A steering mechanism for a wheeled robot chassis

Abstract

The utility model relates to industrial technical field discloses a kind of steering mechanism of wheeled robot chassis, including base one and base two, the top of base one is fixedly connected with cover one, the top of base two is fixedly connected with cover two, the top of base one is fixedly connected with motor one, the top of base two is fixedly connected with motor one, the output end of motor one is fixedly connected with gear, the bottom of base one is fixedly connected with groove track, the bottom of base two is fixedly connected with groove track, the inner wall of two groove tracks is slidably connected with slider, the outer wall of two sliders is fixedly connected with rack plate. In the utility model, by the cooperation of groove track and slider, linkage linkage ensures consistency on both sides to turn, cover provides protection for internal components, overall structure is simple and compact, effectively improves driving stability and mechanism durability, and adapts to the flexible steering demand of various wheeled robot chassis.

Description

Technical Field

[0001] This utility model relates to the field of industrial technology, and in particular to a steering mechanism for a wheeled robot chassis. Background Technology

[0002] In fields such as industrial inspection, logistics transportation, and service robots, the steering flexibility and driving stability of wheeled robot chassis directly affect operational efficiency. Traditional steering mechanisms mostly use a single transmission method, which makes it difficult to simultaneously meet the steering accuracy and anti-slip requirements under complex road conditions. Therefore, optimizing the structure and upgrading the function of steering mechanisms has become a key direction for technological breakthroughs in the industry.

[0003] The steering mechanism mainly consists of two parallel bases, Base 1 and Base 2. Both bases have a motor and gear at their top, and a grooved track and slider at their bottom. The rack plate on the outer wall of the slider meshes with the gear for transmission. The slider drives the connecting rod 2 and wheels at the bottom of the base via a linkage plate connected to Link 1, thus achieving steering. Base 2 is equipped with a fixed plate, Motor 2, and a booster wheel. Together with Motor 3 and a threaded rod, a spacing adjustment mechanism forms an anti-slip booster module. The threaded connecting block is fixed to the inner wall of Base 1 to ensure reliable linkage.

[0004] The existing equipment has two shortcomings: First, the steering transmission structure is not precise enough. Traditional sliding connections are prone to trajectory deviation and transmission jamming, resulting in poor steering consistency between the left and right wheels. Second, it lacks adaptive anti-slip capability. When driving on wet or soft surfaces, the wheels are prone to slipping and there is no emergency energy replenishment mechanism, which seriously affects the robot's passability and operational stability. Therefore, a steering mechanism for a wheeled robot chassis is proposed to solve the above problems. Utility Model Content

[0005] To overcome the above deficiencies, this utility model provides a steering mechanism for a wheeled robot chassis, aiming to improve the precision and adaptive anti-slip assistance of the steering transmission structure in the prior art.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a steering mechanism for a wheeled robot chassis, comprising a base one and a base two, wherein a cover one is fixedly connected to the top of the base one, a cover two is fixedly connected to the top of the base two, a motor one is fixedly connected to the top of the base one, a motor one is fixedly connected to the top of the base two, a gear is fixedly connected to the output end of the motor one, a grooved track is fixedly connected to the bottom of the base one, a grooved track is fixedly connected to the bottom of the base two, sliders are slidably connected to the inner walls of the two grooved tracks, rack plates are fixedly connected to the outer walls of the two sliders, the gear meshes with the rack plates, connecting rods one are rotatably connected to the left and right ends of the two sliders, two connecting rods two are rotatably connected to the bottom of the base one, two connecting rods two are rotatably connected to the bottom of the base two, connecting plates are rotatably connected to the top of the two connecting rods one, and wheels are rotatably connected to the outer walls of the four connecting rods two;

[0007] As a further description of the above technical solution:

[0008] The top of the base 2 is fixedly connected to two fixed plates. The inner walls of the two fixed plates are fixedly connected to motor 2. The output ends of the two motor 2 are fixedly connected to rotating rods. The ends of the two rotating rods away from the fixed plates are rotatably connected to assist wheels. The outer wall of the base 2 is fixedly connected to two motor 3. The output segments of the two motor 3 are fixedly connected to threaded rods. The outer walls of the threaded rods are threadedly connected to threaded connecting blocks.

[0009] As a further description of the above technical solution:

[0010] One rack plate has its inner wall slidably connected to the bottom of the first base, and the other rack plate has its inner wall slidably connected to the bottom of the second base;

[0011] As a further description of the above technical solution:

[0012] The threaded connecting block is fixedly connected to an inner wall of the base;

[0013] As a further description of the above technical solution:

[0014] Both motors have protective sleeves fitted on their outer walls.

