Independent steering driving wheel for mobile robot

A mobile robot and independent steering technology, which is applied in the field of mobile robots, can solve the problems of inconvenient special workplaces, small rotation range, small and flexible enough, etc., and achieve compact and beautiful structure, simple structure improvement, and large wiring space Effect

Active Publication Date: 2016-06-22
ANHUI UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although the independent steering drive wheel in the prior art can meet the basic requirements, due to its size and structural defects, it is not very convenient to be used in sp

Method used

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  • Independent steering driving wheel for mobile robot
  • Independent steering driving wheel for mobile robot

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Embodiment Construction

[0012] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0013] see figure 1 , figure 2 , an independent steering drive wheel of a mobile robot, including a traveling mechanism 1, a force supporting mechanism 2, a shock absorbing mechanism 3, and a steering mechanism 4;

[0014] The traveling mechanism 1 is composed of a hub motor 101 and a wheel frame 102; the force supporting mechanism 2 includes: a hollow shaft 201, a lower flange 202, a lower angular contact bearing 203, a shaft sleeve 204, an upper angular contact bearing 205, a bearing Seat 206, upper flange 207; said damping mechanism 3 includes: damping spring 301, optical axis 302, linear bearing 303, middle flange 304; damping spring 301 is coaxial with bearing seat 206, and is sleeved on The outer edge of the bearing seat; the steering mechanism 4 includes: a worm gear reducer 401 , a stepping motor 402 , and a photoelectric encoder 403...

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Abstract

The invention discloses an independent steering driving wheel for a mobile robot. The independent steering driving wheel for the mobile robot comprises a hub motor, a wheel frame, a hollow shaft and the like, wherein the wheel frame is installed on the hub motor; the hollow shaft is installed on the wheel frame; the interior of the hollow shaft is hollow and is used for wiring of the motor; a lower flange disc is coaxially installed on the hollow shaft; a bearing seat is coaxially installed on the lower flange disc; two angular contact bearings are coaxially installed in the bearing seat; three optical axes are uniformly installed on the lower flange disc with the hollow shaft as the center, penetrate through a middle flange disc and are fixed with an upper flange disc; a spring is coaxially installed on the outer edge of the bearing seat; one end of the spring is embedded in the lower surface of the middle flange disc; the other end of the spring is arranged against the upper surface of the lower flange disc; and a steering mechanism is installed on the upper flange disc and is composed of a worm and worm wheel reduction gearbox, a stepping motor and a photoelectric encoder. The independent steering driving wheel for the mobile robot has a compact structure, is rapid and convenient in installation and good in practicability and can wholly rotate within a large range in the horizontal direction.

Description

technical field [0001] The invention relates to the field of mobile robots, in particular to an independent steering drive wheel for a mobile robot. The independent steering drive wheel has compact structure, flexible movement and wide application range, and is suitable for mobile robots with high mobility requirements. Background technique [0002] The independently steered drive wheels are an integral part of the robot and are also the robot's power unit. It is suitable for field heavy trucks, suspension vehicles, military armored vehicles, etc. The independent driving wheel is generally composed of a traveling mechanism, a steering mechanism and an on-site controller. It combines mechanical transmission and control technology and also takes into account the overall stability of the vehicle. Although the independent steering drive wheel in the prior art can meet the basic requirements, due to its volume and structural defects, it is not very convenient to be used in speci...

Claims

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Application Information

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IPC IPC(8): B60G3/01B60K7/00B62D5/04
CPCB60G3/01B60G2200/10B60K7/0007B62D5/0409
Inventor 刘方李国丽华飞许家紫
Owner ANHUI UNIVERSITY
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