40, a motor seat slide rail fixing seat 41 and a slide rail seat fixing screw 42. The rotation mode of the rotation body of the damping steering wheel set 11 is that the outer ring is fixed on the chassis bottom plate 1, the inner ring rotates, the wheel and some motor fixing seats 21 are arranged on the inner ring of the rotation body, the rotation gear 19 is also synchronously arranged on the inner ring of the rotation body, and the rotation gear 19 is driven to rotate through external transmission, so that the wheel and the rotation inner ring rotate together. Also install auxiliary stay axle 27 at the opposite side of wheel, the wheel rotates and drives auxiliary stay axle 27 and rotate, incremental encoder 26 and auxiliary stay axle slide rail fixing base 31 have been installed to the opposite side at auxiliary stay axle 27, auxiliary stay axle slide rail fixing base 31 is installed and is circled at the revolving solid, incremental encoder 26 and auxiliary stay axle slide rail fixing base 31 carry out the slide rail 33 through encoder fixed plate 34 and connect, its effect is when guaranteeing that the wheel is flexible from top to bottom, incremental encoder 26 can stretch out and draw back in step, and auxiliary stay axle 27 can continue to drive the inside grating of incremental encoder 26 and rotate the record turned angle together. When the robot moves on the ground, if the robot fluctuates when touching the ground, the damping steering wheel set 11 can automatically extend and retract along with the fluctuation of the ground, and all wheels of the chassis are ensured to be always attached to the ground.
As shown in fig. 4, the steering gear set 3 includes: the device comprises a plugging screw 43, a micro flange deep groove ball bearing 44, a bearing top sleeve 45, a motor shaft sleeve 46, a transmission gear key 47, a gear baffle 48, a baffle clamp spring 49, a brushless servo motor 23, a motor fixing screw 50, a motor mounting plate 51 and a transmission gear 52. The steering gear set 3 drives the transmission gear 52 to rotate through the brushless servo motor 23, and the transmission gear 52 is meshed with the rotary gear 19, so that the rotation of the common steering wheel set 4 and the damping steering wheel set 11 is realized. The tail end of the steering gear set 3 is added with a micro flange deep groove ball bearing 44 and a plug screw 43, wherein the micro flange deep groove ball bearing 44 is arranged on the chassis base plate 1, the head and the tail of the brushless servo motor 23 are fixed, and when the gear is stressed too much, the motor mounting plate 51 cannot be distorted and deformed, so that the gear jumps.
While the principles, operation and advantages of the present invention have been shown and described, it is not intended that the utility model be limited to the above-described embodiments, but it is intended that the utility model cover modifications and equivalents of the embodiments described above as may be suggested to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. The utility model provides a shock attenuation qxcomm technology steering wheel chassis, includes chassis bottom plate (1), chassis skeleton (2), steering gear group (3), ordinary steering wheel wheelset (4), code wheel gyroscope group (5), lead wire board support (6), lead wire board (7), the robot climbs translation drive rack (8), the robot climbs translation slide rail (9), chassis upper cover plate (10), shock attenuation steering wheel wheelset (11), chassis bottom plate (1), chassis skeleton (2) and chassis upper cover plate (10) link together through the screw, ordinary steering wheel wheelset (4) include: a rotary bottom plate (12), a rotary intermediate shaft (13), a crossed roller bearing (14), a rotary bearing outer ring fixing sleeve (15), a rotary bearing fixing plate (16), a rotary upper cover plate (17), a gear backing plate (18), a rotary gear (19), a gear shaft plate fixing screw (20), a motor fixing seat (21), a motor fixing seat fixing screw (22), a brushless servo motor (23), an aluminum frame rubber wheel (24), a wiring frame (25), an incremental encoder (26), an auxiliary support shaft (27), a support shaft fixing screw (28), a support shaft fixing seat (29) and a support shaft fixing seat mounting screw (30), the common steering wheel set (4) is connected on the rotary bottom plate (12) through a brushless servo motor (23) and a motor fixing seat (21), gyration bottom plate (12) are fixed on chassis bottom plate (1) through the splint, shock attenuation steering wheel wheelset (11) include: a rotary bottom plate (12), a rotary intermediate shaft (13), a crossed roller bearing (14), a rotary bearing outer ring fixing sleeve (15), a rotary bearing fixing plate (16), a rotary