CN107757748B - Steering wheel device of robot - Google Patents
Steering wheel device of robot Download PDFInfo
- Publication number
- CN107757748B CN107757748B CN201710941061.1A CN201710941061A CN107757748B CN 107757748 B CN107757748 B CN 107757748B CN 201710941061 A CN201710941061 A CN 201710941061A CN 107757748 B CN107757748 B CN 107757748B
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- CN
- China
- Prior art keywords
- magnetic encoder
- mounting seat
- direct current
- motor
- shank
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- 238000005096 rolling process Methods 0.000 claims description 4
- 230000008878 coupling Effects 0.000 abstract description 3
- 238000010168 coupling process Methods 0.000 abstract description 3
- 238000005859 coupling reaction Methods 0.000 abstract description 3
- 238000011065 in-situ storage Methods 0.000 abstract description 2
- 210000001364 upper extremity Anatomy 0.000 abstract 1
- 244000309466 calf Species 0.000 description 16
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Dc Machiner (AREA)
- Brushless Motors (AREA)
Abstract
The invention provides a steering wheel device of a robot, which comprises a rear leg shell, a front leg shell, a second direct-current gear motor mounting seat, a universal coupling, a bottom bearing shaft, a hub motor, a motor control panel end cover and a hub motor mounting seat, wherein the steering wheel device is driven by the second direct-current gear motor, a magnetic encoder is arranged at the rear end of the second direct-current gear motor, and the steering wheel device can obtain high-precision speed and position feedback through the magnetic encoder. The robot can realize omnidirectional movement and turn in situ through the steering wheel device, the passing capacity of the robot in a narrow passageway is improved, and the high-precision steering speed and steering position feedback can be obtained through the magnetic encoder, so that the high-precision directional control is realized.
Description
Technical Field
The invention relates to the technical field of mobile robots, in particular to a steering wheel device of a robot.
Background
In recent years, the application of mobile robots in various industries is increasingly increased, the application scenes faced by the robots are also becoming more and more complex, and most of the mobile robots currently adopt two-wheel differential turning when turning, but the two-wheel differential turning needs a certain turning radius, and when the space is smaller, the situation of insufficient turning space can occur, so that the normal running of the robots is affected.
Disclosure of Invention
The invention aims to provide a steering wheel device of a robot.
The technical scheme adopted by the invention is as follows:
1. a steering wheel device of a robot comprises a rear calf shell (1-10), a front calf shell (1-06), a second direct current speed reducing motor (1-16), a second direct current speed reducing motor mounting seat (1-17), a universal coupler (1-19), a bottom bearing shaft (1-18), a hub motor (1-07), a motor control panel end cover (1-08), a hub motor mounting seat (1-09), wherein the rear calf shell (1-10) is fixedly mounted with the front calf shell (1-06), the second direct current speed reducing motor (1-16) is fixedly mounted with the second direct current speed reducing motor mounting seat (1-17), the second direct current speed reducing motor mounting seat (1-17) is fixedly mounted on the rear calf shell (1-10) and the front calf shell (1-06), one end of the universal coupler (1-19) is fixedly connected with a main shaft of the second direct current speed reducing motor (1-16), the other end of the coupler is fixedly connected with one end of the bottom bearing shaft (1-18), the lower bearing shaft (1-18) is fixedly connected with the rear calf shell (1-10) and the other end of the lower bearing shaft (1-06) through the hub motor (1-09), the direct-current gear motor II (1-16) drives the hub motor mounting seat (1-09) through the universal coupling (1-19) and the lower bearing shaft (1-18) so as to drive the whole bottom joint.
2. Further, the rear end of the direct current gear motor II (1-16) is provided with a magnetic encoder, the magnetic encoder comprises a magnetic encoder (1-26), a magnetic encoder mounting seat (1-23), an electromagnet (1-25) and a magnet mounting seat (1-24), the magnetic encoder is an absolute encoder, the magnetic encoder (1-26) and the magnetic encoder mounting seat (1-23) are fixedly mounted, the magnetic encoder mounting seat (1-23) is fixedly mounted on the rear end face of the direct current gear motor II (1-16), the magnet mounting seat (1-24) and the rear end of the direct current gear motor II (1-16) are fixedly mounted, the electromagnet (1-25) and the magnet mounting seat (1-23) are fixedly mounted and are matched with the magnetic encoder (1-26), the electromagnet (1-25) rotates along with the rear end of the direct current gear motor II (1-16) in an out-shaft mode through the magnet mounting seat (1-24), and the magnetic encoder (1-26) obtains high-speed feedback position and bottom joint rotation angle through detection.