[0015] As a further description of the above technical solution:

[0016] The assist wheel abuts against the wheel, and the outer walls of both rotating rods are rotatably connected to the inner wall of the fixed plate.

[0017] This utility model has the following beneficial effects:

[0018] 1. In this utility model, the grooved track and slider work together, and the linkage ensures consistent steering on both sides. The cover provides protection for the internal components, and the overall structure is simple and compact, effectively improving driving stability and the durability of the mechanism, and adapting to the flexible steering requirements of various wheeled robot chassis.

[0019] 2. In this utility model, the auxiliary wheel and drive mechanism work together to provide additional power, and the transmission design of the threaded rod and threaded connecting block enables the base to precisely align, ensuring a tight and secure engagement. The overall structure is rationally laid out and reliably linked, significantly improving the robot's passability and driving stability on complex terrains, and adapting to various operational needs. Attached Figure Description

[0020] Figure 1 This is a three-dimensional schematic diagram of a steering mechanism for a wheeled robot chassis proposed in this utility model;

[0021] Figure 2 This is a schematic diagram of a grooved track structure for a steering mechanism of a wheeled robot chassis proposed in this utility model.

[0022] Figure 3 This is a schematic diagram of the structure of a steering mechanism base for a wheeled robot chassis proposed in this utility model;

[0023] Figure 4 This is a schematic diagram of the structure of the steering mechanism base two of the wheeled robot chassis proposed in this utility model.

[0024] Legend:

[0025] 1. Base 1; 2. Base 2; 3. Cover 1; 4. Cover 2; 5. Motor 1; 6. Gear; 7. Grooved track; 8. Slider; 9. Rack plate; 10. Connecting rod 1; 11. Connecting rod 2; 12. Connecting plate; 13. Wheel; 14. Fixing plate; 15. Motor 2; 16. Rotating rod; 17. Assist wheel; 18. Motor 3; 19. Threaded rod; 20. Protective sleeve; 21. Threaded connecting block. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0027] Reference Figures 1-4This utility model provides an embodiment of a steering mechanism for a wheeled robot chassis, comprising a base 1 and a base 2. A cover 3 is fixedly connected to the top of the base 1, and a cover 4 is fixedly connected to the top of the base 2. A motor 5 is fixedly connected to the top of the base 1, and a gear 6 is fixedly connected to the output end of the motor 5. A grooved track 7 is fixedly connected to the bottom of the base 1, and a grooved track 7 is fixedly connected to the bottom of the base 2. Slider 8 is slidably connected to the inner walls of both grooved tracks 7. A rack plate 9 is fixedly connected to the outer walls of both sliders 8. The gear 6 meshes with the rack plate 9. Linkage rods 10 are rotatably connected to the left and right ends of both sliders 8. Two linkage rods 21 are rotatably connected to the bottom of the base 1, and two linkage rods 21 are rotatably connected to the bottom of the base 2. A connecting plate 12 is rotatably connected to the top of the two linkage rods 10. Wheels 13 are rotatably connected to the outer walls of the four linkage rods 21.

[0028] The mechanism consists of two parallel bases, 1 and 2. A cover 3 is bolted to the top of base 1, and a cover 4 is correspondingly mounted on the top of base 2. Covers 3 and 4 form a sealed space, providing impact resistance and dust protection for the built-in drive components.

[0029] In the power system, motor 5 is fixedly connected to the upper end of both base 1 and base 2. Motor 5 is a high-precision servo motor, and the output shaft is fixed to gear 6 via a flat key to ensure zero slippage in power transmission. Both base 1 and base 2 have integrally formed grooved tracks 7 on their bottom surfaces. The inner walls of both grooved tracks 7 use sliding bearing structures, which are used in conjunction with sliding blocks 8. The blocks 8 fit tightly against the inner walls of the tracks, resulting in low movement resistance. A rack plate 9 is welded to the outside of the blocks 8. The rack plate 9 meshes with gear 6 to form a rack and pinion transmission system, converting the rotation of motor 5 into the linear reciprocating motion of the blocks 8, resulting in precise and efficient transmission.

