CN111319673A - Driving mechanism capable of independently steering - Google Patents
Driving mechanism capable of independently steering Download PDFInfo
- Publication number
- CN111319673A CN111319673A CN201811523283.2A CN201811523283A CN111319673A CN 111319673 A CN111319673 A CN 111319673A CN 201811523283 A CN201811523283 A CN 201811523283A CN 111319673 A CN111319673 A CN 111319673A
- Authority
- CN
- China
- Prior art keywords
- motor
- support frame
- spacing
- motor mounting
- steering
- 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.)
- Withdrawn
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
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- 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
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- 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
- B62D5/0418—Electric motor acting on road wheel carriers
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- 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
- B60K2007/0092—Disposition of motor in, or adjacent to, traction wheel the motor axle being coaxial to the wheel axle
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention relates to a driving mechanism, in particular to an independent steering driving mechanism, which comprises wheels, a support frame, a large gear, a small gear, a support frame assembly, a steering motor, a driving motor, a mounting plate, a limiting cover and a limiting sheet, wherein the driving motor and the wheels are arranged on the support frame, the wheels are driven to rotate by the driving motor, the large gear is arranged at the upper end of the support frame, the support frame assembly is arranged outside the support frame, the steering motor and the small gear are arranged on the support frame, the small gear is driven to rotate by the steering motor and is meshed with the large gear, a through hole is formed in the middle of the large gear, the limiting cover is arranged at the upper end of the support frame, the limiting cover is arranged in the through hole of the large gear, a limiting bump is. The invention can realize independent walking and steering, has the steering limit design, ensures that the steering of the wheels is limited in a certain range, and has compact integral structure and small occupied space.
Description
Technical Field
The invention relates to a driving mechanism, in particular to an independent steering driving mechanism.
Background
The driving steering wheel is an important component of the mobile robot and is also a power source for the robot to walk. The driving steering wheel structure generally comprises a traveling mechanism and a steering mechanism, and since the working environment of the mobile robot is complex, the problems of transmission, matching, size and the like need to be fully considered when designing the driving steering wheel of the mobile robot. The existing driving steering wheel mechanism in the current market often has the problems of large occupied space, large inertia moment, unstable steering and the like due to structural defects.
Disclosure of Invention
The invention aims to provide an independent steering driving mechanism which can realize independent walking and steering, is provided with a steering limit design, enables the steering of wheels to be limited in a certain range, and has a compact integral structure and small occupied space.
The purpose of the invention is realized by the following technical scheme:
an independent steering driving mechanism comprises wheels, a supporting frame, a gearwheel, a pinion, a bracket component, a steering motor, a driving motor, a mounting plate, a limiting cover and a limiting sheet, wherein the driving motor and the wheels are arranged on the supporting frame, the wheels are driven to rotate by the driving motor, the gearwheel is arranged at the upper end of the supporting frame, a bracket component is arranged outside the supporting frame, the steering motor and the pinion are both arranged on the bracket component, the small gear is driven to rotate by the steering motor, the small gear is meshed with the big gear, a through hole is arranged in the middle of the big gear, a limiting cover is arranged at the upper end of the supporting frame, the limiting cover is arranged in the through hole of the big gear, the outer side of the limiting cover is provided with a limiting lug, the upper side of the big gear is fixedly provided with an installation plate with a through hole in the middle, and the edge of the through hole in the middle of the installation plate is provided with a limit piece matched with the limit lug.
The bracket component comprises a first motor mounting rack and a second motor mounting rack, the first motor mounting rack is fixedly arranged on the support frame, the second motor mounting rack is fixedly arranged on the first motor mounting rack, and the steering motor and the pinion are arranged on the second motor mounting rack.
First motor mounting bracket and second motor mounting bracket all are the L type, and wherein first motor mounting bracket one side is adorned admittedly on the support frame, first motor mounting bracket opposite side with second motor mounting bracket one side links firmly, second motor mounting bracket opposite side is equipped with turn to motor and pinion.
Be equipped with the spacing lid mount table of taking the bearing draw-in groove on the support frame, spacing lid set firmly in on the spacing lid mount table, the gear wheel through turn to the bearing install in the support frame upper end, just turn to the inboard card of bearing and arrange in the bearing draw-in groove and pass through spacing lid outer fringe is spacing the gear wheel downside is equipped with the bearing housing, just turn to the bearing outside and pass through the inboard hole edge tang of gear wheel and bearing housing is spacing.
The support frame is provided with a motor flange, and the driving motor is arranged on the motor flange.
The limiting piece is fixedly arranged at the edge of the through hole of the mounting plate, and the front side of the limiting piece is bent downwards and extends into the through hole in the middle of the large gear to be matched with the limiting lug.
The invention has the advantages and positive effects that:
1. the wheels of the invention are provided with the driving motor and the steering motor, and can realize the independent walking and steering functions of the wheels.
2. The invention is provided with the limiting sheet and the limiting cover, so that the steering of the wheel is limited within a certain range, and the steering safety is ensured.
