阅读说明：本技术 一种大田行走机器人用转向装置 (Steering device for field walking robot ) 是由 李宝来 张雪松 王立伟 申阔 王秋 于 2019-11-01 设计创作，主要内容包括：本发明公开了一种大田行走机器人用转向装置,包括支板、车轮轴、车轮、车轮刹车盘、车轮驱动盘、刹车器、电机安装板、电机、主动链轮、链条、传动轴、从动链轮和转向轴等；本发明具有结构合理简单、生产成本低、安装方便,本发明可以自动调节车身整体平衡,工作效率高；本发明各个部件无需复杂加工,生产成本低,适合大规模推广。(The invention discloses a steering device for a field walking robot, which comprises a support plate, a wheel shaft, a wheel brake disc, a wheel drive disc, a brake, a motor mounting plate, a motor, a driving sprocket, a chain, a transmission shaft, a driven sprocket, a steering shaft and the like; the invention has the advantages of reasonable and simple structure, low production cost and convenient installation, can automatically adjust the integral balance of the vehicle body, and has high working efficiency; the invention has the advantages of no need of complex processing of each part, low production cost and suitability for large-scale popularization.)

1. The utility model provides a field walking robot is with turning to device which characterized in that: the device comprises a support plate (1), a wheel shaft (2), a wheel (3), a wheel brake disc (4), a wheel drive disc (5), a brake (6), a motor mounting plate (7), a motor (8), a driving chain wheel (9), a chain (10), a transmission shaft (11), a driven chain wheel (12) and a steering shaft (13);

the wheel shaft (2) is movably connected between the tail ends of the support plates (1);

the middle end of the wheel shaft (2) is fixedly connected with a wheel (3);

a wheel driving disc (5) is fixedly connected to one side of the wheel shaft (2), a wheel brake disc (4) is fixedly connected to the other side of the wheel shaft (2), and a brake (6) is arranged on the wheel brake disc (4);

a steering shaft (13) is fixedly connected to the top end of the support plate (1);

a motor mounting plate (7) is fixedly connected to the upper end of the left side of the support plate (1), a motor (8) is fixedly connected to the motor mounting plate (7), and a driving sprocket (9) is fixedly connected to the output end of the motor (8);

the upper end of the right side of the support plate (1) is movably connected with a transmission shaft (11), the transmission shaft (11) is fixedly connected with the transmission shaft (11), and two ends of the transmission shaft (11) are fixedly connected with driven chain wheels (12);

the driving chain wheel (9) is connected with the driven chain wheel (12) at the front end through a chain (10), and the wheel driving disc (5) is connected with the driven chain wheel (12) at the rear end through the chain (10).

2. The steering device for the field walking robot according to claim 1, wherein: the steering mechanism also comprises a supporting plate (14), a connecting plate (15), a rotary inner sleeve (16), a large gear (17), a small gear (18) and a steering motor (19);

the supporting plate (14) is fixedly connected to the support plate (1);

the connecting plate (15) is arranged above the supporting plate (14), and a rotary inner sleeve (16) is fixedly connected between the supporting plate (14) and the connecting plate (15);

the outer surface of the rotary inner sleeve (16) is movably connected with a large gear (17), the large gear (17) is fixedly connected with the top end of a steering shaft (13), and the steering shaft (13) and the large gear (17) are concentric;

the outer side of the upper surface of the connecting plate (15) is fixedly connected with a steering motor (19), an output shaft of the steering motor (19) is fixedly connected with a pinion (18), and the pinion (18) and the bull gear (17) are meshed together.

3. The steering device for the field walking robot according to claim 2, wherein: the device also comprises a telescopic outer sleeve (20), a telescopic inner sleeve (21), a lead screw (22), a limiting block (23), a power motor (24), a first bevel gear (25), a connecting head (26), a second bevel gear (27) and a power motor mounting plate (28);

the telescopic inner sleeve (21) is connected in the telescopic outer sleeve (20) in a sliding manner;

the tail end of the telescopic inner sleeve (21) is fixedly connected with a connector (26), and the connector (26) is fixedly connected to the connecting plate (15);

the top end of the telescopic inner sleeve (21) is fixedly connected with a lead screw (22), and the top end of the lead screw (22) is fixedly connected with a limiting block (23);

the lead screw (22) is connected with a second bevel gear (27) through a thread;

the power motor mounting plate (28) is fixedly connected to the upper end of the right side face of the telescopic outer sleeve (20), and the power motor (24) is fixedly connected to the power motor mounting plate (28);

and an output shaft of the power motor (24) is fixedly connected with a first bevel gear (25), and the first bevel gear (25) and a second bevel gear (27) are meshed together.

4. The steering device for the field walking robot according to claim 3, wherein: the power motor mounting plate (28) is rectangular.

5. The steering device for the field walking robot according to claim 2, wherein: the large gear (17) and the small gear (18) are coated with lubricating grease.

6. The steering device for the field walking robot according to claim 1, wherein: the motor (8) is a variable frequency motor or a servo motor.

