Steering wheel module for omnidirectional mobile robot

Abstract

The utility model belongs to robot steering wheel technical field relates to a steering wheel module for omnidirectional mobile robot, including the adapter flange for connecting with robot chassis, and the steering motor and wheel hub motor that arrange respectively on the upper and lower sides of adapter flang, the middle part of adapter flange has through -hole, the steering motor output passes through output adapter axle and then through damping assembly connection wheel hub motor after the through -hole, still be equipped with encoder assembly between output adapter axle and through -hole, the damping assembly includes damping support and the spring damping structure of setting on damping support, the encoder assembly includes the encoder rotor of setting on output adapter axle, and the encoder stator of setting in through -hole with encoder rotor cooperation connection. The utility model has the advantages such as high steering precision, need not zero calibration, compact structure, low gravity center and wiring safety.

Description

Technical Field

[0001] This utility model belongs to the field of robot steering wheel technology, specifically relating to a steering wheel module for an omnidirectional mobile robot. Background Technology

[0002] Currently, omnidirectional mobile robots are widely used in warehousing and logistics, service robots, intelligent inspection and other fields, and their movement is mostly driven by a steering wheel structure. The steering wheel is usually composed of a steering motor, a drive motor, a shock absorber, a wheel hub and a connecting bracket.

[0003] However, existing steering wheels typically suffer from the following technical problems:

[0004] (1) The steering wheel has low steering accuracy, making it difficult to achieve high-precision positioning control;

[0005] (2) Zero-position calibration is required after power-on, which is time-consuming and inefficient;

[0006] (3) Shock absorbers are usually installed above the steering wheel, which results in a high center of gravity of the robot chassis and poor operational stability;

[0007] (4) The control modules for the drive motor and steering motor are separated, resulting in a complex structure and large space occupation;

[0008] (5) The drive wheel cable is exposed and is susceptible to wear or interference. Utility Model Content

[0009] The purpose of this invention is to address the defects and shortcomings of existing technologies by designing a steering wheel module for omnidirectional mobile robots that is simple in structure, stable and reliable, requires no zero-position calibration, and improves steering accuracy.

[0010] To achieve the above objectives, the technical solution adopted by this utility model is: a steering wheel module for an omnidirectional mobile robot, including a transition flange for connecting to the robot chassis, and a steering motor and a hub motor respectively arranged on the upper and lower sides of the transition flange. The transition flange has a through hole in the middle. The output end of the steering motor passes through the through hole via an output transition shaft and is then connected to the hub motor via a shock absorption assembly. An encoder assembly is also provided between the output transition shaft and the through hole.

[0011] Preferably, the encoder assembly includes an encoder rotor disposed on an output adapter shaft and an encoder stator disposed in a through hole and connected to the encoder rotor.

[0012] Preferably, the encoder assembly is a photoelectric, magnetoresistive, or Hall effect absolute encoder assembly.

[0013] Preferably, the shock absorption assembly includes a shock absorption bracket and a spring damping structure disposed on the shock absorption bracket.

[0014] Preferably, one end of the shock absorber bracket is connected to the output adapter shaft, and the other end is connected to the hub motor, and the shock absorber bracket has a wiring channel inside for the hub motor cable to pass through.

[0015] Preferably, the cross-section of the shock-absorbing bracket is designed in the shape of a "7", "L" or "U".

[0016] Preferably, a drive circuit module for controlling the steering motor and the hub motor is provided above the steering motor, and a rear cover is provided on the outside of the drive circuit module.

[0017] Preferably, the drive circuit module includes a steering motor drive circuit and a hub motor drive circuit, wherein the steering motor drive circuit and the hub motor drive circuit adopt an integrated design or a separate design.

[0018] After adopting the above technical solution, the steering wheel module for an omnidirectional mobile robot provided by this utility model has the following beneficial effects:

[0019] This invention improves steering accuracy and eliminates the need for zero-position calibration by adding an encoder component to the output end of the steering motor; the design of placing the shock absorber component between the steering motor and the hub motor ensures a compact structure and lowers the robot's center of gravity; the design of the drive circuit module enables modularity and integration, reducing space occupation; and the design of the wiring channel inside the shock absorber bracket prevents cables from being worn by external equipment, enhancing protection and extending service life. Attached Figure Description

[0020] Figure 1 This is an exploded view of the structure of a steering wheel module for an omnidirectional mobile robot according to this utility model;

[0021] Figure 2 This is a structural cross-sectional view of a steering wheel module for an omnidirectional mobile robot according to the present invention;

[0022] Figure 3 This is an exploded view of the steering motor part in this utility model.

[0023] The components include: 1. Adapter flange; 2. Steering motor; 3. Hub motor; 4. Through hole; 5. Output adapter shaft; 6. Encoder rotor; 7. Encoder stator; 8. Shock absorber bracket; 9. Spring damping structure; 10. Drive circuit module; and 11. Rear cover. Detailed Implementation

[0024] The present invention will now be described in further clear and complete detail with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0025] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0026] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0027] In the description of this utility model, it should be understood that the directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this utility model. The directional terms "inner" and "outer" refer to the inner and outer contours of each component itself.