3. The invention has compact integral structure and small required installation space, and is suitable for wider occasions.
Drawings
Figure 1 is a schematic structural view of the present invention,
figure 2 is a front view of the invention of figure 1,
figure 3 is a side view of the invention of figure 2,
figure 4 is an exploded view of the invention of figure 1,
FIG. 5 is a sectional view of the mounting plate, the bull gear and the supporting frame in FIG. 1,
figure 6 is a schematic view of the support stand of figure 1,
figure 7 is a schematic view of the spacing piece of figure 1,
fig. 8 is a schematic view of the position limiting cover in fig. 1.
Wherein, 1 is the mounting panel, 2 is the gear wheel, 3 is the pinion, 4 is second motor mounting bracket, 5 is first motor mounting bracket, 6 is the support frame, 61 is the motor flange, 62 is spacing lid mount table, 63 is the bearing draw-in groove, 7 is for turning to the motor, 8 is driving motor, 9 is spacing piece, 10 is spacing lid, 101 is spacing lug, 11 is the wheel, 12 is for turning to the bearing, 13 is the bearing housing.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 8, the present invention includes a wheel 11, a support frame 6, a gearwheel 2, a pinion 3, a bracket assembly, a steering motor 7, a driving motor 8, a mounting plate 1, a limiting cover 10 and a limiting sheet 9, wherein the driving motor 8 and the wheel 11 are both disposed on the support frame 6, the wheel 11 is driven by the driving motor 8 to rotate, the gearwheel 2 is mounted on the upper end of the support frame 6 through a steering bearing 12, the bracket assembly is disposed on the outer side of the support frame 6, the steering motor 7 and the pinion 3 are both disposed on the bracket assembly, the pinion 3 is driven to rotate by the steering motor 7, the pinion 3 is engaged with the gearwheel 2, as shown in fig. 5, a through hole is disposed in the middle of the gearwheel 2, a limiting cover 10 is disposed on the upper end of the support frame 6, and the limiting cover 10 is disposed in the through hole, the 2 upside of gear wheel sets firmly the mounting panel 1 of middle part band-pass hole, and 1 middle part through-hole edge of mounting panel be equipped with spacing piece 9 of spacing lid 10 complex, mounting panel 1 links firmly with mobile robot or other mobile device bases.
As shown in fig. 1-4, the bracket assembly includes a first motor mounting bracket 5 and a second motor mounting bracket 4, the first motor mounting bracket 5 and the second motor mounting bracket 4 are both L-shaped, wherein one side of the first motor mounting bracket 5 is fixedly mounted on the support frame 6 through a screw, the other side of the first motor mounting bracket 5 is fixedly connected with one side of the second motor mounting bracket 4, and the other side of the second motor mounting bracket 4 is provided with the steering motor 7 and the pinion 3.
As shown in fig. 6, be equipped with motor flange 61 and spacing lid mount table 62 on the support frame 6, just be equipped with bearing draw-in groove 63 on the spacing lid mount table 62, driving motor 8 install in on the motor flange 61, as shown in fig. 5, spacing lid 10 set firmly in on the spacing lid mount table 62 through the screw, gear wheel 2 through turn to bearing 12 install in 6 upper ends of support frame, just turn to bearing 12 inboard card and arrange in bearing draw-in groove 63 and pass through spacing lid 10 outer fringe is spacing gear wheel 2 downside is equipped with bearing housing 13, just turn to the bearing 12 outside and pass through gear wheel 2 and bearing housing 13's inboard hole edge tang is spacing, bearing housing 13 through the screw with gear wheel 2 links firmly.
As shown in fig. 1 and fig. 7 to 8, a limiting convex block 101 is arranged on the outer side of the limiting cover 10, the limiting piece 9 is fixedly mounted at the edge of the through hole of the mounting plate 1, the front side of the limiting piece is bent downwards and extends into the through hole in the middle of the gearwheel 2, and when the limiting convex block 101 abuts against the part of the limiting piece 9 extending into the middle of the gearwheel 2, the limiting is realized.
The working principle of the invention is as follows:
when the steering mechanism works, the driving motor 8 drives the wheels 11 to normally walk, when steering is needed, the steering motor 7 starts the driving pinion 3 to rotate, because the mounting plate 1 is fixedly arranged on the base of corresponding mobile equipment, and the gearwheel 2 meshed with the pinion 3 is fixedly connected with the mounting plate 1, the steering motor 7 can drive the pinion 3 to rotate around the gearwheel 2 when started, and further drive the supporting frame 6 to rotate, thereby realizing the steering function, and after the steering mechanism rotates to a certain angle, the limiting sheet 9 can be abutted against the limiting bump 101 on the limiting cover 10, thereby realizing the purpose of limiting the steering stroke.