Technical Field

The invention relates to the technical field of robots, in particular to a steering device for a field walking robot.

Background

In recent years, with the rise of labor prices and the reduction of agricultural population, the agricultural field has increasingly relied on machines to perform production operations, robots are common agricultural machines in the agricultural field, and at present, the steering structure of the robot in the agricultural field is simple, the robot cannot automatically steer, and the height of the robot cannot be adjusted, so that a technology is needed to make up for the deficiency.

Disclosure of Invention

In order to solve the above problems, an object of the present invention is to provide a steering device for a field walking robot.

In order to solve the above problems, the present invention provides a technical solution: a steering device for a field walking robot comprises a support plate, a wheel shaft, wheels, a wheel brake disc, a wheel driving disc, a brake, a motor mounting plate, a motor, a driving chain wheel, a chain, a transmission shaft, a driven chain wheel and a steering shaft; the wheel shaft is movably connected between the tail ends of the support plates; the middle end of the wheel shaft is fixedly connected with a wheel; a wheel driving disc is fixedly connected to one side of the wheel shaft, a wheel brake disc is fixedly connected to the other side of the wheel shaft, and a brake is arranged on the wheel brake disc; a steering shaft is fixedly connected to the top end of the support plate; the upper end of the left side of the support plate is fixedly connected with a motor mounting plate, a motor is fixedly connected onto the motor mounting plate, and a driving chain wheel is fixedly connected onto the output end of the motor; the upper end of the right side of the support plate is movably connected with a transmission shaft, the transmission shaft is fixedly connected with a transmission shaft, and two ends of the transmission shaft are fixedly connected with driven chain wheels; the driving chain wheel is connected with the driven chain wheel at the front end through a chain, and the wheel driving disc is connected with the driven chain wheel at the rear end through a chain.

Preferably, the steering mechanism also comprises a supporting plate, a connecting plate, a rotary inner sleeve, a large gear, a small gear and a steering motor; the supporting plate is fixedly connected to the supporting plate; the connecting plate is arranged above the supporting plate, and a rotary inner sleeve is fixedly connected between the supporting plate and the connecting plate; the outer surface of the rotary inner sleeve is movably connected with a large gear, the large gear is fixedly connected with the top end of a steering shaft, and the steering shaft and the large gear are concentric; the outer side of the upper surface of the connecting plate is fixedly connected with a steering motor, an output shaft of the steering motor is fixedly connected with a pinion, and the pinion and the bull gear are meshed together.

Preferably, the device also comprises a telescopic outer sleeve, a telescopic inner sleeve, a screw rod, a limiting block, a power motor, a first bevel gear, a connecting head, a second bevel gear and a power motor mounting plate; the telescopic inner sleeve is connected in the telescopic outer sleeve in a sliding manner; the tail end of the telescopic inner sleeve is fixedly connected with a connector, and the connector is fixedly connected to a connecting plate; the top end of the telescopic inner sleeve is fixedly connected with a lead screw, and the top end of the lead screw is fixedly connected with a limiting block; the screw rod is connected with a second bevel gear through threads; the power motor mounting plate is fixedly connected to the upper end of the right side face of the telescopic outer sleeve, and a power motor is fixedly connected to the power motor mounting plate; and the output shaft of the power motor is fixedly connected with a first bevel gear, and the first bevel gear and the second bevel gear are meshed together.

Preferably, the power motor mounting plate is rectangular.

Preferably, the large gear and the small gear are coated with grease.

Preferably, the motor is a variable frequency motor or a servo motor.

The invention has the beneficial effects that:

(1) the invention has the advantages of reasonable and simple structure, low production cost and convenient installation, can automatically adjust the integral balance of the vehicle body, and has high working efficiency.

(2) The invention realizes the adjustment of walking, steering and height, can be synchronously carried out and has high working efficiency.

(3) The invention has the advantages of no need of complex processing of each part, low production cost and suitability for large-scale popularization.

(4) The invention can be applied to various fields and has wide application range.

Drawings

For ease of illustration, the invention is described in detail by the following detailed description and the accompanying drawings.

FIG. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a partial structural diagram of the first embodiment of the present invention.

Fig. 3 is a partial structural schematic diagram of the present invention.

Fig. 4 is a schematic diagram of a part of the structure of the invention.

1-a support plate; 2-wheel shaft; 3-vehicle wheels; 4-wheel brake disc; 5-a wheel drive disc; 6-a brake; 7-motor mounting plate; 8, a motor; 9-a drive sprocket; 10-a chain; 11-a drive shaft; 12-a driven sprocket; 13-a steering shaft; 14-a support plate; 15-a connecting plate; 16-a rotating inner sleeve; 17-a bull gear; 18-pinion gear; 19-a steering motor; 20-a telescopic outer sleeve; 21-a telescopic inner sleeve; 22-a lead screw; 23-a limiting block; 24-a power motor; 25-a first bevel gear; 26-a connector; 27-a second bevel gear; 28-power motor mounting plate.

