Robot universal wheel motion control structure

Abstract

This utility model belongs to the technical field of robot motion components, and in particular to a motion control structure for a robot omnidirectional wheel. It includes a motor wheel, and further includes: an electromagnetic damping wheel frame, which has a "U"-shaped structure, with both ends of the lower part of the electromagnetic damping wheel frame fixed to the central axis of the motor wheel; an upper support plate, which is rotatably mounted on the upper end of the electromagnetic damping wheel frame; and an adjusting component, whose two ends are respectively rotatably mounted on the electromagnetic damping wheel frame and the upper support plate. This utility model, through a dual damping structure combining electromagnetic control and mechanical springs, can dynamically adjust the damping strength according to road conditions, significantly improving the robot's damping performance under different road conditions and reducing vibration damage to internal components.

Description

Technical Field

[0001] This utility model belongs to the technical field of robot motion components, specifically relating to the motion control structure of a robot universal wheel. Background Technology

[0002] As a core component for enabling robots to move flexibly, the stability of the omnidirectional wheels and their shock absorption performance directly affect the robot's operating accuracy and service life.

[0003] Existing robot casters generally use traditional spring damping structures with fixed damping strength. This makes it impossible to dynamically adjust the cushioning performance according to different road conditions. When traveling on rough roads, excessive vibration can easily lead to component damage, while on smooth roads, over-buffering can affect motion response speed. At the same time, most caster steering adjustment mechanisms lack stability, and are prone to deviation or jamming during rotation, making it difficult to meet the motion control requirements of high-precision robots. Utility Model Content

[0004] The purpose of this invention is to provide a motion control structure for a robot universal wheel to solve the problems mentioned in the background art, such as the inability to dynamically adjust shock absorption performance and insufficient stability of steering adjustment.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] The robot's omnidirectional wheel motion control structure includes a motor wheel, and also includes:

[0007] The electromagnetic shock-absorbing wheel frame has a "U"-shaped structure, and the two ends of the lower part of the electromagnetic shock-absorbing wheel frame are fixed to the central shaft of the motor wheel;

[0008] The upper support plate is rotatably mounted on the upper end of the electromagnetic shock-absorbing wheel frame. A limiting rod is integrally formed at the center of the lower surface of the upper support plate. The upper part of the electromagnetic shock-absorbing wheel frame has an insertion hole, and the lower end of the limiting rod passes through the insertion hole and is screwed with a nut. A limiting block is welded to the upper end of the electromagnetic shock-absorbing wheel frame. The surface of the upper support plate has a guide groove with an arc-shaped structure, and the center of the guide groove coincides with the axis of the limiting rod. The limiting block is movably installed in the guide groove.

[0009] An adjusting component, the two ends of which are respectively rotatably mounted on the electromagnetic damping wheel frame and the upper support plate.

[0010] Preferably, the electromagnetic shock-absorbing wheel frame includes an upper horizontal plate, with titanium alloy sleeves welded to both ends of the upper horizontal plate. A movable rod is movably installed inside the lower end of the titanium alloy sleeve. A non-magnetic tungsten steel tube is disposed inside the titanium alloy sleeve. A locking block is screwed onto the lower end of the titanium alloy sleeve and is fitted onto the outside of the movable rod. A slider is integrally formed at the upper end of the movable rod. The slider is in close contact with the inner surface of the non-magnetic tungsten steel tube. A magnet is fixed at the upper end of the slider. An electromagnet is fixed inside the upper end of the titanium alloy sleeve. A non-magnetic tungsten steel spring is fixed between the electromagnet and the magnet. A first return spring is welded to the lower part of the slider and is fitted onto the outside of the upper end of the movable rod. A bidirectional resistance guide groove for airflow is provided on the slider. The bidirectional resistance guide groove is provided with a bidirectional horn-shaped structure in a ring array.

[0011] Preferably, an angle iron is welded to the lower end of the movable rod, and the angle iron is mounted on the central shaft of the motor wheel.

[0012] Preferably, two titanium alloy sleeves welded to both ends of the upper horizontal plate are arranged in parallel, and the lower ends of two movable rods installed inside the two titanium alloy sleeves are welded to an angle iron.

[0013] Preferably, the adjusting component includes an electric push rod, with a second rotating shaft and a first rotating shaft respectively installed at both ends of the electric push rod. The first rotating shaft is installed on the side surface of the upper horizontal plate, and the second rotating shaft is installed on the lower surface of the upper support plate. A second return spring is sleeved on the electric push rod, and the two ends of the electric push rod are welded and fixed to the two ends of the second return spring.

