阅读说明：本技术 应用于移动机器人的转向机构及移动机器人 (Steering mechanism applied to mobile robot and mobile robot ) 是由 陶茂林 于 2020-12-25 设计创作，主要内容包括：本发明提供一种应用于移动机器人的转向机构,包括转向驱动装置和两个转向轮,两个转向轮对称设置在转向驱动装置两侧,转向轮包括联动件、转向轴、转向座和车轮；车轮相对转动的设置在转向座上,转向轴竖直设置在转向座上,转向座通过转向轴连接移动机器人的车体,转向座可绕转向轴转动；转向驱动装置相对移动机器人的车体固定,联动件一端与转向驱动装置的输出端铰接,联动件另一端与转向座的端部铰接；转向驱动装置驱动联动件摆动,以使转向座绕转向轴转动；本发明提供一种移动机器人,应用上述转向机构。本发明的转向机构,结构简单,体积小巧；本发明的移动机器人,能按照阿克曼原理进行灵活转动,从而适应不同的任务需求。(The invention provides a steering mechanism applied to a mobile robot, which comprises a steering driving device and two steering wheels, wherein the two steering wheels are symmetrically arranged at two sides of the steering driving device and comprise a linkage part, a steering shaft, a steering seat and wheels; the wheels are arranged on the steering seat in a relatively rotating manner, the steering shaft is vertically arranged on the steering seat, the steering seat is connected with the body of the mobile robot through the steering shaft, and the steering seat can rotate around the steering shaft; the steering driving device is fixed relative to the vehicle body of the mobile robot, one end of the linkage piece is hinged with the output end of the steering driving device, and the other end of the linkage piece is hinged with the end part of the steering seat; the steering driving device drives the linkage piece to swing so as to enable the steering seat to rotate around the steering shaft; the invention provides a mobile robot, which applies the steering mechanism. The steering mechanism has simple structure and small volume; the mobile robot can flexibly rotate according to the Ackerman principle, thereby being suitable for different task requirements.)

1. The steering mechanism applied to the mobile robot is characterized by comprising a steering driving device and two steering wheels, wherein the two steering wheels are symmetrically arranged on two sides of the steering driving device and comprise a linkage part, a steering shaft, a steering seat and wheels;

the wheels are arranged on a steering seat in a relatively rotating manner, the steering shaft is vertically arranged on the steering seat, the steering seat is connected with a vehicle body of the mobile robot through the steering shaft, and the steering seat can rotate around the steering shaft;

the steering driving device is fixed relative to the vehicle body of the mobile robot, one end of the linkage piece is hinged with the output end of the steering driving device, and the other end of the linkage piece is hinged with the end part of the steering seat;

the steering driving device drives the linkage piece to swing so as to enable the steering seat to rotate around the steering shaft.

2. The steering mechanism applied to the mobile robot is characterized in that the steering driving device comprises a steering engine and a fixed frame, the fixed frame is fixedly connected with a vehicle body of the mobile robot, and the steering engine is arranged on the fixed frame;

the steering engine is characterized in that a connecting piece is arranged at the output end of the steering engine, the steering engine can drive the outer end of the connecting piece to swing left and right, and the two linkage pieces are respectively hinged with the outer end of the connecting piece.

3. The steering mechanism applied to the mobile robot as claimed in claim 1, wherein the linkage member comprises a cross bar and knuckle bearings arranged at two ends of the cross bar, the knuckle bearing at one end of the cross bar is connected with the output end of the steering driving device, and the knuckle bearing at the other end of the cross bar is connected with the end of the steering base.

4. The steering mechanism applied to a mobile robot of claim 3, wherein the cross bar is movably inserted into the knuckle bearing;

the cross rod is provided with a locking piece, and the locking piece is used for limiting the distance between the cross rod and the knuckle bearing.

5. The steering mechanism applied to a mobile robot of claim 1, wherein the steering base comprises a base body and a connecting shaft, the connecting shaft is fixedly disposed on a side of the base body away from the steering driving device, the wheel is rotatably disposed on an outer side of the connecting shaft, the steering shaft is disposed on the base body, and one end of the linkage is connected to an end of the base body.

6. The steering mechanism applied to a mobile robot of claim 5, wherein the end face of the seat body is provided with a connecting arm extending outwards, and the linkage piece is hinged with the connecting arm.