Detailed Description

As shown in fig. 1 to 4, the following technical solutions are adopted in the present embodiment: a steering device for a field walking robot comprises a support plate 1, a wheel shaft 2, wheels 3, a wheel brake disc 4, a wheel driving disc 5, a brake 6, a motor mounting plate 7, a motor 8, a driving sprocket 9, a chain 10, a transmission shaft 11, a driven sprocket 12 and a steering shaft 13; the wheel shaft 2 is movably connected between the tail ends of the support plates 1; the middle end of the wheel shaft 2 is fixedly connected with a wheel 3; a wheel driving disc 5 is fixedly connected to one side of the wheel shaft 2, a wheel brake disc 4 is fixedly connected to the other side of the wheel shaft 2, and a brake 6 is arranged on the wheel brake disc 4; a steering shaft 13 is fixedly connected to the top end of the support plate 1; a motor mounting plate 7 is fixedly connected to the upper end of the left side of the support plate 1, a motor 8 is fixedly connected to the motor mounting plate 7, and a driving sprocket 9 is fixedly connected to the output end of the motor 8; the upper end of the right side of the support plate 1 is movably connected with a transmission shaft 11, the transmission shaft 11 is fixedly connected with the transmission shaft 11, and two ends of the transmission shaft 11 are fixedly connected with driven chain wheels 12; the driving sprocket 9 is connected with a driven sprocket 12 at the front end through a chain 10, and the wheel driving disc 5 is connected with a driven sprocket 12 at the rear end through a chain 10.

As shown in fig. 1 to 4, the steering mechanism further comprises a support plate 14, a connecting plate 15, a rotary inner sleeve 16, a large gear 17, a small gear 18 and a steering motor 19; the supporting plate 14 is fixedly connected to the supporting plate 1; the connecting plate 15 is arranged above the supporting plate 14, and a rotary inner sleeve 16 is fixedly connected between the supporting plate 14 and the connecting plate 15; the outer surface of the rotary inner sleeve 16 is movably connected with a large gear 17, the large gear 17 is fixedly connected with the top end of the steering shaft 13, and the steering shaft 13 is concentric with the large gear 17; the outer side of the upper surface of the connecting plate 15 is fixedly connected with a steering motor 19, an output shaft of the steering motor 19 is fixedly connected with a pinion 18, and the pinion 18 and the bull gear 17 are meshed together.

As shown in fig. 1 to 4, the power motor fixing device further comprises a telescopic outer sleeve 20, a telescopic inner sleeve 21, a lead screw 22, a limiting block 23, a power motor 24, a first bevel gear 25, a connector 26, a second bevel gear 27 and a power motor mounting plate 28; the telescopic inner sleeve 21 is connected in the telescopic outer sleeve 20 in a sliding manner; the tail end of the telescopic inner sleeve 21 is fixedly connected with a connector 26, and the connector 26 is fixedly connected to the connecting plate 15; the top end of the telescopic inner sleeve 21 is fixedly connected with a lead screw 22, and the top end of the lead screw 22 is fixedly connected with a limiting block 23; the lead screw 22 is connected with a second bevel gear 27 through a thread; the power motor mounting plate 28 is fixedly connected to the upper end of the right side face of the telescopic outer sleeve 20, and the power motor 24 is fixedly connected to the power motor mounting plate 28; a first bevel gear 25 is fixedly connected to an output shaft of the power motor 24, and the first bevel gear 25 and the second bevel gear 27 are meshed with each other.

Wherein, the power motor mounting plate 28 is rectangular; lubricating grease is coated on the large gear 17 and the small gear 18; the motor 8 is a variable frequency motor or a servo motor.

The using state of the invention is as follows: during walking, the motor 8 drives the driving sprocket 9 to rotate, the driving sprocket 9 drives the transmission shaft 11 to rotate, and then drives the wheel driving disc 5 to rotate, so as to drive the wheels 3 to walk, during steering, the steering motor 19 drives the pinion 18 to rotate, the pinion 18 drives the gearwheel 17 to rotate, and the gearwheel 17 drives the steering shaft 13 to rotate, so as to realize steering, during height adjustment, the power motor 24 drives the first bevel gear 25 to rotate, the first bevel gear 25 drives the second bevel gear 27 to rotate, so that the lead screw 22 realizes displacement in the second bevel gear 27, and further realizes height adjustment.

In the description of the invention, it is to be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "other end", "upper", "one side", "top", "inner", "front", "center", "two ends", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the invention and for simplicity in description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the invention.

In the present invention, unless otherwise specifically stated or limited, the terms "mounted," "disposed," "connected," "fixed," "screwed" and the like are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; the terms may be directly connected or indirectly connected through an intermediate, and may be communication between two elements or interaction relationship between two elements, unless otherwise specifically defined, and the specific meaning of the terms in the invention is understood by those skilled in the art according to specific situations.

While there have been shown and described what are at present considered the fundamental principles of the invention and its essential features and advantages, it will be understood by those skilled in the art that the invention is not limited by the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents.