CN217918078U - Rudder wheel assembly and mobile robot with same - Google Patents
Rudder wheel assembly and mobile robot with same Download PDFInfo
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- CN217918078U CN217918078U CN202221450255.4U CN202221450255U CN217918078U CN 217918078 U CN217918078 U CN 217918078U CN 202221450255 U CN202221450255 U CN 202221450255U CN 217918078 U CN217918078 U CN 217918078U
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Abstract
The utility model provides a steering wheel component and a mobile robot with the same, wherein the steering wheel component comprises a lifting module and a driving module; the lifting module comprises a lifting power source and a lifting swinging beam, and the lifting power source is used for driving the lifting swinging beam to swing up and down; the driving module comprises a steering motor and a driving wheel; the driving wheel is connected to the lifting swing beam and can lift along with the up-and-down swing of the lifting swing beam; the steering motor is used for controlling the driving wheel to rotate by a required angle when the driving wheel rises to a first position along with the lifting swing beam; the drive wheel is used for driving the chassis to move when the lifting swing beam descends to the second position. The utility model discloses a mobile robot's all-round translation turns to. Moreover, the required steering field is small, and the flexibility is high; the steering time is short, and the efficiency is high.
Description
Technical Field
The embodiment of the application relates to the technical field of robots, in particular to a steering wheel assembly and a mobile robot with the same.
Background
With the wider application of the robot and the more fierce market competition, it becomes more and more important to improve the performance of the robot to highlight the advantages of the robot, and the robot with flexible movement has more competitiveness.
In the prior art, when the mobile robot needs to turn, the mobile robot cannot directly translate and turn, the whole robot body can turn only by matching with wheels, but the turning of the robot body needs a larger space, so that the requirement on the field is undoubtedly increased, and the application occasion of the mobile robot is limited. In addition, the mobile robot has poor flexibility due to the steering mode, and the steering needs a long time, so that the steering efficiency of the mobile robot is influenced.
SUMMERY OF THE UTILITY MODEL
An object of the application is to provide a helm assembly and a mobile robot with the same, which can solve the problems that a mobile robot in the prior art needs a large field and is poor in flexibility and long in steering time when steering.
The application provides a steering wheel assembly which is fixed on a chassis of a mobile robot and comprises a lifting module and a driving module;
the lifting module comprises a lifting power source and a lifting swinging beam, and the lifting power source is used for driving the lifting swinging beam to swing up and down;
the driving module comprises a steering motor and a driving wheel; the driving wheel is connected to the lifting swing beam and can lift along with the up-and-down swing of the lifting swing beam; the steering motor is used for controlling the driving wheel to rotate by a required angle when the driving wheel rises to a first position along with the lifting swing beam; the driving wheel is used for driving the chassis to move when the lifting swing beam is lowered to the second position.
In one embodiment, the lifting power source is a lifting motor, and the lifting module further comprises a first lifting rotating assembly and a second lifting rotating assembly;
the first lifting rotating assembly is positioned at the first end of the lifting swing beam, and the second lifting rotating assembly is rotatably connected to the second end of the lifting swing beam;
the lifting motor is connected with the first lifting rotating assembly in a transmission mode and used for driving the first lifting rotating assembly to rotate so as to lift the lifting swing beam upwards, and the second lifting rotating assembly is matched with the first end of the lifting swing beam in a rotating mode and lifts upwards.
In one embodiment, the first lifting rotating assembly includes a lifting rotating structure and a lifting fixing seat;
the lifting fixed seat is fixedly positioned below the first end of the lifting swing beam, the lifting rotating structure is rotatably connected with the lifting fixed seat, and the lifting rotating structure is in transmission connection with the lifting motor;
the lifting motor drives the lifting rotating structure to rotate so as to drive the first end of the lifting swing beam to swing upwards around the second end of the lifting swing beam.