7. The steering mechanism applied to the mobile robot of claim 5, wherein an insertion hole is formed at the outer side of the seat body, and the connecting shaft is inserted into the insertion hole;

and a gland is arranged on the outer side of the steering seat and is used for fixing the connecting shaft on the seat body.

8. The steering mechanism applied to the mobile robot as claimed in claim 5, wherein a bushing is sleeved outside the connecting shaft, and the bushing is located between the seat body and the wheel.

9. The steering mechanism applied to the mobile robot of claim 1, wherein the steering shaft penetrates through the steering base, and the upper end and the lower end of the steering shaft are fixedly connected with respect to the vehicle body of the mobile robot.

10. A mobile robot, comprising a body, a control device, a driving device and a steering mechanism, wherein the control device, the driving device and the steering mechanism are arranged on the body, the driving device and the steering mechanism are electrically connected with the control device, and the steering mechanism is the steering mechanism applied to the mobile robot as claimed in any one of claims 1 to 9.

Technical Field

The invention relates to the field of mobile robots, in particular to a steering mechanism applied to a mobile robot and the mobile robot.

Background

The common vehicle-type mobile robot adopts a trapezoidal ackerman steering mechanism which is the same as an automobile, so that the vehicle-type mobile robot can perform curved movement on the ground, but the trapezoidal ackerman steering mechanism has high manufacturing cost and is of a vertical structure and cannot be simply transplanted to a small vehicle-type mobile robot, and in order to overcome the problem that the trapezoidal ackerman steering mechanism occupies a vertical space, the Chinese patent No. CN201811561406.1 discloses a wheel electric steering axle which comprises a welding beam, a rotating power piece, a steering gear, a screw and a steering knuckle; the rotary power part and the steering machine are both arranged on the welding beam and are in power connection with each other, the number of the screw rods and the steering knuckles is two, two ends of the steering machine are respectively connected with the screw rods, the screw rods are hinged with the steering knuckles, and the two steering knuckles are respectively hinged at two ends of the welding beam; when the torque is input by rotating the power part, the traversing mechanism drives the two screw rods to move transversely left and right, then drives the steering knuckle to rotate on the welding beam, and the electric steering axle adopts a horizontal parallelogram structure, so that the vertical height of the vehicle type mobile robot applying the electric steering axle can be reduced, but the electric steering axle has a complex structure, is difficult to further miniaturize and is not beneficial to being applied to a small vehicle type mobile robot.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a steering mechanism applied to a mobile robot, which is simple in structure, small in size and suitable for a small-sized vehicle type mobile robot.

In order to achieve the purpose, the invention adopts the following technical scheme:

the steering mechanism applied to the mobile robot comprises a steering driving device and two steering wheels, wherein the two steering wheels are symmetrically arranged on two sides of the steering driving device and comprise a linkage piece, a steering shaft, a steering seat and wheels; the wheels are arranged on a steering seat in a relatively rotating manner, the steering shaft is vertically arranged on the steering seat, the steering seat is connected with a vehicle body of the mobile robot through the steering shaft, and the steering seat can rotate around the steering shaft; the steering driving device is fixed relative to the vehicle body of the mobile robot, one end of the linkage piece is hinged with the output end of the steering driving device, and the other end of the linkage piece is hinged with the end part of the steering seat; the steering driving device drives the linkage piece to swing so as to enable the steering seat to rotate around the steering shaft.

Compared with the prior art, the steering mechanism applied to the mobile robot mainly comprises a steering driving device, a linkage piece, a steering shaft, a steering seat and wheels, the positions of two steering wheels are limited by using a body of the mobile robot, a support body is not arranged between the steering driving device and the steering seat, the steering driving device outputs power to enable the linkage piece to swing towards the left side or the right side when the steering mechanism works, and the steering seat swings around the steering shaft towards the left side or the right side to drive the wheels to steer.

Preferably, the steering driving device comprises a steering engine and a fixed frame, the fixed frame is fixedly connected with the body of the mobile robot, and the steering engine is arranged on the fixed frame; the steering engine is characterized in that a connecting piece is arranged at the output end of the steering engine, the steering engine can drive the outer end of the connecting piece to swing left and right, and the two linkage pieces are respectively hinged with the outer end of the connecting piece.

