CN108909436A - Independent steering driving wheel for comprehensive autonomous mobile platform - Google Patents
Independent steering driving wheel for comprehensive autonomous mobile platform Download PDFInfo
- Publication number
- CN108909436A CN108909436A CN201810714450.5A CN201810714450A CN108909436A CN 108909436 A CN108909436 A CN 108909436A CN 201810714450 A CN201810714450 A CN 201810714450A CN 108909436 A CN108909436 A CN 108909436A
- Authority
- CN
- China
- Prior art keywords
- steering
- wheel
- pallet
- driving wheel
- steering shaft
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
Abstract
For the independent steering driving wheel of comprehensive autonomous mobile platform, belong to driving wheel technical field.Including walking mechanism, damping, stress supporting mechanism and steering mechanism；Walking mechanism is operated by hub motor and is advanced, and the rubber tyre that the used hub motor of this platform has, and has significant effect in terms of promoting stationarity and noise reduction；Damping ensures that wheel is in same plane using double-spring structure, also undertakes certain supporting role, Omni-mobile platform is enabled to overcome roughness pavement, and the stability of independent steering wheel is kept in compression and motion process；Stress supporting mechanism is used for supporting role of the driving wheel to platform, and stress supporting mechanism is made of hub motor, spring, cylinder pallet, pallet cover and steering shaft and buphthalmos wheel；Steering mechanism is horizontally diverted for driving wheel, and steering mechanism includes steering shaft, angular contact bearing, buphthalmos wheel, steering motor, and steering mechanism can make each wheel realize positive and negative 90 degree of rotations, reach omnidirectional's purpose.
Description
Technical field
The present invention is based on comprehensive autonomous mobile platform, practical application drives in the independent steering of medical automatic wheelchair bed
Wheel.This independent steering driving wheel has the characteristics that flexible, compact, omnidirectional rotation and light-weight, is suitable for complex space and machine
The more demanding Omni-mobile platform of dynamic property, belongs to driving wheel technical field.
Background technique
Independent steering driving wheel is an important component of Omni-mobile platform, is the power dress of Omni-mobile platform
It sets.It has the function of traveling, steering, damping and load-bearing etc..Independent steering driving wheel can free all-around mobile, do not turn to half
Diameter, applied to platforms more demanding to Omni-mobile such as full-automatic Wheel-chair type bed, suspension automobile, space explorations.Independent steering drives
Driving wheel is generally made of walking mechanism, steering mechanism, damping and field controller.It combines machine driving, control skill
Art has also taken into account the stationarity of vehicle entirety simultaneously.The generally existing noise of independent steering driving wheel of the prior art is big, stationarity is poor,
The defects of not compact and flexible enough, due to the defect in its volume and structure, is not suitable for although being able to satisfy basic demand
The similar this place for having high requirement to stability and noise of hospital.
Summary of the invention
Technical problems to be solved needed for the present invention are to provide a kind of independence for omnidirectional's autonomous medical treatment Wheel-chair type bed
Steerable drive wheel.First, not only facilitating installation, and hub motor wheel ground plane is wrapped up by rubber using In-wheel motor driving, drop
Low noise also increases integrally-built stability；Second, fixed a pair of angular contact bearing in cylinder pallet, is used to support and turns
Axis rotates and independent steering driving wheel is made to keep stablizing.Third, three buphthalmos wheels that steering shaft pedestal is uniformly installed are used to support
Cylinder pallet enables shaft to relatively rotate with steering motor, this design keeps compact overall structure beautiful；Fourth, damping
It is designed using dual spring, spring is fixed on hub motor two sides, and making hub motor cabling, there are abundant spaces；Fifth, the drive
Driving wheel can operate on a large scale in the horizontal direction, the accuracy turned to by the feedback poppet of photoelectric encoder.
In order to solve the above-mentioned technical problem, the technology used in the present invention solution is：
Independent steering driving wheel for comprehensive autonomous mobile platform, which is characterized in that including hub motor wheel
(101), spring (201), ring flange (301), steering shaft (302), buphthalmos wheel (303), cylinder pallet (304), pallet cover
(305), the axial sides of hub motor wheel are fixed with upward spring (201), the axial direction of spring axial direction vertical wheel hub motor wheel,
The top of two springs is fixed with same ring flange (301), is fixed on ring flange (301) steering shaft (302), steering shaft (302)
Including the hollow shaft to raise upward on chassis and chassis；Steering shaft (302) chassis upper surface is fixed with free to rotate
Multiple buphthalmos wheels (303)；Cylinder pallet (304) includes the hollow barrel that raises upward on the plate annulus and plate annulus of lower end
Structure；The interior diameter of hollow barrel is equal and coaxial with the interior diameter of plate annulus；Cylinder pallet (304) is covered in steering shaft
(302) outside of hollow shaft and coaxial, the upper surface of buphthalmos wheel (303) and the following table of cylinder pallet (304) lower end plate annulus
Face contact；Corner connection is equipped between cylinder pallet (304) hollow barrel structure interior surface and steering shaft (302) hollow shaft outer surface
Contact bearing (306), angular contact bearing is fixed together with cylinder pallet；It is preferred that setting from bottom to top, there are two angular contact bearings
(306), pallet cover (305) are equipped in the upper end of cylinder pallet (304) hollow barrel structure, the center of pallet cover (305) is set
Have through-hole corresponding with steering shaft hollow shaft, the upper surface of pallet cover (305) be equipped with steering motor with it is hollow with steering shaft
Axis is fixedly connected, driving steering shaft hollow shaft rotation.
