CN217396611U - Robotic steering wheel and carrier - Google Patents

Abstract

The present disclosure relates to a robot rudder wheel, the robot rudder wheel includes: a connecting seat; the steering wheel assembly comprises a walking wheel and a steering wheel, and the walking wheel comprises a driver and a wheel body; wire winding subassembly, including fixed block, pulley and first elastic component, the fixed block connect in the steering wheel, connect the cable of driver is fixed in the fixed block, walk around the pulley and be fixed in first elastic component, first elastic component pulls the cable is with the tensioning the cable. The cable of the robot steering wheel and the carrier is always in a stretching state under the traction of the first elastic element. In the rotating process of the walking wheel following the steering wheel, the fixed block rotates along with the steering wheel to pull the cable, and the cable can be kept in a stretching state all the time, so that the phenomenon of twisting in the steering process of the steering wheel can be reduced.

Description

Robotic steering wheel and carrier

Technical Field

The disclosure relates to the field of transportation equipment, in particular to a robot steering wheel and a carrier.

Background

The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.

With the development of robots, the walking drive of the robots mostly adopts a steering wheel mode. Currently, vertical steering wheels and horizontal steering wheels are common steering wheels. The horizontal steering wheel is for avoiding the emergence of the stranded conductor phenomenon to appear when the walking wheel turns to, and the cable is often walked the line through walking wheel rotation central axis direction, appears the problem of stranded conductor easily.

SUMMERY OF THE UTILITY MODEL

In view of the above, there is a need for a steering wheel for a robot and a carrier, which aims to improve the technical defect that the steering wheel for the robot is easy to twist.

To this end, the present disclosure first provides a steering wheel for a robot, including:

a connecting seat;

the steering wheel assembly comprises a walking wheel and a steering wheel, the steering wheel is rotationally connected to the connecting seat along the axis in the vertical direction, the walking wheel comprises a driver and a wheel body, the wheel body is rotationally connected to the steering wheel along the axis in the horizontal direction, and the driver is connected with the wheel body and used for driving the walking wheel to rotate;

wire winding subassembly, including fixed block, pulley and first elastic component, the fixed block connect in the steering wheel, connect the cable of driver is fixed in the fixed block, walk around the pulley and be fixed in first elastic component, first elastic component pulls the cable is with the tensioning the cable.

Preferably, the number of the first elastic members is a plurality of first elastic members connected end to end, and the cable is fixed to the first elastic member at the head.

Preferably, the winding assembly further includes a tension rope fixed to the fixing block, wound around the pulley and fixed to the first elastic member to stretch the first elastic member.

Preferably, the steering wheel is provided with conical teeth at least partially arranged along the circumferential direction, and the steering motor is connected to the connecting seat and meshed with the conical teeth of the steering wheel through a conical gear.

Preferably, the conical teeth are arranged on an end surface of the steering wheel opposite to the connecting seat, the steering motor is arranged along the horizontal direction, and a rotating shaft of the conical gear extends along the horizontal direction.

Preferably, the steering wheel further comprises an encoder and a positioning gear, the rotating surface of the steering wheel is further provided with positioning gear teeth, and the positioning gear is connected to the encoder and meshed with the positioning gear teeth.

In addition, this disclosure still provides a carrier, including the base member, still include the robot steering wheel, the connecting seat of robot steering wheel connect in the base member, the pulley rotationally connect in base member or connecting seat, first elastic component connect in base member or connecting seat.

Preferably, a suspension assembly is further included, the suspension assembly comprising:

the pull rod is connected to the connecting seat in the vertical direction and penetrates through the through hole of the base body;

one end of the second elastic piece is abutted to the pull rod, and the other end of the second elastic piece is abutted to the base body to bear the base body.

Preferably, the suspension assembly further comprises a fixing member connected to the pull rod, and the second elastic member abuts between the fixing member and the base body.

Preferably, the lifting lug is connected to the base body, the pull rod is connected to the connecting seat, the second elastic part is a pressure spring sleeved on the pull rod, the fixing part is in threaded connection with the pull rod, and the pressure spring abuts between the fixing part and the lifting lug.

Compared with the prior art, the walking wheels of the robot steering wheel and the carrier are arranged on the steering wheel, the cable is fixed on the fixing block connected with the steering wheel, bypasses the pulley and is fixed on the first elastic piece, and the cable is always in a stretching state under the traction of the first elastic piece. In the rotating process of the walking wheel following the steering wheel, the fixed block rotates along with the steering wheel to pull the cable, and the cable can be kept in a stretching state all the time, so that the phenomenon of twisting in the steering process of the steering wheel can be reduced.

