Robot steering wheel based on bevel gear transmission

Abstract

The utility model discloses a robot steering wheel based on bevel gear transmission, and belongs to the technical field of robot steering wheels, the robot steering wheel comprises a walking module and a steering module, the walking module comprises a wheel frame and a walking wheel, and the walking wheel is rotatably connected to the wheel frame; the steering module comprises a mounting plate and a bevel gear set, the wheel frame is rotationally connected to the bottom side of the mounting plate, the bevel gear set is arranged on the top side of the mounting plate and comprises a driving bevel gear and a driven bevel gear, the driving bevel gear and the driven bevel gear are both rotationally connected with the mounting plate, and the driving bevel gear is meshed with the driven bevel gear; the driven bevel gear is fixedly connected with the wheel frame, and the axis of the driven bevel gear is perpendicular to the axis of the walking wheel. The steering module and the walking module cooperatively operate, so that a mechanism capable of flexibly advancing, retreating and rotating and a bevel gear set steering mode are formed, the structure of a rotating system is simplified, the transmission efficiency is high, and the steering precision and the response speed are guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of robot steering wheels, in particular to a robot steering wheel based on bevel gear transmission. Background Art

[0002] Robot steering wheel is an emerging intelligent high-tech industry chain. It is a mechanical structure that integrates drive motor, steering motor, steering wheel, wheel, reducer, etc. It has walking, traction and steering functions as one, and can load and haul heavy goods. However, the steering system of existing robot steering wheels mostly adopts gear rack transmission or worm gear transmission, which has complex structure and low transmission efficiency, resulting in insufficient steering accuracy and response speed. Utility Model Content

[0003] The purpose of the utility model is to solve the above-mentioned technical problems and provide a robot steering wheel based on bevel gear transmission. The steering module and the walking module work together to form a mechanism that can flexibly move forward, backward and rotate. The bevel gear group steering method not only simplifies the structure of the rotation system, but also has high transmission efficiency, ensuring steering accuracy and response speed.

[0004] To achieve the above-mentioned purpose, the utility model provides the following solution: The utility model discloses a robot steering wheel based on bevel gear transmission, including a walking module and a steering module, the walking module including a wheel frame and a walking wheel, the walking wheel being rotatably connected to the wheel frame; the steering module including a mounting plate and a bevel gear group, the wheel frame being rotatably connected to the bottom side of the mounting plate, the bevel gear group being arranged on the top side of the mounting plate, the bevel gear group including an active bevel gear and a driven bevel gear, the active bevel gear and the driven bevel gear are both rotatably connected to the mounting plate, the active bevel gear is meshed with the driven bevel gear, the driven bevel gear is fixedly connected to the wheel frame, and the axis of the driven bevel gear is perpendicular to the axis of the walking wheel.

[0005] Preferably, a steering hole and a first bearing are provided on the mounting plate, the first bearing and the steering hole are coaxially arranged, the outer ring of the first bearing is fixedly connected to the mounting plate, the inner ring of the first bearing is fixedly connected to the driven bevel gear, and a steering wheel is fixed on the top side of the wheel frame, the steering wheel extends into the steering hole and is fixedly connected to the inner ring of the first bearing.

[0006] Preferably, it includes a driving module, which includes a steering motor and a driving motor. The steering motor is fixedly mounted on the top side of the mounting plate, the output shaft of the steering motor is coaxially fixedly connected to the active bevel gear, the driving motor is mounted on the wheel frame, and the output shaft of the driving motor is coaxially fixedly connected to the walking wheel.

[0007] Preferably, the driving module includes a motor mounting cover, the motor mounting cover has the driven bevel gear cover arranged inside, the motor mounting cover is fixedly connected to the outer ring of the first bearing, the top of the motor mounting cover is provided with a motor mounting area and a gear mounting area, the steering motor is installed on the motor mounting area, the gear mounting area is provided with a rotating support seat, the rotating support seat is provided with a mounting hole for the output shaft of the steering motor to extend out, and the side wall of the gear mounting area is provided with an extension opening for the part of the driven bevel gear that meshes with the driving bevel gear to extend out.

[0008] Preferably, the wheel frame is a U-shaped frame, the steering wheel is fixedly mounted on the closed end of the U-shaped frame, the walking wheel is located between the two arms of the U-shaped frame, one of the arms is provided with a motor mounting sleeve, the motor mounting sleeve is coaxially arranged with the walking wheel, the end of the motor mounting sleeve away from the walking wheel is provided with an embedding opening for installing the drive motor, the other end of the motor mounting sleeve is provided with a rotating shaft hole for extending the output shaft of the drive motor, the motor mounting sleeve is coaxially provided with a second bearing, the inner wall of the second bearing is fixedly connected to the outer wall of the motor mounting sleeve, the outer wall of the second bearing is coaxially fixedly connected to the walking wheel, the output shaft of the drive motor is coaxially provided with and fixed with a connecting sleeve, the connecting sleeve is fixedly connected with a connecting plate, the connecting plate is coaxially fixedly connected to the walking wheel, and the connecting sleeve is rotatably connected to the other arm through a third bearing.

