Front single wheel driving steering device for robot

Abstract

The front single wheel driving steering device for the robot comprises a motor, a bottom plate, a rotating disc, an adapter plate, a walking wheel component, a driving gear and a speed reducer, the motor is matched with the speed reducer, the speed reducer is installed on the bottom plate, and the output end of the speed reducer is connected with the driving gear; the driving gear is matched with the rotating disc, the bearing seat is installed on the bottom plate, the bearing is matched with the bearing seat, the rotating disc is connected with the adapter plate, and the adapter plate is connected with the walking wheel component. Compared with a traditional four-wheel or six-wheel driven robot, the steering is more flexible, and the robot is suitable for the environment with insufficient space.

Description

TECHNICAL FIELD

[0001] The utility model relates to intelligent robot technical field, especially relate to a robot is with front single wheel drive steering gear. BACKGROUND

[0002] With the continuous development of science and technology, robot technology has been widely applied in many fields. Traditional mobile robots usually adopt four-wheel or six-wheel drive to realize stable driving and steering. However, this design has problems such as complex structure, heavy weight, high energy consumption, etc. In various complex terrains and environments, such as urban roads, rugged terrain and indoor environment, traditional mobile robots also have problems of poor maneuverability and adaptability. SUMMARY

[0003] The utility model aims at overcoming the prior art's insufficient, provide a robot is with front single wheel drive steering gear.

[0004] The utility model aims at overcoming the prior art's insufficient, provide a robot is with front single wheel drive steering gear.

[0005] A robot is with front single wheel drive steering gear, including motor, bottom plate, carousel, adapter plate, walking wheel component, driving gear, speed reducer, the motor with the speed reducer cooperation, the motor passes through the speed reducer and is installed on the bottom plate, the speed reducer output end is linked with the driving gear;The driving gear is engaged with the carousel, and the carousel is connected with the adapter plate, and the rotating shaft is rotatably arranged in the bearing seat, and the bearing seat is fixedly installed on the bottom plate, and the adapter plate is connected with the walking wheel component.

[0006] Further, the speed reducer is fastened on the fixed base by a first screw, and the fixed base is fastened and installed on the bottom plate by a second screw.

[0007] Further, the driving gear drives the carousel by the way of internal meshing, and the carousel is fastened with the adapter plate by a screw through a gasket.

[0008] Further, the adapter plate and the walking wheel component are fastened together by a screw, and the walking wheel component is responsible for forward movement.

[0009] Further, the carousel is fixedly connected with the adapter plate through a gasket.

[0010] Further, the rotating shaft and the bearing seat are connected through a bearing, the rotating shaft cooperates with the bearing, and the upper bearing pressing plate is fastened with the rotating shaft by a screw.

[0011] Further, the rotating shaft is fixedly provided with an upper bearing pressing plate and a shaft sleeve, and the upper bearing pressing plate and the shaft sleeve are matched with two ends of the bearing respectively.

[0012] Furthermore, a bearing lower pressure plate and a pressure piece are respectively provided at both ends of the bearing seat, and the bearing lower pressure plate and the pressure piece are respectively matched with the two ends of the bearing.

[0013] Furthermore, the present invention's front-wheel-driven steering robot primarily consists of a body, a front-driven steering wheel, and rear support wheels. The front-driven steering wheel, located at the front of the robot, is responsible for both driving the robot forward and controlling its steering. The rear support wheels, which may be two or more, support the robot's body and ensure its stability.

[0014] The beneficial effects of the utility model are:

[0015] 1) Compared with traditional robots, the utility model has the advantages of simple structure, light weight, low energy consumption, strong maneuverability, etc. It also has a small turning radius and can move flexibly in a small space.

[0016] 2) The turntable in the utility model adopts a special structural design to reduce weight.

