Mobile robot steering wheel with positioning correction function

Abstract

The utility model relates to the technical field of robot steering wheels, and discloses a mobile robot steering wheel with a positioning correction function, which comprises a steering wheel body arranged below a connecting rod and a mobile wheel arranged in the steering wheel body, one side of the connecting rod close to the steering wheel body is fixedly connected with a support plate, the upper surface of the support plate is connected with a driving mechanism, and the driving mechanism is connected with the connecting rod. The output end of the driving mechanism penetrates through the supporting plate and is connected with a driven gear, the inner wall of the driven gear is rotationally connected with the outer wall of the connecting rod, the bottom face of the driven gear is connected with the upper surface of the steering wheel body, a positioning cavity is formed in one side of the supporting plate in a penetrating mode, the inner wall of the positioning cavity is fixedly connected with an adjusting block, and the inner wall of the adjusting block is connected with a sensor. According to the mobile robot steering wheel with the positioning correction function, when a certain degree of error occurs due to friction, abrasion or accumulation of a positioning system after the steering wheel body is used for a period of time, rapid positioning correction can be achieved through cooperation of the sensor and the positioning plate, and the precision is more accurate.

Description

Technical Field

[0001] The utility model relates to the technical field of robot steering wheels, in particular to a mobile robot steering wheel with positioning correction function. Background Art

[0002] The robot mobile steering wheel refers to a driving device used for the movement of the robot chassis, which is usually used in robots, intelligent vehicles and other equipment. The mobile steering wheel realizes the directional movement and steering operation of the robot on the horizontal plane by controlling the steering. Compared with the traditional wheel drive, the mobile steering wheel design is more flexible and can achieve more agile turning and directional movement.

[0003] The patent with the current publication number CN215042039U discloses a driving steering wheel for walking of an intelligent mobile robot, including an L-shaped support, a rotating shaft rotatably connected to the side wall of the L-shaped support leg, a wheel body rotatably sleeved on the side wall of the rotating shaft, and a motor connected to the wheel body is fixedly connected to one end of the rotating shaft, and a lower tray is fixedly connected to the upper end of the steering device, and a plurality of mounting holes are provided through the side walls of the lower tray and the upper tray, and a T-shaped electric slide rail is provided on the side wall of the rotating shaft, and a T-shaped electric slider is slidably connected to the T-shaped electric slide rail, and a limiting mechanism is provided at one end of the T-shaped electric slider extending into the cavity, and a plurality of anti-skid mechanisms corresponding to the limiting mechanisms are provided on the side wall of the wheel body. The device starts the T-shaped electric slide rail to drive the T-shaped electric slider to move the limiting block, which is conducive to the limiting block squeezing the straight plate so that the support drives the anti-skid foot pad to move out of the wheel body, thereby increasing the friction of the wheel body and avoiding the risk of the driving steering wheel slipping.

[0004] However, the following problems still exist in the above-mentioned mobile robot steering wheel:

[0005] During long-term operation, the steering wheels of current mobile robots may experience a certain degree of friction, wear, or accumulated errors in the positioning system, resulting in a deviation between the actual position and the expected position. Currently, the positioning correction of the steering wheels of mobile robots is mostly done by manual visual judgment, adjustment, and restoration. This method is not only inefficient, but also difficult to accurately control the accuracy, which is inconvenient. Utility Model Content

[0006] In view of the shortcomings of the prior art, the utility model provides a mobile robot steering wheel with positioning correction. When the steering wheel body has a certain degree of error due to friction, wear or accumulation of the positioning system after being used for a period of time, the positioning correction can be achieved quickly and more accurately through the cooperation of sensors and positioning plates.

[0007] The utility model provides the following technical solutions: a mobile robot steering wheel with positioning correction, comprising a steering wheel body installed below a connecting rod and a moving wheel installed inside the steering wheel body, a supporting plate is fixedly connected to a side of the connecting rod close to the steering wheel body, a driving mechanism is connected to the upper surface of the supporting plate, an output end of the driving mechanism passes through the supporting plate and is connected to a slave gear, the inner wall of the slave gear is rotatably connected to the outer wall of the connecting rod, the bottom surface of the slave gear is connected to the upper surface of the steering wheel body, a positioning cavity is penetrated through one side of the supporting plate, an adjusting block is fixedly connected to the inner wall of the positioning cavity, a sensor is connected to the inner wall of the adjusting block, a positioning plate is connected to the upper surface of the slave gear, and the sensor is matched and aligned with the positioning plate.

