Novel steering wheel for robot

Abstract

A novel steering wheel for a robot belongs to the technical field of steering wheel design. The problems that in the prior art, a robot is poor in load capacity, large in size and low in response speed are solved. According to the technical key points, the system comprises a heading part and a rudder part, the heading part controls movement, and a first motor moves to drive a planetary gear train to move so as to drive a hub to move; the rudder direction part controls movement, a second motor drives a small belt wheel to move, the small belt wheel and a large belt wheel are connected through a synchronous belt, then the large belt wheel moves, the large belt wheel drives a bearing inner ring upper pressing plate and a bearing inner ring lower pressing plate to move and a hub to move, and during movement, the inner ring of a large bearing does not move, and the outer ring of the large bearing rotates. According to the steering wheel module, the motor is placed in the hub, and the size of the steering wheel module is integrally reduced; a planetary gear train reduction gearbox is embedded in a hub, so that the output torque is increased, and the loading capacity of the wheeled robot is improved; a deceleration belt wheel system is adopted in the rudder direction, noise is reduced, the steering response speed is increased, and the market prospect is wide.

Description

Technical Field

[0001] The utility model relates to the technical field of steering wheel design, in particular to a novel steering wheel for a robot. Background Art

[0002] Wheeled robots move faster on flat surfaces, have simpler structures, controls, and mobility, and offer greater energy efficiency. These advantages make them particularly effective in many applications, particularly those requiring high-speed mobility and high energy efficiency. However, wheeled robots also have significant limitations, such as poor terrain adaptability and obstacle traversal, making them difficult to navigate in complex or unstructured environments. Furthermore, wheeled robots suffer from low turning efficiency and large turning radius, which, to a certain extent, restricts their application in certain environments.

[0003] Currently, there are various drive schemes for wheeled robots, among which steering wheels have been widely used to drive mobile robots. In this steering wheel design, the steering wheel's movement is driven by a heading motor, while the direction is controlled by a steering motor. However, due to the large number of drive components and mechanical parts involved in the steering wheel module, the steering wheel module is relatively large, which is not conducive to the chassis design of small and medium-sized intelligent robots. Moreover, most motors use a direct connection to the heading motor to drive the steering wheel module, which can easily reduce the steering wheel module's load capacity, thereby affecting the load capacity of the entire robot. Some steering wheel modules use a gear set to control the steering wheel's direction, which can also generate a certain amount of noise, affecting the robot's performance under certain conditions.

[0004] Therefore, it is urgent to propose a new type of steering wheel for robots to solve the problems of poor load capacity, large size and slow response speed of existing robots. Utility Model Content

[0005] In view of the above facts, in order to solve the problems of poor load capacity, large size and slow response speed of existing robots, the present invention designs a new steering wheel for robots.

[0006] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0007] A new steering wheel for a robot, comprising a heading part and a rudder part;

[0008] The heading part includes a first motor, a planetary gear train, a wheel hub, a motor support seat, a frame, and a planetary gear train support seat;

[0009] The first motor and the planetary gear train are both embedded in the wheel hub, the wheel hub is mounted in the frame, the first motor is connected to the center wheel of the planetary gear train, the outer ring of the planetary gear train is connected to the wheel hub, the first motor is rotatably mounted on the motor support seat, and the planetary gear train is mounted on the planetary gear train support seat;

[0010] The steering part includes a second motor, a small pulley, a large pulley, and a large bearing;

[0011] The second motor is installed outside the frame, the output end of the second motor is connected to a small pulley, and the small pulley and the large pulley are connected by a synchronous belt;

[0012] A large bearing is installed between the bearing inner ring upper pressure plate and the bearing inner ring lower pressure plate. The large bearing inner ring cooperates with the outer rings of the bearing inner ring upper pressure plate and the bearing inner ring lower pressure plate. The large bearing outer ring cooperates with the frame. The top surface of the bearing inner ring upper pressure plate is connected to the large pulley. The bottom surface of the bearing inner ring lower pressure plate is connected to the motor support seat and the planetary gear train support seat.

[0013] The motor support seat and the planetary gear train support seat are both connected to the wheel hub via a small bearing.

[0014] Furthermore: a pressure plate spacer is provided between the upper pressure plate of the bearing inner ring and the lower pressure plate of the bearing inner ring.