[0017] 3) In the present invention, the output end of the reducer is connected to the driving gear via a square key, which facilitates the transmission of a larger torque. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a front view of the steering mechanism of the present invention;

[0019] Figure 2 A sectional view of the steering mechanism of the present invention;

[0020] Figure 3 Schematic diagram of the steering mechanism of the present invention;

[0021] Figure 4 Schematic diagram of the steering mechanism of the present invention;

[0022] Figure 5 This is a schematic diagram of the key parts of the steering mechanism of the utility model;

[0023] Figure 6 This is a partial enlarged view of area B of the steering mechanism of the present invention;

[0024] In the figure, 1-motor, 2-fixed base, 3-bottom plate, 4-bearing seat, 5-bearing upper pressure plate, 6-rotating shaft, 7-bearing, 8-turntable, 9-adapter plate, 10-travel wheel component, 11-bearing lower pressure plate, 12-driving gear, 13-reducer, 14-pad, 15-sleeve, 16-pressing piece. DETAILED DESCRIPTION

[0025] The technical solutions of the present application will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments of the present application, all the other embodiments obtained by those skilled in the art without creative effort are within the scope of the present application.

[0026] Referring to Figures 1-6 The present application provides a technical solution:

[0027] A front single-wheel driving steering device for a robot, comprising a motor 1, a bottom plate 3, a rotating disc 8, an adapter plate 9, a walking wheel component 10, a driving gear 12 and a speed reducer 13, the motor 1 is fixedly installed on the bottom plate 3 through the speed reducer 13, the output end of the motor 1 is connected with the input end of the speed reducer 13, the output end of the speed reducer 13 is fixedly connected with the driving gear 12, the driving gear 12 is engaged with the rotating disc 8, the rotating disc 8 is fixedly connected with the adapter plate 9, the adapter plate 9 is fixedly arranged on a rotating shaft 6, the rotating shaft 6 is rotatably arranged in a bearing seat 4, the bearing seat 4 is fixedly installed on the bottom plate 3, and the walking wheel component 10 is fixedly arranged on the adapter plate 9. The speed reducer 13 and the motor 1 are both prior art, the motor 1 is connected with the speed reducer 13, the speed reducer 13 is installed on the bottom plate 3, the output end of the speed reducer 13 is connected with the driving gear 12, the driving gear 12 is engaged with the rotating disc 8, the bearing seat 4 is installed on the bottom plate 3, the bearing 7 is installed in the bearing seat 4, the rotating disc 8 is connected with the adapter plate 9, and the adapter plate 9 is connected with the walking wheel component 10. The speed reducer 13 is fixedly arranged on one end of the bottom plate 3, a rear wheel assembly of the robot is arranged on the other end of the bottom plate 3, and the rear wheel assembly is prior art.

[0028] In some embodiments, the speed reducer 13 is fastened to the fixed base 2 through a first screw, the fixed base 2 is fastened to the bottom plate 3 through a second screw, the fixed base 2 is used for connecting the bottom plate 3 and the speed reducer 13, and the fixed base 2 can adjust the height of the speed reducer 13 and the motor 1 relative to the bottom plate 3. The speed reducer 13 is connected with the driving gear 12 through a square key, and can transmit a large torque.

[0029] In some embodiments, the rotating disc 8 is fastened with the adapter plate 9 through a screw through a gasket 14. The rotating disc 8 has incomplete teeth, the gasket 14 has a through hole through which the screw passes, and the gasket 14 is arranged to adjust the relative position of the rotating disc 8 and the adapter plate 9. The adapter plate 9 and the walking wheel component 10 are installed together through a screw, the walking wheel component 10 is prior art, the walking wheel component 10 comprises a rotating motor and a wheel, the rotating motor drives the wheel to be responsible for forward movement. The torque of the adapter plate 9 directly comes from the rotating disc 8, when the rotating disc 8 is rotated by the torque output by the driving gear 12, the adapter plate 9 receives the torque transmitted by the rotating disc 8, so that the walking wheel component 10 is rotated, and finally the direction of the robot is changed.

[0030] In some embodiments, the adapter plate 9 is fixedly connected with the rotating shaft 6 by welding. The rotating shaft 6 is connected with the bearing seat 4 through the bearing 7, the bearing seat 4 is connected with the bearing lower pressing plate 11 by screws, and the bearing seat 4 is connected with the bottom plate 3 by the fourth screws. The rotating shaft 6 is matched with the bearing 7, and the bearing upper pressing plate 5 is fastened with the rotating shaft 6 by screws. The bearing upper pressing plate 5 and the shaft sleeve 15 are fixedly arranged on the rotating shaft 6, the bearing upper pressing plate 5 is directly contacted with the upper end of the inner ring of the bearing 7, the shaft sleeve 15 is directly contacted with the lower end of the inner ring of the bearing 7, and the shaft sleeve 15 is welded on the rotating shaft 6. The bearing seat 4 is provided with the bearing lower pressing plate 11 and the pressing plate 16 at two ends respectively, the pressing plate 16 is directly contacted with the bottom plate 3, and the bearing lower pressing plate 11 and the pressing plate 16 are directly contacted with the upper end and the lower end of the outer ring of the bearing 7 respectively. When the adapter plate 9 rotates under the action of the torque transmitted by the rotating disc 8, the rotating shaft 6 stably rotates under the lubrication of the bearing 7, and the bearing 7 is a deep groove ball bearing in the prior art.

[0031] In the description of the present application, it should be understood that the terms "upper", "lower", "bottom", "one end", "top", "middle", "the other end", "coaxial", "one side", "inner", "front", "central", "both ends" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0032] In the present application, unless otherwise explicitly specified and limited, the terms "arrangement", "installation", "connection", "fixation", "hinge" and the like should be understood in a broad sense, for example, can be fixedly connected, or can be detachably connected, or can be integrated; can be mechanically connected, or can be electrically connected; can be directly connected, or can be indirectly connected through an intermediate medium; can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited, and those skilled in the art can understand the specific meaning of the above terms in the present application according to the specific circumstances.

[0033] The above is only the preferred embodiment of the present application, and it should be understood that the present application is not limited to the form disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the concept described herein by the above teaching or related technology or knowledge. The modification and change made by those skilled in the art without departing from the spirit and scope of the present application shall be within the protection scope of the claims attached to the present application.

Claims

1. A front single-wheel drive steering device for a robot, characterized by: The utility model relates to a walking wheel mechanism, including motor (1), bottom plate (3), rotating disc (8), adapter plate (9), walking wheel part (10), driving gear (12) and speed reducer (13), motor (1) is fixedly installed on bottom plate (3) through speed reducer (13), the output of motor (1) is connected with the input of speed reducer (13), the output of speed reducer (13) is fixedly connected with driving gear (12), driving gear (12) is engaged with rotating disc (8), rotating disc (8) is fixedly connected with adapter plate (9), adapter plate (9) is fixedly arranged on rotating shaft (6), rotating shaft (6) is rotatably arranged in bearing seat (4), bearing seat (4) is fixedly installed on bottom plate (3), walking wheel part (10) is fixedly arranged on adapter plate (9).

2. A front single wheel drive steering apparatus for a robot according to claim 1, characterized in that: The speed reducer (13) is fastened on the fixed base (2) by the first screw, and the fixed base (2) is fastened on the bottom plate (3) by the second screw.

3. A front single wheel drive steering arrangement for a robot as claimed in claim 2, characterised in that: The rotating disc (8) is fixedly connected with the adapter plate (9) through the gasket (14).

4. A front single wheel drive steering arrangement for a robot as claimed in claim 3 wherein: The adapter plate (9) is fixedly connected with the rotating shaft (6) by welding.

5. A front single wheel drive steering arrangement for a robot as claimed in claim 4 wherein: The rotating shaft (6) is connected with the bearing (7) between the bearing seat (4), and the rotating shaft (6) is matched with the bearing (7).

6. A front single wheel drive steering arrangement for a robot as claimed in claim 5 wherein: The rotating shaft (6) is fixedly provided with the bearing upper pressing plate (5) and the shaft sleeve (15), and the bearing upper pressing plate (5) and the shaft sleeve (15) are matched with two ends of the bearing (7) respectively.

7. A front single wheel drive steering arrangement for a robot according to claim 5 or 6 wherein: The bearing seat (4) is provided with the bearing lower pressing plate (11) and the pressing sheet (16) at two ends respectively, and the bearing lower pressing plate (11) and the pressing sheet (16) are matched with two ends of the bearing (7) respectively.

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