Flexible steering walking wheel set applied to body robot

Abstract

The utility model relates to robot technical field especially, and more particularly relates to a kind of flexible steering walking wheel set applied to body robot.The technical scheme thereof includes: robot base, upper fixed plate, support, lower fixed plate, drive mechanism and steering mechanism, upper fixed plate is connected with lower fixed plate by support, reinforcing member is equipped between lower fixed plate to enhance structural stability;Driving motor is rotated by driving lever and drives driving wheel, power is transmitted to bevel gear set through transmission wheel and rotating lever, and vertical rotary power is converted into horizontal rotary force, and driving wheel set rolls and realizes robot movement, and steering motor driving wheel is engaged with steering gear disc, drives steering seat and wheel set to rotate around vertical direction, and wheel set is accurately steered by controlling steering motor, wheel set adopts rubber tire and is provided with herringbone anti-skid texture, improves ground adaptability, steering and driving are independently coordinated, and robot flexible steering and stable walking can be realized, suitable for various body robot movement scene.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a flexible steering and walking wheel set applied to a body-worn robot. Background Technology

[0002] With the rapid development of robotics technology, embodied robots are increasingly widely used in industrial production, service industries, scientific research and exploration, etc. They need to complete actions such as walking, turning and precise positioning in diverse scenarios, which puts forward higher requirements for the motion performance of the walking wheel set.

[0003] Currently, most walking wheel sets of body-worn robots on the market have many shortcomings. On the one hand, some wheel sets use a single drive or steering structure, making it difficult to achieve independent control and coordinated operation of steering and drive. This results in the robot being unable to turn flexibly in place in narrow spaces, and having difficulty accurately adjusting its direction of movement in complex paths, leading to poor mobility and scene adaptability.

[0004] On the other hand, the power transmission efficiency and structural stability of existing wheel sets need to be improved. Some wheel sets use belt drive or chain drive, which are prone to slippage and wear during long-term use, resulting in power transmission interruption or efficiency reduction. In view of this, we propose a flexible steering and walking wheel set for embodied robots to solve the existing problems. Utility Model Content

[0005] The purpose of this invention is to provide a flexible steering and walking wheel set for use in automata, in order to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a flexible steering and walking wheel set for a robot, comprising a robot base, an upper fixed plate, support members, a lower fixed plate, a drive mechanism, and a steering mechanism. The upper fixed plate is fixedly connected to each of the four corners of the robot base. Multiple support members are arranged at equal intervals below the upper fixed plate. The lower fixed plate is connected to the upper fixed plate through the support members. Each of the four corner upper fixed plates is provided with a gear-driven drive mechanism. A steering mechanism is provided on the diagonally opposite lower fixed plate on one side of the drive mechanism, and a reinforcing member is provided between the lower fixed plates.

[0007] Preferably, the steering mechanism includes a steering motor, a drive wheel, a steering gear disk, a steering seat, and a wheel set. A steering motor is fixedly connected to the lower fixed plate diagonally, and a steering gear disk is movably connected to each of the lower fixed plates. A drive wheel is fixedly connected to the output end of the steering motor. The drive wheel and the steering gear disk mesh with each other. A steering seat is fixedly connected below the steering gear disk, and a wheel set is movably connected to each of the steering seats.

[0008] Preferably, the driving mechanism includes a drive motor, a drive wheel, a transmission wheel, a drive rod, a rotating rod, a first bevel gear, and a second bevel gear. The drive motor is fixedly connected to the upper fixed plate. The output end of the drive motor is fixedly connected to the drive rod. The drive wheel is fixedly connected below the drive rod. The rotating rod is movably connected to the steering gear disk. The rotating rod passes through the rotating gear disk and is fixedly connected to the transmission wheel. The transmission wheel and the drive wheel mesh with each other.

[0009] Preferably, a first bevel gear is provided on the side of the rotating rod away from the transmission wheel, and a second bevel gear is fixedly connected to one side of the wheel assembly, with the first bevel gear and the second bevel gear meshing with each other.

[0010] Preferably, both the steering motor and the drive motor are electrically connected to an external power source and controller.