[0008] Furthermore, the driving mechanism includes a driving motor and a main gear, the outer wall of the driving motor is fixedly connected to the upper surface of the support plate, the output shaft of the driving motor passes through the support plate and is fixedly connected to one side of the main gear, and the main gear is meshed with the slave gear.

[0009] Furthermore, two positioning holes are formed through the upper surface of the positioning plate, and the two positioning holes are respectively located at two ends of the positioning plate.

[0010] Furthermore, a slide groove is formed through the upper surface of the adjustment block, and the outer wall of the sensor is slidably connected to the inner wall of the slide groove.

[0011] Furthermore, a bottom plate is fixedly connected to the bottom surface of the gear, and the bottom surface of the bottom plate is fixedly connected to the upper surface of the steering wheel body.

[0012] Furthermore, a steering limit assembly is connected to one side of the bottom plate, and the other end of the steering limit assembly is connected to the support plate.

[0013] Furthermore, the steering limit assembly includes a support rod, a limit rod and a limit block. The bottom surface of the support rod is fixedly connected to the upper surface of the support plate and the upper surface of the limit rod. The lower end of the limit rod passes through the support plate. One side of the limit block is fixedly connected to one side of the bottom plate. The side wall of the limit block is abutted against the outer wall of the limit rod, and the limit rod and the limit block are respectively located on both sides of the support plate and the bottom plate.

[0014] Compared with the prior art, the utility model has the following beneficial effects:

[0015] The mobile robot steering wheel with positioning correction is provided with a slave gear, a support plate and a driving mechanism above the steering wheel body and the moving wheel, and then an adjustment block and a sensor are provided on one side of the support plate, and a positioning block is provided above the slave gear. When the steering wheel body has been used for a period of time and a certain degree of error occurs due to friction, wear or accumulation of the positioning system, the positioning correction can be achieved quickly and more accurately through the cooperation of the sensor and the positioning plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the overall appearance of the utility model;

[0017] Figure 2 This is a schematic diagram of the overall appearance of the utility model from another perspective;

[0018] Figure 3 This is a schematic diagram of the overall appearance of the utility model from a third viewing angle;

[0019] Figure 4 It is a detailed connection diagram of the steering wheel body, bottom plate, positioning plate and other components of the utility model;

[0020] Figure 5 It is a detailed connection diagram of the supporting plate, adjusting block, driving motor and other components of the utility model.

[0021] In the figure: 1. steering wheel body; 2. moving wheel; 3. bottom plate; 4. slave gear; 5. support plate; 6. drive motor; 7. connecting rod; 8. adjustment block; 9. sensor; 10. support rod; 11. limit rod; 12. positioning plate; 13. limit block; 14. main gear; 501, positioning cavity; 801, slide groove; 1201, positioning hole. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0023] See also Figure 1-Figure 5 A mobile robot steering wheel with positioning correction includes a steering wheel body 1 installed below a connecting rod 7 and a moving wheel 2 installed inside the steering wheel body 1. A support plate 5 is fixedly connected to the side of the connecting rod 7 close to the steering wheel body 1. A driving mechanism is connected to the upper surface of the support plate 5. The output end of the driving mechanism passes through the support plate 5 and is connected to a slave gear 4. The inner wall of the slave gear 4 is rotatably connected to the outer wall of the connecting rod 7. The bottom surface of the slave gear 4 is connected to the upper surface of the steering wheel body 1. A positioning cavity 501 is penetrated and opened on one side of the support plate 5. An adjusting block 8 is fixedly connected to the inner wall of the positioning cavity 501. A sensor 9 is connected to the inner wall of the adjusting block 8. A positioning plate 12 is connected to the upper surface of the slave gear 4. The sensor 9 is matched and aligned with the positioning plate 12.