The steering driving device is few in parts, simple in structure, cheap and easily available in parts and low in cost, and in addition, the output end of the steering engine is provided with the connecting piece for connecting the two linkage pieces, so that the synchronism of the two steering wheels during steering is ensured, and the steering effect of the mobile robot applying the steering driving device is improved.

Preferably, the linkage part comprises a cross rod and knuckle bearings arranged at two ends of the cross rod, the knuckle bearing at one end of the cross rod is connected with the output end of the steering driving device, and the knuckle bearing at the other end of the cross rod is connected with the end part of the steering seat.

The linkage piece adopts the arrangement mode, so that the linkage piece can be ensured to be connected with one end of the steering driving device and one end of the steering seat to be in a movable state, the linkage piece is prevented from blocking the rotation of the steering seat in the swinging process, and meanwhile, the service life of the linkage piece is prolonged.

Preferably, the cross bar is movably inserted into the knuckle bearing; the cross rod is provided with a locking piece, and the locking piece is used for limiting the distance between the cross rod and the knuckle bearing.

The distance between the cross rod and the knuckle bearing can be adjusted through the arrangement mode, so that the distance between the cross rod and the knuckle bearing can be adjusted when the robot is produced, the robot is suitable for mobile robots with different specifications, and the application range of the robot is widened.

Preferably, the steering seat comprises a seat body and a connecting shaft, the connecting shaft is fixedly arranged on one side of the seat body far away from the steering driving device, the wheels are rotatably arranged on the outer side of the connecting shaft, the steering shaft is arranged on the seat body, and one end of the linkage part is connected with the end part of the seat body.

The steering seat adopts the arrangement mode, on one hand, a manufacturer can conveniently install the steering seat on the vehicle body of the mobile robot, so that the assembly speed is improved, and on the other hand, the steering seat is fixed relative to the vehicle body of the mobile robot in the vertical direction and is connected with the steering seat through the connecting shaft, so that a fixed axis can be provided for wheels to rotate along the axis direction, and the mobile robot provided by the invention can be conveniently applied to steering.

Preferably, the end face of the seat body is provided with a connecting arm extending outwards, and the linkage part is hinged to the connecting arm.

The connecting arm is arranged on the end face of the seat body, so that a connecting point is conveniently provided for the linkage piece, the assembly difficulty of the invention is reduced, and the rapid production of production personnel is facilitated.

Preferably, the outer side of the seat body is provided with a jack, and the connecting shaft is inserted into the jack; and a gland is arranged on the outer side of the steering seat and is used for fixing the connecting shaft on the seat body.

The steering seat is formed by assembling the seat body, the connecting shaft and the gland, the production difficulty of a single part can be reduced, and therefore the production cost is reduced.

Preferably, a shaft sleeve is sleeved outside the connecting shaft and located between the seat body and the wheel.

The distance between the seat body and the wheel can be limited by the shaft sleeve, so that the wheel is prevented from interfering with the seat body.

Preferably, the steering shaft penetrates through the steering seat, and the upper end and the lower end of the steering shaft are fixedly connected with the vehicle body of the mobile robot relatively.

The arrangement mode can ensure that the steering wheel is stably connected with the mobile robot, thereby improving the reliability of the steering wheel during rotation and improving the stability of the invention during steering.

The invention also provides a mobile robot applying the steering mechanism, which comprises a machine body, a control device, a driving device and the steering mechanism, wherein the control device, the driving device and the steering mechanism are arranged on the machine body, and the driving device and the steering mechanism are electrically connected with the control device.

Compared with the prior art, the mobile robot is provided with the steering mechanism which is simple in structure and small in size, can flexibly rotate according to the Ackerman principle, so that different task requirements can be met, and the mobile robot can be designed to be as small as possible, so that the mobile robot is suitable for task operation with small space.

Drawings

FIG. 1 is a first angular schematic of the present invention;

FIG. 2 is a first angular schematic of the present invention;

FIG. 3 is an exploded view of the present invention;

FIG. 4 is an assembled view of the steering drive and linkage;

FIG. 5 is a schematic view of a linkage;

FIG. 6 is a schematic view of a fifth wheel;

fig. 7 is an exploded view of the fifth wheel.