Drawings

In order to illustrate the embodiments more clearly, the drawings that will be needed in the description of the embodiments will be briefly described below, it being apparent that the drawings in the following description are some examples of the disclosure, and that other drawings may be derived from those drawings by a person skilled in the art without inventive effort.

Fig. 1 is a schematic structural view of the carrier.

Fig. 2 is a schematic view of the steering wheel structure.

Fig. 3 is a schematic view of the steering wheel assembly.

Fig. 4 is a schematic structural view of the wire winding assembly.

Fig. 5 is a schematic view of the structure of the suspension assembly.

Description of the main elements

The following detailed description will further illustrate the disclosure in conjunction with the above-described figures.

Detailed Description

In order that the above objects, features and advantages of the present disclosure can be more clearly understood, a detailed description of the present disclosure will be given below with reference to the accompanying drawings and detailed description. In addition, the embodiments and features of the embodiments of the present application may be combined with each other without conflict. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, and the described embodiments are merely some, but not all embodiments of the present disclosure. All other embodiments, which can be derived by one of ordinary skill in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. The terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure.

In various embodiments, for convenience in description and not limitation of the disclosure, the term "coupled" as used in the specification and claims of the present disclosure is not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships are changed accordingly.

Fig. 1 is a schematic structural view of the carrier. As shown in fig. 1, the carrier comprises a base 1 and a robot steering wheel 2, the connection socket 10 of the robot steering wheel 2 being connected to the base 1. In the present embodiment, the number of the robot steering wheels 2 is four, and the robot steering wheels are connected to four corners of the base 1, respectively, to realize the traveling function of the carrier.

Fig. 2 is a schematic view of the structure of the steering wheel. As shown in fig. 2, the robot steering wheel 2 includes a connection socket 10, a steering wheel assembly 20, and a wire winding assembly 30. The connecting socket 10 is connected to the base 1 of the carrier. The steering wheel assembly 20 is connected to the connecting base 10 for performing a traveling function of the carrier. The wire winding assembly 30 is used for fixing the cable 35 connected to the steering wheel assembly 20, and preventing the cable 35 from twisting.

Fig. 3 is a schematic structural view of the steering wheel assembly 20. As shown in fig. 3, the steering wheel assembly 20 includes road wheels 21 and a steering wheel 22, and the road wheels 21 are connected to the steering wheel 22

The steering wheel 22 is rotatably connected to the connecting socket 10 along an axis in the vertical direction, for example, may be rotatably connected to the connecting socket 10 through a bearing. In order to realize the steering driving of the steering wheel 22, the end surface (i.e. the side surface perpendicular to the axial line) of the steering wheel 22 opposite to the connecting seat 10 is at least partially provided with a tapered tooth 221 along the circumferential direction, and a person skilled in the art can set the angle at which the tapered tooth 221 extends according to the steering angle of the steering wheel 22, and can also set the tapered tooth 221 by 360 degrees. In addition, the steering wheel assembly 20 further includes a steering motor 23 and a bevel gear 24. The steering motor 23 is connected to a bottom surface of the connecting holder 10, i.e., a side surface facing the steering wheel 22, through a second mounting holder 231, and is disposed in a horizontal direction, i.e., a horizontal disposition. A bevel gear 24 is connected to an output shaft of the steering motor 23, and a rotation shaft of the bevel gear 24 extends in a horizontal direction and engages with the bevel teeth 221 of the steering wheel 22. In this way, the steering wheel 22 is meshed with the bevel gear 24 through the bevel teeth 221, the motor is prevented from extending in the vertical direction to increase the height of the steering wheel 2 of the robot, and the steering motor 23 can drive the steering wheel 22 to steer through the bevel gear 24, so that the rotating action of the steering wheel 22 is realized. In order to determine the steering angle of the steering wheel 22, in some embodiments, the robot steering engine may further include an encoder 25 and a positioning gear 26, the rotating surface of the steering wheel 22 is further provided with positioning gear teeth 222, and the positioning gear 26 is connected to the encoder 25 and engaged with the positioning gear teeth 222. When the steering wheel 22 rotates, the steering wheel 22 can rotate the positioning gear 26 via the positioning gear teeth 222, so that the steering angle of the steering wheel 22 is recorded via the encoder 25.

