Mobile Steering Device

Abstract

The present invention discloses a mobile steering device, belonging to the technical field of robots. Among them, it includes a support mechanism, a moving mechanism, and a steering mechanism. The moving mechanism is installed on the support mechanism, and rollers are provided at the lower end of the moving mechanism; the steering mechanism includes a first support base, a first driving member, a first driving wheel, and a first driven wheel. The first support base is located on one side of the support mechanism and is connected to the support mechanism. The first driving member is installed on the first support base, and the first driving wheel is sleeved on the output shaft of the first driving member; the first driven wheel is installed on the support mechanism, the first driven wheel meshes with the first driving wheel, the first driven wheel is provided with an installation part, the roller is located within the installation part, and the rotation direction of the roller intersects with the rotation direction of the first driven wheel; the first driving member drives the first driven wheel to rotate, so that the rollers of the moving mechanism can achieve clockwise or counterclockwise steering in the horizontal direction; steering and moving do not interfere with each other during operation, and the coordination when they cooperate is relatively strong.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and particularly relates to a mobile steering device. Background Art

[0002] Generally, robots have the function of moving. The existing mobile steering units of robots mainly adopt omnidirectional wheels or Mecanum wheels; the running acceleration gain of omnidirectional wheels is small, and the steering response is slow, making it difficult to meet the requirement of rapid steering; the moving speed of Mecanum wheels is slow. Moreover, the coordination between the existing steering mechanism and the moving mechanism is poor. Summary of the Invention

[0003] The purpose of the present invention is to provide a mobile steering device, which realizes rapid steering of the mobile steering device, and the steering and moving are independent of each other, improving the coordination of the mobile steering device.

[0004] The technical solution is as follows:

[0005] A mobile steering device, comprising:

[0006] A support mechanism,

[0007] A moving mechanism, the moving mechanism is installed on the support mechanism, and rollers are provided at the lower end of the moving mechanism;

[0008] A steering mechanism, the steering mechanism includes a first support seat, a first driving member, a first driving wheel and a first driven wheel. The first support seat is located on one side of the support mechanism and is connected to the support mechanism. The first driving member is installed on the first support seat. The first driving wheel is located on the first support seat and is sleeved on the output shaft of the first driving member;

[0009] Wherein, the first driven wheel is installed on the support mechanism, the first driven wheel meshes with the first driving wheel, the first driven wheel is provided with an installation portion, at least a part of the roller is located in the installation portion, and the rotation direction of the roller intersects with the rotation direction of the first driven wheel.

[0010] In one embodiment, the steering mechanism further includes an encoder, a second driven wheel and a support sleeve. The support sleeve is located at the lower end of the first support seat, and the second driven wheel is located at the upper end of the first support seat; the second driven wheel meshes with the first driven wheel, the second driven wheel is sleeved on the transmission shaft of the encoder, and the end of the transmission shaft of the encoder passes through the first support seat and is located in the support sleeve.

[0011] In one embodiment, the moving mechanism includes a second driving member, a transmission assembly, a rotating shaft, and a support plate. The lower end of the support plate is mounted on the support mechanism. The transmission assembly is located on one side of the support plate and is disposed opposite to the second driving member. The output end of the second driving member passes through the first end of the support plate and is connected to the upper end of the transmission assembly. The lower end of the transmission assembly is sleeved on the second end of the rotating shaft. The third end of the rotating shaft passes through the fourth end of the support plate and is connected to the axis of the roller.

[0012] In one embodiment, the transmission assembly includes a second driving wheel, a third driven wheel, and a transmission belt. The second driving wheel is located on one side of the support plate. The second driving wheel is sleeved on the output end of the second driving member, and the outer end of the second driving wheel is rotatably engaged with the fifth end of the transmission belt. The sixth end of the transmission belt is in transmission cooperation with the outer end of the third driven wheel. The third driven wheel is sleeved on the rotating shaft.

[0013] In one embodiment, the moving mechanism further includes a first gasket, a support member, and a first bearing. The lower end of the support member is mounted on the support mechanism and is disposed opposite to the support plate. The roller is located between the support member and the support plate.

[0014] The support member is provided with a through hole for the rotating shaft to pass through. The first bearing is sleeved on the end of the rotating shaft and is installed in the through hole. The first gasket is installed on the outer end of the support member and is sleeved on the rotating shaft.

[0015] In one embodiment, the moving mechanism is further provided with a support frame. The lower end of the support frame is connected to the support plate. A speed regulator is provided on the support frame. The speed regulator is electrically connected to the second driving member.