In one embodiment, the lifting rotating structure comprises a lifting cam, a cam rotating shaft and a rotating shaft bearing; the second lifting rotating assembly comprises a lifting rotating piece, a lifting rotating shaft and a chassis fixing seat;
the lifting cam is an eccentric cam, the cam rotating shaft is fixed on the lifting cam, and the position of the cam rotating shaft deviates from the central shaft of the lifting cam; the rotating shaft bearing is embedded in the lifting fixing seat, two ends of the cam rotating shaft are fixed in the inner ring of the rotating shaft bearing, and the cam rotating shaft is fixedly connected with a power output shaft of the lifting motor;
the lifting motor drives the cam rotating shaft to rotate so as to drive the lifting cam to rotate;
the chassis fixing seat is positioned below the second end of the lifting swing beam, the lifting rotating shaft is fixed on the lifting rotating piece, the lifting rotating piece is fixedly connected with the second end of the swing beam, and the lifting rotating shaft is rotatably connected to the chassis fixing seat;
the lifting rotating piece and the lifting rotating shaft are used for rotating along with the swinging of the lifting swinging beam so as to be matched with the first end of the lifting swinging beam to swing upwards;
the lifting cam is driven by the cam rotating shaft to jack up the first end of the lifting swing beam through rotation, so that the first end of the lifting swing beam swings upwards around the lifting rotating shaft.
In an embodiment, the lifting rotation structure further includes a cam limiting member, the cam limiting member has a limiting groove, the cam limiting member is fixed to the first end of the lifting swing beam, and the rotating shaft bearing is inserted into the limiting groove of the cam limiting member; the bottom wall of the limiting groove of the cam limiting part and the bottom wall of the rotating shaft bearing generate spatial interference so as to limit the first end of the lifting swing beam to swing between a first position and a second position.
In one embodiment, the driving module further comprises a steering fixing plate and a steering limiting assembly;
the steering motor is fixed on the lifting swing beam, and the steering fixing plate is fixedly connected with a power output shaft of the steering motor;
the driving wheel is rotatably connected with the steering fixing plate and synchronously turns with the steering fixing plate;
the steering limiting assembly is used for limiting the rotating angle of the driving wheel, so that the rotating angle of the driving wheel to the left or the right does not exceed 90 degrees.
In one embodiment, the driving module further comprises a swinging piece, a swinging limiting shaft and a swinging rotating shaft, and the driving wheel comprises a hub motor;
the top end of the swinging piece is rotatably connected with the steering fixing plate through the swinging rotating shaft, and the bottom end of the swinging piece is rotatably connected with the hub motor;
the swinging piece is used for rotating by taking the swinging rotating shaft as a center when the steering fixing plate is lifted upwards and driving the hub motor to swing upwards;
the swing limiting shaft is fixed on the steering fixing plate and used for limiting the up-and-down swing range of the swing piece.
In one embodiment, the driving module further includes a buffer member, the buffer member has vertical deformation capability, and is connected between the steering fixing plate and the swinging member, and when the lifting module drives the lifting swinging beam to swing upwards to a first position, the buffer member is in an extended/free state; when the lifting module drives the lifting swing beam to swing to the second position, the buffer piece is in a compression state.
In one embodiment, the steering limiting assembly includes a steering limiting member and a steering positioning member;
the steering locating part is fixedly arranged on the upper surface of the steering fixing plate, the steering locating part is fixedly arranged on the lower surface of the lifting swing beam, and when the steering fixing plate rotates to a set angle, the steering locating part blocks the steering locating part so as to limit the rotating angle of the driving wheel.
In one embodiment, the steering motor is mounted on the lifting swing beam, and the driving wheel is connected with a power output shaft of the steering motor.
The application still provides a mobile robot for solving above-mentioned problem, including the chassis, at least one universal wheel is installed to the chassis below, still install the above on the chassis the helm subassembly.
In one embodiment, the chassis includes a through hole, and the first lifting rotating assembly and the second lifting rotating assembly are fixed to an upper surface of the chassis, so that the lifting swing beam is erected on the through hole and the driving wheel can be inserted into the through hole.
In an embodiment, the first lifting rotating assembly is fixed on the chassis through the lifting fixing seat, and the second lifting rotating assembly is fixed on the chassis through the chassis fixing seat.
In one embodiment, the number of the steering wheel assemblies is two, and the two steering wheel assemblies are arranged on the chassis at intervals along the main moving direction of the mobile robot.
