CN102346482A - In-situ steering wheel type robot base mechanism - Google Patents

In-situ steering wheel type robot base mechanism Download PDF

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Publication number
CN102346482A
CN102346482A CN2011101392073A CN201110139207A CN102346482A CN 102346482 A CN102346482 A CN 102346482A CN 2011101392073 A CN2011101392073 A CN 2011101392073A CN 201110139207 A CN201110139207 A CN 201110139207A CN 102346482 A CN102346482 A CN 102346482A
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CN
China
Prior art keywords
wheel
belt wheel
belt
rotating shaft
angular contact
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Pending
Application number
CN2011101392073A
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Chinese (zh)
Inventor
刘军传
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BEIJING ENGLISH LEGEND TECHNOLOGY CO LTD
Original Assignee
BEIJING ENGLISH LEGEND TECHNOLOGY CO LTD
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Priority to CN2011101392073A priority Critical patent/CN102346482A/en
Publication of CN102346482A publication Critical patent/CN102346482A/en
Pending legal-status Critical Current

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Abstract

The invention discloses an in-situ steering wheel type robot base mechanism, which comprises three parts: a machine frame assembly, a wheel system assembly and a steering and moving assembly, wherein the wheel system assembly is arranged under the machine frame assembly, and the steering and moving assembly is used for driving the wheel system assembly to steer and transversely move. When a carrier is arranged on a machine frame, the movement of the wheel system assembly is transferred by a transfer element, and the driving force of the transfer element is realized through the cooperation of two motors, four synchronous belts and eight belt wheels in the steering and moving assembly, so the stable steering and moving of the machine frame is ensured. The steering of the base mechanism is completed through being driven by a first step motor, the movement of the base mechanism is completed through being singly driven by a second step motor, the steering and moving functions can be realized by the base mechanism only through the two motors, the two kinds of movement can be completely uncoupled, and the control is simple.

Description

A kind of wheeled robot base mechanism of pivot stud
Technical field
The present invention relates to a kind of base of using in the robot that is applicable to, more particularly say, be meant a kind of wheeled robot base mechanism of pivot stud.
Background technology
Wheeled robot steering mechanism commonly used mainly contains five kinds: Ai Keman turns to, differential steering, axle-articulated type turn to, all-wheel steering and car body-articulated type turn to.It is most typical method that Ai Keman turns to, and it is through rear wheel drive, and front-wheel is driven and turn to, and between two deflecting rollers, connects through Ai Ke Man U to make front-wheel realize synchronous deflection, similar with vehicle steering principle such as automobile.The both sides wheel drive of differential steering realizes turning to of different radii through changing the both sides wheel velocity.It is that the rotation of the axle through connecting the both sides wheel realizes turning to that axle-articulated type turns to, and turns to differently with Ai Keman, and wheel itself does not rotate around longitudinal axis.In the all-wheel steering mode, each wheel can be realized comprehensive the turning to of 360 degree of any wheel by an independently steer motor driving.Car body-articulated type turns to mostly to be made up of two sections car bodies, connects through turning axle between two sections car bodies, and all there is the fixing wheel of direction every section car body both sides, realizes turning to by means of the rotation of certain section car body with respect to another section car body.
Each its characteristics: Ai Keman of above-mentioned five kinds of steering modes turns to the simplest, be easy to realize, but turning radius is bigger; Differential steering can realize less turning radius, but any moment all have two motors to work at the same time, power consumption is bigger, and the synchronism of two motor movements is had relatively high expectations when driving car body and move with it; Axle-articulated type turns to needs two wheels of wheel shaft drive to move on a large scale, and power consumption is bigger, in addition the car body profile is also had certain limitation, interferes to avoid wheel and car body; All-wheel steering is the most flexible, turns to but each wheel all needs a steer motor to drive, and cost and complicacy are all high than alternate manner; It is similar that car body-articulated type steering feature and axle-articulated type turn to, and difference is that whole section car body all needs to rotate, and generally is used in the working environment of specific (special) requirements.
Summary of the invention
The objective of the invention is the problem that exists to existing wheeled robot platform, provide a kind of and control simple, power consumption and cost is low, can realize the wheeled robot base mechanism that no-radius original place 360 degree turn to.This base mechanism under the cooperation between band, belt wheel, the adaptor synchronously, can be realized turning to and moving of wheeled robot through controlling two motor positive and inverses respectively separately.
