Four-wheel steering robot

Abstract

The invention discloses a four-wheel steering robot. The four-wheel steering robot comprises a robot body, a radar, a controller, suspension connecting arms and steering wheels, wherein the radar and the controller are mounted on the robot body; the suspension connecting arms are connected to the two sides of the robot body in a shaft driving manner; the steering wheels are mounted at the two ends of each suspension connecting arm; and the radar is wirelessly connected to the controller for data transmission, and the controller is in control connection with the steering wheels. According to the four-wheel steering robot, the four independent steering wheels are adopted, and each steering wheel is driven in an independent driving mode, so that the four-wheel steering robot can move forwards, backwards, obliquely, transversely, steer in situ and the like; the connecting positions of the two suspension connecting arms on the left side and the right side are connected through a central differential mechanism, and all the two sets of steering wheels can rotate by different angles in different directions through the central differential mechanism. And the steering motor is connected with the hub motor, so that the bearing part can be directly connected on the steering motor, and the complexity of the whole power assembly is simplified.

Description

technical field [0001] The invention relates to the field of robots, in particular to a four-wheel steering robot. Background technique [0002] At present, the existing four-wheel independent steering vehicles use brushless DC motors and multiple parts of the hub, and integrate planetary reducers, which can provide high-torque rotation. However, the motor cannot bear the load in the radial direction of the rotating shaft, so In order to achieve the purpose of rotating bearings, it is necessary to design additional multiple supporting parts, including various rotating devices such as bearings and gears, and fixed decorations, to realize the bearing support that turns to the radial direction of ZTE, four-wheeled robots or four-wheeled unmanned vehicles, Among them, the four-wheel independent steering device needs to adopt a very small space layout and a lightweight structural design in order to pursue cost and light weight. At present, the same type of DC brushless motor cann...

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is that the current brushless DC motor of the same kind cannot be directly combined with the drive wheel, and additional fixing parts and rotating devices are required, which will cause the complexity of the steering mechanism, increase the maintenance cost and the resulting cost. The present invention provides A four-wheel steering robot, which uses four independent steering wheels installed on the robot body to form a four-wheel steering robot, and each steering wheel is driven independently, so that the four-wheel steering robot can move forward and backward , oblique driving, lateral driving, and in-situ steering and other movement modes; the joints of the two suspension connecting arms on the left and right sides are connected by a central differential, through which all two sets of steering wheels can be realized separately. All can rotate in different directions, that is, to ensure that the four wheels of the four-wheel steering robot can always be kept on the ground when walking on the complex road surface, and each wheel can bear the weight load; the combination of the steering motor and the hub motor Connection, the connection of the load-bearing part can be directly carried out on the steering motor, which simplifies the complexity of the entire power assembly, and at the same time the design complexity is also greatly reduced, saving space to the greatest extent, simple in structure, easy to use, and used to solve existing defects caused by technology

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