upper cover plate (17), a gear backing plate (18), a rotary gear (19), a gear shaft plate fixing screw (20), an auxiliary support shaft slide rail fixing seat (31), an auxiliary slide rail fixing seat screw (32), a slide rail (33), an incremental encoder (26), an encoder fixing plate (34), an auxiliary support shaft (27), a support shaft fixing screw (28), a wiring rack (25), a wiring rack fixing screw (35), an aluminum frame rubber wheel (24), a brushless servo motor (23), a damping rod (36), a pressure spring (37), a damping seat (38), a sliding motor seat (39), a sliding motor seat fixing screw (40), a motor seat slide rail fixing seat (41) and a slide rail seat fixing screw (42), shock attenuation steering wheel wheelset (11) are through linking together with brushless servo motor (23) and slip motor cabinet (39), be connected through slide rail (33) between slip motor cabinet (39) and motor cabinet slide rail fixing base (41), steering gear group (3) include: the steering gear set comprises a plug screw (43), a micro flange deep groove ball bearing (44), a bearing top sleeve (45), a motor shaft sleeve (46), a transmission gear key (47), a gear baffle (48), a baffle clamp spring (49), a brushless servo motor (23), a motor fixing screw (50), a motor mounting plate (51) and a transmission gear (52), wherein the steering gear set (3) drives the transmission gear (52) to rotate through the brushless servo motor (23), and the transmission gear (52) is meshed with a rotary gear (19) so as to realize the rotation of a common steering wheel set (4) and a damping steering wheel set (11).
2. The omni-directional rudder wheel chassis with shock absorption according to claim 1, wherein two general rudder wheel sets and two shock absorption rudder wheel sets are combined in a matched manner.
3. The damped omni-directional rudder wheel chassis according to claim 1, wherein the transmission mode adopts a steering gear set for gear meshing transmission.
4. The chassis of claim 1, wherein a micro flange deep groove ball bearing and a setscrew are added at the end of the steering gear set.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122518613.2U CN216185595U (en) | 2021-10-19 | 2021-10-19 | Damping omnidirectional steering wheel chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122518613.2U CN216185595U (en) | 2021-10-19 | 2021-10-19 | Damping omnidirectional steering wheel chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216185595U true CN216185595U (en) | 2022-04-05 |
Family
ID=80886287
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122518613.2U Expired - Fee Related CN216185595U (en) | 2021-10-19 | 2021-10-19 | Damping omnidirectional steering wheel chassis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216185595U (en) |
-
2021
- 2021-10-19 CN CN202122518613.2U patent/CN216185595U/en not_active Expired - Fee Related
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202580477U (en) | Spiral pipe robot | |
| CN106739781B (en) | Semi-embedded Mecanum wheel structure | |
| CN102069495A (en) | Parallel robot | |
| CN216508670U (en) | Suspension damping tracked robot chassis | |
| CN109278891A (en) | A kind of passive adaptive mechanism of magnetic adsorption wall climbing robot | |
| CN216185595U (en) | Damping omnidirectional steering wheel chassis | |
| CN102328683B (en) | Tilt hinge bracket of steering column for vehicle and steering column for vehicle having the same | |
| CN209351490U (en) | A kind of passive adaptive mechanism of magnetic adsorption wall climbing robot | |
| CN209776538U (en) | Rudder wheel structure and AGV using same | |
| CN205602909U (en) | Elevator car locator | |
| CN102180100B (en) | Universal motor-driven chassis | |
| CN208344322U (en) | A kind of rail mounted four-wheel driving electric vehicle independent steering assembly | |
| CN207644521U (en) | A kind of chassis structure | |
| CN210764217U (en) | Jacking mechanism using gear connecting rod transmission | |
| CN210163066U (en) | Vehicle-mounted platform | |
| CN210680977U (en) | Magnetic adsorption type wall-climbing robot | |
| CN110873266A (en) | Examination machine that agricultural machine teaching was used | |
| CN212839232U (en) | Six-shaft transmission structure for six-shaft parallel electric platform | |
| CN112848877A (en) | Liftable wheel assembly | |
| CN215254982U (en) | Stereo garage anti-vibration device | |
| CN2883177Y (en) | Running mechanism for passenger bridge | |
| CN218661222U (en) | Damper, walking wheel device and mobile robot | |
| CN220973819U (en) | Novel fifth wheel structure | |
| CN215900151U (en) | Detachable damping moving wheel for medical transfer bed | |
| CN217307427U (en) | Noise-reduction type servo motor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20220405 |