Independent steering driving wheel of the invention includes walking mechanism, damping, stress supporting mechanism and steering mechanism；Row
Operated and advanced by hub motor into mechanism, and the rubber tyre that use the hub motor of this platform has, in promotion stationarity and
There is significant effect in terms of noise reduction；Damping ensures that wheel is in same plane using double-spring structure, also undertakes certain
Supporting role enables Omni-mobile platform to overcome roughness pavement, and keeps independent steering in compression and motion process
The stability of wheel；Stress supporting mechanism is used for supporting role of the driving wheel to platform, and stress supporting mechanism is by hub motor, bullet
Spring, cylinder pallet, pallet cover and steering shaft and buphthalmos wheel composition；Steering mechanism is horizontally diverted for driving wheel, steering mechanism
Including steering shaft, angular contact bearing, buphthalmos wheel, steering motor, steering mechanism can make each wheel realize positive and negative 90 degree of rotations, reach
To omnidirectional's purpose.
Wherein independent steering driving wheel mounting structure is：Two springs are fixed in two side axle of wheel, and are connected by screw thread
Connecing to be fixed on ring flange makes ring flange holding horizontal.Steering shaft is fixed on ring flange center by four studs.It is fixed on
The circle grooved inner surface for the cylinder tray bottom that buphthalmos wheel in steering shaft is close to.Cylinder pallet makes to turn equipped with angular contact bearing
It is relatively rotated to axis and cylinder pallet.Mounting surface of the pallet cover as steering motor.Cylinder pallet two sides screw hole is tied for whole
The fixation of structure.
Advantage is the present invention compared with prior art：Pass through the spy for combining hub motor and steering servo motor accurately to turn to
The advantages of point design goes out independent steering driving wheel, the independent steering driving wheel be：One, steering shaft bottom buphthalmos wheel can make to turn to
Axis operating opposite with cylinder pallet, steering shaft had both had the function of turning function or had had stress support, largely reduced
The number of parts of steerable drive wheel keeps overall structure simple.Secondly, that two damping springs enhance independent steering driving wheel is whole
Stationarity, and reserved among two springs come space, can be convenient be fixedly mounted hub motor line, not only make structure tight
It gathers beauty, and avoids the winding of driving wheel steering procedure middle line.
Detailed description of the invention
Fig. 1 is structure shaft side figure of the invention；
Fig. 2 is structure sectional view of the invention；
Hub motor wheel 101, spring 201, ring flange 301, steering shaft 302, buphthalmos wheel 303, cylinder pallet 304, pallet
Lid 305, angular contact bearing 306.
Specific embodiment
With reference to the accompanying drawing and specific embodiment further illustrates the present invention, but the present invention is not limited to following implementations
Example.
Embodiment 1
Referring to Fig. 1, Fig. 2, the present invention designs the independent steering driving wheel for serving comprehensive autonomous mobile platform, includes
Walking mechanism 1, damping 2, stress supporting mechanism 3.
Wherein walking mechanism 1 is hub motor 101；Damping 2 is spring 201；Stress supporting mechanism 3 is by damping spring
201, ring flange 301, steering shaft 302, buphthalmos wheel 303, cylinder pallet 304, pallet cover 305 are formed；.
Each section component relationship is as described below：It is connected through a screw thread and two springs 201 is fixed on 101 liang of hub motor
Side.301 two sides of ring flange are provided with screw hole, and two lateral springs 201, which are connected through a screw thread, to be fixed on ring flange 301.Ring flange opens four
A screw hole makes steering shaft 302 closely control the rotation of deflecting roller for fixing steering shaft 302.Buphthalmos wheel 303 is close in steering shaft
304 bottom arc-shaped slot inner surface of cylinder pallet, be relatively rotatable to each other cylinder pallet 304 with steering shaft 302.Cylinder pallet
304 are threadedly coupled with pallet cover 305, and using pallet cover as steering motor mounting surface.Angular contact bearing 306 is fixed on cylinder support
In disk.