Claims (6)
1. An independently steerable drive mechanism, characterized by: including wheel (11), support frame (6), gear wheel (2), pinion (3), bracket component, turn to motor (7), driving motor (8), mounting panel (1), spacing lid (10) and spacing piece (9), driving motor (8) and wheel (11) all locate on support frame (6), and wheel (11) pass through driving motor (8) drive is rotated, and support frame (6) upper end is located in gear wheel (2), is equipped with the bracket component in the support frame (6) outside, and turn to motor (7) and pinion (3) and all locate on the bracket component, and pinion (3) pass through it is rotatory to turn to motor (7) drive, pinion (3) with gear wheel (2) meshing, gear wheel (2) middle part is equipped with the through-hole, support frame (6) upper end is equipped with spacing lid (10), just spacing lid (10) are located in the through-hole of gear wheel (2), spacing lid (10) outside is equipped with spacing lug (101) gear wheel (2) upside sets firmly mounting panel (1) of middle part band-pass hole, and mounting panel (1) middle part through-hole edge be equipped with spacing piece (9) of spacing lug (101) complex.
2. The independently steerable drive mechanism according to claim 1, characterized in that: the support assembly comprises a first motor mounting frame (5) and a second motor mounting frame (4), the first motor mounting frame (5) is fixedly arranged on the support frame (6), the second motor mounting frame (4) is fixedly arranged on the first motor mounting frame (5), and the steering motor (7) and the small gear (3) are arranged on the second motor mounting frame (4).
3. The independently steerable drive mechanism according to claim 2, characterized in that: first motor mounting bracket (5) and second motor mounting bracket (4) all are the L type, wherein first motor mounting bracket (5) one side admittedly install on support frame (6), first motor mounting bracket (5) opposite side with second motor mounting bracket (4) one side links firmly, second motor mounting bracket (4) opposite side is equipped with turn to motor (7) and pinion (3).
4. The independently steerable drive mechanism according to claim 1, characterized in that: be equipped with spacing lid mount table (62) of taking bearing draw-in groove (63) on support frame (6), spacing lid (10) set firmly in on spacing lid mount table (62), gear wheel (2) through turn to bearing (12) install in support frame (6) upper end, just turn to bearing (12) inboard card and arrange in bearing draw-in groove (63) and pass through spacing lid (10) outer fringe is spacing gear wheel (2) downside is equipped with bearing housing (13), just turn to the bearing (12) outside and pass through the inboard hole edge tang of gear wheel (2) and bearing housing (13) is spacing.
5. The independently steerable drive mechanism according to claim 4, characterized in that: the support frame (6) is provided with a motor flange (61), and the driving motor (8) is installed on the motor flange (61).
6. The independently steerable drive mechanism according to claim 1, characterized in that: the limiting piece (9) is fixedly arranged at the edge of the through hole of the mounting plate (1), and the front side of the limiting piece is bent downwards and extends into the through hole in the middle of the large gear (2) to be matched with the limiting lug (101).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811523283.2A CN111319673A (en) | 2018-12-13 | 2018-12-13 | Driving mechanism capable of independently steering |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811523283.2A CN111319673A (en) | 2018-12-13 | 2018-12-13 | Driving mechanism capable of independently steering |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111319673A true CN111319673A (en) | 2020-06-23 |
Family
ID=71168315
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811523283.2A Withdrawn CN111319673A (en) | 2018-12-13 | 2018-12-13 | Driving mechanism capable of independently steering |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111319673A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2787804A (en) * | 1955-03-23 | 1957-04-09 | Faultless Caster Corp | Caster bearing seal and damper |
| CN205098267U (en) * | 2015-11-03 | 2016-03-23 | 武汉慧杰智能自动化有限公司 | Shock attenuation walking steering mechanism |
| CN106945467A (en) * | 2017-05-09 | 2017-07-14 | 崔书林 | A kind of new vehicle hoofing part direction navigation sector |
| CN206870748U (en) * | 2017-03-09 | 2018-01-12 | 科大智能机器人技术有限公司 | A kind of steering wheel body |
| CN208021548U (en) * | 2018-03-23 | 2018-10-30 | 深圳市今天国际物流技术股份有限公司 | Steering wheel mechanism and carrying robot with the steering wheel mechanism |
-
2018
- 2018-12-13 CN CN201811523283.2A patent/CN111319673A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2787804A (en) * | 1955-03-23 | 1957-04-09 | Faultless Caster Corp | Caster bearing seal and damper |
| CN205098267U (en) * | 2015-11-03 | 2016-03-23 | 武汉慧杰智能自动化有限公司 | Shock attenuation walking steering mechanism |
| CN206870748U (en) * | 2017-03-09 | 2018-01-12 | 科大智能机器人技术有限公司 | A kind of steering wheel body |
| CN106945467A (en) * | 2017-05-09 | 2017-07-14 | 崔书林 | A kind of new vehicle hoofing part direction navigation sector |
| CN208021548U (en) * | 2018-03-23 | 2018-10-30 | 深圳市今天国际物流技术股份有限公司 | Steering wheel mechanism and carrying robot with the steering wheel mechanism |
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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 |
Application publication date: 20200623 |
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| WW01 | Invention patent application withdrawn after publication |