The wheeled robot base mechanism of a kind of pivot stud of the present invention, this base mechanism include housing assembly (1), wheel module, turn to and (3) three parts of moving assembly;
Housing assembly (1) includes A adaptor (11), B adaptor (12), C adaptor (13), D adaptor (14), steering axle (15) and quadrilateral frame (16);
The middle part of quadrilateral frame (16) is provided with middle cross beam (165), and this middle cross beam (165) is provided with central through hole (165a) and motor shaft via hole (165b); E angular contact bearing (152) is installed in the said central through hole (165a), and this E angular contact bearing (152) is socketed on the steering axle (15); The motor shaft that said motor shaft via hole (165b) is used for first stepper motor (34) passes, and the casing of first stepper motor (34) then is fixedly mounted on the middle cross beam (165);
Four angles of quadrilateral frame (16) are provided with A through hole (161), B through hole (162), C through hole (163) and D through hole (164); Wherein:
The C angular contact bearing (132) of C adaptor (13) is installed in the said A through hole (161), and this C angular contact bearing (132) is socketed in the C rotating shaft (131);
The A angular contact bearing (112) of A adaptor (11) is installed in the said B through hole (162), and this A angular contact bearing (112) is socketed in the A rotating shaft (111);
The B angular contact bearing (122) of B adaptor (12) is installed in the said C through hole (163), and this B angular contact bearing (122) is socketed in the B rotating shaft (121);
The D angular contact bearing (142) of D adaptor (14) is installed in the said D through hole (164), and this D angular contact bearing (142) is socketed in the D rotating shaft (141);
A adaptor (11) is made up of A rotating shaft (111), A angular contact bearing (112) and A nut (113); One end socket of A angular contact bearing (112) and A rotating shaft (111), the other end of A rotating shaft (111) is realized and being fixedly connected of A universal wheel (21a) wheel carrier (21) through A nut (113);
B adaptor (12) is made up of B rotating shaft (121), B angular contact bearing (122) and B nut (123); One end socket of B angular contact bearing (122) and B rotating shaft (121), the other end of B rotating shaft (121) is realized and being fixedly connected of B universal wheel (22a) wheel carrier (22) through B nut (123);
C adaptor (13) is made up of C rotating shaft (131), C angular contact bearing (132) and C nut (133); C angular contact bearing (132) and C rotating shaft (131) socket; The other end of C rotating shaft (131) realizes and being fixedly connected of the wheel carrier (21) of A directional wheel (21a) through C nut (133), be socketed with on the end of C rotating shaft (131) turn to and moving assembly (3) in G belt wheel (47);
D adaptor (14) is made up of D rotating shaft (141), D angular contact bearing (142) and D nut (143); D angular contact bearing (142) and D rotating shaft (141) socket; The other end of D rotating shaft (141) realizes and being fixedly connected of the wheel carrier (24) of B directional wheel (24a) through D nut (143), be socketed with on the end of D rotating shaft (141) turn to and moving assembly (3) in H belt wheel (48);
The wheel module includes A universal wheel (21a), B universal wheel (22a), A directional wheel (23a), B directional wheel (24a) and power directional wheel (25); A universal wheel (21a) is connected with A adaptor (11), and B universal wheel (22a) is connected with B adaptor (12), and A directional wheel (23a) is connected with C adaptor (13), and B directional wheel (24a) is connected with D adaptor (14);
Said power directional wheel (25) is made up of U-shaped wheel carrier (251), power shaft (252), wheel (253), A ball bearing (254) and B ball bearing (255); Wheel (253) is installed on the power shaft (252); One end of power shaft (252) is socketed with A ball bearing (254); The other end of power shaft (252) is socketed with B ball bearing (255); This A ball bearing (254) is installed in the through hole of a support arm of U-shaped wheel carrier (251), and this B ball bearing (255) is installed in the through hole of another support arm of U-shaped wheel carrier (251);
Turn to and moving assembly (3) includes installing plate (37), motor bracing frame (38), first stepper motor (34), second stepper motor (35), A and turns to synchronous band (31), B to turn to synchronous band (32), C to turn to synchronous band (33), movement synchronous belt (36), A belt wheel (41), B belt wheel (42), C belt wheel (43), D belt wheel (44), E belt wheel (45), F belt wheel (46), G belt wheel (47) and H belt wheel (48);
Installing plate (37) is provided with flat board (371) and sleeve (372), and dull and stereotyped (371) are used to install motor bracing frame (38), are socketed with the upper end of steering axle (15) in the sleeve (372);
Be connected with A belt wheel (41) on the output shaft of first stepper motor (34);
Be connected with F belt wheel (46) on the output shaft of second stepper motor (35);
Be socketed with A between A belt wheel (41) and the B belt wheel (42) and turn to synchronous band (31);
Be socketed with movement synchronous belt (36) between C belt wheel (43) and the F belt wheel (46);
Be socketed with C between D belt wheel (44) and the H belt wheel (48) and turn to synchronous band (33);
Be socketed with B between E belt wheel (45) and the G belt wheel (47) and turn to synchronous band (32);
E belt wheel (45), D belt wheel (44) and B belt wheel (42) are installed on the steering axle (15) from top to bottom.
