Servo steering wheel structure of robot

Abstract

The servo steering wheel structure of the robot comprises a lower bottom plate, a central gear is arranged on the lower bottom plate, an upper rotating shaft is fixedly installed at the central position of the upper surface of the central gear, supporting columns are fixedly installed at the four corners of the upper surface of the lower bottom plate, and an upper top plate is fixedly installed at the top ends of the supporting columns. An encoder is fixedly installed in the center of the upper surface of the upper top plate, the input end of the encoder is fixedly connected with the upper rotating shaft, a steering motor is fixedly installed on one side of the upper surface of the upper top plate through a fixing bolt, and an output shaft of the steering motor penetrates through the upper top plate to be fixedly connected with a driving gear which is in meshed connection with a center gear. According to the utility model, data acquisition of rotation angles is carried out through the encoder, so that debugging personnel can be assisted in knowing the proportional relation between the deflection angles of the driving gear and the central gear when the steering motor rotates by one circle, certain deflection angle data support can be conveniently provided, the debugging efficiency is conveniently improved, and the debugging precision is improved. And the debugging control precision of angle deflection is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robot steering wheels, and specifically relates to a servo steering wheel structure of a robot. Background Technique

[0002] A robot is a common name for an automatic control machine. An automatic control machine includes all machines that simulate human behavior or thoughts and other organisms. In contemporary industry, a robot refers to an artificial machine device that can automatically execute tasks to replace or assist humans in work;

[0003] An AGV robot in the field of robots means an automatic guided vehicle. It is a transport vehicle equipped with automatic guiding devices such as electromagnetic or optical devices, capable of traveling along a specified guiding path, and having safety protection and various transfer functions;

[0004] However, there are certain defects in the walking servo steering wheels for the movement of AGV robots on the current market. For example, when the servo steering wheels of existing AGV robots are being debugged and set, there is no data acquisition structure for any steering data to support. Therefore, during the use process, repeated steering angle debugging is required, and the debugging efficiency is low. At the same time, there is a technical problem of poor steering accuracy. For this reason, the utility model proposes a servo steering wheel structure of a robot that can collect rotation data. Content of the Utility Model

[0005] The purpose of the utility model is to provide a servo steering wheel structure of a robot to solve the problems raised in the above background technique.

[0006] To achieve the above purpose, the utility model provides the following technical solution: A servo steering wheel structure of a robot, including a lower base plate, a central gear is arranged on the lower base plate, an upper rotating shaft is fixedly installed at the center position of the upper surface of the central gear, support columns are fixedly installed at the four corners of the upper surface of the lower base plate, an upper top plate is fixedly installed at the top of the support columns, an encoder is fixedly installed at the center position of the upper surface of the upper top plate, the input end of the encoder is fixedly connected with the upper rotating shaft, a steering motor is fixedly installed on one side of the upper surface of the upper top plate through a fixing bolt, the output shaft of the steering motor passes through the upper top plate and is fixedly connected with a driving gear, and the driving gear is meshed with the central gear.

[0007] Preferably, the diameter of the central gear is larger than the diameter of the driving gear.

[0008] Preferably, a lower rotating shaft is fixedly installed at the center position of the lower surface of the central gear, the lower rotating shaft penetrates through the lower base plate, and the lower rotating shaft is rotationally connected with the lower base plate through a bearing.

[0009] Preferably, a wheel body seat is fixedly installed at the bottom end of the lower rotating shaft, and a rotating shaft is rotatably installed between the wheel body seats through a bearing.

[0010] Preferably, a moving wheel is sleeved on the outer surface of the middle part of the rotating shaft, and the moving wheel is fixedly connected with the rotating shaft.

[0011] Preferably, one end of the rotating shaft is fixedly connected to the output shaft of a traveling motor, and the traveling motor is fixedly installed on the outer wall of one side of the wheel body seat through bolts.

[0012] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0013] By providing an encoder in the present utility model, when in use, when the central gear rotates driven by the driving gear, the rotation angle of the central gear can be transmitted to the encoder through the upper rotating shaft, so that the data of the rotation angle can be collected by the encoder. In this way, it can assist the debugging personnel to understand the proportional relationship between the deflection angle of the driving gear and the central gear when the steering motor rotates one circle, so as to conveniently provide certain deflection angle data support, improve the debugging efficiency, increase the debugging control accuracy of the angle deflection, have good technical effects of data collection and auxiliary debugging, have good practical performance, and are more convenient to use;

[0014] At the same time, the present utility model only uses two gears, one large and one small, for steering rotation, and has the technical effects of simplified structure, good transmission effect and low manufacturing cost. It avoids using a complex gear transmission structure, is convenient for maintenance and repair. The motor is directly connected to the transmission gear with a single gear, and can rotate continuously in the same direction without being restricted by redundant wire harnesses, effectively avoiding the winding situation, improving the use effect, reducing the use limitations, and with the independent driving effect of two motors, it can drive the steering wheel structure to move forward, backward and turn automatically, with the independence of movement and turning, and there is no interference between turning and moving, effectively improving the use performance of the structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a front three-dimensional structure schematic diagram of the steering wheel according to an embodiment of the present utility model;

[0016] Figure 2 It is a schematic diagram of the upper surface structure of the lower bottom plate according to an embodiment of the present utility model;

[0017] Figure 3 It is a bottom-up perspective structure schematic diagram of the steering wheel assembly according to an embodiment of the present utility model;

[0018] Figure 4 It is a left-view plane structure schematic diagram of the steering wheel assembly according to an embodiment of the present utility model.

