CN219506087U - Robot chassis turns to and damping device - Google Patents

Abstract

A robot chassis steering and damping device comprises a damping component and a steering component; the damping component comprises a swing arm support, a swing arm and a damper; the steering assembly comprises a steering motor, a speed reducer and a steering shaft; the swing arm is connected with the robot body through a swing arm support, and can rotate around the swing arm support; the horizontal plane of swing arm is equipped with speed reducer and bumper shock absorber, the output of steering motor is connected to the speed reducer, the steering spindle is installed in the output hole of speed reducer, and the wheel hub motor support is connected to the lower extreme of steering spindle, and wheel hub motor is fixed in on the wheel hub motor support. The utility model can simultaneously reduce the speed reducer, the steering motor, the steering shaft and the shock absorber on the swing arm, has compact integral structure, is convenient to install, is easy to process and manufacture, simplifies the structure and reduces parts.

Description

Robot chassis turns to and damping device

Technical Field

The utility model relates to the technical field of robots, in particular to a steering and damping device for a chassis of a robot.

Background

The existing robot chassis drives wheels through the arrangement of an in-wheel motor, is responsible for steering the wheels through the arrangement of a steering motor, and absorbs the impact caused by ground obstacle impact through the arrangement of a shock absorber.

For example CN 110789331a discloses a robot servo steering wheel comprising a drive wheel module and a steering module; the driving wheel module comprises a wheel body, a driving motor and a damping bracket, and the driving motor is connected with the driving wheel through the damping bracket; the steering module comprises a steering motor, a speed reducing mechanism and a rotating shaft, an output shaft of the steering motor is connected with an input end of the speed reducing mechanism, an output end of the speed reducing mechanism is connected with the rotating shaft, and the other end of the rotating shaft is connected with the damping bracket; the driving motor drives the wheel body to rotate; the output power of the steering motor is transmitted to the rotating shaft to drive the damping bracket to steer after being decelerated by the decelerating mechanism. However, the steering and damping device has an incompact structure, on one hand, one wheel is required to be provided with two damping brackets and two corresponding dampers, so that the number of the dampers is increased, and the cost is also increased; on the other hand, the shock absorber and the speed reducer are separately arranged, resulting in an incompact structure and an increase in the number of various scattered bracket arrangements.

Disclosure of Invention

The utility model aims to overcome the defects in the prior art and provide the steering and damping device for the chassis of the robot.

The technical scheme of the utility model is as follows: a robot chassis steering and damping device comprises a damping component and a steering component; the damping component comprises a swing arm support, a swing arm and a damper; the steering assembly comprises a steering motor, a speed reducer and a steering shaft; the swing arm is connected with the robot body through a swing arm support, and can rotate around the swing arm support; the horizontal plane of swing arm is equipped with speed reducer and bumper shock absorber, the output of steering motor is connected to the speed reducer, the steering spindle is installed in the output hole of speed reducer, and the wheel hub motor support is connected to the lower extreme of steering spindle, and wheel hub motor is fixed in on the wheel hub motor support.

Further, the swing arm includes hang plate, horizontal plate and extension board, is the obtuse angle setting between horizontal plate's one end and the hang plate, and the extension board is connected to the other end.

Further, the inclined plate is connected with the swing arm support through a swing arm pin at the end far away from the horizontal plate.

Further, the horizontal plate is fixedly connected with the hub motor bracket through a threaded component

Further, the horizontal plate is of a groove structure, and at least two side edges of the horizontal plate are bent in a direction away from the wheel hub motor bracket; the speed reducer is arranged in the groove body, one side of the upper part of the speed reducer is connected with the steering motor, and the other side of the upper part of the speed reducer is connected with the steering shaft.

Further, the damper is obliquely installed on the extension plate.

Further, two ends of the shock absorber are respectively connected with the swing arm and the shock absorber support through pins, and the shock absorber support is fixedly connected with the robot body.

Further, the steering motor can drive the tires to rotate 360 degrees, and each tire of the robot chassis is independently controlled by each steering motor.

Further, the steering shaft is mounted in an output hole of the speed reducer by a steering shaft nut.