[0015] Furthermore: the top of the frame is connected to a curved end cover, a photoelectric door is fixedly installed on the curved end cover, a probe is provided on the inner side of the curved end cover, and the probe is installed on the top surface of the large pulley.

[0016] Furthermore: a wire groove is provided directly above the curved end cover.

[0017] Furthermore: the first motor is connected to the central gear of the planetary gear train through a coupling.

[0018] Furthermore: a brushless DC fan is installed on the planetary gear train support seat.

[0019] The beneficial effects of the present invention are:

[0020] 1. The utility model places the motor into the wheel hub, reducing the overall volume of the steering wheel.

[0021] 2. The planetary gear reduction box is embedded in the wheel hub of the utility model, which increases the output torque and improves the load capacity of the wheeled robot.

[0022] 3. The utility model adopts a speed reduction pulley system to reduce noise and improve steering response speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is an axonometric drawing of the present utility model;

[0024] Figure 2 It is an exploded view of the utility model;

[0025] Figure 3 It is a structural schematic diagram of the bearing inner ring upper pressure plate and the bearing inner ring lower pressure plate.

[0026] In the figure: 1-first motor, 2-planetary gear train, 3-wheel hub, 4-motor support seat, 5-frame, 6-small bearing, 7-planetary gear train support seat, 8-brushless DC fan, 9-second motor, 10-small pulley, 11-large pulley, 12-large bearing, 13-photoelectric gate, 14-wire trough, 15-probe, 16-coupling, 17-bearing inner ring upper pressure plate, 18-curved end cover, 20-spacer between pressure plates, 21-bearing inner ring lower pressure plate. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention 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, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0028] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0029] In this application, terms such as "upper," "lower," "inner," "middle," "outer," "front," and "back" indicate positions or locations based on the positions or locations shown in the accompanying drawings. These terms are primarily intended to better describe this application and its embodiments and are not intended to limit the devices, elements, or components indicated to having a specific orientation, or to being constructed or operated in a specific orientation.

[0030] Furthermore, some of the above terms may be used to express other meanings besides indicating a position or location. For example, the term "on" may also be used to indicate a dependency or connection in certain circumstances. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0031] Furthermore, the terms "disposed," "connected," and "fixed" should be interpreted broadly. For example, "connected" can mean a fixed connection, a removable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection, an indirect connection through an intermediary, or an internal communication between two devices, elements, or components. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0032] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0033] The preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0034] Embodiment: A novel steering wheel for a robot comprises a heading portion and a rudder portion;

[0035] The heading part includes a first motor 1, a planetary gear train 2, a wheel hub 3, a motor support base 4, a frame 5, and a planetary gear train support base 7;

[0036] The first motor 1 and the planetary gear train 2 are both embedded in the hub 3, which is mounted in the frame 5. The first motor 1 is connected to the center wheel of the planetary gear train 2, and the outer ring of the planetary gear train 2 is connected to the hub 3. The first motor 1 is rotatably mounted on the motor support 4, and the planetary gear train 2 is mounted on the planetary gear train support 7.

[0037] The steering part includes a second motor 9, a small pulley 10, a large pulley 11, and a large bearing 12;

[0038] The second motor 9 is installed outside the frame 5, and the output end of the second motor 9 is connected to a small pulley 10, and the small pulley 10 and the large pulley 11 are connected by a synchronous belt;

[0039] A large bearing 12 is installed between the bearing inner ring upper pressure plate 17 and the bearing inner ring lower pressure plate 21. The inner ring of the large bearing 12 cooperates with the outer rings of the bearing inner ring upper pressure plate 17 and the bearing inner ring lower pressure plate 21. The outer ring of the large bearing 12 cooperates with the frame 5. The top surface of the bearing inner ring upper pressure plate 17 is connected to the large pulley 11. The bottom surface of the bearing inner ring lower pressure plate 21 is connected to the motor support seat 4 and the planetary gear train support seat 7.

[0040] The motor support seat 4 and the planetary gear train support seat 7 are both connected to the hub 3 via a small bearing 6 .

[0041] More specifically, a spacer block 20 is provided between the bearing inner ring upper pressure plate 17 and the bearing inner ring lower pressure plate 21 .