[0028] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0029] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be construed as limiting the scope of protection of this utility model.

[0030] This utility model discloses a steering wheel module for an omnidirectional mobile robot, such as... Figure 1-3 As shown, the system includes an adapter flange 1 for connecting to the robot chassis, and a steering motor 2 and a hub motor 3 respectively arranged on the upper and lower sides of the adapter flange 1. The adapter flange 1 has a through hole 4 in the middle. The steering motor 2 passes through the through hole 4 through an output adapter shaft 5 and is connected to the hub motor 3. Specifically, one end of the output adapter shaft 5 is connected to the output end of the steering motor 2, and the other end is connected to the hub motor 3 through a shock absorption assembly. An encoder assembly is also provided between the output adapter shaft 5 and the through hole 4.

[0031] The encoder assembly includes an encoder rotor 6 mounted on the output adapter shaft 5 and an encoder stator 7 mounted in the through hole 4 and connected to the encoder rotor 6. The encoder assembly is selected as a photoelectric, magnetoresistive, or Hall effect absolute encoder assembly, which can improve steering accuracy and eliminate the need for zero-position calibration.

[0032] The shock absorption assembly includes a shock absorption bracket 8 and a spring damping structure 9 mounted on the shock absorption bracket 8. One end of the shock absorption bracket 8 is connected to the output adapter shaft 5, and the other end is connected to the hub motor 3. The spring damping structure 9 is located between the shock absorption bracket 8 and the hub motor 3, and the shock absorption bracket 8 has a cable routing channel for the hub motor 3 cable to pass through, thus avoiding the problem of cable wear by external equipment. Furthermore, the cross-section of the shock absorption bracket 8 is designed in the shape of a "7", "L" or "U", which can be selected according to the chassis space. In this embodiment, the "7" shape is preferred. The damping strength of the spring damping structure 9 can be adjusted according to the actual working conditions of the robot, and the spring damping structure 9 can be replaced with a rubber buffer structure or a hydraulic shock absorption structure as needed.

[0033] Above the steering motor 2 is a drive circuit module 10 for controlling the steering motor and the hub motor. The drive circuit module 10 is provided with a rear cover 11. Specifically, the drive circuit module 10 includes a steering motor drive circuit and a hub motor drive circuit. The steering motor drive circuit and the hub motor drive circuit can be designed as an integrated unit or as separate units according to power requirements. In this way, the modular and integrated design of the drive circuit can be realized, thereby reducing the space occupation.

[0034] In summary, the steering wheel module for omnidirectional mobile robots provided by this utility model has advantages such as high steering accuracy, no need for zero-position calibration, compact structure, low center of gravity and safe wiring, and has great market value, making it worthy of widespread promotion and application.

[0035] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A steering wheel module for an omnidirectional mobile robot, characterized in that: It includes an adapter flange (1) for connecting to the robot chassis, and a steering motor (2) and a hub motor (3) respectively arranged on the upper and lower sides of the adapter flange (1). The adapter flange (1) has a through hole (4) in the middle. The output end of the steering motor (2) passes through the through hole (4) through the output adapter shaft (5) and then connects to the hub motor (3) through the shock absorption assembly. An encoder assembly is also provided between the output adapter shaft (5) and the through hole (4).

2. The steering wheel module for an omnidirectional mobile robot according to claim 1, characterized in that: The encoder assembly includes an encoder rotor (6) disposed on the output adapter shaft (5) and an encoder stator (7) disposed in the through hole (4) and connected to the encoder rotor (6).

3. A steering wheel module for an omnidirectional mobile robot according to claim 1, characterized in that: The encoder assembly is selected from photoelectric, magnetoresistive, or Hall effect absolute encoder assemblies.

4. A steering wheel module for an omnidirectional mobile robot according to claim 1, characterized in that: The damping assembly includes a damping bracket (8) and a spring damping structure (9) disposed on the damping bracket (8).

5. A steering wheel module for an omnidirectional mobile robot according to claim 4, characterized in that: The shock absorber bracket (8) is connected to the output adapter shaft (5) at one end and to the hub motor (3) at the other end. The shock absorber bracket (8) has a cable routing channel inside for the hub motor (3) cable to pass through.

6. A steering wheel module for an omnidirectional mobile robot according to claim 4, characterized in that: The cross-section of the shock absorber bracket (8) is designed in the shape of a "7", "L" or "U".

7. A steering wheel module for an omnidirectional mobile robot according to claim 1, characterized in that: The steering motor (2) is provided with a drive circuit module (10) for controlling the steering motor and the hub motor, and the drive circuit module (10) is provided with a rear cover (11).

8. A steering wheel module for an omnidirectional mobile robot according to claim 7, characterized in that: The drive circuit module (10) includes a steering motor drive circuit and a hub motor drive circuit, which are either integrated or separate designs.

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