CN205468359U - Independent steering driving wheel for mobile robot - Google Patents
Independent steering driving wheel for mobile robot Download PDFInfo
- Publication number
- CN205468359U CN205468359U CN201620042772.6U CN201620042772U CN205468359U CN 205468359 U CN205468359 U CN 205468359U CN 201620042772 U CN201620042772 U CN 201620042772U CN 205468359 U CN205468359 U CN 205468359U
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- China
- Prior art keywords
- driving wheel
- flange plate
- quill shaft
- fixed
- flange
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- Expired - Fee Related
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- 230000003287 optical effect Effects 0.000 claims abstract description 20
- 238000013016 damping Methods 0.000 claims description 27
- 238000004804 winding Methods 0.000 claims description 4
- 230000001419 dependent effect Effects 0.000 claims description 2
- 238000009987 spinning Methods 0.000 claims description 2
- 238000009434 installation Methods 0.000 abstract 1
- 230000007547 defect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000004615 ingredient Substances 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
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Abstract
The utility model discloses an independently turn to drive wheel for mobile robot, including wheel hub motor, wheel carrier, quill shaft etc.. The wheel frame is arranged on the hub motor, the hollow shaft is arranged on the wheel frame, and the hollow shaft is hollow inside and used for motor wiring; a lower flange plate is coaxially arranged on the hollow shaft, a bearing seat is coaxially arranged on the lower flange plate, and two angular contact bearings are coaxially arranged in the bearing seat; 3 optical shafts are uniformly arranged on the lower flange plate by taking the hollow shaft as the center, and the 3 optical shafts penetrate through the middle flange plate and are fixed with the upper flange plate; a spring is coaxially arranged on the outer edge of the bearing seat, one end of the spring is embedded below the middle flange plate, and the other end of the spring is propped against the upper surface of the lower flange plate; a steering mechanism is arranged on the upper flange plate; the steering mechanism comprises: worm and gear reducing gear box, step motor, photoelectric encoder. The utility model discloses compact structure, the installation is convenient fast, and the drive wheel is whole can rotate on the horizontal direction on a large scale, and practicality is good.
Description
Technical field
This utility model relates to mobile robot field, is specifically related to a kind of independent steering driving wheel for moving robot, and the compact conformation of this independent steering driving wheel is small and exquisite, motion is flexible, applied range, it is adaptable to the mobile robot that maneuverability requirement is higher.
Background technology
Independent steering driving wheel is an ingredient of robot, the power set of Ye Shi robot.It is applicable to field heavy truck, suspension automobile, military armor car etc..Independent driving wheel is typically made up of walking mechanism, steering mechanism and field controller, and it combines machine driving, control technology and also takes into account the stationarity that car is overall simultaneously.Although independent steering driving wheel of the prior art can meet basic demand, but due to the defect in its volume and structure, be less conveniently used for the special operation places such as field, and generally exist slewing area not quite, the smallest and the most exquisite flexibly, the defect such as stationarity difference.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of independent steering driving wheel for moving robot.One, uses In-wheel motor driving so that compact overall structure is attractive in appearance, installs quick and convenient；Its two, the design of quill shaft 201 makes cabling space big, it is to avoid the winding of driving wheel steering procedure center line；Its three, the design of damping 3, not only make four wheels coplanar, simultaneously wheel be expert at into during also overcome at uneven road surface；Its four, this driving wheel can operate the most on a large scale, is drastically increased the accuracy of the anglec of rotation by the feedback of photoelectric encoder 403.
In order to solve above-mentioned technical problem, the technical solution that this utility model is used is:
A kind of independent steering driving wheel for moving robot, includes walking mechanism, stress supporting mechanism, damping and steering mechanism；Walking mechanism is advanced for hub operation；Stress supporting mechanism is used for the driving wheel supporting role to vehicle body；Damping for keep four driving wheels of robot in approximately the same plane, and make robot advance during can overcome uneven road surface；Steering mechanism is horizontally diverted for driving wheel；Described walking mechanism is made up of wheel hub motor and wheel carrier；Described stress supporting mechanism includes: quill shaft, lower flange, lower angular contact bearing, axle sleeve, upper angular contact bearing, bearing block, upper flange plate；Quill shaft is fixed on wheel carrier, and hollow mandrel interior hollow is used for wheel hub motor cabling, it is to avoid the winding of steering procedure center line；Lower flange and quill shaft coaxial sleeve are on quill shaft；Bearing block and quill shaft coaxial sleeve are on quill shaft, and bearing block is fixed on lower flange；Inferior horn contact bearing coaxially it is cased with inside bearing block；Axle sleeve coaxially it is cased with on lower angular contact bearing；Angular contact bearing coaxially it is cased with on axle sleeve；Contact with bearing block above upper angular contact bearing；Described damping includes: damping spring, optical axis, linear bearing, middle ring flange；Damping spring is coaxial with bearing block, and is enclosed within the outward flange of bearing block；Three optical axises, centered by quill shaft, are distributed on the outward flange of damping spring, and the lower end of optical axis is fixed on lower flange, and the upper end of optical axis is fixed on upper flange plate；Middle ring flange coaxial sleeve is on bearing block, and optical axis penetrates middle ring flange, has circular groove below middle ring flange, for embedding the upper end of damping spring；Being cased with linear bearing on optical axis, linear bearing is fixed on middle ring flange；Described steering mechanism includes: worm and gear, motor, photoelectric encoder；On worm reduction box upper flange plate；Motor is fixed on worm reduction box；Photoelectric encoder is fixed on motor end.