[0014] Compared with the prior art, the beneficial effects of this utility model are:

[0015] 1. This utility model uses a dual shock absorption structure combining electromagnetic control and mechanical springs to dynamically adjust the damping strength according to road conditions, significantly improving the robot's shock absorption performance under different road conditions and reducing vibration damage to internal components.

[0016] 2. The steering limit structure, which combines a limit rod and a guide groove, and is driven by an electric push rod, effectively improves the stability and accuracy of the universal wheel steering adjustment, and avoids deviation and jamming during rotation.

[0017] 3. The electromagnetic shock-absorbing wheel frame adopts a combination structure of titanium alloy sleeve and non-magnetic tungsten steel tube, which has both lightweight and high strength characteristics. The design of bidirectional resistance guide groove further optimizes the buffer response speed. The overall structure is compact and highly adaptable. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0019] Figure 2This is a schematic diagram of the disassembled structure of the parts of this utility model;

[0020] Figure 3 This is a partial cross-sectional structural diagram of the shock-absorbing wheel frame in this utility model.

[0021] Reference numerals: 1. Motor wheel; 2. Electromagnetic shock-absorbing wheel frame; 21. Upper horizontal plate; 22. Titanium alloy sleeve; 23. Movable rod; 24. Locking block; 25. Slider; 26. Magnet block; 27. Electromagnet; 28. Non-magnetic tungsten steel spring; 29. ​​First return spring; 30. Bidirectional resistance guide groove; 31. Angle iron; 32. Insertion hole; 33. First rotating shaft; 34. Non-magnetic tungsten steel tube; 3. Upper support plate; 4. Guide groove; 5. Limiting block; 6. Limiting insertion rod; 7. Adjusting component; 71. Electric push rod; 72. Second return spring; 73. Second rotating shaft. Detailed Implementation

[0022] The technical solution of this utility model will now be described with reference to the accompanying drawings and embodiments.

[0023] Please see Figure 1-3 This embodiment provides the following technical solution: a robot omnidirectional wheel motion control structure, including a motor wheel 1, and further including:

[0024] The electromagnetic shock-absorbing wheel frame 2 has a "U"-shaped structure, and the two ends of the lower part of the electromagnetic shock-absorbing wheel frame 2 are fixed to the central shaft of the motor wheel 1.

[0025] The upper support plate 3 is rotatably mounted on the upper end of the electromagnetic damping wheel frame 2. A limiting rod 6 is integrally formed at the center of the lower surface of the upper support plate 3. The upper part of the electromagnetic damping wheel frame 2 is provided with a hole 32, and the lower end of the limiting rod 6 passes through the hole 32 and is screwed with a nut. A limiting block 5 is welded to the upper end of the electromagnetic damping wheel frame 2. The surface of the upper support plate 3 is provided with a guide groove 4 with an arc-shaped structure, and the center of the guide groove 4 coincides with the axis of the limiting rod 6. The limiting block 5 is movably installed in the guide groove 4.

[0026] Adjusting component 7, with its two ends rotatably mounted on electromagnetic damping wheel frame 2 and upper support plate 3 respectively.

[0027] In this embodiment, a universal wheel motion control structure consisting of a motor wheel 1, an electromagnetic shock-absorbing wheel frame 2, an upper support plate 3, and an adjusting component 7 is used. The electromagnetic shock-absorbing wheel frame 2 adjusts its damping strength by changing the external current, thereby dynamically adjusting the buffering performance of the universal wheel during movement and improving the robot's shock absorption. The adjusting component 7 is used to adjust the steering between the electromagnetic shock-absorbing wheel frame 2 and the upper support plate 3. Meanwhile, the limiting rod 6, integrally formed on the lower surface of the middle part of the upper support plate 3, passes through the insertion hole 32 at the upper end of the electromagnetic shock-absorbing wheel frame 2 and is fixed by a nut, which facilitates the rotation of the electromagnetic shock-absorbing wheel frame 2 on the lower surface of the upper support plate 3. The limiting block 5 welded to the upper end of the electromagnetic shock-absorbing wheel frame 2 is movably installed in the guide groove 4 opened on the surface of the upper support plate 3, which facilitates the guidance of the electromagnetic shock-absorbing wheel frame 2 when rotating on the lower surface of the upper support plate 3 through the cooperation of the limiting block 5 and the guide groove 4, increasing the stability of the electromagnetic shock-absorbing wheel frame 2 when rotating on the lower surface of the upper support plate 3.