In one embodiment, the number of said universal wheels is four, two of said four universal wheels being located on either side of one of said two steering wheel assemblies and the other two of said four universal wheels being located on either side of the other of said two steering wheel assemblies.
The utility model has the advantages that:
when the mobile robot of this application was in normal removal state, universal wheel and drive wheel contacted with ground simultaneously, and drive wheel drive chassis and drive the universal wheel and rotate the antedisplacement together for mobile robot can move forward. When the mobile robot needs to translate towards a certain direction which is not in the front, the driving wheel is lifted under the action of the lifting module, after the driving wheel is lifted off the ground, the steering motor drives the driving wheel to rotate by a required angle, then the driving wheel descends to the bottom of the driving wheel to be flush with the bottom of the universal wheel under the action of the lifting module, so that the driving wheel and the universal wheel are simultaneously contacted with the ground again, then the driving wheel drives the chassis to drive the universal wheel to rotate together to move forwards, and the mobile robot moves along the direction after steering. When the driving wheel is lifted, the universal wheel always keeps a state of being contacted with the ground, and the effect of supporting the mobile robot is achieved. Therefore, the omnibearing translational steering of the mobile robot can be realized through the lifting, steering and descending operations of the driving wheels. In addition, the mobile robot body does not need to swing during steering, the required field is small, and the flexibility is high; the steering time is short, and the efficiency is high.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
Fig. 1 is an exploded view of a steering wheel assembly according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a steering wheel assembly provided in an embodiment of the present application;
FIG. 3 is a schematic view of a steering wheel assembly with a left-hand turning drive wheel according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a steering wheel assembly with a right-hand turning drive wheel according to an embodiment of the present application;
FIG. 5 is a side view of a walking beam of the steering wheel assembly in a horizontal position according to an embodiment of the present application;
FIG. 6 is a side view of a walking beam of the steering wheel assembly in an elevated position according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a chassis of a mobile robot according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the protection scope of the present invention.
Referring to fig. 1 and 2, a steering wheel assembly 10 provided in the embodiment of the present application is shown, which may be installed on any device with autonomous moving capability, for example, on a chassis of a mobile robot. The steering wheel assembly 10 is used for driving the autonomous mobile device to complete all-directional translation including forward direction, left direction and right direction, and comprises a lifting module and a driving module.
The lifting module comprises a lifting power source and a lifting swing beam 12, and the lifting power source can drive the lifting swing beam 12 to swing up and down. As an implementation manner, the present embodiment adopts the lifting motor 11 as a lifting power source, and the lifting motor 11 is also described as an example hereinafter.
The driving module is used for driving the self-moving equipment to move and comprises a steering motor 21 and a driving wheel 22, wherein the driving wheel 22 is installed on the lifting swing beam 12 and can lift and descend along with the up-and-down swing of the lifting swing beam 12. The steering motor 21 is used for controlling the driving wheel 22 to rotate by a required angle after the driving wheel 22 ascends along with the lifting swing beam 12, and the driving wheel 22 is used for driving the chassis to rotate forwards after the driving wheel 22 descends along with the lifting swing beam 12. Specifically, the steering motor 21 can drive the driving wheel 22 to rotate at any angle to the left (as shown in fig. 3) or to the right (as shown in fig. 4), so that the omni-directional translational steering can be realized.
As an implementation, the steering motor 21 may be mounted on the lifting rocker 12, the driving wheel 22 being connected to the power take-off shaft of the steering motor 21.
The lifting module further comprises a first lifting rotating assembly and a second lifting rotating assembly, the first lifting rotating assembly is located below the first end of the lifting swing beam 12, and the second lifting rotating assembly is rotatably connected below the second end of the lifting swing beam 12.
The lifting motor 11 is in transmission connection with the first lifting rotating assembly and is used for driving the first lifting rotating assembly to rotate so as to lift the lifting swing beam 12 upwards, and the second lifting rotating assembly is matched with the first end of the lifting swing beam 12 in a rotating mode to lift upwards.
In this embodiment, the driving module further includes a swing member 23, a swing limiting shaft 24, a swing rotating shaft 25, a steering fixing plate 26, a steering limiting component and a buffer member 27.