The wheeled robot base mechanism of pivot stud of the present invention; A directional wheel (23a), B directional wheel (24a), A universal wheel (21a), B universal wheel (22a) that its quadrilateral frame (16) bottom is provided with; A directional wheel (23a) is the diagonal angle layout with B directional wheel (24a), and A universal wheel (21a) is the diagonal angle layout with B universal wheel (22a).
The wheeled robot base mechanism of pivot stud of the present invention, its power directional wheel (25) are arranged on the cross central line of quadrilateral frame (16) bottom and the intersection point place of longitudinal centre line.
The advantage of the wheeled robot base mechanism of pivot stud of the present invention is:
1. turning to by the first stepper motor individual drive of base mechanism accomplished; Moving of base mechanism accomplished by the second stepper motor individual drive; This base mechanism only both can have been realized turning to and locomotive function with two motors, can make two kinds of motions full decoupled again, controlled very simple.
2. the base mechanism of the present invention's design is accomplished a kind of action only needs a machine operation, low in energy consumption.
3. the base mechanism of the present invention's design can realize that no-radius 360 degree in original place turn to, and movement locus can accurately be controlled, and has effectively reduced the dead angle of work space.
4. the transmission parts are belt wheel, are with synchronously in the base mechanism of the present invention's design, are standard component, and synchronized movement property and process and assemble precision are not had specific (special) requirements, and cost is low.
Description of drawings
Fig. 1 is the structural drawing of wheeled robot base mechanism of the present invention.
Figure 1A is another visual angle structural drawing of wheeled robot base mechanism of the present invention.
Fig. 2 is the structural drawing of mid frame assembly of the present invention.
Fig. 2 A is the exploded view of mid frame assembly of the present invention.
Fig. 3 is the structural drawing that turns among the present invention with moving assembly.
Fig. 3 A is the wiring layout that turns among the present invention with moving assembly and power directional wheel.
Fig. 3 B is the structural drawing of motor bracing frame of the present invention.
Fig. 3 C is the exploded view of power directional wheel of the present invention.
Fig. 4 is that the present invention takes turns the synoptic diagram of module when turning to translation.
Among the figure: 1. housing assembly 11.A adaptor 111.A rotating shaft 112.A angular contact bearing
113.A nut 12.B adaptor 121.B rotating shaft 122.B angular contact bearing
123.B nut 13.C adaptor 131.C rotating shaft 132.C angular contact bearing
133.C nut 14.D adaptor 141.D rotating shaft 142.D angular contact bearing
143.D nut 15. steering axle 152.E angular contact bearings 16. quadrilateral frames
161.A through hole 162.B through hole 163.C through hole 164.D through hole 165. middle cross beams
165a. central through hole 165b. motor shaft via hole 21a.A universal wheel 21.A universal wheel wheel carrier
22a.B universal wheel 22.B universal wheel wheel carrier 23a.A directional wheel 23.A directional wheel wheel carrier
24a.B directional wheel 24.B directional wheel wheel carrier
25. power directional wheel 251.U shape wheel carrier 252. power shafts 253. wheel 254.A ball bearing
255.B ball bearing 3. turns to moving assembly 31.A and turns to synchronous band
Be with 34. first stepper motors synchronously 32.B turn to synchronous band 33.C to turn to
35. second stepper motor, 36. movement synchronous belts, 37. installing plates, 371. flat boards
372. sleeve 38. motor bracing frame 41.A belt wheel 42.B belt wheel 43.C belt wheels
44.D belt wheel 45.E belt wheel 46.F belt wheel 47.G belt wheel 48.H belt wheel
Embodiment
To combine accompanying drawing that the present invention is done further detailed description below.