[0016] In one embodiment, the support mechanism includes a second support seat, a second gasket, a first connecting column, and a rotating body. The rotating body is respectively connected to the first driven wheel and the support plate. The bottom of the second gasket is connected to the first connecting column. First holes are provided on both sides of the second support seat. The first connecting column is installed in the first holes.

[0017] The second support seat includes a support ring and a bottom plate. The bottom plate is provided with an opening. The inner diameter of the opening is smaller than the inner diameter of the support ring. The bottom plate is installed at the lower end of the support ring and forms an installation groove. The rotating body is disposed in the installation groove and abuts against the bottom plate.

[0018] In one embodiment, the rotating body includes a first cushion block, a second cushion block, a second bearing, a second connecting column and a connecting ring. The top of the first cushion block is fixedly connected to the first driven wheel, the bottom of the first cushion block is connected to the top of the second connecting column. The circumferential direction of the connecting ring is provided with second holes. The bottom of the second connecting column passes through the second holes and is connected to the top of the second cushion block. The top of the second cushion block is also connected to the support plate or the support member. The first cushion block and the second cushion block clamp the connecting ring. The second bearing is located in the installation groove, and the outer wall of the second bearing is used to abut against the inner wall of the support ring. The second bearing is sleeved on the outer wall of the connecting ring. The connecting ring is rotationally matched with the support ring through the second bearing.

[0019] In one embodiment, the first cushion block, the connecting ring and the second cushion block are all annular structures, and the axis lines of the second cushion block, the connecting ring and the second cushion block are coaxially arranged. The second cushion block is provided with a receiving groove penetrating through the second cushion block. At least a part of the roller is located in the receiving groove. The lower end of the support plate is provided with a base, and the lower end of the support member is provided with a seat body. The base and the seat body are both installed on the second cushion block, and both the support plate and the support member are perpendicular to the second cushion block.

[0020] In one embodiment, the first support seat includes a table body, a limiting column and two side plates. The two ends of the table body are respectively installed on the two side plates, and both side plates are perpendicular to the table body. The table body is provided with a limiting hole for the limiting column to pass through, and one end of the limiting column abuts against the upper end surface of the table body.

[0021] Two folding plates are arranged in the circumferential direction of the support mechanism, and a notch is formed between the two folding plates. The table body is in a fan-shaped structure, and the inner arc surface of the table body faces the first driven wheel. The shape of the table body matches the shape of the notch. The table body is located in the notch, and the two folding plates are respectively connected to the two side plates.

[0022] The technical solution provided by the present invention has the following advantages and effects:

[0023] 1. The first driving member drives the first driving wheel to rotate. The first driving wheel meshes with the first driven wheel. Since the first driven wheel is installed on the supporting mechanism, when the first driven wheel is driven to rotate by the first driving wheel, the first driven wheel will cause the supporting mechanism to rotate in the horizontal direction. Moreover, the moving mechanism is also installed on the supporting mechanism, so that the rollers of the moving mechanism can realize clockwise or counterclockwise rotation; at the same time, the rotation direction of the rollers intersects with the rotation direction of the first driven wheel, enabling the moving steering device to realize steering and movement in the horizontal direction; the steering mechanism and the moving mechanism are independent of each other, and they do not interfere with each other during operation, and their coordination is relatively strong; moreover, the rollers are located within the installation part of the first driven wheel. Such a setting makes the connection between the steering mechanism and the moving mechanism more compact, making the moving steering device more miniaturized. And, by installing the moving mechanism on the supporting mechanism and having the supporting mechanism bear its weight or transmit the bearing capacity, the load-bearing weight of the moving steering device can be increased.

[0024] 2. The second driven wheel meshes with the first driven wheel, and the second driven wheel is sleeved on the transmission shaft of the encoder. When the first driving member drives the first driven wheel to rotate through the first driving wheel, it drives the second driven wheel to rotate, so that the encoder reads the rotation information such as the number of turns and angular velocity of the second driven wheel, and then obtains the motion state of the moving steering device during steering, and feeds the electrical signal with the motion state back to the control system or the console.

[0025] 3. The second driving member transmits power to the rollers through the transmission assembly, so that the rollers rotate or roll, enabling the moving steering device to have the function of moving; and the lower end of the support plate is installed on the supporting mechanism to fix the moving mechanism to the supporting mechanism. When the supporting mechanism is driven to rotate by the first driven wheel, the moving mechanism will also rotate with the supporting mechanism, realizing the steering operation of the moving mechanism in the horizontal direction.

[0026] 4. The force of the second driving member is transmitted to the rollers through the transmission belt, converting the high-speed and low-torque mechanical power generated by the second driving member into more effective low-speed and high-torque power to drive the rollers to move, improving the torque force of the moving mechanism; at the same time, using the transmission belt to transmit torque makes the positions of the second driving member and the rollers more flexible, making the structure of the moving mechanism more compact.