The utility model has the beneficial effects that: the steering and damping device is mainly applied to a chassis of a wheeled robot and has the characteristics of compact structure and flexible maneuvering. Through the design of the swing arm structure, a speed reducer, a steering motor, a steering shaft and a shock absorber can be arranged on the swing arm at the same time, so that the swing arm structure is compact in overall structure, convenient to install, easy to process and manufacture, and the structure is simplified, and parts are reduced; the steering motor is connected to the speed reducer, and the steering shaft is arranged in the output hole of the speed reducer, so that the steering motor can transmit torsion to the steering shaft through the speed reducer, thereby not only improving the control precision and the torsion, but also improving the flexibility of the whole vehicle; through setting up the swing arm and rotating around the swing arm round pin to set up the bumper shock absorber on the swing arm, can effectively reduce the impact of robot in-process of traveling, absorbed the vibration energy, thereby improve the stability that the robot was gone. The utility model has the advantages of simple and compact structure, various control modes, high precision and flexibility, and can meet changeable use scenes and road surface conditions.

Drawings

FIG. 1 is a schematic structural view and a sectional view of an embodiment of the present utility model;

fig. 2 is a state diagram of different motion modes of the robot according to an embodiment of the present utility model.

The attached drawings are used for identifying and describing:

1. a swing arm support; 2. swing arms; 3. a damper; 4. a steering motor; 5. a speed reducer; 6. a steering shaft; 7. a hub motor bracket; 8. a hub motor; 21. an inclined plate; 22. a horizontal plate; 23. an extension plate; 24. a swing arm pin; 31. a shock absorber bracket; 61. a steering spindle nut.

Detailed Description

The utility model will be described in further detail with reference to the drawings and the specific examples.

As shown in fig. 1: a robot chassis steering and damping device comprises a damping component and a steering component; the damping component comprises a swing arm support 1, a swing arm 2 and a damper 3; the steering assembly comprises a steering motor 4, a speed reducer 5 and a steering shaft 6; the swing arm 2 is connected with the robot body through a swing arm support 1, and the swing arm 2 can rotate around the swing arm support 1; be equipped with on the horizontal plane of swing arm 2 speed reducer 5 and bumper shock absorber 3, the output of steering motor 4 is connected to speed reducer 5, steering spindle 6 installs in the output hole of speed reducer 5, and wheel hub motor support 7 is connected to the lower extreme of steering spindle 6, and wheel hub motor 8 is fixed in on wheel hub motor support 7.

In this embodiment, the swing arm 2 includes an inclined plate 21, a horizontal plate 22 and an extension plate 23 connected in sequence, and an included angle between the inclined plate 21 and the horizontal plate 22 is an obtuse angle. The inclined plate, the horizontal plate and the extension plate can be integrally formed, or at least two plate bodies can be connected in a split mode. Wherein the inclined plate 21 is connected with the swing arm support 1 through a swing arm pin 24 at the end far away from the horizontal plate 22, and the inclined plate 21 is inclined towards the direction of the tire and keeps a gap with the tire; the swing arm support 1 is fixed on the framework of the robot body. The horizontal plate 22 is of a groove structure, three sides of the horizontal plate 22 are bent in a direction away from the wheel hub motor bracket 7, namely upwards to form a groove body, a speed reducer 5 is arranged in the groove body, a steering motor 4 is arranged on one side above the speed reducer 5, and a steering shaft 6 is arranged on the other side. The horizontal plate 22 is provided with an extension plate 23 on the side remote from the inclined plate 21, and the extension plate 23 may be disposed horizontally or obliquely to the horizontal plate. The extension plate 23 is provided with a damper 3.

In this embodiment, the speed reducer 5 includes one or two of a planetary gear, a worm gear and a spur gear speed reducing mechanism, and since the connection between the speed reducer and the steering motor is already in the prior art, the details are not described here. The steering shaft 6 is mounted in the output hole of the speed reducer 5 through a steering shaft nut 61, and the lower end of the steering shaft 6 extends out along the output hole of the speed reducer 5, so that the in-wheel motor bracket 7 is fixed on the steering shaft 6, the in-wheel motor 8 is fixed on the in-wheel motor bracket 7, and the in-wheel motor 8 drives the tire to rotate. When the steering motor 4 works, torque is transmitted to the steering shaft 6 through the speed reducer 5, and the steering shaft 6 drives the tire to rotate around the steering shaft, so that the steering action of the robot is realized.

In this embodiment, the steering motor 4 may drive the tire to rotate 360 degrees, for example, the robot of this embodiment is provided with four tires, each tire is provided with the steering and damping device of the present utility model, the four tires are respectively controlled by the four steering motors independently, and through different steering angle control, different movement modes of the robot such as straight walking, in-situ rotation, left and right turning (ackerman steering), lateral walking, etc. can be realized, as shown in fig. 2.