Shown in Fig. 1, Figure 1A; The wheeled robot base mechanism of a kind of pivot stud of the present invention; This base mechanism includes housing assembly 1, wheel module, turns to and 3 three parts of moving assembly; The wheel module is installed in the below of housing assembly 1, and robot carrier is installed in the top of housing assembly 1.Turning to moving assembly 3 places robot carrier inner.
(1) housing assembly 1
Shown in Fig. 2, Fig. 2 A, housing assembly 1 includes A adaptor 11, B adaptor 12, C adaptor 13, D adaptor 14, steering axle 15 and quadrilateral frame 16.
The middle part of quadrilateral frame 16 is provided with middle cross beam 165, and this middle cross beam 165 is provided with central through hole 165a and motor shaft via hole 165b; In the said central through hole 165a E angular contact bearing 152 is installed, this E angular contact bearing 152 is socketed on the steering axle 15; The motor shaft that said motor shaft via hole 165b is used for first stepper motor 34 passes, and the casing of first stepper motor 34 then is fixedly mounted on the middle cross beam 165;
Four angles of quadrilateral frame 16 are provided with A through hole 161, B through hole 162, C through hole 163 and D through hole 164; Wherein:
The C angular contact bearing 132 of C adaptor 13 is installed in the said A through hole 161, and this C angular contact bearing 132 is socketed in the C rotating shaft 131;
The A angular contact bearing 112 of A adaptor 11 is installed in the said B through hole 162, and this A angular contact bearing 112 is socketed in the A rotating shaft 111;
The B angular contact bearing 122 of B adaptor 12 is installed in the said C through hole 163, and this B angular contact bearing 122 is socketed in the B rotating shaft 121;
The D angular contact bearing 142 of D adaptor 14 is installed in the said D through hole 164, and this D angular contact bearing 142 is socketed in the D rotating shaft 141.
A adaptor 11 is made up of A rotating shaft 111, A angular contact bearing 112 and A nut 113; A angular contact bearing 112 is installed in the B through hole 162 of quadrilateral frame 16; And an end socket of A angular contact bearing 112 and A rotating shaft 111, the other end of A rotating shaft 111 is realized being fixedly connected with the wheel carrier 21 of A universal wheel 21a through A nut 113.
B adaptor 12 is made up of B rotating shaft 121, B angular contact bearing 122 and B nut 123; B angular contact bearing 122 is installed in the C through hole 163 of quadrilateral frame 16; And an end socket of B angular contact bearing 112 and B rotating shaft 121, the other end of B rotating shaft 121 is realized being fixedly connected with the wheel carrier 22 of B universal wheel 22a through B nut 123.
C adaptor 13 is made up of C rotating shaft 131, C angular contact bearing 132 and C nut 133; C angular contact bearing 132 is installed in the A through hole 161 of quadrilateral frame 16; And C angular contact bearing 132 and C rotating shaft 131 sockets; The other end of C rotating shaft 131 is realized being fixedly connected with the wheel carrier 21 of A directional wheel 21a through C nut 133, be socketed with on the end of C rotating shaft 131 turn to moving assembly 3 in G belt wheel 47.
D adaptor 14 is made up of D rotating shaft 141, D angular contact bearing 142 and D nut 143; D angular contact bearing 142 is installed in the D through hole 164 of quadrilateral frame 16; And D angular contact bearing 142 and D rotating shaft 141 sockets; The other end of D rotating shaft 141 is realized being fixedly connected with the wheel carrier 24 of B directional wheel 24a through D nut 143, be socketed with on the end of D rotating shaft 141 turn to moving assembly 3 in H belt wheel 48.