Claims (4)
1. be used for comprehensive autonomous mobile platform independent steering driving wheel, which is characterized in that including hub motor wheel (101),
Spring (201), ring flange (301), steering shaft (302), buphthalmos wheel (303), cylinder pallet (304), pallet cover (305), wheel hub
The axial sides of motor wheel are fixed with upward spring (201), the axial direction of spring axial direction vertical wheel hub motor wheel, the top of two springs
End be fixed with same ring flange (301), be fixed on ring flange (301) steering shaft (302), steering shaft (302) include chassis and
The hollow shaft to raise upward on chassis；Steering shaft (302) chassis upper surface is fixed with multiple buphthalmos wheels free to rotate
(303)；Cylinder pallet (304) includes the hollow barrel structure that raises upward on the plate annulus and plate annulus of lower end；It is hollow
The interior diameter of tubbiness is equal and coaxial with the interior diameter of plate annulus；Cylinder pallet (304) is covered in steering shaft (302) hollow shaft
Outside and coaxial, the upper surface of buphthalmos wheel (303) and the following table face contact of cylinder pallet (304) lower end plate annulus；In cylinder
Angular contact bearing (306) are equipped between pallet (304) hollow barrel structure interior surface and steering shaft (302) hollow shaft outer surface,
Angular contact bearing is fixed together with cylinder pallet；Pallet cover is equipped in the upper end of cylinder pallet (304) hollow barrel structure
(305), the center of pallet cover (305) is equipped with through-hole corresponding with steering shaft hollow shaft, sets in the upper surface of pallet cover (305)
There is steering motor to be fixedly connected with steering shaft hollow shaft, driving steering shaft hollow shaft rotation.
2. the independent steering driving wheel described in accordance with the claim 1 for comprehensive autonomous mobile platform, which is characterized in that from
There are two being set on down angular contact bearing (306).
3. the independent steering driving wheel described in accordance with the claim 1 for comprehensive autonomous mobile platform, which is characterized in that wheel
Hub motor wheel ground plane is wrapped up by rubber.
4. the independent steering driving wheel described in accordance with the claim 1 for comprehensive autonomous mobile platform, which is characterized in that turn
It is connect to motor with harmonic speed reducer for controlling steering motor rotation.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810714450.5A CN108909436A (en) | 2018-06-29 | 2018-06-29 | Independent steering driving wheel for comprehensive autonomous mobile platform |
| CN201910325552.2A CN109878324A (en) | 2018-06-29 | 2019-04-22 | Independent steering driving wheel for comprehensive autonomous mobile platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810714450.5A CN108909436A (en) | 2018-06-29 | 2018-06-29 | Independent steering driving wheel for comprehensive autonomous mobile platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108909436A true CN108909436A (en) | 2018-11-30 |
Family
ID=64425183
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810714450.5A Withdrawn CN108909436A (en) | 2018-06-29 | 2018-06-29 | Independent steering driving wheel for comprehensive autonomous mobile platform |
| CN201910325552.2A Pending CN109878324A (en) | 2018-06-29 | 2019-04-22 | Independent steering driving wheel for comprehensive autonomous mobile platform |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910325552.2A Pending CN109878324A (en) | 2018-06-29 | 2019-04-22 | Independent steering driving wheel for comprehensive autonomous mobile platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN108909436A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110450622A (en) * | 2019-08-15 | 2019-11-15 | 纳恩博（北京）科技有限公司 | Independent steering drive system and dispensing machine people |
| CN110789331A (en) * | 2019-12-12 | 2020-02-14 | 长沙万为机器人有限公司 | Servo steering wheel of robot |
| WO2020259833A1 (en) * | 2019-06-26 | 2020-12-30 | Abb Schweiz Ag | Drive unit for automated guided vehicle and automated guided vehicle comprising a plurality of drive units |
| US11635351B2 (en) | 2019-06-26 | 2023-04-25 | Abb Schweiz Ag | Methods of calibrating positions of wheels in an automated guided vehicle, and automated guided vehicle |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100970422B1 (en) * | 2008-07-31 | 2010-07-15 | 그린모텍(주) | Electromotive forklift truck travelling steering apparatus |
| CN105691131B (en) * | 2016-01-15 | 2017-02-22 | 安徽大学 | Independent steering driving wheel for mobile robot |
| CN106080755B (en) * | 2016-07-08 | 2019-04-05 | 湖南乐农佳科技集团有限公司 | A kind of electronic steering mechanism, omnidirectional of intelligent machine |
| CN107031392A (en) * | 2017-03-24 | 2017-08-11 | 江苏工程职业技术学院 | A kind of portable four wheel all-directional turns to the control method on robot chassis |
-
2018
- 2018-06-29 CN CN201810714450.5A patent/CN108909436A/en not_active Withdrawn
-
2019
- 2019-04-22 CN CN201910325552.2A patent/CN109878324A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020259833A1 (en) * | 2019-06-26 | 2020-12-30 | Abb Schweiz Ag | Drive unit for automated guided vehicle and automated guided vehicle comprising a plurality of drive units |
| US11635351B2 (en) | 2019-06-26 | 2023-04-25 | Abb Schweiz Ag | Methods of calibrating positions of wheels in an automated guided vehicle, and automated guided vehicle |
| CN110450622A (en) * | 2019-08-15 | 2019-11-15 | 纳恩博（北京）科技有限公司 | Independent steering drive system and dispensing machine people |
| CN110450622B (en) * | 2019-08-15 | 2024-05-07 | 纳恩博（北京）科技有限公司 | Independent steering driving system and dispensing robot |
| CN110789331A (en) * | 2019-12-12 | 2020-02-14 | 长沙万为机器人有限公司 | Servo steering wheel of robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109878324A (en) | 2019-06-14 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20181130 |