Independent steering driving wheel based on hub motor

An in-wheel motor, independent steering technology, applied in electric steering mechanism, steering mechanism, power steering mechanism, etc., can solve problems such as instability, high noise, bumps, etc., achieve the effect of small size, small space, and avoid bumps and vibrations

Active Publication Date: 2019-06-21
BEIJING UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

After investigation, it was found that although the existing similar devices can meet the requirements, they have more or less shortcomings, such as not stable enough during walking, relatively bumpy, and noisy.

Method used

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  • Independent steering driving wheel based on hub motor
  • Independent steering driving wheel based on hub motor
  • Independent steering driving wheel based on hub motor

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0017] according to Figure 1-Figure 4 , the independently driven steering wheel applied to the omnidirectional mobile robot designed by the present invention is composed of 1 traveling mechanism, 2 force receiving mechanisms, and 3 shock absorbing mechanisms.

[0018] Among the above-mentioned mechanisms, the traveling mechanism includes 101 hub motor wheel, 102 hub frame A and 103 hub frame B; Optical shaft, 207 upper flanges, 208 upper contact bearings, 209 lower angular contact bearings; the damping mechanism includes 301 swing arm hinge connections, 302 shock absorber hinge connections, 303 shock absorbers, 304 swing arms.

[0019] The composition and connection relationship of each part is as follows: the 101 hub motor wheel is fixed on the motor frame composed of 102 hub frame A and 103 hub frame B through nuts. Screw fixed. There is a blind hole on the surface of the 201 pillow block and an internal thread, and the end of the 203 universal wheel is threaded, and the ...

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PUM

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Abstract

The invention relates to an independent steering driving wheel based on a hub motor, and belongs to the technical field of driving wheels. According to the independent steering driving wheel of an omnidirectional mobile robot, a shaft table is fixed to the center of a hub frame, hollowing is convenient for cabling of the hub motor, and a universal wheel is installed on the shaft table to reduce the friction during the relative rotation. A small flange coaxially sleeves the shaft table and is fixed, and the hollow shaft is coaxially embedded into the small flange and fixed. A sleeve coaxially sleeves the shaft table, and a sleeve disk is in contact with an upward universal wheel. A hollow shaft coaxially sleeves a lower angle contact bearing and an upper angle contact bearing, the lower angle contact bearing and the upper angle contact bearing separately and coaxially sleeve the upper end and lower end of the hollow shaft, the lower surface of the upper angle contact bearing is in contact with the hollow shaft, the upper surface of the lower angle contact bearing is in contact with the hollow shaft, and the lower surface of the lower angle contact bearing is in contact with the small flange. Optical shafts are evenly distributed and fixed to the upper part of the sleeve, and the upper ends of the optical shafts are embedded in an upper flange disc and fixed. In the process of traveling, a connected shock absorber is less bumpy and vibrated, and the stability in the process of traveling is ensured.

Description

technical field [0001] The invention is used for an omnidirectional mobile robot, mainly as a driving wheel of the robot, and can realize the functions of omnidirectional movement and independent steering of the robot. The design scheme has a compact structure, is convenient for installing and replacing parts, and also meets the requirements for flexibility and high mobility of an omnidirectional mobile robot, and belongs to the technical field of drive wheels. Background technique [0002] The rapid development of omnidirectional mobile robots, as the independent driving wheel of the traveling device, provides a guarantee for the flexible omnidirectional movement of the robot, enabling the robot to move freely in a narrower environment. The independent driving wheel is composed of a traveling mechanism, a force receiving mechanism, and a shock absorbing mechanism. The independent steering wheel involves mechanical technology, control technology, etc. After investigation, i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J5/00B60G3/01B60K7/00B62D5/04
CPCB25J5/007B60G3/01B60G2200/10B60K7/0007B62D5/0409
Inventor 李秀智杨宇贾松敏
Owner BEIJING UNIV OF TECH
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