The first lifting rotating assembly comprises a lifting rotating structure and a lifting fixed seat 13; the lift rotating structure includes a lift cam 14, a cam rotary shaft 15, and a rotary shaft bearing 16. The second lifting rotating assembly comprises a lifting rotating member 17, a lifting rotating shaft 18 and a chassis fixing seat 19.
The lifting fixing seat 13 is positioned below the first end of the lifting swing beam 12, the lifting cam 14 is an eccentric cam, the cam rotating shaft 15 is fixed on the lifting cam 14, and the position of the cam rotating shaft deviates from the central axis of the lifting cam 14; the rotating shaft bearing 16 is embedded in the lifting fixing seat 13, two ends of the cam rotating shaft 15 are fixed in an inner ring of the rotating shaft bearing 16, and the cam rotating shaft 15 is fixedly connected with a power output shaft of the lifting motor 11. The lift motor 11 drives the cam shaft 15 to rotate the lift cam 14.
The chassis fixing seat 19 is located below the second end of the lifting swing beam 12, the lifting rotating shaft 18 is fixed on the lifting rotating member 17, the lifting rotating member 17 is fixedly connected with the second end of the swing beam 11, and the lifting rotating shaft 18 is rotatably connected to the chassis fixing seat 19.
The lifting rotating piece 17 and the lifting rotating shaft 18 are used for rotating along with the swinging of the lifting swinging beam 12 so as to be matched with the first end of the lifting swinging beam 12 to swing upwards; the lifting cam 14 is driven by the cam rotating shaft 15 to jack up the first end of the lifting swing beam 12 by rotation, so that the first end swings upward around the lifting rotating shaft 18.
Specifically, the lifting rotating structure further includes a cam limiting member 1a, the cam limiting member 1a has a limiting groove, the cam limiting member 1a is fixed below the first end of the lifting swing beam 12, and the rotating shaft bearing 16 is inserted into the limiting groove of the cam limiting member 1 a. The bottom wall of the limiting groove of the cam limiting member 1a and the bottom wall of the rotating shaft bearing 16 generate spatial interference to limit the first end of the lifting swing beam 12 to swing between a first position (a preset highest point position) and a second position (a preset lowest point position).
The steering motor 21 is fixed on the lifting swing beam 12, and the steering fixing plate 26 is fixedly connected with a power output shaft of the steering motor 21; the drive wheel 22 is rotatably connected to a steering fixing plate 26, which is steered in synchronism with the steering fixing plate 26.
The top end of the swing member 23 is rotatably connected to the steering fixing plate 26 via a swing rotating shaft 25, and the bottom end thereof is rotatably connected to the in-wheel motor 221 via a rotating shaft 28. The swing member 23 is rotated about the swing rotation shaft 25 when the steering fixing plate 26 is lifted up, and drives the drive wheel 22 to swing upward. The swing stopper shaft 24 is fixed to the steering fixing plate 26 and limits the vertical swing range of the swing member 23.
The buffer member 27 has vertical deformation capability, and is connected between the steering fixing plate 26 and the swinging member 23, and when the lifting module drives the lifting swinging beam 12 to swing upwards to the first position, the buffer member 27 is in an extension/free state; when the lifting module swings the lifting rocker beam 12 to the second position, the buffer 27 is in a compressed state. Through setting up bolster 27, can play the cushioning effect, be favorable to alleviating the vibrations of mobile robot in translation in-process.
The steering limit assembly includes a steering limit member 29a and a steering positioning member 29b. The steering limiting member 29a is fixedly disposed on the upper surface of the steering fixing plate 26, the steering positioning member 29b is fixedly disposed on the lower surface of the lifting swing beam 12, and when the steering fixing plate 26 rotates to a set angle, the steering positioning member 29b blocks the steering limiting member 29a, so as to limit the rotation angle of the driving wheel 22, and the rotation angle of the driving wheel does not exceed 90 degrees to the left or the right.
The present embodiment further provides a mobile robot, please refer to fig. 7, which includes a chassis 100, at least one universal wheel 20 as a driven wheel is installed below the chassis 100, and the steering wheel assembly 10 is also installed on the chassis 100.