Description of reference numerals:

the steering mechanism comprises a steering driving device 1, a steering engine 11, a connecting piece 12, a fixed frame 13, a hinged shaft 14, a steering wheel 2, a linkage piece 21, a cross rod 22, a knuckle bearing 23, a locking piece 24, a steering shaft 3, a steering seat 4, a seat body 41, a jack 42, a connecting arm 43, a gland 44, a through hole 45, a connecting shaft 46, a convex edge 47, a shaft sleeve 48, wheels 5, a baffle 51 and screws 52.

Detailed Description

Embodiments of the present invention are described below with reference to the accompanying drawings:

example one

Referring to fig. 1 to 7, the steering mechanism applied to the mobile robot of the present embodiment includes a steering driving device 1 and two steering wheels 2, wherein the two steering wheels 2 are symmetrically disposed on two sides of the steering driving device 1, and the steering wheels 2 include a linkage 21, a steering shaft 3, a steering base 4 and wheels 5; the wheels 5 are arranged on a steering seat 4 in a relatively rotating manner, the steering shaft 3 is vertically arranged on the steering seat 4, the steering seat 4 is connected with a vehicle body (not shown in the figure) of the mobile robot through the steering shaft 3, and the steering seat 4 can rotate around the steering shaft 3; the steering driving device 1 is fixed relative to the body of the mobile robot, one end of the linkage piece 21 is hinged with the output end of the steering driving device 1, and the other end of the linkage piece 21 is hinged with the end part of the steering seat 4; the steering drive device 1 drives a linkage piece 21 to swing so as to rotate the steering base 4 around the steering shaft 3.

Specifically, a baffle plate 51 and a screw 52 are arranged at the side part of the wheel 5, the baffle plate 51 presses against the outer side of the middle part of the wheel 5, and the screw 52 penetrates through the baffle plate 51 and is connected with the steering seat 4.

Referring to fig. 1 to 4, the steering driving device 1 includes a steering engine 11 and a fixed frame 13, the fixed frame 13 is fixedly connected with a vehicle body of the mobile robot, and the steering engine 11 is arranged on the fixed frame 13; the output end of the steering engine 11 is provided with a connecting piece 12, the steering engine 11 can drive the outer end of the connecting piece 12 to swing left and right, and the two linkage pieces 21 are respectively hinged with the outer end of the connecting piece 12.

Specifically, the hinged end of one of the link members 21 is located below the connecting member 12, the hinged end of the other link member 21 is located above the connecting member 12, and the two link members 21 and the connecting member 12 are connected by the hinge shaft 14.

The steering driving device 1 is few in parts, simple in structure, cheap and easily available in parts and low in cost, and in addition, the output end of the steering engine 11 is provided with the connecting piece 12 for connecting the two linkage pieces 21, so that the synchronism of the two steering wheels 2 during steering is ensured, and the steering effect of the mobile robot applying the steering driving device is improved.

Referring to fig. 1, 2, 3 and 5, the linkage 21 includes a cross bar 22 and knuckle bearings 23 disposed at two ends of the cross bar 22, the knuckle bearing 23 at one end of the cross bar 22 is connected to the output end of the steering driving device 1, and the knuckle bearing 23 at the other end of the cross bar 22 is connected to the end of the steering base 4.

By adopting the arrangement mode, the linkage part 21 can ensure that one end of the linkage part 21 connected with the steering driving device 1 and one end of the linkage part connected with the steering seat 4 are in a movable state, so that the linkage part 21 is prevented from blocking the steering seat 4 to rotate in the swinging process, and the service life of the linkage part 21 is prolonged.

Referring to fig. 5, the cross bar 22 is movably inserted into the knuckle bearing 23; the crossbar 22 is provided with a locking member 24, and the locking member 24 is used for limiting the distance between the crossbar 22 and the spherical plain bearing 23.

Specifically, the end of the cross bar 22 is screwed with the knuckle bearing 23.

The distance between the cross rod 22 and the knuckle bearing 23 can be adjusted through the arrangement mode, so that the distance between the cross rod 22 and the knuckle bearing 23 can be adjusted to adapt to mobile robots with different specifications, and the application range of the invention is widened.