In this embodiment, two ends of the damper 3 are respectively connected with the extension plate 23 of the swing arm and the damper bracket 31 by pins, and the damper bracket 31 is fixedly connected with the frame of the robot body. The shock absorber 3 is obliquely arranged, and when the tire jumps up and down, the swing arm 2 is driven to rotate around the swing arm pin 24, so that the shock absorber 3 generates compression or stretching deformation, and a shock absorption effect is generated on the robot.

The working principle of the embodiment is as follows: the tires are driven to move through respective hub motors; when the tires need to be steered, steering motors of the tires are independently controlled, steering control is carried out on the four tires respectively according to steering angles of the whole chassis through a chassis controller and a motor controller, the tires can be driven to rotate 360 degrees, and when the steering motors work, torsion is transmitted to a steering shaft through a speed reducer, and then the steering shaft drives the tires to rotate around the steering shaft, so that the steering action of the robot is realized; when the tire runs on a rugged road and jumps up and down, the swing arm is driven to rotate around the swing arm pin through the wheel hub motor bracket, so that the shock absorber is compressed or stretched to deform, and a shock absorption effect is achieved.

In summary, the steering and damping device is mainly applied to the chassis of the wheeled robot, and has the characteristics of compact structure and flexibility. Through the design of the swing arm structure, a speed reducer, a steering motor, a steering shaft and a shock absorber can be arranged on the swing arm at the same time, so that the swing arm structure is compact in overall structure, convenient to install, easy to process and manufacture, and the structure is simplified, and parts are reduced; the steering motor is connected to the speed reducer, and the steering shaft is arranged in the output hole of the speed reducer, so that the steering motor can transmit torsion to the steering shaft through the speed reducer, thereby not only improving the control precision and the torsion, but also improving the flexibility of the whole vehicle; through setting up the swing arm and rotating around the swing arm round pin to set up the bumper shock absorber on the swing arm, can effectively reduce the impact of robot in-process of traveling, absorbed the vibration energy, thereby improve the stability that the robot was gone. The utility model has the advantages of simple and compact structure, various control modes and high precision, and can accord with changeable use scenes and road surface conditions.

Claims (9)

1. A robot chassis steering and damping device comprises a damping component and a steering component; the damping component comprises a swing arm support, a swing arm and a damper; the steering assembly comprises a steering motor, a speed reducer and a steering shaft; the robot is characterized in that the swing arm is connected with the robot body through a swing arm support, and the swing arm can rotate around the swing arm support; the horizontal plane of swing arm is equipped with speed reducer and bumper shock absorber, the output of steering motor is connected to the speed reducer, the steering spindle is installed in the output hole of speed reducer, and the wheel hub motor support is connected to the lower extreme of steering spindle, and wheel hub motor is fixed in on the wheel hub motor support.

2. The robot chassis steering and damping device according to claim 1, wherein the swing arm comprises an inclined plate, a horizontal plate and an extension plate, one end of the horizontal plate is arranged at an obtuse angle with the inclined plate, and the other end of the horizontal plate is connected with the extension plate.

3. The robot chassis steering and damping device of claim 2, wherein the inclined plate is connected to the swing arm support by a swing arm pin at the end remote from the horizontal plate.

4. The robotic chassis steering and damping device of claim 2, wherein the horizontal plate is fixedly connected to the in-wheel motor bracket via a threaded assembly.

5. The robot chassis steering and damping device according to claim 2, wherein the horizontal plate has a groove structure, and at least two sides of the horizontal plate are bent in a direction away from the in-wheel motor bracket; the speed reducer is arranged in the groove body, one side of the upper part of the speed reducer is connected with the steering motor, and the other side of the upper part of the speed reducer is connected with the steering shaft.

6. The robotic chassis steering and damping device of claim 2, wherein the damper is mounted obliquely to the extension plate.

7. The device for steering and damping a chassis of a robot according to claim 1, wherein both ends of the damper are respectively connected with the swing arm and the damper bracket by pins, and the damper bracket is fixedly connected with the body of the robot.

8. The apparatus of claim 1, wherein the steering motor is capable of rotating the tires 360 degrees, each tire of the robot chassis being independently controlled by a respective steering motor.

9. The robot chassis steering and damping device according to claim 1, wherein the steering shaft is installed in an output hole of the speed reducer by a steering shaft nut.