Walking wheel set with steering assist capability for intelligent sweeper

Abstract

The invention discloses a walking wheel set with steering assisting ability for an intelligent floor sweeper, which comprises a walking wheel, the walking wheel is ring-shaped, a gear ring is provided on the inner ring of the walking wheel, and a transmission gear is meshed with the inner ring of the gear ring, and the transmission gear passes through a ten thousand A driving mechanism is connected to the rod, and the driving mechanism is extended to the center of the walking wheel with a supporting rod, and the end of the supporting rod is fixed with a positioning wheel. The positioning wheel is located at the center of the inner ring of the walking wheel, and the positioning wheel is provided with screw holes symmetrically with the center of the circle. , the outer side of the inner ring of the walking wheel is embedded with a ring-shaped plane thrust ball bearing, and the plane thrust ball bearing is covered with a support plate. An auxiliary direction-changing mechanism is arranged in the center of the side of the support plate facing away from the positioning wheel. The auxiliary direction-changing mechanism includes two transverse The fixed blocks are arranged symmetrically. The turret is equipped with two motors corresponding to the screw holes between the fixed blocks. The rotating rods of the motors are connected with screw rods. The screw mandrel is provided with the opening that allows the screw mandrel to move.

Description

technical field [0001] The invention relates to the field of sweeping machine body robots, in particular to a walking wheel set with steering assistance capability for an intelligent sweeping machine. Background technique [0002] A robot is a machine device that performs work automatically. It can accept human commands, run pre-programmed programs, and act according to principles formulated with artificial intelligence technology. Its task is to assist or replace human work, such as In the production industry, construction industry, or dangerous work, the walking wheel structure is the mechanism that drives the actuator to move. According to the command signal sent by the control system, the robot is moved by means of the power element. Its input is electrical signal, and the output is It is the amount of linear and angular displacement. The driving device used by the robot is mainly an electric driving device. Intelligent sweeping machines, also known as automatic sweepers...

AI Technical Summary

Problems solved by technology

[0003] However, there are still some problems in existing intelligent sweepers. For example, most sweepers with double road wheels adjust the speed of the two road wheels so that there is a difference in speed to adjust the walking direction of the sweeper. The walking path cannot be effectively Correction, and at the same time, it is impossible to control the speed of the sweeper more finely. There is a large steering error, which has a certain impact on the cleaning degree of the ground. It may be that some detailed areas have not been effectively cleaned due to the steering problem, and a small part of the sweeper will be added. And a pair of steering wheels, but the addition of steering wheels does not perfectly solve this problem, the steering speed and steering angle are not satisfactory

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