[0011] Preferably, the wheel set is a rubber tire, and the outer side of the rubber tire is provided with anti-slip texture, and the anti-slip texture is distributed in a herringbone pattern.

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

[0013] 1. The steering motor acts as a power source. When it receives a steering command from the controller, its output shaft starts to rotate, driving the drive wheel fixed at the output end to rotate synchronously. The drive wheel meshes with the steering gear disk movably connected to the lower fixed plate. The rotational motion of the drive wheel is transmitted to the steering gear disk through the gear meshing relationship, causing the steering gear disk to rotate horizontally on the lower fixed plate. The steering seat fixedly connected below the steering gear disk rotates synchronously with the steering gear disk. Since the wheel set is movably connected to the steering seat, the rotation of the steering seat will drive the entire wheel set to rotate around the vertical direction. The rotation angle of the wheel set is proportional to the rotation angle of the steering gear disk. By controlling the rotation direction and angle of the steering motor, the steering angle of the wheel set can be precisely adjusted, thereby realizing the robot's steering action.

[0014] 2. After receiving the controller command, the drive motor fixed on the upper fixed plate starts. Its output shaft rotates and drives the drive rod fixed to it to rotate synchronously. Then, the drive wheel below the drive rod rotates together with it. The drive wheel meshes with the transmission wheel on the steering gear disk and transmits the rotational power to the transmission wheel through gear meshing. Since the transmission wheel is fixed at the top of the rotating rod, the rotation of the transmission wheel will drive the rotating rod to rotate synchronously. The first bevel gear at the bottom of the rotating rod rotates with the rotating rod. Through the meshing relationship with the second bevel gear fixed on one side of the wheel set, the vertical rotational power is converted into horizontal rotational force, which finally drives the wheel set to roll, realizing the robot's straight-line walking or movement. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0016] Figure 2 This is a top view of the robot base in this utility model;

[0017] Figure 3 This is a schematic diagram of the steering mechanism in this utility model;

[0018] Figure 4 This is a schematic diagram of the drive mechanism in this utility model.

[0019] In the diagram: 1. Robot base; 2. Upper fixing plate; 3. Support component; 4. Lower fixing plate; 5. Drive mechanism; 501. Drive motor; 502. Drive wheel; 503. Transmission wheel; 504. Drive rod; 505. Rotating rod; 506. First bevel gear; 507. Second bevel gear; 6. Steering mechanism; 601. Steering motor; 602. Drive wheel; 603. Steering gear disk; 604. Steering seat; 605. Wheel set; 7. Reinforcing component. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to specific embodiments and accompanying drawings. It should be understood that these descriptions are merely exemplary and not intended to limit the scope of this utility model. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concept of this utility model.

[0021] like Figures 1-4 As shown, this utility model proposes a flexible steering and walking wheel set for a robot, including a robot base 1, an upper fixed plate 2, support members 3, a lower fixed plate 4, a drive mechanism 5, and a steering mechanism 6. The upper fixed plate 2 is fixedly connected to each of the four corners of the robot base 1. Multiple support members 3 are arranged at equal intervals below the upper fixed plate 2. The lower fixed plate 4 is set on the upper fixed plate 2 through the support members 3. The upper fixed plate 2 at each of the four corners is provided with a gear-driven drive mechanism 5. The steering mechanism 6 is set on the lower fixed plate 4 diagonally on one side of the drive mechanism 5, and a reinforcing member 7 is set between the lower fixed plates 4.

[0022] In an optional embodiment, the steering mechanism 6 includes a steering motor 601, a drive wheel 602, a steering gear disk 603, a steering seat 604, and a wheel set 605. The steering motor 601 is fixedly connected to the lower fixed plate 4, and the steering gear disk 603 is movably connected to the lower fixed plate 4. The output end of the steering motor 601 is fixedly connected to the drive wheel 602. The drive wheel 602 and the steering gear disk 603 mesh with each other. The steering seat 604 is fixedly connected below the steering gear disk 603, and the wheel set 605 is movably connected to the steering seat 604.

[0023] As a power source, the steering motor 601 starts to rotate its output shaft when it receives a steering command from the controller. This drives the drive wheel 602, which is fixed at the output end, to rotate synchronously. The drive wheel 602 meshes with the steering gear disk 603, which is movably connected to the lower fixed plate 4. The rotational motion of the drive wheel 602 is transmitted to the steering gear disk 603 through the gear meshing relationship, causing the steering gear disk 603 to rotate horizontally on the lower fixed plate 4. The steering seat 604, which is fixedly connected below the steering gear disk 603, rotates synchronously with the steering gear disk 603. Since the wheel set 605 is movably connected to the steering seat 604, the rotation of the steering seat 604 will drive the wheel set 605 to rotate around the vertical direction. The rotation angle of the wheel set 605 is proportional to the rotation angle of the steering gear disk 603. By controlling the rotation direction and angle of the steering motor 601, the steering angle of the wheel set 605 can be precisely adjusted, thereby realizing the robot's steering action.

[0024] In an optional embodiment, the drive mechanism 5 includes a drive motor 501, a drive wheel 502, a transmission wheel 503, a drive rod 504, a rotating rod 505, a first bevel gear 506, and a second bevel gear 507. The drive motor 501 is fixedly connected to the upper fixed plate 2. The output end of the drive motor 501 is fixedly connected to the drive rod 504. The drive wheel 502 is fixedly connected below the drive rod 504. The rotating rod 505 is movably connected to the steering gear disk 603. The rotating rod 505 passes through the rotating gear disk and is fixedly connected to the transmission wheel 503. The transmission wheel 503 and the drive wheel 502 mesh with each other.

[0025] In an optional embodiment, a first bevel gear 506 is provided on the side of the rotating rod 505 away from the transmission wheel 503, and a second bevel gear 507 is fixedly connected to one side of the wheel set 605, with the first bevel gear 506 and the second bevel gear 507 meshing with each other.

[0026] After receiving a command from the controller, the drive motor 501, fixed on the upper fixed plate 2, starts. Its output shaft rotates and drives the drive rod 504, which is fixed to it, to rotate synchronously. Then, the drive wheel 502 below the drive rod 504 rotates together with it. The drive wheel 502 meshes with the transmission wheel 503 on the steering gear disk 603, and transmits the rotational power to the transmission wheel 503 through gear meshing. Since the transmission wheel 503 is fixed to the top of the rotating rod 505, the rotation of the transmission wheel 503 will drive the rotating rod 505 to rotate synchronously. The first bevel gear 506 at the bottom of the rotating rod 505 rotates with the rotating rod 505. Through the meshing relationship with the second bevel gear 507 fixed on one side of the wheel set 605, the vertical rotational power is converted into horizontal rotational force, which finally drives the wheel set 605 to roll, realizing the robot's straight-line walking or movement.

[0027] In an optional embodiment, both the steering motor 601 and the drive motor 501 are electrically connected to an external power source and controller.

[0028] In an optional embodiment, the wheel set 605 is a rubber tire with anti-slip texture on the outer side, the anti-slip texture being distributed in a herringbone pattern.

[0029] The working principle of this utility model is as follows: When using this device, the steering motor 601 serves as a power source. When it receives a steering command from the controller, its output shaft begins to rotate, driving the drive wheel 602 fixed at the output end to rotate synchronously. The drive wheel 602 meshes with the steering gear disk 603 movably connected to the lower fixed plate 4. The rotational motion of the drive wheel 602 is transmitted to the steering gear disk 603 through the gear meshing relationship, causing the steering gear disk 603 to rotate horizontally on the lower fixed plate 4. The steering seat 604 fixedly connected below the steering gear disk 603 rotates synchronously with the steering gear disk 603. Since the wheel set 605 is movably connected to the steering seat 604, the rotation of the steering seat 604 will drive the wheel set 605 to rotate around the vertical direction. The rotation angle of the wheel set 605 is proportional to the rotation angle of the steering gear disk 603. By controlling the rotation direction and angle of the steering motor 601, the steering angle of the wheel set 605 can be precisely adjusted, thereby realizing the robot's steering action.