[0024] The steering wheel of a mobile robot with positioning correction in the utility model is similar to the existing steering wheel structure of a mobile robot, such as the walking driving steering wheel of an intelligent mobile robot disclosed in the patent with publication number CN215042039U. Figures 1 to 5As shown, when the mobile robot steering wheel with positioning correction in the utility model is installed and used, the connecting rod 7 is first installed normally under the external mobile robot, and then the driving mechanism cooperates with the slave gear 4 to drive the entire mobile robot to walk. After the steering wheel body 1 has been used for a period of time, the steering wheel body 1 is likely to have a certain degree of error due to friction, wear or accumulation of the positioning system. At this time, the driving mechanism can be started by an external controller to rotate the driving mechanism. After the driving mechanism rotates, it drives the slave gear 4 to rotate. After the slave gear 4 rotates, it drives the steering wheel body 1 and the mobile wheel 2 to rotate in situ. During the rotation, the positioning plate 12 located on the slave gear 4 rotates together. When the positioning plate 12 rotates to a certain angle, so that the sensor 9 is aligned with or in contact with the positioning plate 12, the sensor 9 transmits an electrical signal to the external processor, and through the controller control, this point is set as the initial point, thereby achieving rapid positioning correction with more accurate accuracy. It should be noted here that the external processor and controller are very mature technologies in the current prior art, so they are not described in detail.

[0025] Please refer to Figure 1 , Figure 2 , Figure 3 and Figure 5 The driving mechanism includes a driving motor 6 and a main gear 14. The outer wall of the driving motor 6 is fixedly connected to the upper surface of the support plate 5. The output shaft of the driving motor 6 passes through the support plate 5 and is fixedly connected to one side of the main gear 14. The main gear 14 is meshed with the slave gear 4.

[0026] More specifically, when it is necessary to drive the steering wheel body 1 and the moving wheel 2 to move or perform positioning correction, it is only necessary to turn on the switch of the drive motor 6 through the external controller. After the drive motor 6 is started, the output shaft drives the main gear 14 to rotate, and then the main gear 14 can be engaged to drive the slave gear 4 to rotate, thereby driving the steering wheel body 1 and the moving wheel 2 to move or perform positioning correction.

[0027] Please refer to Figure 4 The upper surface of the positioning plate 12 is provided with two positioning holes 1201, and the two positioning holes 1201 are respectively located at the two ends of the positioning plate 12. By providing the positioning holes 1201, the positioning plate 12 can be more quickly, conveniently and accurately positioned when it is matched with the sensor 9.

[0028] Please refer to Figure 1 , Figure 2 , Figure 3 and Figure 5The upper surface of the adjustment block 8 is provided with a slide groove 801, and the outer wall of the sensor 9 is slidably connected to the inner wall of the slide groove 801. By providing the slide groove 801, the position of the sensor 9 in the slide groove 801 can be changed according to the correction requirements, and then the position of the initial point can be changed, so that more accurate positioning correction can be achieved.

[0029] Please refer to Figure 1-Figure 4 The bottom surface of the slave gear 4 is fixedly connected with a bottom plate 3, and the bottom surface of the bottom plate 3 is fixedly connected with the upper surface of the steering wheel body 1. By providing the bottom plate 3, the slave gear 4 can be separated from the steering wheel body 1 and the moving wheel 2 below, so that it can be prevented that during the walking of the mobile robot, there are sundries and the like stuck on the moving wheel 2 and then stuck in the slave gear 4, affecting the normal walking of the steering wheel body 1, and even causing damage to the slave gear 4.

[0030] Please refer to Figure 1 , Figure 2 , Figure 3 and Figure 5 A steering limit assembly is connected to one side of the bottom plate 3, and the other end of the steering limit assembly is connected to the support plate 5. By setting the steering limit assembly, when positioning correction is performed, the steering wheel body 1, the moving wheel 2, the bottom plate 3 and the slave gear 4 can be prevented from rotating at too large an angle, so that they are blocked after rotating to a certain angle, and then can rotate in the reverse direction, thereby avoiding the occurrence of reverse positioning correction.

[0031] Please refer to Figure 1 , Figure 2 , Figure 3 and Figure 5 The steering limit assembly includes a support rod 10, a limit rod 11 and a limit block 13. The bottom surface of the support rod 10 is fixedly connected to the upper surface of the support plate 5 and the upper surface of the limit rod 11. The lower end of the limit rod 11 passes through the support plate 5. One side of the limit block 13 is fixedly connected to one side of the bottom plate 3. The side wall of the limit block 13 abuts against the outer wall of the limit rod 11, and the limit rod 11 and the limit block 13 are respectively located on both sides of the support plate 5 and the bottom plate 3.