[0027] 5. The support member and the support plate cooperate to support the rollers at the same time, making the rollers travel more stably; and both the support member and the support plate are installed on the supporting mechanism, improving the connection strength between the moving mechanism and the supporting mechanism; and a first gasket is installed at the outer end of the support member to increase the contact area between the rotating shaft and the support member, reducing the pressure of the rotating shaft during rotation and preventing the loosening phenomenon between the rotating shaft and the support member; and a first bearing is used to reduce the rotational friction between the rotating shaft and the support member.

[0028] 6. Install a speed governor on the support frame. The speed governor is electrically connected to the second driving member. The speed governor can be used to receive the electrical signal from the console and adjust the rotation speed of the second driving member, thereby adjusting the moving speed of the roller.

[0029] 7. This second support base is used to be fixed on the robot, and a support ring and a bottom plate are connected to form an installation groove. The rotating body is arranged in the installation groove. The first driven wheel rotates to drive the rotating body to rotate, and then drives the support plate to rotate, realizing that the steering mechanism drives the moving mechanism to perform steering movement.

[0030] 8. The top of the first cushion block is connected to the first driven wheel, and the first cushion block and the second cushion block clamp the connecting ring to form the rotating body. The outer end of this connecting ring abuts against the second bearing. The second bearing is located in the installation groove. The connecting ring is rotationally matched with the support ring through the second bearing; when the first driven wheel rotates, it drives the rotating body to rotate. The second bearing can reduce the rotational friction coefficient of the connecting ring, thereby increasing the acceleration of the rotating body. Since the second cushion block is also connected to the support plate or the support member; therefore, when the rotating body rotates, it will also drive the support plate and the support member to rotate, and then realize the steering of the moving mechanism.

[0031] 9. The axis lines of the first cushion block, the connecting ring, and the second cushion block are coaxially arranged, making the first cushion block, the connecting ring, and the second cushion block more compact when located in the installation groove. At the same time, a receiving groove is provided in the second cushion block, and at least a part of the roller is located in the receiving groove. This receiving groove is used to make the roller contact the ground and also makes the roller and the rotating body more compact, meeting the requirement of the small-sized structure of the mobile steering device; and, the support plate is installed on the second cushion block through the base, and the support member is installed on the second cushion block through the seat body, improving the structural integrity of the mobile steering device.

[0032] 10. Two side plates are used to support the table body, and a limiting hole for the limiting column to pass through is provided in the table body. This limiting column is used to be fixed to the robot, so that the table body is fixed to the robot through the limiting column; and the table body is arranged in the notch of the support mechanism, making the structure of the steering mechanism and the support mechanism more compact, further meeting the requirement of the small-sized structure of the mobile steering device. Description of the Drawings

[0033] Figure 1 is a schematic diagram of the mobile steering device in an embodiment of the present invention Figure 1 。

[0034] Figure 2 is a schematic diagram of the mobile steering device in an embodiment of the present invention Figure 2 。

[0035] Figure 3 is a schematic diagram of the mobile steering device in an embodiment of the present invention Figure 3 。

[0036] Figure 4 Schematic diagram of the mobile steering device in an embodiment of the present invention Figure 4 .

[0037] Figure 5 Exploded view of the steering mechanism in an embodiment of the present invention

[0038] Figure 6 Exploded view of the moving mechanism in an embodiment of the present invention

[0039] Figure 7 Exploded view of the support mechanism in an embodiment of the present invention

[0040] Figure 8 Schematic diagram of the connection between the first driven wheel and the support mechanism in an embodiment of the present invention

[0041] Figure 9 Schematic diagram of the connection between the mobile steering device and the robot in an embodiment of the present invention

[0042] Description of reference numerals:

[0043] 100, mobile steering device; 1, steering mechanism; 11, first driving member; 12, encoder; 13, first driving wheel; 14, first driven wheel; 141, mounting portion; 15, second driven wheel; 16, first support base; 161, table body; 162, side plate; 17, limit post; 18, support sleeve; 2, moving mechanism; 21, support frame; 211, speed governor; 22, transmission assembly; 221, second driving wheel; 222, third driven wheel; 223, transmission belt; 224, snap ring; 23, support plate; 231, base; 24, second driving member; 25, roller; 26, rotating shaft; 27, first gasket; 28, first bearing; 29, support member; 3, support mechanism; 31, second support base; 311, mounting groove; 312, support ring; 313, bottom plate; 314, folding plate; 315, notch; 32, second gasket; 33, first cushion block; 34, connecting ring; 35, second bearing; 36, second cushion block; 361, receiving groove; 37, first connecting column; 38, second connecting column; 200, robot Detailed description of the specific embodiment

[0044] For the convenience of understanding the present invention, the specific embodiments of the present invention will be described in more detail below with reference to the accompanying drawings of the specification

[0045] Unless otherwise specified or defined, the "first, second..." used herein is only for distinguishing names and does not represent a specific quantity or order

[0046] Unless otherwise specified or defined, the term "and / or" used herein includes any and all combinations of one or more of the related listed items

[0047] It should be noted that in this text, "fixed to" and "connected to" can be directly fixed or connected to a component, or indirectly fixed or connected to a component.