The walking wheels 21 comprise a driver and a wheel body, and the wheel body can be rotationally connected to the steering wheel 22 along the axis of the horizontal direction through the first mounting seat 211, so that in the process of rotating the steering wheel 22, the wheel body of the walking wheels 21 can be driven to rotate to complete the steering action. The driver may be a motor or the like, and is connected to the wheel body for driving the road wheel 21 to rotate. In some embodiments, the driver may be embedded in the wheel body, and in other embodiments, the driver may also be installed outside the wheel body, and connected to the wheel body through an output shaft of the driver to drive the wheel body to rotate.

Fig. 4 is a schematic structural view of the wire winding assembly 30. As shown in fig. 4, the wire winding assembly 30 includes a fixing block 31, a pulley 32, and a first elastic member 33. The fixing block 31 is connected to the steering wheel 22 at a position near the driver for fixing a cable 35 of the driver. The pulley 32 is rotatably connected to the base 1. In the present embodiment, the pulleys 32 are fixed pulleys 32, and are rotatably connected to the base 1, and the number of the pulleys 32 may be one, or may be two or more, and those skilled in the art may set the number of the pulleys 32 according to the extending path of the cable 35. The first elastic member 33 is connected to the base body 1 for tensioning a cable 35. In this embodiment, the elastic bodies may be springs, the number of the elastic bodies is a plurality of the elastic bodies connected end to end, the cable 35 is fixed to the elastic body at the head, and the elastic body at the tail is hooked to the base 1. The cables 35 connecting the drivers are used to transmit signals to the drivers and to provide power to the drivers. The cable 35 is led out from the driver, fixed to the fixed block 31, passed around the pulley 32 in turn, passed through the first elastic member at the head, fixed to the first elastic member, and led out to the base 1 of the carrier. In the use, through the length of setting up cable 35 between first elastic component and the fixed block 31, first elastic component pulls first fixed block 31 all the time, prevents the stranded conductor phenomenon. In the steering process of the steering wheel 22, the fixed block 31 is connected to the steering wheel 22 and rotates along with the steering wheel 22, so that the fixed block 31 can pull the first elastic element to stretch and retract, and further the cable 35 is driven to adapt to the steering action of the travelling wheel 21. In order to reduce the stress of the cable 35, in some embodiments, the winding assembly 30 may further include a tension rope 34, the tension rope 34 is fixed to the fixing block 31, passes around the pulley 32 along the same path as the cable 35, and is fixed to the first elastic member 33 to stretch the first elastic member 33. By setting the lengths of the parts of the tensioning ropes 34 and the cables 35 between the fixing block 31 and the first elastic member, the tensioning ropes 34 can bear most of the tensioning force of the first elastic member, and the cables 35 bear the tensioning force of the cables in a stretching state, so that the cables 35 can be protected, and the first elastic member can be in a proper deformation state by controlling the length of the tensioning ropes 34 to provide a proper tensioning force.

In some embodiments the carrier may further comprise a suspension assembly 40, the above-mentioned robot steering wheel 2 being connected to the carrier base 1 via the suspension assembly 40. Specifically, the base body 1 may include one or more hanging lugs 11, and the robot steering wheel 2 is hung on the hanging lugs 11 through a hanging assembly 40, so as to realize elastic connection between the robot steering wheel 2 and the base body 1.

Fig. 5 is a schematic view of the structure of the suspension assembly 40. As shown in fig. 5, the suspension assembly 40 includes a tension rod 41, a second elastic member, and a fixing member 43. A pull rod 41 is connected to the connection socket 10 in a vertical direction and passes through a through hole of the base 1. In this embodiment, the pull rod 41 sequentially passes through the through hole of the lifting lug 11 and the through hole of the connecting seat 10 in the vertical direction, and the head of the pull rod 41 has a protrusion extending in the radial direction, which can be hung on the lifting lug 11 and the connecting seat 10. The fixing member 43 is connected to the pull rod 41, and may be one or more nuts, and is connected to the bottom of the pull rod 41 through a screw. One end of the second elastic member 42 abuts against the pull rod 41 through the fixing member 43, and the other end abuts against the base 1 to bear the base 1. In this embodiment, the second elastic member 42 is a compression spring sleeved on the pull rod 41, and the fixing member 43 is connected to the pull rod 41 by a screw and compresses the second elastic member 42. In addition, a pressing ring 411 is further sleeved at the end part of the suspension rod close to the lifting lug 11, and the lifting lug 11 abuts against the second elastic piece through the pressing ring 411; the suspension lever is further provided with a spacer 412 at an end portion close to the fixing member 43, and the second elastic member abuts against the fixing member 43 through the spacer 412.

