CN113895512A - Steering mechanism, robot chassis and robot - Google Patents
Steering mechanism, robot chassis and robot Download PDFInfo
- Publication number
- CN113895512A CN113895512A CN202111372241.5A CN202111372241A CN113895512A CN 113895512 A CN113895512 A CN 113895512A CN 202111372241 A CN202111372241 A CN 202111372241A CN 113895512 A CN113895512 A CN 113895512A
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- Prior art keywords
- steering
- bracket
- transmission mechanism
- robot
- gear
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- 230000005540 biological transmission Effects 0.000 claims abstract description 40
- 238000013016 damping Methods 0.000 claims abstract description 17
- 230000001360 synchronised effect Effects 0.000 claims description 7
- 230000001681 protective effect Effects 0.000 claims description 5
- 230000035939 shock Effects 0.000 abstract description 8
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 238000010521 absorption reaction Methods 0.000 abstract description 4
- 238000005299 abrasion Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000004568 cement Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Images
Classifications
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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
- B62D5/0421—Electric motor acting on or near steering gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
- B62D3/12—Steering gears mechanical of rack-and-pinion type
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
Abstract
A steering mechanism, a robot chassis and a robot are provided. This steering mechanism includes: the steering engine 5, the transmission mechanism, the steering bracket 4, the damping bracket 8 and the driving wheel 11; the steering engine 5 comprises a CAN bus interface, and the steering engine 5 is connected to the transmission mechanism; the transmission mechanism is connected with the steering bracket 4; the shock absorption bracket 8 is respectively connected with the steering bracket 4 and the driving wheel 11; the steering engine 5 receives an instruction sent by the CAN bus, the steering engine rotates to drive the transmission mechanism to rotate, and the transmission mechanism drives the steering bracket 4 and the damping bracket 8 to further drive the driving wheel 11 to rotate. The robot chassis comprises the steering mechanism, and the robot comprises the robot chassis. The steering mechanism, the robot chassis and the robot provided by the invention have the advantages of simple structure, high steering efficiency, and reduced production cost while improving the efficiency.
Description
Technical Field
The invention relates to the technical field of inspection robots, in particular to a steering mechanism, a robot chassis and a robot.
Background
In production, the chassis steering modes of the existing wheel type inspection robot mainly comprise four-wheel differential steering, two-drive differential belt follow-up wheel steering, ackerman steering, four-drive four-wheel steering and the like.
The four-wheel differential steering has the defects that the four-wheel differential steering forcibly rotates by utilizing the motor differential, the abrasion of tires is large, and the trafficability characteristic is poor. The two-drive differential belt follow-up wheel is also one of the differential steering, has large tire abrasion and poor trafficability characteristic, and is not suitable for outdoor cement roads. Ackerman steering is similar to the steering mode of an automobile, has a plurality of advantages, but cannot be used for in-situ steering.
The existing four-wheel-drive four-wheel-rotation steering mode adopts four steering motors or two steering motors and a steering mechanism, and adopts the four steering motors, so that the occupied space is large, and the wiring is complex; the steering mechanism with the two steering motors and the steering mechanism is complex in design, low in assembly and debugging efficiency and high in design and production cost.
Disclosure of Invention
In view of the above-mentioned drawbacks and needs of the prior art, the present invention provides a steering mechanism, a robot chassis and a robot suitable for a four-wheel-drive four-turn chassis, so as to reduce the cost and simplify the structure.
A first aspect of the present invention provides a steering mechanism including: the steering engine 5, the transmission mechanism, the steering bracket 4, the damping bracket 8 and the driving wheel 11;
the steering engine 5 comprises a CAN bus interface, and the steering engine 5 is connected to the transmission mechanism;
the transmission mechanism is connected with the steering bracket 4;
the shock absorption bracket 8 is respectively connected with the steering bracket 4 and the driving wheel 11;
the steering engine 5 receives an instruction sent by the CAN bus, the steering engine rotates to drive the transmission mechanism to rotate, and the transmission mechanism drives the steering bracket 4 and the damping bracket 8 to further drive the driving wheel 11 to rotate.
Further, the transmission mechanism comprises a first gear 1, a second gear 6 and a synchronous rack belt 7;
the steering gear 5 is in meshed connection with the second gear 6;
the second gear 6 drives the first gear 1 through a synchronous rack belt 7;
the steering carrier 4 is connected to the first gear wheel 1.
Furthermore, the device also comprises protective covers 9 and 10 which are coated outside the transmission mechanism.
Further, the steering device also comprises a first steering bracket 2 and a second steering bracket 3;
the first steering bracket 2 is fixedly connected below the transmission mechanism;
the second steering bracket 3 is wrapped around the steering bracket 4.
Further, the steering bracket 4 includes a first bearing 13 and a second bearing 14, which are fixed to the first steering bracket 2 by the first bearing 13 and the second bearing 14, respectively.
Further, the damping support 8 is L-shaped and is provided with a damping spring inside.
A second aspect of the invention provides a robot chassis comprising a steering mechanism as described above.
Furthermore, the robot chassis adopts a four-wheel drive four-rotation mode.