[0048] As Figures 1 to 8 shown, a mobile steering device 100 includes: a support mechanism 3, a moving mechanism 2, and a steering mechanism 1. The moving mechanism 2 is installed on the support mechanism 3, and rollers 25 are provided at the lower end of the moving mechanism 2. The steering mechanism 1 includes a first support seat 16, a first driving member 11, a first driving wheel 13, and a first driven wheel 14. The first support seat 16 is located on one side of the support mechanism 3 and is connected to the support mechanism 3. The first driving member 11 is installed on the first support seat 16. The first driving wheel 13 is located on the first support seat 16 and is sleeved on the output shaft of the first driving member 11. Among them, the first driven wheel 14 is installed on the support mechanism 3. The first driven wheel 14 meshes with the first driving wheel 13. The first driven wheel 14 is provided with an installation portion 141. At least a part of the roller 25 is located in the installation portion 141, and the rotation direction of the roller 25 intersects with the rotation direction of the first driven wheel 14. The first driving member 11 drives the first driving wheel 13 to rotate. The first driving wheel 13 meshes with the first driven wheel 14. Since the first driven wheel 14 is installed on the support mechanism 3, when the first driven wheel 14 is driven to rotate by the first driving wheel 13, the first driven wheel 14 will cause the support mechanism 3 to rotate in the horizontal direction. Moreover, the moving mechanism 2 is also installed on the support mechanism 3. At the same time, the rotation direction of the roller 25 intersects with the rotation direction of the first driven wheel 14, so that the roller 25 of the moving mechanism 2 can achieve clockwise or counterclockwise steering in the horizontal direction. This mobile steering device 100 realizes movement in different directions. Moreover, the steering mechanism 1 and the moving mechanism 2 are independent of each other, and they do not interfere with each other during operation, and their coordination is relatively strong. Moreover, the roller 25 is located in the installation portion 141 of the first driven wheel 14. Such a setting makes the connection between the steering mechanism 1 and the moving mechanism 2 more compact, and the mobile steering device 100 is more miniaturized. And, the moving mechanism 2 is installed on the support mechanism 3, and the support mechanism 3 bears its weight or transmits the bearing capacity, which can improve the bearing weight of the mobile steering device 100.

[0049] The working principle of this mobile steering device 100 is as follows: The first driving member 11 drives the first driving wheel 13 to rotate clockwise or counterclockwise, thereby driving the first driven wheel 14 to rotate. Since the first driven wheel 14 is installed on the first cushion block 33 of the support mechanism 3, the support plate 23 and the support member 29 of the moving mechanism 2 are installed on the second cushion block 36, and the first cushion block 33, the second cushion block 36 and the connecting ring 34 are connected to form a rotating body; when the first driven wheel 14 rotates, it will drive the support plate 23 or the support member 29 on the second cushion block 36 to rotate, thereby driving the moving mechanism 2 to rotate. The second bearing 35 in the rotating body enables the connecting ring 34 to rotate and cooperate with the second support seat 31; the rotation direction of the roller 25 intersects with the rotation direction of the first driven wheel 14. With such a setting, the rotation and movement of the mobile steering device 100 on the horizontal plane are realized.

[0050] In addition, the steering mechanism 1 further includes an encoder 12, a second driven wheel 15 and a support sleeve 18. The support sleeve 18 is located at the lower end of the first support seat 16, and the second driven wheel 15 is located at the upper end of the first support seat 16; the second driven wheel 15 meshes with the first driven wheel 14, the second driven wheel 15 is sleeved on the transmission shaft of the encoder 12, and the end of the transmission shaft of the encoder 12 passes through the first support seat 16 and is located in the support sleeve 18. By using the second driven wheel 15 meshing with the first driven wheel 14, and the second driven wheel 15 being sleeved on the transmission shaft of the encoder 12, the transmission shaft of the encoder 12 is located in the support sleeve 18, and the support sleeve 18 is used to enable the encoder 12 to operate stably on the first support seat 16. When the first driving member 11 drives the first driven wheel 14 to rotate through the first driving wheel 13, it will drive the second driven wheel 15 to rotate. The second driven wheel 15 will drive the transmission shaft of the encoder 12 to rotate, so that the encoder 12 reads the rotation information such as the number of turns and angular velocity of the second driven wheel 15, and further obtains the motion state of the mobile steering device 100 during steering, and feeds back the electrical signal with the motion state to the control system or the console.