Wherein, this independent steering driving wheel is to use modularized design, belong to a part for mobile robot, 6 screwed holes are had on the middle ring flange of driving wheel, the convenient connection with robot casing, independent steering driving wheel carries out damping by damping spring (301) on uneven road surface, it is ensured that the stationarity that robot is overall.
Wherein, independent steering driving wheel angle of operation scope in the horizontal direction is-180 degree～+180 degree, being 0 degree with horizontal dead ahead, its steering angle is dependent on what the feedback of photoelectric encoder accurately controlled, and the spinning movement of this independent steering driving wheel is that Remote completes.
This utility model advantage compared with prior art is:
This utility model structure is improved simple, it it is the independent steering driving wheel of the crusing robot designed by the feature accurately turned to combining wheel hub electric motor of electric vehicle and motor, the feature of this independent steering driving wheel includes: one, independent steering driving wheel uses modularized design, belong to a part for mobile robot, installing quick and convenient, volume is little, and compact conformation is attractive in appearance；Its two, the design of quill shaft 201 makes cabling space big, it is to avoid the winding of driving wheel steering procedure center line；Its three, the design of damping, not only make four wheels coplanar, simultaneously wheel be expert at into during also overcome at uneven road surface；Its four, this driving wheel can operate the most on a large scale, is drastically increased the accuracy of the anglec of rotation by the feedback of photoelectric encoder.
Accompanying drawing explanation
Fig. 1 is this utility model axis of no-feathering mapping；
Fig. 2 is this utility model structure sectional view.
Detailed description of the invention
Below in conjunction with the accompanying drawings and detailed description of the invention further illustrates this utility model.
See Fig. 1, Fig. 2, the independent steering driving wheel of a kind of mobile robot, include walking mechanism 1, stress supporting mechanism 2, damping 3, steering mechanism 4；
Described walking mechanism 1 is made up of wheel hub motor 101 and wheel carrier 102；Described stress supporting mechanism 2 includes: quill shaft 201, lower flange 202, lower angular contact bearing 203, axle sleeve 204, upper angular contact bearing 205, bearing block 206, upper flange plate 207；Described damping 3 includes: damping spring 301, optical axis 302, linear bearing 303, middle ring flange 304；Damping spring 301 is coaxial with bearing block 206, and is enclosed within the outward flange of bearing block；Described steering mechanism 4 includes: worm reduction box 401, motor 402, photoelectric encoder 403.
Annexation between each building block is as described below: wheel hub motor 101 and wheel carrier 102 are with nut and hang paster and fix, and quill shaft 201 is fixed with screw bolt and nut with wheel carrier 102, by lower flange 202 and quill shaft 201 coaxial sleeve on quill shaft 201.Bearing block 206 and lower flange 202 coaxial sleeve are on quill shaft 201, and bearing block 206 is fixed with bolt with lower flange 202, bearing block 206 is internal is coaxially cased with inferior horn contact bearing 203, axle sleeve 204 coaxially it is cased with on lower angular contact bearing 203, coaxially being cased with angular contact bearing 205 on axle sleeve 204, upper angular contact bearing 205 contacts with bearing block 206 medial surface above.Three optical axises 302, centered by quill shaft 201, are distributed on the outward flange of damping spring 301, and the lower end of optical axis 302 is fixed on lower flange 202, and the upper end of optical axis 302 is fixed on upper flange plate 207；Middle ring flange 304 coaxial sleeve is on bearing block 206, and optical axis 302 penetrates middle ring flange 304, has circular groove below middle ring flange 304, for embedding damping spring 301 upper end, being cased with linear bearing 303 on optical axis 302, linear bearing 303 is fixed on middle ring flange 304.Worm reduction box 401 is fixed on upper flange plate 207, and motor 402 is fixed on worm reduction box 401, and photoelectric encoder 403 is fixed on motor 402 end.
Independent steering driving wheel stress shock absorbing process describes: have 6 screws on middle ring flange 304, for stationary machines people's casing.Plus after robot casing or meet uneven road surface, spring will forced compression, thus reach the effect of stress damping.