[0028] Specifically, the electromagnetic shock-absorbing wheel frame 2 includes an upper horizontal plate 21, with titanium alloy sleeves 22 welded to both ends of the upper horizontal plate 21. A movable rod 23 is movably installed inside the lower end of the titanium alloy sleeve 22. A non-magnetic tungsten steel tube 34 is installed inside the titanium alloy sleeve 22. A locking block 24 is screwed onto the lower end of the titanium alloy sleeve 22 and is fitted onto the outside of the movable rod 23. A slider 25 is integrally formed at the upper end of the movable rod 23. The slider 25 is in close contact with the inner surface of the non-magnetic tungsten steel tube 34. A magnet 26 is fixed at the upper end of the slider 25. An electromagnet 27 is fixed inside the upper end of the titanium alloy sleeve 22. The electromagnet 27 and the magnet 26... A non-magnetic tungsten steel spring 28 is fixed between them. A first return spring 29 is welded to the lower part of the slider 25, and the first return spring 29 is sleeved on the outside of the upper end of the movable rod 23. A bidirectional resistance guide groove 30 for air flow is opened on the slider 25. The bidirectional resistance guide groove 30 is provided with a bidirectional horn mouth structure with several annular arrays. An angle iron 31 is welded to the lower end of the movable rod 23. The angle iron 31 is installed on the central shaft of the motor wheel 1. Two titanium alloy sleeves 22 are welded to both ends of the upper horizontal plate 21 and are arranged in parallel. The lower ends of the two movable rods 23 are welded to an angle iron 31 and installed in the two titanium alloy sleeves 22.

[0029] In this embodiment, an electromagnetic shock-absorbing wheel frame 2 is constructed from an upper horizontal plate 21, a titanium alloy sleeve 22, a movable rod 23, a locking block 24, a slider 25, a magnet 26, an electromagnet 27, a non-magnetic tungsten steel spring 28, a first return spring 29, a bidirectional resistance guide groove 30, an angle iron 31, a first rotating shaft 33, and a non-magnetic tungsten steel tube 34. The upper end of the movable rod 23 is movably installed inside the titanium alloy sleeve 22. Simultaneously, the slider 25, integrally formed at the upper end of the movable rod 23, closely adheres to the inner surface of the non-magnetic tungsten steel tube 34 installed inside the titanium alloy sleeve 22, thereby facilitating the guidance of the slider 25 by the non-magnetic tungsten steel tube 34. The magnet 26 fixed at the upper end of the slider 25 and the electromagnet 27 installed at the upper end of the titanium alloy sleeve 22 enable the electromagnet 25 to... When energized, 7 generates a magnetic force that repels the magnet 26, thereby allowing the electromagnet 27 to adjust the resistance of the electromagnetic damping wheel frame 2 during buffering under the action of the external current. The non-magnetic tungsten steel spring 28 fixed between the magnet 26 and the electromagnet 27, and the first return spring 29 fixed at the lower end of the slider 25, work together to increase the reset performance of the slider 25 when it moves within the non-magnetic tungsten steel tube 34. The bidirectional resistance guide groove 30 opened on the surface of the slider 25, with its bidirectional flared structure in a ring array, facilitates the movement of air through the bidirectional resistance guide groove 30 within the titanium alloy sleeve 22, thereby hindering the movement of the slider 25 and achieving the buffering purpose of the electromagnetic damping wheel frame 2.

[0030] Specifically, the adjusting component 7 includes an electric push rod 71, with a second rotating shaft 73 and a first rotating shaft 33 respectively installed at both ends of the electric push rod 71. The first rotating shaft 33 is installed on the side surface of the upper horizontal plate 21, and the second rotating shaft 73 is installed on the lower surface of the upper support plate 3. A second return spring 72 is sleeved on the electric push rod 71, and both ends of the electric push rod 71 are welded and fixed to both ends of the second return spring 72.

[0031] In this embodiment, an adjusting component 7 is used, consisting of an electric push rod 71, a second return spring 72, and a second rotating shaft 73. One end of the electric push rod 71 is rotatably mounted on the lower surface of the upper support plate 3 via the second rotating shaft 73, and the other end of the electric push rod 71 is rotatably connected to the electromagnetic damping wheel frame 2 via the first rotating shaft 33. At the same time, the second return spring 72, which is sleeved on the electric push rod 71, plays a role in resetting, thereby facilitating the adjusting component 7 to adjust the angle of the electromagnetic damping wheel frame 2 on the lower surface of the upper support plate 3.