Referring to fig. 6 to 7, the steering base 4 includes a base body 41 and a connecting shaft 46, the connecting shaft 46 is fixedly disposed on a side of the base body 41 away from the steering driving device 1, the wheels 5 are rotatably disposed on an outer side of the connecting shaft 46, the steering shaft 3 is disposed on the base body 41, and one end of the linkage 21 is connected to an end of the base body 41.

The steering seat 4 is arranged in the above manner, so that on one hand, a manufacturer can conveniently install the steering seat 4 on the vehicle body of the mobile robot, thereby improving the assembly speed, and on the other hand, the steering seat 4 is fixed relative to the vehicle body of the mobile robot in the vertical direction, and the connecting shaft 46 connected with the steering seat 4 can provide a fixed axis for the wheels 5 to rotate along the axis direction, thereby facilitating the steering of the mobile robot applying the invention.

Referring to fig. 6 to 7, the end surface of the seat body 41 is provided with a connecting arm 43 extending outwards, and the link member 21 is hinged to the connecting arm 43.

The connecting arm 43 is arranged on the end face of the seat body 41, so that a connecting point is conveniently provided for the linkage piece 21, the assembly difficulty of the invention is reduced, and the rapid production of production personnel is facilitated.

Referring to fig. 7, an insertion hole 42 is formed in the outer side of the seat body 41, and the connecting shaft 46 is inserted into the insertion hole 42; a gland 44 is arranged on the outer side of the steering seat 4, and the gland 44 is used for fixing the connecting shaft 46 on the seat body 41.

Specifically, a through hole 45 through which a connecting shaft 46 passes is formed in the middle of the gland 44, and the gland 44 is sleeved outside the connecting shaft 46 and is fixedly connected with the base body 41 through a bolt or a screw; the outer side of the connecting shaft 46 is provided with a convex edge 47, and the inner side of the gland 44 is pressed against the convex edge 47 to limit the outward movement range of the connecting shaft 46.

The steering seat 4 is assembled by the seat body 41, the connecting shaft 46 and the gland 44, the production difficulty of a single part can be reduced, so that the production cost is reduced, and the arrangement mode can ensure that the connecting shaft 46 is fixedly arranged relative to the seat body 41, so that the wheel 5 can be conveniently installed.

Referring to fig. 6 to 7, a sleeve 48 is sleeved on the connecting shaft 46, and the sleeve 48 is located between the seat body 41 and the wheel 5.

The bushing 48 is disposed to limit the distance between the seat body 41 and the wheel 5, so as to avoid the wheel 5 interfering with the seat body 41.

Referring to fig. 6, the steering shaft 3 penetrates through the steering base 4, and the upper end and the lower end of the steering shaft 3 are fixedly connected with respect to the vehicle body of the mobile robot.

Specifically, a bearing (not shown) is disposed in the steering seat 4.

The arrangement mode can ensure that the steering wheel 2 is stably connected with the mobile robot, thereby improving the reliability of the steering wheel 2 during rotation and improving the stability of the invention during steering.

Compared with the prior art, the steering mechanism applied to the mobile robot mainly comprises a steering driving device 1, a linkage piece 21, a steering shaft 3, a steering seat 4 and wheels 5, the positions of two steering wheels 2 are limited by using a vehicle body of the mobile robot, a support body is omitted between the steering driving device 1 and the steering seat 4, the steering driving device 1 outputs power to enable the linkage piece 21 to swing towards the left side or the right side when the steering mechanism works, and the steering seat 4 swings around the steering shaft 3 towards the left side or the right side to drive the wheels 5 to steer.

Example two

The invention also provides a mobile robot applying the steering mechanism, which comprises a machine body, a control device, a driving device and the steering mechanism, wherein the control device, the driving device and the steering mechanism are arranged on the machine body, and the driving device and the steering mechanism are electrically connected with the control device.

The present description does not show the drawings of the present embodiment, but the present embodiment falls within the scope of the claims of the present invention.

Compared with the prior art, the mobile robot is provided with the steering mechanism which is simple in structure and small in size, can flexibly rotate according to the Ackerman principle, so that different task requirements can be met, and the mobile robot can be designed to be as small as possible, so that the mobile robot is suitable for task operation with small space.

Variations and modifications to the above-described embodiments may occur to those skilled in the art, which fall within the scope and spirit of the above description. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and variations of the present invention should fall within the scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.