[0051] In addition, the moving mechanism 2 includes a second driving member 24, a transmission assembly 22, a rotating shaft 26, and a support plate 23. The lower end of the support plate 23 is mounted on the support mechanism 3. The transmission assembly 22 is located on one side of the support plate 23 and is disposed opposite to the second driving member 24. The output end of the second driving member 24 passes through the first end of the support plate 23 and is connected to the upper end of the transmission assembly 22. The lower end of the transmission assembly 22 is sleeved on the second end of the rotating shaft 26. The third end of the rotating shaft 26 passes through the fourth end of the support plate 23 and is connected to the axis of the roller 25. The second driving member 24 is used to transmit power to the roller 25 through the transmission assembly 22, so that the roller 25 rotates or rolls. The roller 25 is used to contact the ground, so that the mobile steering device 100 has the function of moving. And the lower end of the support plate 23 is mounted on the support mechanism 3 to fix the moving mechanism 2 to the support mechanism 3. When the support mechanism 3 is driven to rotate by the first driven wheel 14, the moving mechanism 2 will also rotate with the support mechanism 3 to realize the steering operation of the moving mechanism 2 in the horizontal direction.

[0052] In this embodiment, both the first driving member 11 and the second driving member 24 are servo motors. The servo motor has the function of forward or reverse rotation. There are two ways to control the forward and reverse rotation of the servo motor: 1. Positive pulse and negative pulse (send positive pulse for forward movement and negative pulse for reverse movement). 2. Pulse plus direction, only connect one pulse sending end, and then connect another level signal to control the direction (one level bit for forward direction and one level bit for reverse direction). The rotation speed of the servo motor rotor is controlled by the input signal and can respond quickly. In an automatic control system, it is used as an actuator and has characteristics such as a small electromechanical time constant, high linearity, and starting voltage. It can convert the received electrical signal into an angular displacement or angular velocity output on the motor shaft.

[0053] In addition, the transmission assembly 22 includes a second driving wheel 221, a third driven wheel 222 and a transmission belt 223. The second driving wheel 221 is located on one side of the support plate 23. The second driving wheel 221 is sleeved on the output end of the second driving member 24, and the outer end of the second driving wheel 221 is rotationally engaged with the fifth end of the transmission belt 223. The sixth end of the transmission belt 223 is in transmission engagement with the outer end of the third driven wheel 222. The third driven wheel 222 is sleeved on the rotating shaft 26. The acting force of the second driving member 24 is transmitted through the transmission belt 223, and the rotating shaft 26 drives the roller 25 to rotate, realizing the movement of the roller 25. The mechanical power with high rotational speed and low torque generated by the second driving member 24 is converted into more effective power with low rotational speed and high torque to drive the roller 25 to move, improving the torque force of the moving mechanism 2. At the same time, the transmission belt 223 is used to transmit the torque, making the positions of the second driving member 24 and the roller 25 more flexible and making the structure of the moving mechanism 2 more compact. In this embodiment, this transmission belt 223 is a chain belt or a pulley. The length direction of the transmission belt 223 is parallel to the length direction of the support plate 23. A snap ring 224 is used to clamp the second driving wheel 221 on the output end of the second driving member 24, and a snap ring 224 is used to clamp the third driven wheel 222 on the end of the rotating shaft 26, improving the structural stability of the moving mechanism 2 and preventing the transmission assembly 22 from separating from the second driving member 24 or the rotating shaft 26 during transmission.

[0054] In addition, the moving mechanism 2 further includes a first gasket 27, a support member 29, and a first bearing 28. The lower end of the support member 29 is mounted on the support mechanism 3 and is disposed opposite to the support plate 23. The roller 25 is located between the support member 29 and the support plate 23. The support member 29 is provided with a through hole for the rotation shaft 26 to pass through. The first bearing 28 is sleeved on the end of the rotation shaft 26 and is mounted in the through hole. The first gasket 27 is mounted on the outer end of the support member 29 and is sleeved on the rotation shaft 26. By using the cooperation of the support member 29 and the support plate 23 and simultaneously supporting the roller 25, the roller 25 is more stable during movement. Moreover, both the support member 29 and the support plate 23 are mounted on the support mechanism 3, which improves the connection strength between the moving mechanism 2 and the support mechanism 3. And a first gasket 27 is mounted on the outer end of the support member 29 to increase the contact area between the rotation shaft 26 and the support member 29, reduce the pressure of the rotation of the rotation shaft 26, and prevent the loosening phenomenon between the rotation shaft 26 and the support member 29. And the first bearing 28 is used to reduce the rotational friction between the rotation shaft 26 and the support member 29. This first bearing 28 can also be mounted in the support plate 23 and sleeved on the rotation shaft 26 to reduce the rotational friction between the rotation shaft 26 and the support plate 23. When installing the support plate 23 and the support member 29, the support plate 23 and the support member 29 can be respectively disposed on both sides of the receiving groove 361 of the second spacer 36, so that the roller 25 is exactly located in this receiving groove 361. With such a setting, the support plate 23 and the support member 29 are stably disposed on the second spacer 36, and the movement of the roller 25 in the receiving groove 361 is not interfered. The positional relationship of each component is relatively reasonable, making the positional relationship between the moving mechanism 2 and the support mechanism 3 more compact, and further miniaturizing the mobile steering device 100.

[0055] In addition, the moving mechanism 2 is further provided with a support frame 21. The lower end of the support frame 21 is connected to the support plate 23. A speed regulator 211 is provided on the support frame 21, and the speed regulator 211 is electrically connected to the second driving member 24. By mounting the speed regulator 211 on the support frame 21 and electrically connecting the speed regulator 211 to the second driving member 24, the speed regulator 211 can be used to receive the electrical signal from the console and adjust the rotation speed of the second driving member 24, thereby adjusting the moving speed of the roller 25. In this embodiment, this speed regulator 211 can be wirelessly connected to the console, and the console can transmit the electrical signal to the speed regulator 211, so as to adjust the moving speed of the second driving member 24 through the speed regulator 211.

[0056] In addition, the support mechanism 3 includes a second support base 31, a second gasket 32, a first connection 37, and a rotating body. The rotating body is respectively connected to the first driven wheel 14 and the support plate 23. The bottom of the second gasket 32 is connected to the first connection column 37. First holes are provided on both sides of the second support base 31, and the first connection column 37 is installed in the first holes. The second support base 31 includes a support ring 312 and a bottom plate 313. The bottom plate 313 is provided with an opening, and the inner diameter of the opening is smaller than the inner diameter of the support ring 312. The bottom plate 313 is installed at the lower end of the support ring 312 and forms an installation groove 311. The rotating body is arranged in the installation groove 311 and abuts against the bottom plate 313. The support ring 312 and the bottom plate 313 are connected to form the installation groove 311, and the rotating body is arranged in the installation groove 311. When the first driven wheel 14 rotates, it drives the rotating body to rotate, and then drives the support plate 23 to rotate, realizing that the steering mechanism 1 drives the moving mechanism 2 to turn. With such an arrangement, the bottom plate 313 can support the rotating body, and the self-weight of the moving mechanism 2 and the friction generated by its movement will be transmitted to the second support base 31 through the rotating body. This second support base 31 can be installed on the robot 200, enabling the robot 200 to have the function of moving and turning.

[0057] In addition, the rotating body includes a first cushion block 33, a second cushion block 36, a second bearing 35, a second connection column 38, and a connection ring 34. The top of the first cushion block 33 is fixedly connected to the first driven wheel 14, the bottom of the first cushion block 33 is connected to the top of the second connection column 38. Second holes are provided in the circumferential direction of the connection ring 34. The bottom of the second connection column 38 passes through the second holes and is connected to the top of the second cushion block 36. The top of the second cushion block 36 is also connected to the support plate 23 or the support member 29. The first cushion block 33 and the second cushion block 36 clamp the connection ring 34. The second bearing 35 is located in the installation groove 311, and the outer wall of the second bearing 35 is used to abut against the inner wall of the support ring 312. The second bearing 35 is sleeved on the outer wall of the connection ring 34, and the connection ring 34 is rotationally matched with the support ring 312 through the second bearing 35. The top of the first cushion block 33 is connected to the first driven wheel 14, and the first cushion block 33 and the second cushion block 36 clamp the connection ring 34 to form the rotating body. The outer end of this connection ring 34 abuts against the second bearing 35. The second bearing 35 is located in the installation groove 311, and the connection ring 34 is rotationally matched with the support ring 312 through the second bearing 35. When the first driven wheel 14 rotates, it drives the rotating body to rotate. The second bearing 35 can reduce the rotational friction coefficient of the connection ring 34, thereby increasing the acceleration of the rotating body. Since the second cushion block 36 is also connected to the support plate 23 or the support member 29, when the rotating body rotates, it will also drive the support plate 23 or the support member 29 to rotate, thereby realizing the turning of the moving mechanism 2.