A third aspect of the invention provides a robot comprising a robot chassis as described above.
In summary, the invention provides a steering mechanism, a robot chassis and a robot. This steering mechanism includes: the steering engine 5, the transmission mechanism, the steering bracket 4, the damping bracket 8 and the driving wheel 11; the steering engine 5 comprises a CAN bus interface, and the steering engine 5 is connected to the transmission mechanism; the transmission mechanism is connected with the steering bracket 4; the shock absorption bracket 8 is respectively connected with the steering bracket 4 and the driving wheel 11; the steering engine 5 receives an instruction sent by the CAN bus, the steering engine rotates to drive the transmission mechanism to rotate, and the transmission mechanism drives the steering bracket 4 and the damping bracket 8 to further drive the driving wheel 11 to rotate. The robot chassis comprises the steering mechanism, and the robot comprises the robot chassis. The steering mechanism, the robot chassis and the robot provided by the invention have the advantages of simple structure, high steering efficiency, and reduced production cost while improving the efficiency.
Drawings
FIG. 1 is a schematic plan view of a steering mechanism according to an embodiment of the present invention;
FIG. 2 is a perspective view of a steering mechanism provided by an embodiment of the present invention;
FIG. 3 is a schematic structural view of a steering bracket provided in an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a shock-absorbing bracket according to an embodiment of the present invention.
Reference numerals: 1. a first gear; 2. a first steering bracket; 3. a second steering bracket; 4. a steering bracket; 5. a steering engine; 6. a second gear; 7. a synchronous rack bar; 8. a shock-absorbing support; 9. a protective cover; 10. a protective cover; 11. a drive wheel; 12. a steering bracket; 13. a first bearing; 14. a second bearing; 15. a spring.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
Aiming at the defects that the existing four-wheel drive four-turn steering mode needs 4 steering motors or needs 2 steering motors but the mechanism is complex in design, high in design and production cost and more in materials, the cost is reduced, and the steering efficiency is improved, the invention provides a novel steering mechanism suitable for a four-wheel drive four-turn robot chassis.
A first aspect of the present invention provides a steering mechanism that employs independent control of each wheel, as shown in fig. 1 and 2, comprising: the steering engine 5, the transmission mechanism, the steering bracket 4, the damping bracket 8 and the driving wheel 11; the steering engine 5 comprises a CAN bus interface, and the wiring complexity is simplified by using serial connection during wiring; the steering engine 5 is connected to the transmission mechanism; the transmission mechanism is connected with the steering bracket 4; the damping bracket 8 is respectively connected with the steering bracket 4 and the driving wheel 11; the steering engine 5 receives an instruction sent by the CAN bus, the steering engine rotates to drive the transmission mechanism to rotate, and the transmission mechanism drives the steering bracket 4 and the damping bracket 8 to further drive the driving wheel 11 to rotate.
Further, the transmission mechanism comprises a first gear 1, a second gear 6 and a synchronous rack belt 7; the steering gear 5 is in meshed connection with the second gear 6; the second gear 6 drives the first gear 1 through a synchronous rack belt 7; a steering carrier 4 is connected to the first gear wheel 1. The second gear 6 rotates under the condition that the steering engine rotates and drives, and simultaneously drives the first gear 1 to rotate through the synchronous toothed belt 7, and then the first gear 1 drives the steering bracket 4 to rotate.
Further, as shown in fig. 2, the device further includes protective covers 9 and 10 covering the outside of the transmission mechanism for protecting the transmission mechanism from being damaged by external force.
Further, as shown in fig. 1, the steering device further comprises a first steering bracket 2 and a second steering bracket 3; the first steering bracket 2 is fixedly connected below the transmission mechanism; the second steering bracket 3 is wrapped around the steering bracket 4.
Further, as shown in fig. 3, the steering bracket 12 includes a first bearing 13 and a second bearing 14, which are fixed to the first steering bracket 2 by the first bearing 13 and the second bearing 14, respectively. The lower end of the steering bracket 12 is connected with a shock-absorbing bracket 8, and the shock-absorbing bracket 8 is connected with a driving wheel 11. The steering bracket 12 thus rotates the drive wheel 11 via the damping bracket 8.
Further, as shown in fig. 4, the shock absorbing bracket 8 is L-shaped, and a shock absorbing spring 15 is disposed inside the shock absorbing bracket for absorbing energy generated by shock.
A second aspect of the invention provides a robot chassis comprising at least one steering mechanism as described above. Furthermore, the robot chassis adopts a four-wheel drive four-rotation mode.
A third aspect of the invention provides a robot comprising a robot chassis as described above.
In summary, the invention provides a steering mechanism, a robot chassis and a robot. This steering mechanism includes: the steering engine 5, the transmission mechanism, the steering bracket 4, the damping bracket 8 and the driving wheel 11; the steering engine 5 comprises a CAN bus interface, and the steering engine 5 is connected to the transmission mechanism; the transmission mechanism is connected with the steering bracket 4; the shock absorption bracket 8 is respectively connected with the steering bracket 4 and the driving wheel 11; the steering engine 5 receives an instruction sent by the CAN bus, the steering engine rotates to drive the transmission mechanism to rotate, and the transmission mechanism drives the steering bracket 4 and the damping bracket 8 to further drive the driving wheel 11 to rotate. The robot chassis comprises the steering mechanism, and the robot comprises the robot chassis. The steering mechanism, the robot chassis and the robot provided by the invention have the advantages of simple structure, high steering efficiency, and reduced production cost while improving the efficiency.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.