[0032] More specifically, when it is necessary to position and correct the steering wheel body 1, the moving wheel 2, the base plate 3 and the slave gear 4, the main gear 14 drives the slave gear 4 to rotate. After the slave gear 4 rotates, it will drive the limit block 13 on one side of the base plate 3 to rotate together. At this time, because the sensor 9 is not aligned with the positioning hole 1201 on the positioning plate 12, the steering wheel body 1, the moving wheel 2, the base plate 3 and the slave gear 4 will continue to rotate. In order to avoid the steering wheel body 1, the moving wheel 2, the base plate 3 and the slave gear 4 rotating in the opposite direction, when the limit block 13 is against the limit rod 11, the sensor 9 senses a momentary pause, and then drives the steering wheel body 1, the moving wheel 2, the base plate 3 and the slave gear 4 to rotate until the sensor 9 is aligned with the positioning hole 1201 on the positioning plate 12 and stops the correction.

[0033] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art may still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. A mobile robot steering wheel with positioning correction, comprising a steering wheel body (1) installed below a connecting rod (7) and a moving wheel (2) installed inside the steering wheel body (1), characterized in that: A support plate (5) is fixedly connected to one side of the connecting rod (7) close to the steering wheel body (1); a driving mechanism is connected to the upper surface of the support plate (5); an output end of the driving mechanism passes through the support plate (5) and is connected to a slave gear (4); the inner wall of the slave gear (4) is rotatably connected to the outer wall of the connecting rod (7); the bottom surface of the slave gear (4) is connected to the upper surface of the steering wheel body (1); a positioning cavity (501) is penetrated through one side of the support plate (5); an adjustment block (8) is fixedly connected to the inner wall of the positioning cavity (501); a sensor (9) is connected to the inner wall of the adjustment block (8); a positioning plate (12) is connected to the upper surface of the slave gear (4); the sensor (9) and the positioning plate (12) are matched and aligned.

2. The mobile robot steering wheel with positioning correction according to claim 1, characterized in that: The driving mechanism comprises a driving motor (6) and a main gear (14); the outer wall of the driving motor (6) is fixedly connected to the upper surface of the support plate (5); the output shaft of the driving motor (6) passes through the support plate (5) and is fixedly connected to one side of the main gear (14); and the main gear (14) is meshed with the slave gear (4).

3. A mobile robot steering wheel with positioning correction according to claim 1 or 2, characterized in that: Two positioning holes (1201) are formed through the upper surface of the positioning plate (12), and the two positioning holes (1201) are respectively located at two ends of the positioning plate (12).

4. A mobile robot steering wheel with positioning correction according to claim 1 or 2, characterized in that: A sliding groove (801) is provided through the upper surface of the adjustment block (8), and the outer wall of the sensor (9) is slidably connected to the inner wall of the sliding groove (801).

5. A mobile robot steering wheel with positioning correction according to claim 1 or 2, characterized in that: The bottom surface of the slave gear (4) is fixedly connected to a bottom plate (3), and the bottom surface of the bottom plate (3) is fixedly connected to the upper surface of the steering wheel body (1).

6. The mobile robot steering wheel with positioning correction according to claim 5, characterized in that: One side of the bottom plate (3) is connected to a steering limit assembly, and the other end of the steering limit assembly is connected to the support plate (5).

7. The mobile robot steering wheel with positioning correction according to claim 6, characterized in that: The steering limit assembly comprises a support rod (10), a limit rod (11) and a limit block (13); the bottom surface of the support rod (10) is fixedly connected to the upper surface of the support plate (5) and the upper surface of the limit rod (11); the lower end of the limit rod (11) passes through the support plate (5); one side of the limit block (13) is fixedly connected to one side of the bottom plate (3); the side wall of the limit block (13) abuts against the outer wall of the limit rod (11); and the limit rod (11) and the limit block (13) are respectively located on the two sides of the support plate (5) and the bottom plate (3).

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