In the present invention, the upper end of steering axle 15 is installed in the sleeve 372 of installing plate 37, and the lower end of steering axle 15 is installed on the U-shaped wheel carrier 251, and steering axle 15 is socketed with E belt wheel 45, D belt wheel 44, E angular contact bearing 152 and B belt wheel 42 from top to bottom.Socket E angular contact bearing 152 on the steering axle 15, and E angular contact bearing 152 is installed on the middle cross beam 165 of quadrilateral frame 16; Under turning to of first stepper motor 34 drives; Steering axle 15 is under A turns to synchronously with 31 transmission and rotate; The one side that steering axle 15 is rotated makes B turn to be with synchronously 32, C turns to and is with 33 to keep rotating synchronously synchronously; Being fixedly connected of rotating shaft in belt wheel and the adaptor under the condition that rotating shaft is rotated, realized the divertical motion of directional wheel; Steering axle 15 is rotated makes itself and being fixedly connected of U-shaped wheel carrier 251 on the other hand, and after drive U-shaped wheel carrier 251 turned over an angle (being steering angle β), wheel 253 was also followed and turned over equal angular, thereby has realized that base turns to.
In the present invention, the adaptor that adopts angular contact bearing and rotating shaft to constitute realizes that frame is motionless, and the carrier that is installed in the frame top is moved with the wheel module, has guaranteed the stationarity of robot carrier on base mechanism.
(2) wheel module
Shown in Fig. 1, Figure 1A, Fig. 3 C, the wheel module includes A universal wheel 21a, B universal wheel 22a, A directional wheel 23a, B directional wheel 24a and power directional wheel 25;
Shown in Fig. 3 C; Said power directional wheel 25 is made up of U-shaped wheel carrier 251, power shaft 252, wheel 253, A ball bearing 254 and B ball bearing 255; Wheel 253 is installed on the power shaft 252; Also be equipped with on the power shaft 252 turn to moving assembly 3 in C belt wheel 43; The two ends of power shaft 252 are socketed with A ball bearing 254 and B ball bearing 255 respectively, and this A ball bearing 254 is installed in the through hole of a support arm of U-shaped wheel carrier 251, and this B ball bearing 255 is installed in the through hole of another support arm of U-shaped wheel carrier 251.
A universal wheel 21a passes through 113 fixed installations of A nut through its wheel carrier 21 (being A universal wheel wheel carrier 21) and the A rotating shaft 111 in the A adaptor 11.In other words, A universal wheel 21a is connected with A adaptor 11.
B universal wheel 22a passes through 123 fixed installations of B nut through its wheel carrier 22 (being B universal wheel wheel carrier 22) and the B rotating shaft 121 in the B adaptor 12.In other words, B universal wheel 22a is connected with B adaptor 12.
A directional wheel 23a passes through 133 fixed installations of C nut through its wheel carrier 23 (being A directional wheel wheel carrier 23) and the C rotating shaft 131 in the C adaptor 13.In other words, A directional wheel 23a is connected with C adaptor 13.
B directional wheel 24a passes through 143 fixed installations of D nut through its wheel carrier 24 (being B directional wheel wheel carrier 24) and the D rotating shaft 141 in the D adaptor 14.In other words, B directional wheel 24a is connected with D adaptor 14.
Referring to shown in Figure 4, track when base mechanism moves such as AC line and BD line are provided with A universal wheel 21a and B directional wheel 24a on the AC line, A directional wheel 23a and B universal wheel 22a are set on the BD line.The intersection point of base mechanism cross central line and longitudinal centre line (central axis that is steering axle 15 is crossed this intersection point) locates to be provided with power directional wheel 25.
The present invention is provided with two directional wheels (A directional wheel 23a, B directional wheel 24a) and two universal wheels (A universal wheel 21a, B universal wheel 22a) in quadrilateral frame 16 bottoms; And two directional wheels and two universal wheels adopt the diagonal angle layout type; Adopt the wheel of diagonal angle layout different structure to help under turning to of first stepper motor 34 drives; The wheel that only needs to drive a diagonal angle turns over certain angle, and the wheel at another diagonal angle is followed, and has just realized turning to of base.
The present invention is provided with power directional wheel 25 in quadrilateral frame 16 bottom centre (intersection point of cross central line and longitudinal centre line); And on the power shaft 252 of power directional wheel 25 socket C belt wheel 43; Be socketed with movement synchronous belt 36 on the C belt wheel 43; Under the driving of second stepper motor 35, movement synchronous belt 36 transmits this and moves driving force, thereby power directional wheel 25 is moved after completion turns to again.
In the present invention, A universal wheel 21a, B universal wheel 22a, A directional wheel 23a, B directional wheel 24a and C directional wheel 25a are that product is bought in the outside.Directional wheel and universal wheel can select for use the really rich castor company limited in Fushan City, Guangdong Province to produce product, like the directional wheel and the universal wheel of 2-4646-925 model.