[0009] Preferably, the support arm provided with the third bearing is provided with a bearing mounting hole and a bearing end cover, the bearing end cover covers the bearing mounting hole, and the bearing end cover is fixedly connected to the outer wall of the third bearing.

[0010] Preferably, the connecting sleeve and the output shaft of the driving motor are correspondingly provided with pin holes for inserting a locking pin.

[0011] Preferably, the connecting plate and the mounting plate are both flanges.

[0012] Preferably, it includes a control module, which includes a steering motor speed regulator and a drive motor speed regulator, the steering motor speed regulator is installed on the motor mounting cover, the steering motor speed regulator is electrically connected to the steering motor, and the drive motor speed regulator is installed on a support arm provided with the drive motor, and the drive motor speed regulator is electrically connected to the drive motor.

[0013] Preferably, the support arm provided with the steering motor speed regulator is provided with a first cable outlet, the steering wheel and the closed end of the U-shaped frame are correspondingly provided with slip ring holes, a slip ring is sleeved in the slip ring hole, a fixed disk is fixedly connected to the slip ring, the fixed disk is fixedly connected to the steering wheel, a second cable outlet is provided on the slip ring, a third cable outlet is provided on the driven bevel gear, a fourth cable outlet is provided on the motor mounting cover, and the cable of the drive motor speed regulator passes through the first cable outlet, the second cable outlet, the third cable outlet and the fourth cable outlet in sequence.

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

[0015] In the utility model, the active bevel gear drives the driven bevel gear to rotate, so that the wheel frame can rotate around the axis of the driven bevel gear, and then the steering of the walking wheel can be realized. Through the rotation of the walking wheel, the overall advancement of the robot steering wheel can be realized. The steering module and the walking module work together to form a mechanism that can flexibly move forward, backward and rotate. The bevel gear matching method not only simplifies the structure of the rotation system, but also has high transmission efficiency, so there will be no problems of insufficient steering accuracy and response speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a schematic diagram of the three-dimensional structure of the robot steering wheel based on bevel gear transmission;

[0018] Figure 2 It is a schematic diagram of the three-dimensional structure of the robot steering wheel based on bevel gear transmission (from another perspective);

[0019] Figure 3 It is a top-down perspective structural diagram of a robot steering wheel based on bevel gear transmission;

[0020] Figure 4 This is a partial enlarged view of the robot steering wheel based on bevel gear transmission;

[0021] Figure 5 It is a schematic diagram of the three-dimensional structure of a robot steering wheel (without running wheels) based on bevel gear transmission;

[0022] Figure 6 It is a schematic diagram of the three-dimensional structure of a robot steering wheel (without a motor mounting cover) based on bevel gear transmission;

[0023] Figure 7 It is a connection relationship diagram of the mounting plate, the steering wheel, the slip ring and the first bearing;

[0024] Figure 8 It is the connection relationship diagram of the mounting plate, steering wheel, slip ring and wheel frame;

[0025] Fig. 9 It is the connection relationship diagram between the mounting plate and the steering wheel;

[0026] Fig.10 It is the connection relationship diagram of the mounting plate, the steering wheel and the wheel frame;

[0027] Fig.11 It is the structural diagram of slip ring.

[0028] Explanation of the accompanying drawings: 1. wheel frame; 2. walking wheel; 3. mounting plate; 4. driving bevel gear; 5. driven bevel gear; 6. steering motor; 7. drive motor; 8. motor mounting cover; 9. rotating support seat; 10. steering motor speed regulator; 11. drive motor speed regulator; 12. first bearing; 13. second bearing; 14. third bearing; 15. motor mounting sleeve; 16. connecting plate; 17. connecting sleeve; 18. steering wheel; 19. steering hole; 20. bearing end cover; 21. slip ring hole; 22. slip ring; 23. fixed plate; 24. first cable outlet; 25. third cable outlet; 26. fourth cable outlet; 27. cable. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0030] This embodiment provides a robot steering wheel based on bevel gear transmission, such as Figures 1 to 11 As shown, it includes a walking module and a steering module.