Referring to fig. 5 and 7, when the lift swing beam 12 is driven by the lift motor 11 to swing upward to a predetermined first position, the bottom of the driving wheel 22 is higher than the universal wheel 20. Referring to fig. 6 and 7, when the lifting swing beam 12 is driven by the lifting motor 11 to swing downwards to the second predetermined position, the bottom of the driving wheel 22 is flush with the bottom of the universal wheel 20, and both of the driving wheel and the universal wheel are in contact with the ground at the same time, and the driving wheel 22 can be driven by itself to drive the universal wheel 20 to rotate together to move forward, so that the mobile robot can move forward.
In an alternative embodiment, as shown in fig. 7, the chassis 100 comprises a through hole 101, and the first lifting rotating assembly and the second lifting rotating assembly are fixed on the upper surface of the chassis 100, so that the lifting swing beam 12 can be erected on the through hole 101 and the driving wheel 22 can be embedded in the through hole 101.
That is, alternatively, the lifting swing beam 12 may cross over the through hole 101 by the first lifting rotating assembly and the second lifting rotating assembly fixed to the chassis 100, so that the driving wheel 22 located under the lifting swing beam 12 may be embedded in the through hole 101 and brought into contact with the ground.
In a specific embodiment, the first lifting rotating assembly is fixed on the chassis 100 through the lifting fixing seat 13, and the second lifting rotating assembly is fixed on the chassis 100 through the chassis fixing seat 19.
In an alternative embodiment, the steering wheel assemblies 10 may be two, and two steering wheel assemblies 100 are arranged on the chassis 100 at intervals along the main moving direction (i.e. the forward moving direction) of the mobile robot.
In an alternative embodiment, the universal wheels 20 may be four in nature, wherein the universal wheels 20 are distributed at four corners under the chassis 100, and when the driving wheels 22 are lifted, the universal wheels 20 always keep in contact with the ground, which functions as a support for the mobile robot.
As shown in fig. 7, two of the four universal wheels 20 are located on both sides of one of the two steering wheel assemblies 10, and the other two of the four universal wheels are located on both sides of the other of the two steering wheel assemblies 10. Thereby the stability of the whole mobile robot can be ensured.
In this embodiment, the driving wheel 22 includes a wheel hub motor 221, that is, the driving wheel 22 may be the wheel hub motor 221, and the universal wheel is used as a driven wheel to rotate along with the driving wheel 22, and the driven wheel and the driving wheel cooperate to drive the mobile robot to turn and move.
When the mobile robot is in a normal moving state, the universal wheels 20 and the driving wheels 22 are simultaneously in contact with the ground, and the driving wheels 22 drive and drive the universal wheels 20 to rotate together to move forwards, so that the mobile robot can move forwards. When the mobile robot needs to translate in a certain direction which is not right ahead, the driving wheel 22 is lifted under the action of the lifting module, after the driving wheel 22 is lifted off the ground, the steering motor 21 drives the driving wheel 22 to rotate by a required angle, then the driving wheel 22 descends to be flush with the bottom of the universal wheel 20 under the action of the lifting module, so that the driving wheel 22 and the universal wheel 20 are simultaneously contacted with the ground again, and then the driving wheel 22 drives the universal wheel 20 to rotate together to move forwards, so that the mobile robot moves in the direction after steering. When the driving wheel 22 is lifted, the universal wheel 20 is always kept in contact with the ground, and functions to support the mobile robot. It can be seen that the omni-directional translational steering of the mobile robot can be realized by the lifting, steering and lowering operations of the driving wheel 22. Moreover, the mobile robot body does not need to swing during steering, the required field is small, and the flexibility is high; the steering time is short, and the efficiency is high.
In addition, it should be noted that, on the premise that the rotating friction force and the wear of the driving wheel 22 are not considered, the driving wheel 22 may not be lifted, and the driving wheel 22 is directly controlled by the steering motor 21 to rotate by a required angle under the condition that the driving wheel 22 is kept in contact with the ground, which is equivalent to "hard steering", and this way may also implement steering of the mobile robot, and in particular, an appropriate steering way may be selected according to the scene conditions.