As shown in fig. 5, the load carried by the base body 1 is transmitted to the lifting lug 11 (such as the load G shown in fig. 5), and the load of the lifting lug 11 is transmitted to the pull rod 41 through the pressing ring 411, the second elastic member and the fixing member 43 in sequence, and is transmitted to the connecting seat 10 of the robot rudder wheel 2 through the pull rod 41. Because be provided with the second elastic component between lug 11 and the pull rod 41, the vibration that 11 conduction of lug 11 not only can be alleviated to the second elastic component, can reduce the vibration that the conveyer walking in-process produced, improve the stationarity that the conveyer removed, moreover, can also play the height of self-adaptation complete machine robot steering wheel 2, when robot steering wheel 2 was in the position of falling ground, robot steering wheel 2 compressed the second elastic component and extended under the dead weight effect, avoid walking wheel 21 unsettled to skid. Further, the suspension assembly 40 can also adjust the height of the robot rudder wheel 2 by adjusting the degree of compression of the second elastic member 42 by the fixing member 43, which facilitates the installation and debugging of the robot rudder wheel 2.

The above-described robot steering wheel 2 and carrier have the road wheels 21 mounted on the steering wheel 22, the cable 35 fixed to the fixed block 31 connected to the steering wheel 22, wound around the pulley 32 and fixed to the first elastic member 33, and the cable 35 is always in a stretched state under the traction of the first elastic member 33. In the process that the walking wheels 21 rotate along with the steering wheel 22, the fixed block 31 rotates along with the steering wheel 22 to pull the cable 35, and the cable 35 can be kept in a stretching state all the time, so that the phenomenon that the steering wheels are twisted in the steering process can be reduced.

In several embodiments provided in the present disclosure, it will be apparent to those skilled in the art that the present disclosure is not limited to the details of the above-described exemplary embodiments, and can be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the disclosure being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. The terms first, second, etc. are used to denote names, but not to denote any particular order.

Although the present disclosure has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the present disclosure.

Claims (10)

1. A robotic steering wheel, comprising:

a connecting seat;

the steering wheel assembly comprises a walking wheel and a steering wheel, the steering wheel is rotationally connected to the connecting seat along the axis in the vertical direction, the walking wheel comprises a driver and a wheel body, the wheel body is rotationally connected to the steering wheel along the axis in the horizontal direction, and the driver is connected with the wheel body and used for driving the walking wheel to rotate;

wire winding subassembly, including fixed block, pulley and first elastic component, the fixed block connect in the steering wheel, connect the cable of driver is fixed in the fixed block, walk around the pulley and be fixed in first elastic component, first elastic component pulls the cable is with the tensioning the cable.

2. The robot steering wheel according to claim 1, wherein the number of the first elastic members is a plurality of first elastic members connected end to end, and the cable is fixed to the first elastic members at the head.

3. The robot rudder wheel according to claim 2, wherein the wire winding assembly further includes a tension rope fixed to the fixing block, wound around the pulley and fixed to the first elastic member to stretch the first elastic member.

4. The robot steering wheel according to claim 1, further comprising a steering motor, the steering wheel being provided with tapered teeth at least partially arranged in a circumferential direction, the steering motor being connected to the connecting base and engaged with the tapered teeth of the steering wheel through a tapered gear.

5. The steering wheel of robot of claim 4, wherein the tapered teeth are provided on an end surface of the steering wheel opposite to the coupling seat, the steering motor is disposed in a horizontal direction and a rotation shaft of the tapered gear extends in the horizontal direction.

6. The robot rudder wheel according to claim 5, further comprising an encoder and a positioning gear, the rotating surface of the steering wheel being further provided with positioning gear teeth, the positioning gear being connected to the encoder and being engaged with the positioning gear teeth.

7. A carrier comprising a base body, characterized in that it further comprises a robot rudder wheel according to any one of claims 1-6, the attachment base of the robot rudder wheel being attached to the base body, the pulley being rotatably attached to the base body or the attachment base, the first resilient member being attached to the base body or the attachment base.

8. The carrier of claim 7, further comprising a hang assembly, said hang assembly comprising:

the pull rod is connected to the connecting seat along the vertical direction and penetrates through the through hole of the base body;

one end of the second elastic piece is abutted to the pull rod, and the other end of the second elastic piece is abutted to the base body so as to bear the base body.

9. The carrier of claim 8 wherein said suspension assembly further comprises a fastener, said fastener being connected to said tie bar, said second resilient member abutting between said fastener and said base.

10. The carrier of claim 9, further comprising a lifting lug, wherein the lifting lug is connected to the base body, the pull rod is connected to the connecting seat, the second elastic member is a compression spring sleeved on the pull rod, the fixing member is screwed to the pull rod, and the compression spring abuts between the fixing member and the lifting lug.

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