Claims (3)
1. the independent steering driving wheel being used for moving robot, it is characterised in that: include walking mechanism (1), stress supporting mechanism (2), damping (3) and steering mechanism (4)；Walking mechanism (1) is advanced for hub operation；Stress supporting mechanism (2) is used for the driving wheel supporting role to vehicle body；Damping (3) for keep four driving wheels of robot in approximately the same plane, and make robot advance during can overcome uneven road surface；Steering mechanism (4) is horizontally diverted for driving wheel；Described walking mechanism (1) is made up of wheel hub motor (101) and wheel carrier (102)；Described stress supporting mechanism (2) including: quill shaft (201), lower flange (202), lower angular contact bearing (203), axle sleeve (204), upper angular contact bearing (205), bearing block (206), upper flange plate (207)；Quill shaft (201) is fixed on wheel carrier (102), and quill shaft (201) inner hollow is used for wheel hub motor (101) cabling, it is to avoid the winding of steering procedure center line；Lower flange (202) and quill shaft (201) coaxial sleeve are on quill shaft (201)；Bearing block (206) and quill shaft (201) coaxial sleeve are on quill shaft (201), and bearing block (206) is fixed on lower flange (202)；Bearing block (206) is internal is coaxially cased with inferior horn contact bearing (203)；Axle sleeve (204) coaxially it is cased with on lower angular contact bearing (203)；Angular contact bearing (205) coaxially it is cased with on axle sleeve (204)；Upper angular contact bearing (205) contacts with bearing block (206) above；Described damping (3) including: damping spring (301), optical axis (302), linear bearing (303), middle ring flange (304)；Damping spring (301) is coaxial with bearing block (206), and is enclosed within the outward flange of bearing block；Three optical axises (302) are centered by quill shaft (201), it is distributed on the outward flange of damping spring (301), the lower end of optical axis (302) is fixed on lower flange (202), and the upper end of optical axis (302) is fixed on upper flange plate (207)；Middle ring flange (304) coaxial sleeve is on bearing block (206), and optical axis (302) penetrates middle ring flange (304), middle ring flange has circular groove below (304), is used for embedding the upper end of damping spring (301)；Being cased with linear bearing (303) on optical axis (302), linear bearing (303) is fixed on middle ring flange (304)；Described steering mechanism (4) including: worm reduction box (401), motor (402), photoelectric encoder (403)；Worm reduction box (401) is fixed on upper flange plate (207)；Motor (402) is fixed on worm reduction box (401)；Photoelectric encoder (403) is fixed on motor (402) end.
A kind of independent steering driving wheel for moving robot the most according to claim 1, it is characterized in that: this independent steering driving wheel is to use modularized design, belong to a part for mobile robot, 6 screwed holes are had on the middle ring flange (304) of driving wheel, the convenient connection with robot casing, independent steering driving wheel carries out damping by damping spring (301) on uneven road surface, it is ensured that the stationarity that robot is overall.
A kind of independent steering driving wheel for moving robot the most according to claim 1, it is characterized in that: independent steering driving wheel angle of operation scope in the horizontal direction is-180 degree～+180 degree, it it is 0 degree with horizontal dead ahead, its steering angle is dependent on what the feedback of photoelectric encoder accurately controlled, and the spinning movement of this independent steering driving wheel is that Remote completes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620042772.6U CN205468359U (en) | 2016-01-15 | 2016-01-15 | Independent steering driving wheel for mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620042772.6U CN205468359U (en) | 2016-01-15 | 2016-01-15 | Independent steering driving wheel for mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205468359U true CN205468359U (en) | 2016-08-17 |
Family
ID=56669752
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620042772.6U Expired - Fee Related CN205468359U (en) | 2016-01-15 | 2016-01-15 | Independent steering driving wheel for mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205468359U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105691131A (en) * | 2016-01-15 | 2016-06-22 | 安徽大学 | Independent steering driving wheel for mobile robot |
| CN109909973A (en) * | 2018-06-29 | 2019-06-21 | 北京工业大学 | A kind of independent steering driving wheel based on hub motor |
-
2016
- 2016-01-15 CN CN201620042772.6U patent/CN205468359U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105691131A (en) * | 2016-01-15 | 2016-06-22 | 安徽大学 | Independent steering driving wheel for mobile robot |
| CN105691131B (en) * | 2016-01-15 | 2017-02-22 | 安徽大学 | Independent steering driving wheel for mobile robot |
| CN109909973A (en) * | 2018-06-29 | 2019-06-21 | 北京工业大学 | A kind of independent steering driving wheel based on hub motor |
| CN109909973B (en) * | 2018-06-29 | 2020-09-25 | 北京工业大学 | Independent steering driving wheel based on hub motor |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160817 Termination date: 20170115 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |