Steering repositioning mechanism for mobile robot

Abstract

The utility model relates to the technical field of robot steering, and discloses a steering repositioning mechanism for a mobile robot, which comprises a beam fixed on a frame of the mobile robot and wheel hinge joints hinged at two ends of the beam, and the side edge of each wheel hinge joint is provided with a wheel axle used for being rotatably connected with a tire; a single-side steering auxiliary arm is fixedly arranged on the side edge of one wheel hinge joint, a double-side steering auxiliary arm is fixedly arranged on the side edge of the other wheel hinge joint, and a front synchronous steering support is arranged between the single-side steering auxiliary arm and the double-side steering auxiliary arm in a hinged mode. The two wheels can be conveniently steered through the driving component, labor is saved through the hinged multi-bar mechanism, and compared with a gear meshing mode, the hinged multi-bar mechanism needs smaller driving force; after a specified rotation angle is reached, accurate positioning can be carried out in a magnetic attraction locking mode, and path deviation caused by floating is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of robot steering, in particular to a steering repositioning mechanism for a mobile robot. Background Art

[0002] In the existing warehousing and logistics field, logistics are transferred and distributed by mobile robot carts, which control their travel routes through programs and adjust their forward direction through the robot cart's own steering mechanism. Most of the existing steering structures steer through a gear meshing structure driven by a servo motor. However, since there is a gap in the gear meshing, and the gap increases after wear, and the motor itself has a certain rotation error, this will cause the steering angle to be inaccurate, which will affect the travel direction of the cart and is not conducive to accurate logistics transfer. Utility Model Content

[0003] The technical problem to be solved by the utility model is: in order to overcome the above problems, a steering repositioning mechanism for a mobile robot is provided, which solves the above problems and the like.

[0004] The utility model solves the technical problem by adopting the following technical solutions:

[0005] A steering repositioning mechanism for a mobile robot, comprising a vehicle beam fixed on a vehicle frame of the mobile robot and wheel articulated joints hinged at both ends of the vehicle beam, wherein the wheel articulated joint has a wheel axle for rotationally connecting with a tire on a side thereof;

[0006] A single-sided steering assist arm is fixedly provided on the side of one of the wheel articulation joints, and a double-sided steering assist arm is fixedly provided on the side of the other wheel articulation joint. A front synchronous steering bracket is hingedly provided between the single-sided steering assist arm and the double-sided steering assist arm, and is used to synchronize the steering of the double-sided steering assist arm and the single-sided steering assist arm, and then synchronize the steering of the left and right tires;

[0007] A fixed base for fixing a driving rod and an electromagnet cylinder is fixedly provided on the frame of the mobile robot, a steering driving arm is hingedly provided at the other end of the double-sided steering auxiliary arm, and the tail end of the steering driving arm is coaxial with the telescopic rod of the driving rod and is connected through a flange and bolts. After being driven by the control circuit, the driving rod pushes the double-sided steering auxiliary arm to rotate and thereby adjusts the steering of the tire.

[0008] Preferably, a second arm rod is telescopically inserted in the electromagnet cylinder, and when the electromagnet cylinder is energized, a magnetic attraction force is generated to magnetically fix the second arm rod, and the front end of the second arm rod and the other arm end of the steering drive arm are fixed by a flange and bolts. During the steering process, the electromagnet cylinder remains in a power-off and non-magnetic state, and the second arm rod moves with the telescopic rod of the drive rod. When the steering is adjusted into place, the electromagnet cylinder is energized to lock the relative position of the electromagnet cylinder and the second arm rod, so that the position of the steering drive arm will be locked to keep the steering stability of the wheel axle.

[0009] Preferably, the driving rod is an electric push rod, and specifically, an electric push rod of model UC provided by Temuyou Transmission Company can be selected.

[0010] Preferably, the driving rod is a hydraulic push rod.

[0011] Preferably, the driving rod is a pneumatic push rod.

[0012] Preferably, a laser rangefinder is fixedly provided at the tail end of the electromagnet cylinder, which is used to measure the distance to the tail end of the second support arm. Since the moving distance of the second support arm is proportional to the angle at which the steering drive arm pushes the double-sided steering auxiliary arm, when a specified rotation angle is issued, the controller mounted on the mobile robot will convert it into a corresponding moving distance according to the proportional relationship. In this way, when the distance detected by the laser rangefinder to the second support arm reaches a specified threshold, the electromagnet cylinder is energized to generate magnetic attraction to lock the second support arm and temporarily position the steering of the tire.

[0013] The advantages and positive effects of the utility model are:

[0014] The two wheels can be easily steered by the driving components, and the articulated multi-rod mechanism saves effort. Compared with the gear meshing method, the articulated multi-rod structure requires less driving force;

[0015] After reaching the specified rotation angle, it can be accurately positioned by magnetic locking to avoid path deviation caused by floating;

[0016] The laser distance measuring device can quickly synchronize the rotation angle of the wheel and then lock it. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0018] Figure 1 It is a structural schematic diagram of the utility model.

[0019] 10. Front synchronous steering bracket; 11. Vehicle beam; 12. Double-sided steering auxiliary arm; 13. Tire; 14. Steering drive arm; 16. Second support arm rod; 17. Drive rod; 18. Fixed base; 19. Electromagnet cylinder; 20. Laser rangefinder; 21. Wheel axle; 22. Wheel articulation joint; 23. Single-sided steering auxiliary arm. DETAILED DESCRIPTION

[0020] Now, the utility model is further described in detail in conjunction with the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the utility model in a schematic manner, so they only show the components related to the utility model. The following is a further detailed description of the embodiments of the utility model in conjunction with the accompanying drawings:

[0021] like Figure 1 As shown, the steering repositioning mechanism for a mobile robot described in the utility model comprises a vehicle beam 11 fixed on the vehicle frame of the mobile robot and a wheel articulation knot 22 hinged at both ends of the vehicle beam 11, and the side of the wheel articulation knot 22 has a wheel axle 21 for rotationally connecting with a tire 13;

[0022] A single-sided steering assist arm 23 is fixedly provided on the side of one of the wheel articulation joints 22, and a double-sided steering assist arm 12 is fixedly provided on the side of the other wheel articulation joint 22. A front synchronous steering bracket 10 is hingedly provided between the single-sided steering assist arm 23 and the double-sided steering assist arm 12, and is used to synchronize the steering of the double-sided steering assist arm 12 and the single-sided steering assist arm 23, and then synchronize the steering of the left and right tires 13;

[0023] A fixed base 18 for fixing a driving rod 17 and an electromagnet cylinder 19 is fixedly provided on the frame of the mobile robot. A steering driving arm 14 is hingedly provided at the other end of the double-sided steering auxiliary arm 12. The tail end of the steering driving arm 14 is coaxial with the telescopic rod of the driving rod 17 and is connected by a flange and bolts. After being driven by the control circuit, the driving rod 17 pushes the double-sided steering auxiliary arm 12 to rotate and thereby adjusts the steering of the tire 13.

[0024] Preferably, a second arm rod 16 is telescopically inserted in the electromagnet cylinder 19. When the electromagnet cylinder 19 is energized, a magnetic attraction force is generated to magnetically fix the second arm rod 16, and the front end of the second arm rod 16 and the other arm end of the steering drive arm 14 are fixed by a flange and bolts. During the steering process, the electromagnet cylinder 19 remains in a power-off and non-magnetic state, and the second arm rod 16 moves with the telescopic rod of the drive rod 17. When the steering is adjusted into place, the electromagnet cylinder 19 is energized to lock the relative position of the electromagnet cylinder 19 and the second arm rod 16. In this way, the position of the steering drive arm 14 will be locked to maintain the steering stability of the wheel axle 21.

[0025] Preferably, the driving rod 17 is an electric push rod, and specifically, an electric push rod of model U18C provided by Temuyou Transmission Company can be selected.

[0026] Preferably, the driving rod 17 is a hydraulic push rod.

[0027] Preferably, the driving rod 17 is a pneumatic push rod.

[0028] Preferably, a laser rangefinder 20 is fixedly provided at the tail end of the electromagnet cylinder 19, which is used to measure the distance to the tail end of the second arm rod 16. Since the moving distance of the second arm rod 16 is proportional to the angle at which the steering drive arm 14 pushes the bilateral steering auxiliary arm 12, when a specified rotation angle is issued, the controller mounted on the mobile robot will convert it into a corresponding moving distance according to the proportional relationship. In this way, when the distance detected by the laser rangefinder 20 to the second arm rod 16 reaches a specified threshold, the electromagnet cylinder 19 is energized to generate magnetic attraction to lock the second arm rod 16 and temporarily position the steering of the tire 13.

[0029] It should be emphasized that the embodiments described in the present invention are illustrative rather than restrictive. Therefore, the present invention is not limited to the embodiments described in the specific implementation manner. Any other implementation manners derived by those skilled in the art based on the technical solution of the present invention also fall within the scope of protection of the present invention.

Claims

1. A steering repositioning mechanism for a mobile robot, characterized in that: It comprises a vehicle beam (11) fixed on a frame of a mobile robot and wheel articulated joints (22) articulated at both ends of the vehicle beam (11), wherein the wheel articulated joint (22) has a wheel axle (21) on the side thereof for being rotatably connected to a tire (13); A single-sided steering auxiliary arm (23) is fixedly provided on the side of one of the wheel articulation joints (22), and a double-sided steering auxiliary arm (12) is fixedly provided on the side of the other wheel articulation joint (22); a front synchronous steering bracket (10) is hingedly provided between the single-sided steering auxiliary arm (23) and the double-sided steering auxiliary arm (12), and is used for synchronizing the steering of the double-sided steering auxiliary arm (12) and the single-sided steering auxiliary arm (23), and thus synchronizing the steering of the left and right tires (13); A fixed base (18) for fixing a driving rod (17) and an electromagnet cylinder (19) is fixedly provided on the frame of the mobile robot, and a steering driving arm (14) is hingedly provided at the other end of the double-sided steering auxiliary arm (12), and the tail end of the steering driving arm (14) is coaxial with the telescopic rod of the driving rod (17) and is connected via a flange and bolts. After being driven by a control circuit, the driving rod (17) pushes the double-sided steering auxiliary arm (12) to rotate, thereby adjusting the steering direction of the tire (13).

2. The steering repositioning mechanism for a mobile robot according to claim 1, characterized in that: A second arm rod (16) is telescopically inserted in the electromagnetic cylinder (19). When the electromagnetic cylinder (19) is energized, a magnetic attraction force is generated to magnetically fix the second arm rod (16). The front end of the second arm rod (16) and the other arm end of the steering drive arm (14) are fixed by a flange and bolts. During the steering process, the electromagnetic cylinder (19) remains in a power-off and non-magnetic state, and the second arm rod (16) moves with the telescopic rod of the drive rod (17). When the steering is adjusted to the right position, the electromagnetic cylinder (19) is energized to lock the relative position of the electromagnetic cylinder (19) and the second arm rod (16). In this way, the position of the steering drive arm (14) is locked to maintain the steering stability of the wheel axle (21).

3. The steering repositioning mechanism for a mobile robot according to claim 2, characterized in that: The driving rod (17) is an electric push rod.

4. The steering repositioning mechanism for a mobile robot according to claim 2, characterized in that: The driving rod (17) is a hydraulic push rod.

5. The steering repositioning mechanism for a mobile robot according to claim 2, characterized in that: The driving rod (17) is a pneumatic push rod.

6. The steering repositioning mechanism for a mobile robot according to any one of claims 2 to 5, characterized in that: A laser rangefinder (20) is fixedly provided at the rear end of the electromagnet cylinder (19) for measuring the distance to the rear end of the second support arm (16). Since the moving distance of the second support arm (16) is proportional to the angle at which the steering drive arm (14) pushes the double-sided steering auxiliary arm (12), when a specified rotation angle is issued, a controller mounted on the mobile robot converts it into a corresponding moving distance according to the proportional relationship. Thus, when the distance detected by the laser rangefinder (20) to the second support arm (16) reaches a specified threshold, the electromagnet cylinder (19) is energized to generate magnetic attraction to lock the second support arm (16) and thus temporarily position the steering of the tire (13).

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