Claims (9)
1. A steering mechanism, comprising: the steering engine (5), the transmission mechanism, the steering bracket (4), the damping bracket (8) and the driving wheel (11);
the steering engine (5) comprises a CAN bus interface, and the steering engine (5) is connected to the transmission mechanism;
the transmission mechanism is connected with the steering bracket (4);
the damping support (8) is respectively connected with the steering bracket (4) and the driving wheel (11);
the steering engine (5) receives an instruction sent by a CAN bus, the steering engine rotates to drive the transmission mechanism to rotate, and the transmission mechanism drives the steering bracket (4) and the damping bracket (8) to further drive the driving wheel (11) to rotate.
2. Steering mechanism according to claim 1, characterized in that the transmission mechanism comprises a first gear wheel (1), a second gear wheel (6) and a timing belt (7);
the steering engine (5) is in meshing connection with the second gear (6);
the second gear (6) drives the first gear (1) through a synchronous toothed belt (7);
the steering bracket (4) is connected with the first gear (1).
3. Steering mechanism according to claim 2, further comprising a protective cover (9,10) covering the outside of the transmission mechanism.
4. Steering mechanism according to claim 2 or 3, further comprising a first steering bracket (2) and a second steering bracket (3);
the first steering support (2) is fixedly connected below the transmission mechanism;
the second steering support (3) is wrapped on the periphery of the steering bracket (4).
5. Steering mechanism according to claim 4, characterized in that the steering bracket (4) comprises a first bearing (13) and a second bearing (14), which are fixed to the first steering bracket (2) by means of the first bearing (13) and the second bearing (14), respectively.
6. Steering mechanism according to any of claims 1-5, characterized in that the shock-absorbing bracket (8) is L-shaped with a shock-absorbing spring built in.
7. A robot chassis comprising a steering mechanism as claimed in any one of claims 1 to 6.
8. The robot chassis of claim 7, in which the robot chassis employs a four-drive four-turn approach.
9. A robot, characterized in that it comprises a robot chassis according to any of claims 7-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111372241.5A CN113895512A (en) | 2021-11-18 | 2021-11-18 | Steering mechanism, robot chassis and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111372241.5A CN113895512A (en) | 2021-11-18 | 2021-11-18 | Steering mechanism, robot chassis and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113895512A true CN113895512A (en) | 2022-01-07 |
Family
ID=79194758
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111372241.5A Pending CN113895512A (en) | 2021-11-18 | 2021-11-18 | Steering mechanism, robot chassis and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113895512A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206691249U (en) * | 2017-04-26 | 2017-12-01 | 安徽工程大学 | Chassis assembly and with its robot and detection vehicle |
| CN107719513A (en) * | 2017-10-12 | 2018-02-23 | 广州市君望机器人自动化有限公司 | A kind of cross-country vehicle chassis component and robot assembly |
| CN208452777U (en) * | 2018-05-14 | 2019-02-01 | 郑州铁路职业技术学院 | It is a kind of can the mobile novel wheel-type robot of omnidirectional, multi-angle |
| CN110789331A (en) * | 2019-12-12 | 2020-02-14 | 长沙万为机器人有限公司 | Servo steering wheel of robot |
| CN112848877A (en) * | 2021-03-24 | 2021-05-28 | 阿博思汽车(杭州)有限公司 | Liftable wheel assembly |
| CN213974184U (en) * | 2020-12-31 | 2021-08-17 | 深圳市智创造科技有限公司 | Modular four-turn four-wheel drive robot chassis |
-
2021
- 2021-11-18 CN CN202111372241.5A patent/CN113895512A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206691249U (en) * | 2017-04-26 | 2017-12-01 | 安徽工程大学 | Chassis assembly and with its robot and detection vehicle |
| CN107719513A (en) * | 2017-10-12 | 2018-02-23 | 广州市君望机器人自动化有限公司 | A kind of cross-country vehicle chassis component and robot assembly |
| CN208452777U (en) * | 2018-05-14 | 2019-02-01 | 郑州铁路职业技术学院 | It is a kind of can the mobile novel wheel-type robot of omnidirectional, multi-angle |
| CN110789331A (en) * | 2019-12-12 | 2020-02-14 | 长沙万为机器人有限公司 | Servo steering wheel of robot |
| CN213974184U (en) * | 2020-12-31 | 2021-08-17 | 深圳市智创造科技有限公司 | Modular four-turn four-wheel drive robot chassis |
| CN112848877A (en) * | 2021-03-24 | 2021-05-28 | 阿博思汽车(杭州)有限公司 | Liftable wheel assembly |
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| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20220107 |
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| RJ01 | Rejection of invention patent application after publication |