[0031] The travel module includes a wheel frame 1 and a travel wheel 2. The travel wheel 2 is rotatably connected to the wheel frame 1, and the travel wheel 2 rotates.

[0032] The steering module includes a mounting plate 3 and a bevel gear set. The entire robot steering wheel can be mounted on the robot through the mounting plate 3. The wheel frame 1 is rotatably connected to the bottom side of the mounting plate 3, and the bevel gear set is arranged on the top side of the mounting plate 3. The bevel gear set includes a driving bevel gear 4 and a driven bevel gear 5. Both the driving bevel gear 4 and the driven bevel gear 5 are rotatably connected to the mounting plate 3. The driving bevel gear 4 and the driven bevel gear 5 are meshed with each other. The driven bevel gear 5 is fixedly connected to the wheel frame 1, and the axis of the driven bevel gear 5 is perpendicular to the axis of the walking wheel 2.

[0033] The active bevel gear 4 drives the driven bevel gear 5 to rotate, so that the wheel frame 1 can rotate around the axis of the driven bevel gear 5, and then the steering of the walking wheel 2 can be realized. Through the rotation of the walking wheel 2, the overall forward movement of the robot steering wheel can be realized. The steering module and the walking module work together to form a mechanism that can flexibly move forward, backward and rotate. The bevel gear matching method not only simplifies the structure of the rotation system, but also has high transmission efficiency, so it will not cause insufficient steering accuracy and response speed.

[0034] Further, in this embodiment, if Figures 1 to 11 As shown, the mounting plate 3 is provided with a steering hole 19 and a first bearing 12. The first bearing 12 and the steering hole 19 are coaxially arranged. The first bearing 12 is mounted on the top side of the mounting plate 3, the outer ring of the first bearing 12 is fixedly connected to the mounting plate 3, and the inner ring of the first bearing 12 is fixedly connected to the driven bevel gear 5 to achieve a rotational connection relationship between the driven bevel gear 5 and the mounting plate 3. A steering wheel 18 is fixedly connected to the top side of the wheel frame 1, the steering wheel 18 extends into the steering hole 19, and the steering wheel 18 is fixedly connected to the inner ring of the first bearing 12 to achieve a rotational connection relationship between the wheel frame 1 and the mounting plate 3. The above fixing methods can be bolted, welded or bonded.

[0035] In this embodiment, Figures 1 to 11 As shown, the robot steering wheel based on bevel gear transmission also includes a driving module, which includes a steering motor 6 and a driving motor 7. The steering motor 6 is fixedly mounted on the top side of the mounting plate 3, and the output shaft of the steering motor 6 is coaxially fixedly connected to the active bevel gear 4. The driving motor 7 is mounted on the wheel frame 1, and the output shaft of the driving motor 7 is coaxially fixedly connected to the walking wheel 2. The steering motor 6 is responsible for driving the active bevel gear 4 to rotate, and then providing steering power, and the driving motor 7 is used to drive the walking wheel 2 to rotate and is responsible for providing walking power.

[0036] Further, in this embodiment, if Figures 1 to 11As shown, the drive module includes a motor mounting cover 8, and the motor mounting cover 8 covers the driven bevel gear 5. The motor mounting cover 8 is fixedly connected to the outer ring of the first bearing 12, and the fixing method can be bolt connection, welding or bonding. The top of the motor mounting cover 8 is provided with a motor mounting area and a gear mounting area, and the steering motor 6 is installed on the motor mounting area. The gear mounting area is provided with a rotating support seat 9, and the rotating support seat 9 is provided with a mounting hole. The output shaft of the steering motor 6 extends from the mounting hole to be coaxially fixedly connected with the driving bevel gear 4. The side wall of the gear mounting area is provided with an extension port, and the extension port is used for the part of the driven bevel gear 5 that meshes with the driving bevel gear 4 to extend.

[0037] In this embodiment, Figures 1 to 11 As shown, the wheel frame 1 is a U-shaped frame. The steering wheel 18 is fixedly mounted on the closed end of the U-shaped frame, and the fixing method can be bolt connection, welding or bonding. The running wheel 2 is located between the two arms of the U-shaped frame. A motor mounting sleeve 15 is provided on one of the arms, and the motor mounting sleeve 15 is coaxially arranged with the running wheel 2. An embedding port is provided at one end of the motor mounting sleeve 15 away from the running wheel 2 for the drive motor 7 to be installed. A rotating shaft hole is provided at the other end of the motor mounting sleeve 15 for the output shaft of the drive motor 7 to extend. A second bearing 13 is coaxially sleeved on the motor mounting sleeve 15, and the inner wall of the second bearing 13 is fixedly connected to the outer wall of the motor mounting sleeve 15. The running wheel 2 is sleeved on the second bearing 13 and fixedly connected to the outer wall of the second bearing 13. A connecting sleeve 17 is coaxially sleeved and fixed on the output shaft of the drive motor 7, and a connecting plate 16 is fixedly connected to the connecting sleeve 17, and the connecting plate 16 is coaxially fixedly connected with the running wheel 2. A third bearing 14 is disposed on the other support arm, and a connecting sleeve 17 is rotatably connected to the support arm via the third bearing 14 .

[0038] Further, in this embodiment, if Figures 1 to 11 As shown, a bearing mounting hole and a bearing end cover 20 are provided on the support arm provided with the third bearing 14. The bearing end cover 20 covers the bearing mounting hole. The bearing end cover 20 is fixedly connected to the outer wall of the third bearing 14. The inner wall of the third bearing 14 is coaxially fixedly connected to the connecting sleeve 17. The bearing end cover 20 can reduce the pollution of the bearing by impurities such as external dust and reduce the rotation accuracy of the bearing.

[0039] In this embodiment, Figures 1 to 11 As shown, pin holes are correspondingly provided on the connecting sleeve 17 and the output shaft of the driving motor 7. Inserting the locking pin into the pin hole of the connecting sleeve 17 and the pin hole of the output shaft of the driving motor 7 can complete the fixed connection between the connecting sleeve 17 and the output shaft of the driving motor 7.

[0040] Further, in this embodiment, if Figures 1 to 11 As shown, the connecting plate 16 and the mounting plate 3 are both flanges, which facilitates the bolt connection between the connecting plate 16 and the walking wheel 2, and the bolt connection between the mounting plate 3 and the robot chassis.

[0041] In this embodiment, Figures 1 to 11 As shown, the robot steering wheel based on bevel gear transmission also includes a control module. The control module includes a steering motor speed regulator 10 and a drive motor speed regulator 11. The steering motor speed regulator 10 is mounted on the motor mounting cover 8, and the steering motor speed regulator 10 is electrically connected to the steering motor 6. The drive motor speed regulator 11 is mounted on the wheel frame 1, and the drive motor speed regulator 11 is electrically connected to the drive motor 7. When the wheel frame 1 adopts a U-shaped frame, the drive motor speed regulator 11 can be installed on the support arm where the drive motor 7 is provided. The steering motor speed regulator 10 and the drive motor speed regulator 11 can read the encoder signal and adjust the motor speed and the output shaft angular position according to the signal. This control method can achieve higher accuracy and stability.

[0042] In this embodiment, Figures 1 to 11 As shown, a first cable port 24 is provided on the support arm provided with the driving motor speed regulator 11, and a slip ring hole 21 is provided on the steering wheel 18 and the closed end of the U-shaped frame, and a slip ring 22 is sleeved in the slip ring hole 21, and a fixed disk 23 is fixedly connected to the slip ring 22, and the fixed disk 23 is fixedly connected to the steering wheel 18, and the fixing method can be bolt connection, welding or bonding. A second cable port is provided on the slip ring 22. A third cable port 25 is provided on the driven bevel gear 5. A fourth cable port 26 is provided on the motor mounting cover 8. The cable 27 of the driving motor speed regulator 11 passes through the first cable port 24, the second cable port, the third cable port 25, and the fourth cable port 26 in sequence. This method can avoid the problem of cable winding during the rotation of the steering wheel, avoid affecting the steering performance, reduce safety hazards, and improve the reliability and safety of the system.

[0043] In this embodiment, Figures 1 to 11 As shown, the motor mounting cover 8 is made of ABS resin material, the wheel frame 1 is made of glass fiber board, the first bearing 12 is F6803ZZ bearing, the second bearing 13 is F6909ZZ bearing, the steering motor speed regulator 10 is C610 speed regulator, the drive motor speed regulator 11 is C620 speed regulator, the steering motor 6 is M2006 DC brushless motor, and the drive motor 7 is M3508 reduction motor. Of course, the various models and materials are only reference models, which does not mean that only these types can be selected. Other models can be selected according to needs.

[0044] The present invention uses specific examples to illustrate the principle and implementation of the present invention. The above examples are only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A robot steering wheel based on bevel gear transmission, characterized in that: It includes a walking module and a steering module, the walking module includes a wheel frame and a walking wheel, and the walking wheel is rotatably connected to the wheel frame; the steering module includes a mounting plate and a bevel gear set, the wheel frame is rotatably connected to the bottom side of the mounting plate, the bevel gear set is arranged on the top side of the mounting plate, the bevel gear set includes a driving bevel gear and a driven bevel gear, the driving bevel gear and the driven bevel gear are both rotatably connected to the mounting plate, the driving bevel gear is meshed with the driven bevel gear, the driven bevel gear is fixedly connected to the wheel frame, and the axis of the driven bevel gear is perpendicular to the axis of the walking wheel.

2. A robot steering wheel based on bevel gear transmission according to claim 1, characterized in that: A steering hole and a first bearing are provided on the mounting plate, the first bearing and the steering hole are coaxially arranged, the outer ring of the first bearing is fixedly connected to the mounting plate, the inner ring of the first bearing is fixedly connected to the driven bevel gear, and a steering wheel is fixed on the top side of the wheel frame, the steering wheel extends into the steering hole and is fixedly connected to the inner ring of the first bearing.

3. A robot steering wheel based on bevel gear transmission according to claim 2, characterized in that: It includes a driving module, which includes a steering motor and a driving motor. The steering motor is fixedly mounted on the top side of the mounting plate, the output shaft of the steering motor is coaxially fixedly connected to the active bevel gear, the driving motor is mounted on the wheel frame, and the output shaft of the driving motor is coaxially fixedly connected to the walking wheel.

4. The robot steering wheel based on bevel gear transmission according to claim 3, characterized in that: The driving module includes a motor mounting cover, the motor mounting cover arranges the driven bevel gear cover inside the motor mounting cover, the motor mounting cover is fixedly connected to the outer ring of the first bearing, the top of the motor mounting cover is provided with a motor mounting area and a gear mounting area, the steering motor is installed on the motor mounting area, the gear mounting area is provided with a rotating support seat, the rotating support seat is provided with a mounting hole for the output shaft of the steering motor to extend out, and the side wall of the gear mounting area is provided with an extension port for the part of the driven bevel gear that meshes with the driving bevel gear to extend out.

5. The robot steering wheel based on bevel gear transmission according to claim 4, characterized in that: The wheel frame is a U-shaped frame, the steering wheel is fixedly mounted on the closed end of the U-shaped frame, the walking wheel is located between the two arms of the U-shaped frame, one of the arms is provided with a motor mounting sleeve, the motor mounting sleeve is coaxially arranged with the walking wheel, the end of the motor mounting sleeve away from the walking wheel is provided with an embedding opening for installing the drive motor, the other end of the motor mounting sleeve is provided with a rotating shaft hole for the output shaft of the drive motor to extend out, a coaxial sleeve on the motor mounting sleeve is provided with a second bearing, the inner wall of the second bearing is fixedly connected to the outer wall of the motor mounting sleeve, the outer wall of the second bearing is coaxially fixedly connected to the walking wheel, a connecting sleeve is coaxially sleeved and fixedly mounted on the output shaft of the drive motor, a connecting sleeve is fixedly connected to the connecting sleeve with a connecting plate, the connecting plate is coaxially fixedly connected to the walking wheel, and the connecting sleeve is rotatably connected to the other arm through a third bearing.

6. The robot steering wheel based on bevel gear transmission according to claim 5, characterized in that: The support arm provided with the third bearing is provided with a bearing mounting hole and a bearing end cover, the bearing end cover covers the bearing mounting hole, and the bearing end cover is fixedly connected to the outer wall of the third bearing.

7. The robot steering wheel based on bevel gear transmission according to claim 5, characterized in that: The connecting sleeve and the output shaft of the driving motor are correspondingly provided with pin shaft holes for inserting the locking pin.

8. The robot steering wheel based on bevel gear transmission according to claim 5, characterized in that: The connecting plate and the mounting plate are both flanges.

9. The robot steering wheel based on bevel gear transmission according to claim 5, characterized in that: It includes a control module, which includes a steering motor speed regulator and a drive motor speed regulator. The steering motor speed regulator is installed on the motor mounting cover and is electrically connected to the steering motor. The drive motor speed regulator is installed on a support arm provided with the drive motor and is electrically connected to the drive motor.

10. The robot steering wheel based on bevel gear transmission according to claim 9, characterized in that: The support arm provided with the steering motor speed regulator is provided with a first cable outlet, the steering wheel and the closed end of the U-shaped frame are correspondingly provided with slip ring holes, a slip ring is sleeved in the slip ring hole, a fixed disk is fixedly connected to the slip ring, the fixed disk is fixedly connected to the steering wheel, a second cable outlet is provided on the slip ring, a third cable outlet is provided on the driven bevel gear, a fourth cable outlet is provided on the motor mounting cover, and the cable of the drive motor speed regulator passes through the first cable outlet, the second cable outlet, the third cable outlet, and the fourth cable outlet in sequence.

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