[0030] After the steering is completed, the drive motor 501 fixed on the upper fixed plate 2 starts after receiving the controller command. Its output shaft rotates and drives the drive rod 504 fixed to it to rotate synchronously. Then, the drive wheel 502 below the drive rod 504 rotates together with it. The drive wheel 502 meshes with the transmission wheel 503 on the steering gear disk 603 and transmits the rotational power to the transmission wheel 503 through gear meshing. Since the transmission wheel 503 is fixed to the top of the rotating rod 505, the rotation of the transmission wheel 503 will drive the rotating rod 505 to rotate synchronously. The first bevel gear 506 at the bottom of the rotating rod 505 rotates with the rotating rod 505. Through the meshing relationship with the second bevel gear 507 fixed on one side of the wheel set 605, the vertical rotational power is converted into horizontal rotational force, which finally drives the wheel set 605 to roll, realizing the robot's straight-line walking or movement.

[0031] It should be understood that the specific embodiments described above are for illustrative purposes or to explain the principles of this utility model, and do not constitute a limitation thereof. Therefore, any modifications, equivalent substitutions, improvements, etc., made without departing from the spirit and scope of this utility model should be included within its protection scope. Furthermore, the appended claims are intended to cover all variations and modifications falling within the scope and boundaries of the appended claims, or equivalent forms of such scope and boundaries.

Claims

1. A flexible steering walking wheel set applied to a body robot, characterized in that: The robot includes a robot base (1), an upper fixing plate (2), a support member (3), a lower fixing plate (4), a drive mechanism (5), and a steering mechanism (6). The robot base (1) is fixedly connected to the upper fixing plate (2) at all four corners. Multiple support members (3) are arranged at equal intervals below the upper fixing plate (2). The upper fixing plate (2) is connected to the lower fixing plate (4) through the support members (3). The upper fixing plates (2) at the four corners are all equipped with gear-driven drive mechanisms (5). The lower fixing plates (4) at opposite corners are equipped with steering mechanisms (6) on one side of the drive mechanism (5). Reinforcing members (7) are arranged between the lower fixing plates (4).

2. The flexible steering and walking wheel set for a body-worn robot according to claim 1, characterized in that: The steering mechanism (6) includes a steering motor (601), a drive wheel (602), a steering gear disk (603), a steering seat (604), and a wheel set (605). The steering motor (601) is fixedly connected to the lower fixed plate (4) diagonally, and the steering gear disk (603) is movably connected to the lower fixed plate (4). The output end of the steering motor (601) is fixedly connected to the drive wheel (602). The drive wheel (602) meshes with the steering gear disk (603), and the steering seat (604) is fixedly connected below the steering gear disk (603). The wheel set (605) is movably connected to the steering seat (604).

3. The flexible steering and walking wheel set for a body-worn robot according to claim 2, characterized in that: The drive mechanism (5) includes a drive motor (501), a drive wheel (502), a transmission wheel (503), a drive rod (504), a rotating rod (505), a first bevel gear (506), and a second bevel gear (507). The drive motor (501) is fixedly connected to the upper fixed plate (2). The output end of the drive motor (501) is fixedly connected to the drive rod (504). The drive wheel (502) is fixedly connected below the drive rod (504). The rotating rod (505) is movably connected to the steering gear disk (603). The rotating rod (505) passes through the rotating gear disk and is fixedly connected to the transmission wheel (503). The transmission wheel (503) meshes with the drive wheel (502).

4. The flexible steering and walking wheel set for a body-worn robot according to claim 3, characterized in that: The rotating rod (505) is provided with a first bevel gear (506) on the side away from the transmission wheel (503), and a second bevel gear (507) is fixedly connected to one side of the wheel assembly (605). The first bevel gear (506) and the second bevel gear (507) mesh with each other.

5. A flexible steering and walking wheel set for a body-worn robot according to claim 4, characterized in that: Both the steering motor (601) and the drive motor (501) are electrically connected to an external power source and controller.

6. A flexible steering and walking wheel set for a body-worn robot according to claim 5, characterized in that: The wheel set (605) is a rubber tire with anti-slip texture on the outer side, and the anti-slip texture is distributed in a herringbone pattern.

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