[0042] More specifically: the top of the frame 5 is connected to the curved end cover 18, and the photoelectric gate 13 is fixedly installed on the curved end cover 18, which can be used to determine the starting position of the steering wheel. A probe 15 is provided on the inner side of the curved end cover 18. During movement, the movement state of the steering wheel can be judged by detecting the number of times the probe 15 passes through the photoelectric gate 13. The probe 15 is installed on the top surface of the large pulley 11.

[0043] More specifically, a wire guide groove 14 is provided just above the curved end cover 18 to organize the internal wires of the steering wheel to the same position.

[0044] More specifically, the first motor 1 is connected to the central gear of the planetary gear train 2 via a coupling 16 .

[0045] More specifically, a brushless DC fan 8 is installed on the planetary gear train support seat 7 .

[0046] More specifically: the first motor 1 is a 5010 motor, and the second motor 9 is a M2006 motor.

[0047] More specifically, the inner ring of the motor support seat 4 and the inner ring of the small bearing 6 are relatively stationary during the heading process.

[0048] More specifically, the brushless DC fan 8 is used to cool the steering wheel module during operation.

[0049] More specifically: the heading part controls the movement, the movement of the first motor 1 drives the planetary gear system 2 to move, and then drives the hub 3 to move; the steering part controls the movement, the second motor 9 drives the small pulley 10 to move, and then the large pulley 11 to move, the large pulley 11 drives the upper pressure plate 17 of the inner ring of the bearing and the lower pressure plate 21 of the inner ring of the bearing to move, and the hub 3 moves. At the same time, during the movement, the inner ring of the large bearing 12 does not move, and the outer ring rotates.

[0050] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, the technical solutions described in the aforementioned embodiments can still be modified, or some or all of the technical features therein can be replaced by equivalents. As long as there is no structural conflict, the various features in the specific implementation methods disclosed in this application can be combined with each other in any way, and the essence of the corresponding technical solutions will not deviate from the scope of the technical solutions of the present invention.

[0051] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A new steering wheel for a robot, characterized in that: Including heading part and rudder part; The heading part comprises a first motor (1), a planetary gear train (2), a wheel hub (3), a motor support seat (4), a frame (5), and a planetary gear train support seat (7); The first motor (1) and the planetary gear train (2) are both embedded in the wheel hub (3), the wheel hub (3) is mounted in the frame (5), the first motor (1) is connected to the center wheel of the planetary gear train (2), the outer ring of the planetary gear train (2) is connected to the wheel hub (3), the first motor (1) is rotatably mounted on the motor support seat (4), and the planetary gear train (2) is mounted on the planetary gear train support seat (7); The steering part includes a second motor (9), a small pulley (10), a large pulley (11), and a large bearing (12); The second motor (9) is installed outside the frame (5), and the output end of the second motor (9) is connected to a small pulley (10), and the small pulley (10) and the large pulley (11) are connected through a synchronous belt; A large bearing (12) is installed between the bearing inner ring upper pressure plate (17) and the bearing inner ring lower pressure plate (21), the inner ring of the large bearing (12) cooperates with the outer rings of the bearing inner ring upper pressure plate (17) and the bearing inner ring lower pressure plate (21), the outer ring of the large bearing (12) cooperates with the frame (5), the top surface of the bearing inner ring upper pressure plate (17) is connected to the large pulley (11), and the bottom surface of the bearing inner ring lower pressure plate (21) is connected to the motor support seat (4) and the planetary gear train support seat (7); The motor support seat (4) and the planetary gear train support seat (7) are both connected to the wheel hub (3) via a small bearing (6).

2. The new steering wheel for a robot according to claim 1, characterized in that: An inter-pressing plate pad (20) is provided between the bearing inner ring upper press plate (17) and the bearing inner ring lower press plate (21).

3. The new steering wheel for a robot according to claim 1, characterized in that: The top of the frame (5) is connected to a curved end cover (18), a photoelectric door (13) is fixedly mounted on the curved end cover (18), a probe (15) is arranged on the inner side of the curved end cover (18), and the probe (15) is mounted on the top surface of the large pulley (11).

4. The new steering wheel for a robot according to claim 3, characterized in that: A wire groove (14) is provided directly above the curved end cover (18).

5. The new steering wheel for a robot according to claim 1, characterized in that: The first motor (1) is connected to the central gear of the planetary gear train (2) via a coupling (16).

6. The new steering wheel for a robot according to claim 1, characterized in that: A brushless DC fan (8) is installed on the planetary gear train support seat (7).

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