[0019] In the figure: 1. Lower bottom plate; 2. Central gear; 3. Upper rotating shaft; 4. Support column; 5. Upper top plate; 6. Encoder; 7. Steering motor; 8. Driving gear; 9. Lower rotating shaft; 10. Wheel body seat; 11. Rotating shaft; 12. Moving wheel; 13. Traveling motor. Specific implementation manner

[0020] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0021] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", "front end", "rear end", "both ends", "one end", "the other end", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0022] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0023] Please refer to Figures 1-4 , an embodiment provided by the present invention: A servo wheel structure of a robot, including a lower bottom plate 1, a central gear 2 is arranged on the lower bottom plate 1, the upper surface center position of the central gear 2 is fixedly installed with an upper rotating shaft 3, four corners of the upper surface of the lower bottom plate 1 are fixedly installed with support columns 4, the top ends of the support columns 4 are fixedly installed with an upper top plate 5, the upper surface center position of the upper top plate 5 is fixedly installed with an encoder 6, the input end of the encoder 6 is fixedly connected with the upper rotating shaft 3, one side of the upper surface of the upper top plate 5 is fixedly installed with a steering motor 7 through a fixing bolt, the output shaft of the steering motor 7 passes through the upper top plate 5 and is fixedly connected with a driving gear 8, and the driving gear 8 is meshed with the central gear 2;

[0024] Further, specifically referring to the attached drawings of the specification Figure 2 As shown, in order to improve the overall accuracy of steering, the diameter of the central gear 2 is larger than that of the driving gear 8. The method of driving the large gear to rotate by the small gear can have a certain steering deceleration effect, that is, when the small gear rotates one circle, the large gear rotates a certain angle. Thus, the angle deflection is carried out through the rotation of the reduction gear, and in this way, the overall accuracy of steering can be effectively improved.

[0025] According to the above structure, the steering motor 7 can drive the driving gear 8 at the bottom through its output shaft to rotate. When the driving gear 8 rotates, it will drive the central gear 2 on one side to rotate synchronously, providing the gear rotation condition for the subsequent angle deflection of the steering wheel;

[0026] And the present utility model is provided with an encoder 6. The encoder 6 is a common technical product in existing industrial information acquisition devices and is a mature existing technology. It is a device that compiles signals (such as bit streams) or data and converts them into signal forms that can be used for communication, transmission, and storage. The encoder converts angular displacement or linear displacement into electrical signals. The former is called a code disk, and the latter is called a code scale;

[0027] When used in the present utility model, when the central gear 2 rotates driven by the driving gear 8, the rotation angle of the central gear 2 can be transmitted to the encoder 6 through the upper rotating shaft 3. Thus, the data of the rotation angle can be collected through the encoder 6. In this way, it can assist the debugging personnel to understand the deflection angle ratio relationship between the driving gear 8 and the central gear 2 when the steering motor 7 rotates one circle. For example, when the driving gear 8 rotates one circle, the central gear 2 deflects 15°. Thus, it can conveniently provide certain deflection angle data support, improve the debugging efficiency, increase the debugging control accuracy of the angle deflection, and has good technical effects of data collection and auxiliary debugging, with good practical performance and more convenient use.

[0028] In this embodiment, in order to ensure the transmission effect at the bottom of the central gear 2, a lower rotating shaft 9 is fixedly installed at the central position of the lower surface of the central gear 2. The lower rotating shaft 9 penetrates through the lower bottom plate 1, and the lower rotating shaft 9 is rotationally connected to the lower bottom plate 1 through a bearing;

[0029] Further, a wheel body seat 10 is fixedly installed at the bottom end of the lower rotating shaft 9, and a rotating shaft 11 is rotationally installed between the wheel body seats 10 through a bearing.

[0030] In this embodiment, in order to ensure the normal walking use of the steering wheel structure, a moving wheel 12 is sleeved on the outer surface of the middle part of the rotating shaft 11. The moving wheel 12 is fixedly connected to the rotating shaft 11, and one end of the rotating shaft 11 is fixedly connected to the output shaft of the walking motor 13. The walking motor 13 is fixedly installed on the outer wall of one side of the wheel body seat 10 through bolts;

[0031] With this structural design, the driving motor 13 can drive the rotating shaft 11 to rotate through its output shaft. When the rotating shaft 11 rotates, the moving wheel 12 can rotate synchronously, so that the normal rotation and movement of the steering wheel structure of the present invention can be ensured by the rotation of the moving wheel 12.

[0032] In this embodiment, in order to improve the comprehensive servo control effect of the servo steering wheel, both the steering motor 7 and the driving motor 13 are servo motors.

[0033] Working principle: When in use, the present invention can be installed in the steering wheel installation area of an external AGV robot to ensure the normal use of the steering wheel;

[0034] When the steering wheel of the present invention needs to move, the driving motor 13 can drive the rotating shaft 11 to rotate through its output shaft. When the rotating shaft 11 rotates, the moving wheel 12 can rotate synchronously, so that the normal rotation and movement of the steering wheel structure of the present invention can be ensured by the rotation of the moving wheel 12, and its normal use effect can be ensured;

[0035] When the steering angle needs to be deflected, the steering motor 7 can rotate. When the steering motor 7 rotates, it will drive the driving gear 8 to rotate synchronously through its output shaft, and thus drive the central gear 2 to rotate through the rotation of the driving gear 8;

[0036] When the central gear 2 rotates, it actually drives the wheel body seat 10 at the bottom to deflect by a certain angle through the lower rotating shaft 9, so that the angle deflection work of the steering wheel structure of the present invention can be completed, facilitating the steering process of the steering wheel structure;

[0037] The present invention can have a certain steering deceleration effect by driving the large gear to rotate through the small gear, that is, when the small gear rotates one circle, the large gear will rotate a certain angle (specifically based on the size ratio of the two gears), so as to deflect the angle through the rotation of the large and small reduction gears, thereby effectively improving the overall accuracy of the steering angle;

[0038] Moreover, the present invention is provided with an encoder 6. When in use, when the central gear 2 rotates driven by the driving gear 8, the rotation angle of the central gear 2 can be transmitted to the encoder 6 through the upper rotating shaft 3, so that the encoder 6 can collect the data of the rotation angle. In this way, it can assist the debugging personnel to understand the proportional relationship between the deflection angles of the driving gear 8 and the central gear 2 when the steering motor 7 rotates one circle, so as to facilitate the provision of certain deflection angle data support, improve the debugging efficiency, increase the debugging control accuracy of the angle deflection, and has good technical effects of data collection and auxiliary debugging, with excellent practical performance and more convenient use;

[0039] Meanwhile, the utility model only uses two gears, one large and one small, for steering rotation, which has the technical effects of simplified structure and low manufacturing cost. It avoids using complex gear transmission structures, is convenient for maintenance and repair. The motor is directly connected to the transmission gear with a single gear, which can achieve continuous rotation in the same direction, without redundant wire harness constraints, effectively avoiding winding situations, improving the use effect, reducing the use limitations. Moreover, with the independent driving effect of two motors, it can drive the steering wheel structure to perform automatic forward, backward and automatic steering operations, with independence in movement and steering, and no interference between steering and movement, effectively improving the structural performance.

[0040] For those skilled in the art, it is obvious that the present utility model is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic characteristics of the present utility model. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present utility model is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be encompassed within the present utility model. Any reference signs in the claims should not be regarded as limiting the claimed rights.

Claims

1. A servo steering wheel structure of a robot, comprising a lower base plate (1), characterized in that: A central gear (2) is arranged on the lower base plate (1), an upper rotating shaft (3) is fixedly mounted at the center position of the upper surface of the central gear (2), support columns (4) are fixedly mounted at the four corners of the upper surface of the lower base plate (1), an upper top plate (5) is fixedly mounted at the top of the support column (4), an encoder (6) is fixedly mounted at the center position of the upper surface of the upper top plate (5), an input end of the encoder (6) is fixedly connected to the upper rotating shaft (3), a steering motor (7) is fixedly mounted on one side of the upper surface of the upper top plate (5) by means of fixing bolts, an output shaft of the steering motor (7) passes through the upper top plate (5) and is fixedly connected to a driving gear (8), and the driving gear (8) is meshedly connected to the central gear (2).

2. The servo steering wheel structure of a robot according to claim 1, characterized in that: The diameter of the central gear (2) is greater than the diameter of the driving gear (8).

3. The servo steering wheel structure of a robot according to claim 1, characterized in that: A lower rotating shaft (9) is fixedly mounted at the center position of the lower surface of the central gear (2); the lower rotating shaft (9) penetrates the lower base plate (1); and the lower rotating shaft (9) is rotatably connected to the lower base plate (1) via a bearing.

4. The servo steering wheel structure of a robot according to claim 3, characterized in that: A wheel body seat (10) is fixedly mounted on the bottom end of the lower rotating shaft (9), and a rotating shaft (11) is rotatably mounted between the wheel body seats (10) via a bearing.

5. The servo steering wheel structure of a robot according to claim 4, characterized in that: A moving wheel (12) is sleeved on the outer surface of the middle portion of the rotating shaft (11), and the moving wheel (12) is fixedly connected to the rotating shaft (11).

6. The servo steering wheel structure of a robot according to claim 4, characterized in that: One end of the rotating shaft (11) is fixedly connected to the output shaft of a travel motor (13), and the travel motor (13) is fixedly mounted on an outer wall of one side of the wheel body seat (10) by means of bolts.

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