The above is right the utility model provides a steering wheel subassembly and mobile robot's description, to the technical staff in the field, according to the utility model discloses the thought of embodiment all has the change part on concrete implementation and application scope, to sum up, this description content should not be understood as the restriction of the utility model.
Claims (15)
1. A steering wheel assembly is used for being fixed on a chassis of a mobile robot and is characterized by comprising a lifting module and a driving module;
the lifting module comprises a lifting power source and a lifting swinging beam, and the lifting power source is used for driving the lifting swinging beam to swing up and down;
the driving module comprises a steering motor and a driving wheel; the driving wheel is connected to the lifting swing beam and can lift along with the up-and-down swing of the lifting swing beam; the steering motor is used for controlling the driving wheel to rotate by a required angle when the driving wheel rises to a first position along with the lifting swing beam; the drive wheel is used for driving the chassis to move when the lifting swing beam descends to the second position.
2. The steering wheel assembly of claim 1, wherein the lifting power source is a lifting motor, the lifting module further comprising a first lifting rotator and a second lifting rotator;
the first lifting rotating assembly is positioned at the first end of the lifting swing beam, and the second lifting rotating assembly is rotatably connected to the second end of the lifting swing beam;
the lifting motor is connected with the first lifting rotating assembly in a transmission mode and used for driving the first lifting rotating assembly to rotate so as to lift the lifting swing beam upwards, and the second lifting rotating assembly is matched with the first end of the lifting swing beam in a rotating mode and lifts upwards.
3. Rudder wheel assembly according to claim 2, wherein the first lifting swivel assembly comprises a lifting swivel and a lifting fixing base;
the lifting fixed seat is positioned below the first end of the lifting swing beam, the lifting rotating structure is rotatably connected with the lifting fixed seat, and the lifting rotating structure is in transmission connection with the lifting motor;
the lifting motor drives the lifting rotating structure to rotate so as to drive the first end of the lifting swing beam to swing upwards around the second end of the lifting swing beam.
4. Rudder wheel assembly according to claim 3, wherein the lifting rotation structure comprises a lifting cam, a cam spindle and a spindle bearing; the second lifting rotating assembly comprises a lifting rotating member, a lifting rotating shaft and a chassis fixing seat;
the lifting cam is an eccentric cam, the cam rotating shaft is fixed on the lifting cam, and the position of the cam rotating shaft deviates from the central shaft of the lifting cam; the rotating shaft bearing is embedded in the lifting fixing seat, two ends of the cam rotating shaft are fixed in the inner ring of the rotating shaft bearing, and the cam rotating shaft is fixedly connected with a power output shaft of the lifting motor;
the lifting motor drives the cam rotating shaft to rotate so as to drive the lifting cam to rotate;
the chassis fixing seat is positioned below the second end of the lifting swing beam, the lifting rotating shaft is fixed on the lifting rotating piece, the lifting rotating piece is fixedly connected with the second end of the swing beam, and the lifting rotating shaft is rotatably connected to the chassis fixing seat;
the lifting rotating piece and the lifting rotating shaft are used for rotating along with the swinging of the lifting swinging beam so as to be matched with the first end of the lifting swinging beam to swing upwards;
the lifting cam is driven by the cam rotating shaft to jack up the first end of the lifting swing beam through rotation, so that the first end of the lifting swing beam swings upwards around the lifting rotating shaft.
5. The steering wheel assembly of claim 4, wherein the lifting rotation structure further comprises a cam limiting member having a limiting groove, the cam limiting member is fixed below the first end of the lifting rocker, and the shaft bearing is inserted into the limiting groove of the cam limiting member; the bottom wall of the limiting groove of the cam limiting part and the bottom wall of the rotating shaft bearing generate spatial interference so as to limit the first end of the lifting swing beam to swing between the first position and the second position.
6. Rudder wheel assembly according to any of claims 1-5, wherein the drive module further comprises a steering fixing plate and a steering stop assembly;
the steering motor is fixed on the lifting swing beam, and the steering fixing plate is fixedly connected with a power output shaft of the steering motor;
the driving wheel is rotatably connected with the steering fixing plate and synchronously steers with the steering fixing plate;
the steering limiting assembly is used for limiting the rotating angle of the driving wheel, so that the rotating angle of the driving wheel to the left or the right does not exceed 90 degrees.