[0032] In actual use, the upper support plate 3 is fixedly connected to the robot body, and the motor wheel 1 drives the robot to move. When traveling on rough terrain, the external control system increases the current of the electromagnet 27, which strengthens the repulsive force between the electromagnet and the magnet block 26. This, combined with the non-magnetic tungsten steel spring 28 and the first return spring 29, increases the damping strength to enhance the buffering effect. When the slider 25 moves, the air generates damping force through the bidirectional resistance guide groove 30, further optimizing the shock absorption effect. When turning, the electric push rod 71 extends and retracts, causing the electromagnetic shock-absorbing wheel frame 2 to rotate around the limiting rod 6. The limiting block 5 slides along the guide groove 4 to ensure stable turning, and the second return spring 72 assists the electric push rod 71 in resetting.

[0033] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A robot omnidirectional wheel motion control structure, including a motor wheel (1), characterized in that, Also includes: Electromagnetic shock-absorbing wheel frame (2), the electromagnetic shock-absorbing wheel frame (2) is a "U" shaped structure, and the two ends of the lower part of the electromagnetic shock-absorbing wheel frame (2) are fixed to the central shaft of the motor wheel (1); The upper support plate (3) is rotatably mounted on the upper end of the electromagnetic shock-absorbing wheel frame (2). A limiting rod (6) is integrally formed at the center of the lower surface of the upper support plate (3). The upper part of the electromagnetic shock-absorbing wheel frame (2) is provided with a hole (32), and the lower end of the limiting rod (6) passes through the hole (32) and is screwed with a nut. A limiting block (5) is welded to the upper end of the electromagnetic shock-absorbing wheel frame (2). The surface of the upper support plate (3) is provided with a guide groove (4) with an arc-shaped structure. The center of the guide groove (4) coincides with the axis of the limiting rod (6), and the limiting block (5) is movably installed in the guide groove (4). Adjustment component (7), the two ends of which are respectively rotatably mounted on electromagnetic shock-absorbing wheel frame (2) and upper support plate (3).

2. The robot omnidirectional wheel motion control structure according to claim 1, characterized in that: The electromagnetic shock-absorbing wheel frame (2) includes an upper horizontal plate (21), with titanium alloy sleeves (22) welded to both ends of the upper horizontal plate (21). A movable rod (23) is movably installed inside the lower end of the titanium alloy sleeve (22). A non-magnetic tungsten steel tube (34) is installed inside the titanium alloy sleeve (22). A locking block (24) is screwed onto the lower end of the titanium alloy sleeve (22), and the locking block (24) is fitted onto the outside of the movable rod (23). A slider (25) is integrally formed on the upper end of the movable rod (23), and the slider (25) is in close contact with the inner surface of the non-magnetic tungsten steel tube (34). A magnet block (26) is fixed to the upper end of the slider (25), an electromagnet (27) is fixed inside the upper end of the titanium alloy sleeve (22), a non-magnetic tungsten steel spring (28) is fixed between the electromagnet (27) and the magnet block (26), a first return spring (29) is welded to the lower part of the slider (25), and the first return spring (29) is sleeved on the outside of the upper end of the movable rod (23). A bidirectional resistance guide groove (30) for air flow is opened on the slider (25), and the bidirectional resistance guide groove (30) is provided with a bidirectional horn mouth structure of several annular arrays.

3. The robot omnidirectional wheel motion control structure according to claim 2, characterized in that: An angle iron (31) is welded to the lower end of the movable rod (23), and the angle iron (31) is mounted on the central shaft of the motor wheel (1).

4. The robot omnidirectional wheel motion control structure according to claim 2, characterized in that: The upper horizontal plate (21) has two parallel titanium alloy sleeves (22) welded to both ends. The lower ends of the two movable rods (23) installed inside the two titanium alloy sleeves (22) are welded to an angle iron (31).

5. The robot omnidirectional wheel motion control structure according to claim 2, characterized in that: The adjusting component (7) includes an electric push rod (71). A second rotating shaft (73) and a first rotating shaft (33) are respectively installed at both ends of the electric push rod (71). The first rotating shaft (33) is installed on the side surface of the upper horizontal plate (21), and the second rotating shaft (73) is installed on the lower surface of the upper support plate (3). A second return spring (72) is sleeved on the electric push rod (71), and both ends of the electric push rod (71) are welded and fixed to both ends of the second return spring (72).

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