[0058] In this embodiment, the first cushion block 33 is used to increase the contact area between the first driven wheel 14 and the support mechanism 3, and the second cushion block 36 is used to increase the contact area between the support plate 23 or the support member 29 and the support mechanism 3; moreover, the first cushion block 33 and the second cushion block 36 transfer the pressure they receive to the second support seat, and can also seal the gap between the inner ring and the outer ring of the second bearing 35, preventing dust from falling into the second bearing 35 and avoiding affecting the rotation accuracy of the second bearing 35.

[0059] In addition, the first cushion block 33, the connecting ring 34 and the second cushion block 36 are all annular structures, and the axis lines of the first cushion block 33, the connecting ring 34 and the second cushion block 36 are coaxially arranged; the second cushion block 36 is provided with a receiving groove 361 penetrating through the second cushion block 36, at least a part of the roller 25 is located in the receiving groove 361, the lower end of the support plate 23 is provided with a base 231, the lower end of the support member 29 is provided with a seat body, both the base 231 and the seat body are installed on the second cushion block 36, and both the support plate 23 and the support member 29 are perpendicular to the second cushion block 36. The coaxial arrangement of the axis lines of the first cushion block 33, the connecting ring 34 and the second cushion block 36 makes the first cushion block 33, the connecting ring 34 and the second cushion block 36 more compact when located in the installation groove 311. At the same time, a receiving groove 361 is provided in the second cushion block 36, and at least a part of the roller 25 is located in the receiving groove 361. This receiving groove 361 is used to make the roller 25 contact the ground and also makes the roller 25 and the rotating body more compact, meeting the requirement of the miniaturization of the structure of the mobile steering device 100; moreover, the support plate 23 is installed on the second cushion block 36 through the base 231, and the support member 29 is installed on the second cushion block 36 through the seat body, improving the integrity of the structure of the mobile steering device 100.

[0060] In addition, the first support base 16 includes a table body 161, a limit post 17, and two side plates 162. The two ends of the table body 161 are respectively installed on the two side plates 162, and both side plates 162 are perpendicular to the table body 161. The table body 161 is provided with a limit hole for the limit post 17 to pass through, and one end of the limit post 17 abuts against the upper end surface of the table body 161. The other end of the limit post 17 is used to be fixed on the chassis of the robot 200, so as to further fix the first support base 16. There are two folding plates 314 provided in the circumferential direction of the support mechanism 3, and a notch 315 is formed between the two folding plates 314. The table body 161 is in a fan-shaped structure, and the inner arc surface of the table body 161 faces the first driven wheel 14. The shape of the table body 161 matches the shape of the notch 315, and the table body 161 is located in the notch 315. The two folding plates 314 are respectively connected to the two side plates 162. The two side plates 162 are used to support the table body 161, and a limit hole for the limit post 17 to pass through is provided in the table body 161. The limit post 17 is used to be fixed to the robot 200, so that the table body 161 is fixed to the robot 200 through the limit post 17. And the table body 161 is arranged in the notch 315 of the support mechanism 3, so that the structure of the steering mechanism 1 and the support mechanism 3 is more compact, further meeting the requirement of the miniaturization of the structure of the mobile steering device 100.

[0061] As Figure 9 shown, three sets of mobile steering devices 100 are installed at the bottom corners of the robot 200, so that the robot 200 has the function of quickly turning or moving. During installation, only the lower end of the second support base 31 needs to be fixedly connected to the chassis of the robot 200, and the rollers 25 extend out of the chassis to contact the ground, so that the mobile steering device 100 drives the robot 200 to move.

[0062] The above embodiments are not exhaustive listings based on the present invention. In addition, there may be multiple other embodiments not listed. Any replacement and improvement made on the basis of not violating the concept of the present invention fall within the protection scope of the present invention.