7. Rudder wheel assembly according to claim 6, wherein the drive module further comprises a swing member, a swing limiting shaft and a swing rotation shaft, and the drive wheel comprises a hub motor;
the top end of the swinging piece is rotationally connected with the steering fixing plate through the swinging rotating shaft, and the bottom end of the swinging piece is rotationally connected with the hub motor;
the swinging piece is used for rotating by taking the swinging rotating shaft as a center when the steering fixing plate is lifted upwards and driving the hub motor to swing upwards;
the swing limiting shaft is fixed on the steering fixing plate and used for limiting the up-and-down swing range of the swing piece.
8. The steering wheel assembly of claim 7, wherein the driving module further comprises a buffer member having a vertical deformation capability, the buffer member being connected between the steering fixing plate and the swinging member, the buffer member being in an extended/free state when the lifting module drives the lifting swinging beam to swing upward to the first position; when the lifting module drives the lifting swing beam to swing to the second position, the buffer piece is in a compression state.
9. Rudder wheel assembly according to claim 7, wherein the steering stop assembly comprises a steering stop and a steering positioning element;
the steering locating part is fixedly arranged on the upper surface of the steering fixing plate, the steering locating part is fixedly arranged on the lower surface of the lifting swing beam, and when the steering fixing plate rotates to a set angle, the steering locating part blocks the steering locating part so as to limit the rotating angle of the driving wheel.
10. Rudder wheel assembly according to claim 1, wherein the steering motor is mounted on the lifting rocker, and wherein the drive wheel is connected to a power take-off shaft of the steering motor.
11. A mobile robot comprising a chassis, at least one universal wheel being mounted below said chassis, wherein said chassis is further provided with a steering wheel assembly as claimed in claim 1.
12. The mobile robot of claim 11, wherein the lifting power source is a lifting motor, the lifting module further comprising a first lifting rotating assembly and a second lifting rotating assembly; the first lifting rotating assembly is positioned at the first end of the lifting swing beam, and the second lifting rotating assembly is rotatably connected to the second end of the lifting swing beam; the lifting motor is in transmission connection with the first lifting rotating assembly and is used for driving the first lifting rotating assembly to rotate so as to lift the lifting swinging beam upwards, and the second lifting rotating assembly is matched with the first end of the lifting swinging beam to lift upwards;
the chassis comprises a through hole, and the first lifting rotating assembly and the second lifting rotating assembly are fixed on the upper surface of the chassis, so that the lifting swinging beam is erected on the through hole and the driving wheel can be embedded into the through hole.
13. The mobile robot of claim 12, wherein the first lifting rotating assembly comprises a lifting rotating structure and a lifting fixing seat, and the second lifting rotating assembly comprises a lifting rotating member, a lifting rotating shaft and a chassis fixing seat; the first lifting rotating assembly is fixed on the chassis through the lifting fixing seat, and the second lifting rotating assembly is fixed on the chassis through the chassis fixing seat.
14. The mobile robot of claim 11, wherein there are two steering wheel assemblies, and the two steering wheel assemblies are disposed on the chassis at intervals along a main moving direction of the mobile robot.
15. The mobile robot of claim 14, wherein the number of universal wheels is four, two of the four universal wheels being located on either side of one of the two steering wheel assemblies, and the other two of the four universal wheels being located on either side of the other of the two steering wheel assemblies.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221450255.4U CN217918078U (en) | 2022-06-10 | 2022-06-10 | Rudder wheel assembly and mobile robot with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221450255.4U CN217918078U (en) | 2022-06-10 | 2022-06-10 | Rudder wheel assembly and mobile robot with same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217918078U true CN217918078U (en) | 2022-11-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221450255.4U Active CN217918078U (en) | 2022-06-10 | 2022-06-10 | Rudder wheel assembly and mobile robot with same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217918078U (en) |
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2022
- 2022-06-10 CN CN202221450255.4U patent/CN217918078U/en active Active
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