[0030] In the steering mechanism, both ends of the two sliders 8 are rotatably connected to connecting rod 10 via ball joints. The bottoms of base 1 and base 2 are each rotatably connected to two connecting rods 11. Connecting rods 11 and base 2 are connected via universal joints, enabling multi-directional rotation. The upper ends of the two connecting rods 10 are rotatably connected to connecting plate 12, forming a synchronous linkage mechanism. The outer ends of all four connecting rods 11 are rotatably mounted with wheels 13 via wheel hub bearings. When motor 5 drives gear 6 to rotate, rack plate 9 drives slider 8 to move along grooved track 7. Connecting rod 10 pulls connecting plate 12, which in turn pushes connecting rods 11 to drive wheels 13 to complete the steering angle adjustment. The left and right wheels 13 can deflect synchronously, ensuring a smooth steering path.

[0031] The top of the base 2 has two fixed plates 14, and the inner walls of the two fixed plates 14 are fixedly connected to motors 2 15. The output ends of the two motors 2 15 are fixedly connected to rotating rods 16. The ends of the two rotating rods 16 away from the fixed plates 14 are rotatably connected to assist wheels 17. The outer wall of the base 2 has two motors 3 18, and the output ends of the two motors 3 18 are fixedly connected to threaded rods 19. The outer walls of the threaded rods 19 are threadedly connected to threaded connecting blocks 21.

[0032] The top of the base 2 has two fixed plates 14 symmetrically connected by bolts. The fixed plates 14 are vertically set and the inner wall is fixed with a motor 2 15 by means of a bearing seat. The motor 2 15 is a low-speed, high-torque servo motor. Its output shaft is fixedly connected to the rotating rod 16 via a coupling. The end of the rotating rod 16 away from the fixed plate 14 is rotatably mounted with a booster wheel 17 through a deep groove ball bearing. The surface of the booster wheel 17 is made of high friction coefficient rubber material, which can improve the adhesion to the ground.

[0033] Two motors 18 are symmetrically fixedly installed on the outer wall of the base 2. The motors 18 are high-precision stepper motors, and their output ends are fixed to threaded rods 19 through threaded connections. The outer wall of the threaded rods 19 is fitted with threaded connecting blocks 21. The threaded connecting blocks 21 are fixedly connected to the bottom of the base 1 to form a spacing adjustment mechanism.

[0034] When wheel 13 slips, the system automatically activates an anti-slip program after detecting the speed difference through sensors. Motor 3 18 drives the threaded rod 19 to rotate, and the threaded transmission pushes the threaded connecting block 21 to pull base 1 towards base 2 until base 1 makes close contact with the assist wheel 17. At the same time, motor 2 15 starts, driving the assist wheel 17 to rotate through the rotating rod 16. The high friction characteristics of the assist wheel 17 generate auxiliary driving force, which, together with the original wheel 13, provides power supplementation, quickly improving the slippage situation and ensuring the robot's stable movement. This structure is fast-responding and compact, effectively improving the robot's ability to pass through wet or soft surfaces.

[0035] One rack plate 9 is slidably connected to the bottom of base 1, and the other rack plate 9 is slidably connected to the bottom of base 2. The rack plates 9 adopt a fitted sliding design. The inner wall of one rack plate 9 is slidably connected to the slide rail structure at the bottom of base 1 through a sliding groove, while the other rack plate 9 is correspondingly adapted to the slide rail at the bottom of base 2, achieving a tight sliding fit. This design ensures that the rack plates 9 slide without deviation, and the meshing with the gear 6 remains stable, providing precise guidance for the steering transmission and ensuring the synchronization of the steering mechanisms on both sides.

[0036] The threaded connecting block 21 is fixedly connected to the inner wall of the base 1. The threaded connecting block 21 adopts an embedded fixing structure and is fastened to the preset installation position on the inner wall of the base 1 with bolts, so that the connection is firm and the force is evenly distributed. Its installation position is precisely aligned with the threaded rod 19 to ensure smooth force transmission during threaded transmission and to ensure that the closing action of the base 1 and the base 2 is stable and reliable.

[0037] Both motors are fitted with protective sleeves 20 on their outer walls. The protective sleeves 20 are made of wear-resistant and flame-retardant material and are integrally molded. They fit tightly against the motor housing and can effectively resist dust, collisions and oil stains, ensuring the stability of motor operation and service life.

[0038] The assist wheel 17 abuts against the wheel 13, and the outer walls of both rotating rods 16 are rotatably connected to the inner wall of the fixed plate 14. In the anti-slip assist state, the assist wheel 17 and the wheel 13 are in close contact, and power is transmitted through high friction interaction. The two rotating rods 16 adopt a stepped shaft structure, and their outer walls are rotatably mounted in the pre-set bearing seats on the inner wall of the fixed plate 14 via rolling bearings. This results in low rotational resistance and good coaxiality, ensuring that the assist wheel 17 rotates stably with the rotating rods 16 and improving the reliability of the anti-slip assist.