3. Furthermore, a clamping groove is reserved on the bottom bearing shaft (1-18), and an elastic retainer ring for the shaft is additionally arranged on the clamping groove to axially limit the rolling bearing.
The beneficial effects of the invention are as follows: the mobile robot can realize omnidirectional movement and turn in situ by additionally installing the steering wheel device, improves the passing capability of the robot in a narrow passageway, and can obtain high-precision steering speed and steering position feedback by the magnetic encoder so as to realize high-precision directional control.
Drawings
FIG. 1 is a schematic view of the internal structure of a mechanical leg module;
FIG. 2 is an isometric view of a mechanical leg-module;
fig. 3 is a view showing the internal structure of the steering wheel device.
Detailed Description
In order to more clearly and completely describe the technical scheme of the invention, the invention is further described below with reference to the accompanying drawings. Wherein the drawings are for illustrative purposes only and are shown in schematic, non-physical, and not intended to be limiting of the present patent; for the purpose of better illustrating embodiments of the invention, certain components in the drawings may be omitted, enlarged or reduced and do not represent the size of the actual product; the same or similar reference numerals correspond to the same or similar components.
1. As shown in fig. 1-2, a steering wheel device of a robot comprises a rear calf shell (1-10), a front calf shell (1-06), a second direct current speed reduction motor (1-16), a second direct current speed reduction motor mounting seat (1-17), a universal coupler (1-19), a bottom bearing shaft (1-18), a hub motor (1-07), a motor control panel end cover (1-08), a hub motor mounting seat (1-09), wherein the rear calf shell (1-10) is fixedly mounted with the front calf shell (1-06), the second direct current speed reduction motor (1-16) is fixedly mounted with the second direct current speed reduction motor mounting seat (1-17), the second direct current speed reduction motor mounting seat (1-17) is fixedly mounted on the rear calf shell (1-10) and the front calf shell (1-06), one end of the universal coupler (1-19) is fixedly connected with a main shaft of the second direct current speed reduction motor (1-16), the other end of the universal coupler is fixedly connected with one end of the bottom bearing shaft (1-18), the lower bearing shaft (1-18) is fixedly connected with the rear calf shell (1-18) through the lower bearing (1-18) and the lower calf shell (1-09) is fixedly mounted on the front calf shell (1-06), the direct-current gear motor II (1-16) drives the hub motor mounting seat (1-09) through the universal coupling (1-19) and the lower bearing shaft (1-18) so as to drive the whole bottom joint.
2. As shown in fig. 3, the rear end of the second dc reduction motor (1-16) is provided with a magnetic encoder, the magnetic encoder comprises a magnetic encoder (1-26), a magnetic encoder mounting seat (1-23), an electromagnet (1-25) and a magnet mounting seat (1-24), the magnetic encoder is an absolute encoder, the magnetic encoder (1-26) and the magnetic encoder mounting seat (1-23) are fixedly mounted, the magnetic encoder mounting seat (1-23) is fixedly mounted on the rear end face of the second dc reduction motor (1-16), the magnet mounting seat (1-24) and the rear end outlet shaft of the second dc reduction motor (1-16) are fixedly mounted, the electromagnet (1-25) and the magnet mounting seat (1-23) are fixedly mounted and are matched with the magnetic encoder (1-26), the electromagnet (1-25) rotates along with the rear end outlet shaft of the second dc reduction motor (1-16) through the magnet mounting seat (1-24), and the magnetic encoder (1-26) obtains high-precision feedback speed of the bottom of the joint through detecting the rotation angle of the electromagnet.
3. As shown in fig. 3, a clamping groove is reserved on the bottom bearing shaft (1-18), and an elastic retainer ring for the shaft is additionally arranged on the clamping groove to axially limit the rolling bearing.