Claims

1. Mobile steering device, characterized in that, Comprising: A support mechanism A moving mechanism, the moving mechanism is installed on the support mechanism, and rollers are provided at the lower end of the moving mechanism; A steering mechanism, the steering mechanism includes a first support base, a first driving member, a first driving wheel and a first driven wheel, the first support base is located on one side of the support mechanism and is connected to the support mechanism, the first driving member is installed on the first support base, the first driving wheel is located on the first support base and is sleeved on the output shaft of the first driving member; Wherein, the first driven wheel is installed on the support mechanism, the first driven wheel meshes with the first driving wheel, the first driven wheel is provided with a mounting portion, at least a part of the roller is located in the mounting portion, and the rotation direction of the roller intersects with the rotation direction of the first driven wheel; The steering mechanism further includes an encoder, a second driven wheel and a support sleeve, the support sleeve is located at the lower end of the first support base, and the second driven wheel is located at the upper end of the first support base; the second driven wheel meshes with the first driven wheel, the second driven wheel is sleeved on the transmission shaft of the encoder, and the end of the transmission shaft of the encoder passes through the first support base and is located in the support sleeve; The moving mechanism includes a second driving member, a transmission assembly, a rotating shaft and a support plate, the lower end of the support plate is installed on the support mechanism, the transmission assembly is located on one side of the support plate and is arranged opposite to the second driving member; the output end of the second driving member passes through the first end of the support plate and is connected to the upper end of the transmission assembly; the lower end of the transmission assembly is sleeved on the second end of the rotating shaft, and the third end of the rotating shaft passes through the fourth end of the support plate and is connected to the axis of the roller.

2. The mobile steering device according to claim 1, characterized in that, The transmission assembly includes a second driving wheel, a third driven wheel and a transmission belt, the second driving wheel is located on one side of the support plate, the second driving wheel is sleeved on the output end of the second driving member, and the outer end of the second driving wheel is rotationally matched with the fifth end of the transmission belt, the sixth end of the transmission belt is in transmission cooperation with the outer end of the third driven wheel, and the third driven wheel is sleeved on the rotating shaft.

3. The mobile steering device according to claim 2, characterized in that, The moving mechanism further includes a first gasket, a support member and a first bearing, the lower end of the support member is installed on the support mechanism and is arranged opposite to the support plate, and the roller is located between the support member and the support plate; The support member is provided with a through hole for the rotating shaft to pass through, the first bearing is sleeved on the end of the rotating shaft and is installed in the through hole; the first gasket is installed on the outer end of the support member and is sleeved on the rotating shaft.

4. The mobile steering device according to claim 3, characterized in that, The moving mechanism is further provided with a support frame, the lower end of the support frame is connected to the support plate, and a speed regulator is provided on the support frame, and the speed regulator is electrically connected to the second driving member.

5. The mobile steering device according to claim 3, wherein, The support mechanism includes a second support base, a second gasket, a first connecting column, and a rotating body. The rotating body is respectively connected to the first driven wheel and the support plate. The bottom of the second gasket is connected to the first connecting column. The two sides of the second support base are provided with first holes, and the first connecting column is installed in the first holes; The second support base includes a support ring and a bottom plate. The bottom plate is provided with an opening, and the inner diameter of the opening is smaller than the inner diameter of the support ring. The bottom plate is installed at the lower end of the support ring and forms an installation groove. The rotating body is arranged in the installation groove and abuts against the bottom plate.

6. The mobile steering device according to claim 5, characterized in that, The rotating body includes a first cushion block, a second cushion block, a second bearing, a second connecting column, and a connecting ring. The top of the first cushion block is fixedly connected to the first driven wheel. The bottom of the first cushion block is connected to the top of the second connecting column. The circumferential direction of the connecting ring is provided with second holes. The bottom of the second connecting column passes through the second holes and is connected to the top of the second cushion block. The top of the second cushion block is also connected to the support plate or the support member; the first cushion block and the second cushion block clamp the connecting ring; the second bearing is located in the installation groove, and the outer wall of the second bearing is used to abut against the inner wall of the support ring. The second bearing is sleeved on the outer wall of the connecting ring, and the connecting ring is rotationally matched with the support ring through the second bearing.

7. The mobile steering device according to claim 6, characterized in that The first cushion block, the connecting ring, and the second cushion block are all annular structures, and the axis lines of the second cushion block, the connecting ring, and the second cushion block are coaxially arranged; the second cushion block is provided with a receiving groove penetrating through the second cushion block. At least a part of the roller is located in the receiving groove. The lower end of the support plate is provided with a base, and the lower end of the support member is provided with a seat body. The base and the seat body are both installed on the second cushion block, and both the support plate and the support member are perpendicular to the second cushion block.

8. The mobile steering device according to any one of claims 1 to 4, characterized in that, The first support base includes a frustum, a limiting column, and two side plates. The two ends of the frustum are respectively installed on the two side plates, and both the two side plates are perpendicular to the frustum; the frustum is provided with a limiting hole for the limiting column to pass through, and one end of the limiting column abuts against the upper end surface of the frustum; Two folding plates are arranged on the circumference of the support mechanism, and a notch is formed between the two folding plates. The frustum is in a fan-shaped structure, and the inner arc surface of the frustum faces the first driven wheel; the shape of the frustum matches the shape of the notch, the frustum is located in the notch, and the two folding plates are respectively connected to the two side plates.

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