[0039] Working Principle: The key components of the steering system include base 1, base 2, and symmetrically arranged power transmission components. Motor 5 is mounted on both base 1 and base 2, with its output gear 6 meshing with a rack plate 9. The two rack plates 9 are slidably connected to the bottom slide rails of base 1 and base 2 via inner wall grooves to ensure the accuracy of transmission guidance. When motor 5 starts, the gear 6 rotates, driving the rack plate 9 to move linearly along the grooved track 7, linked by the slider 8. The slider 8 pulls the connecting plate 12 via connecting rod 10, causing the connecting rod 11 at the bottom of base 1 and base 2 to swing synchronously. Ultimately, this controls the four wheels 13 to change the steering angle, ensuring consistent steering trajectories for both left and right wheels and maintaining stable driving.

[0040] The anti-slip assist system is used for emergency energy replenishment. Motor 2 15 is mounted on the top of base 2 via a fixing plate 14. The outer wall of the rotating rod 16 at the output end of motor 2 15 is rotatably connected to the inner wall of the fixing plate 14. The assist wheel 17 at the end of the rotating rod 16 maintains a set distance from wheel 13. When the sensor detects wheel 13 slipping, the system activates motor 3 18. Motor 3 18 has a protective sleeve 20 on its outer wall to prevent external damage. Its output threaded rod 19 rotates, driving the threaded connecting block 21 fixed to the inner wall of base 1 to move, causing base 1 1 to move closer to base 2 until the assist wheel 17 and wheel 13 are tightly engaged. Then, motor 2 15 is activated, driving the assist wheel 17 to rotate via the rotating rod 16. The high-friction contact provides additional power to wheel 13, quickly reducing slippage and ensuring the robot's performance on complex terrain.

[0041] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., 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 steering mechanism for a wheeled robot chassis, comprising a base one (1) and a base two (2), characterized in that: The top of the first base (1) is fixedly connected to the cover (3), the top of the second base (2) is fixedly connected to the cover (4), the top of the first base (1) is fixedly connected to the motor (5), the top of the second base (2) is fixedly connected to the motor (5), the output end of the motor (5) is fixedly connected to the gear (6), the bottom of the first base (1) is fixedly connected to the grooved track (7), the bottom of the second base (2) is fixedly connected to the grooved track (7), and the inner walls of the two grooved tracks (7) are slidably connected to the sliding rails. Block (8), rack plate (9) is fixedly connected to the outer wall of both sliders (8), gear (6) meshes with rack plate (9), connecting rod one (10) is rotatably connected to the left and right ends of both sliders (8), two connecting rod two (11) are rotatably connected to the bottom of base one (1), two connecting rod two (11) are rotatably connected to the bottom of base two (2), connecting plate (12) is rotatably connected to the top of the two connecting rods one (10), and wheels (13) are rotatably connected to the outer wall of the four connecting rods two (11).

2. The steering mechanism of a wheeled robot chassis according to claim 1, characterized in that: The base 2 (2) has two fixed plates (14) fixedly connected to its top. The inner walls of the two fixed plates (14) are fixedly connected to motor 2 (15). The output ends of the two motor 2 (15) are fixedly connected to rotating rods (16). The ends of the two rotating rods (16) away from the fixed plates (14) are rotatably connected to assist wheels (17). The outer wall of the base 2 (2) has two motor 3 (18) fixedly connected to its outer wall. The output segments of the two motor 3 (18) are fixedly connected to threaded rods (19). The outer walls of the threaded rods (19) are threadedly connected to threaded connecting blocks (21).

3. The steering mechanism of a wheeled robot chassis according to claim 1, characterized in that: One of the rack plates (9) is slidably connected to the bottom of the first base (1) and the other rack plate (9) is slidably connected to the bottom of the second base (2).

4. The steering mechanism of a wheeled robot chassis according to claim 2, characterized in that: The threaded connecting block (21) is fixedly connected to the inner wall of the base (1).

5. The steering mechanism of a wheeled robot chassis according to claim 2, characterized in that: The outer walls of both motors (18) are fitted with protective sleeves (20).

6. The steering mechanism of a wheeled robot chassis according to claim 2, characterized in that: The assist wheel (17) abuts against the wheel (13), and the outer walls of the two rotating rods (16) are rotatably connected to the inner wall of the fixed plate (14).

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