Claims (1)
1. The utility model provides a robot steering wheel device, its characterized in that includes shank backshell (1-10), shank preceding shell (1-06), direct current gear motor II (1-16), direct current gear motor mount pad II (1-17), universal joint (1-19), bottom bearing shaft (1-18), in-wheel motor (1-07), motor control panel end cover (1-08), in-wheel motor mount pad (1-09), shank backshell (1-10) and shank preceding shell (1-06) fixed mounting, direct current gear motor II (1-16) and direct current gear motor mount pad II (1-17) fixed mounting, direct current gear motor mount pad II (1-17) fixed mounting is on shank backshell (1-10) and shank preceding shell (1-06), universal joint (1-19) one end and direct current gear motor II (1-16) main shaft fixed connection, the other end and bottom bearing shaft (1-18) one end fixed connection, bottom bearing shaft (1-18) and shank backshell (1-18) and shank (1-10) fixed connection through the hub bearing shaft (1-06) and the other end of rolling, the direct current speed reduction motor II (1-16) drives a hub motor mounting seat (1-09) through a universal coupler (1-19) and a bottom bearing shaft (1-18) so as to drive the whole bottom joint, wherein a magnetic encoder is arranged at the rear end of the direct current speed reduction motor II (1-16), the magnetic encoder comprises a magnetic encoder (1-26), a magnetic encoder mounting seat (1-23), an electromagnet (1-25) and a magnet mounting seat (1-24), the magnetic encoder is an absolute encoder, the magnetic encoder (1-26) is fixedly mounted with the magnetic encoder mounting seat (1-23), the magnetic encoder mounting seat (1-23) is fixedly mounted on the rear end face of the direct current speed reduction motor II (1-16), the magnet mounting seat (1-24) is fixedly mounted with a rear end outlet shaft of the direct current speed reduction motor II (1-16), the electromagnet (1-25) is fixedly mounted with the magnet mounting seat and matched with the magnetic encoder (1-26), the electromagnet (1-25) is fixedly mounted with the magnet mounting seat (1-24) along with the rear end of the direct current motor II (1-16), and the rotation angle of the electromagnet (1-16) is detected by the magnetic encoder mounting seat and the rotation angle of the electromagnet is high in the rotation precision, and the rotation angle of the magnetic encoder is detected at the rear end of the electromagnet (1-16); a clamping groove is reserved on the bottom bearing shaft (1-18), and an elastic retainer ring for the shaft is additionally arranged on the clamping groove to axially limit the rolling bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710941061.1A CN107757748B (en) | 2017-10-11 | 2017-10-11 | Steering wheel device of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710941061.1A CN107757748B (en) | 2017-10-11 | 2017-10-11 | Steering wheel device of robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107757748A CN107757748A (en) | 2018-03-06 |
| CN107757748B true CN107757748B (en) | 2024-04-09 |
Family
ID=61267227
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710941061.1A Active CN107757748B (en) | 2017-10-11 | 2017-10-11 | Steering wheel device of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107757748B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110539820A (en) * | 2019-09-16 | 2019-12-06 | 北京理工大学 | vehicle with a steering wheel |
| CN111929060A (en) * | 2020-07-21 | 2020-11-13 | 江苏智库智能科技有限公司 | Steering wheel driving system detection device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05285864A (en) * | 1992-04-08 | 1993-11-02 | Toshiba Corp | Two-feet moving walking device |
| CN2825410Y (en) * | 2005-09-13 | 2006-10-11 | 北京航空航天大学 | Structure-variable leg-wheeled type robot |
| CN101380978A (en) * | 2008-08-08 | 2009-03-11 | 山东科技大学 | Shrimp-shaped six-wheel mobile robot |
| CN102407893A (en) * | 2011-09-02 | 2012-04-11 | 北京林业大学 | Wheel and leg combined moving robot |
| CN204701690U (en) * | 2015-05-02 | 2015-10-14 | 重庆三峡学院 | Foot combines with wheel the mobile robot designed |
| CN204726548U (en) * | 2015-06-12 | 2015-10-28 | 洛阳理工学院 | A kind of crawler belt acquisition gun obstacle detouring walking mechanism |
| CN207550349U (en) * | 2017-10-11 | 2018-06-29 | 深圳市普渡科技有限公司 | A kind of robot steering wheel device |
-
2017
- 2017-10-11 CN CN201710941061.1A patent/CN107757748B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05285864A (en) * | 1992-04-08 | 1993-11-02 | Toshiba Corp | Two-feet moving walking device |
| CN2825410Y (en) * | 2005-09-13 | 2006-10-11 | 北京航空航天大学 | Structure-variable leg-wheeled type robot |
| CN101380978A (en) * | 2008-08-08 | 2009-03-11 | 山东科技大学 | Shrimp-shaped six-wheel mobile robot |
| CN102407893A (en) * | 2011-09-02 | 2012-04-11 | 北京林业大学 | Wheel and leg combined moving robot |
| CN204701690U (en) * | 2015-05-02 | 2015-10-14 | 重庆三峡学院 | Foot combines with wheel the mobile robot designed |
| CN204726548U (en) * | 2015-06-12 | 2015-10-28 | 洛阳理工学院 | A kind of crawler belt acquisition gun obstacle detouring walking mechanism |
| CN207550349U (en) * | 2017-10-11 | 2018-06-29 | 深圳市普渡科技有限公司 | A kind of robot steering wheel device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107757748A (en) | 2018-03-06 |
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