(3) turn to and moving assembly 3
Shown in Fig. 3, Fig. 3 A, turn to moving assembly 3 and include an installing plate 37, motor bracing frame 38, two stepper motors, four band and eight belt wheels synchronously.
Shown in Fig. 3 B, installing plate 37 is provided with flat board 371 and sleeve 372, and dull and stereotyped 371 are used to install motor bracing frame 38, are socketed with the upper end of steering axle 15 in the sleeve 372.
Two stepper motors are meant first stepper motor 34 and second stepper motor 35; First stepper motor 34 is used to realize the driving that turns to of base, and second stepper motor 35 is used to realize the mobile driving of base.The casing of second stepper motor 35 is fixed on the motor bracing frame 38, and motor bracing frame 38 is installed on the installing plate 37.
Article four, synchronously band be meant A turn to be with 31 synchronously, B turn to be with 32 synchronously, C turn to be with 33 synchronously, movement synchronous belt 36.
Eight belt wheels are meant A belt wheel 41, B belt wheel 42, C belt wheel 43, D belt wheel 44, E belt wheel 45, F belt wheel 46, G belt wheel 47 and H belt wheel 48.
Be connected with A belt wheel 41 on the output shaft of first stepper motor 34.
Be connected with F belt wheel 46 on the output shaft of second stepper motor 35.
Being socketed with A between A belt wheel 41 and the B belt wheel 42 turns to and is with 31 synchronously.
Be socketed with movement synchronous belt 36 between C belt wheel 43 and the F belt wheel 46.
Being socketed with C between D belt wheel 44 and the H belt wheel 48 turns to and is with 33 synchronously.
Being socketed with B between E belt wheel 45 and the G belt wheel 47 turns to and is with 32 synchronously.
E belt wheel 45, D belt wheel 44 and B belt wheel 42 are installed on the steering axle 15 from top to bottom.
In the present invention, first stepper motor 34 is identical with second stepper motor, 35 output powers.The 42BYGH4604 two phases 6 line 12V stepper motors of selecting for use changzhou flourish generation Electrical Appliances Co., Ltd to produce.
Referring to shown in Figure 4, but the kinematic relation of the wheeled robot base mechanism of a kind of pivot stud of the present invention is:
(a) drive down turning to of first stepper motor 34,41 rotations of A belt wheel cause to turn to through A and are with 31 to drive B belt wheels 42 and rotate synchronously;
(b) B belt wheel 42, D belt wheel 44 and E belt wheel 45 are connected on the steering axle 15, and the upper end of steering axle 15 is fixedly connected with installing plate 37, and the lower end of steering axle 15 is fixedly connected with power wheel support 251; Therefore, turn at A and to be with 31 to drive down synchronously, installing plate 37, power wheel support 251, B belt wheel 42, D belt wheel 44 and E belt wheel 45 are done to move in the same way, and steering angle is identical; A turns to the angle that turns over 31 drive steering axles 15 synchronously to be designated as steering angle β;
(c) D belt wheel 44 rotation causes to turn to through B and is with 32 to drive 47 rotations of G belt wheels synchronously; Wheel carrier 23 generations that the rotation of G belt wheel 47 drives A directional wheel 23a turn to, and the angle that its A directional wheel 23a turns over equals β;
(d) E belt wheel 45 rotation causes to turn to through C and is with 33 to drive 48 rotations of H belt wheels synchronously; Wheel carrier 24 generations that the rotation of H belt wheel 48 drives B directional wheel 24a turn to, and the angle that its B directional wheel 24a turns over equals β;
(e) rotation of steering axle 15 drive power wheel support 251 produces with installing plate 37 and turns to;
(f) after turning to of step (c), step (d) and step (e) reaches required angle, start second stepper motor 35 and get into mobile the driving;
(g) under the mobile driving of second stepper motor 35,46 rotations of F belt wheel cause through movement synchronous belt 36 and drive 43 rotations of C belt wheel; The power shaft 252 that the rotation of C belt wheel 43 drives power directional wheel 25 rotates, and then realizes that wheel 253 moves.
(h) under the cooperation of second stepper motor 35 and movement synchronous belt 36, the A universal wheel 21a in the wheel module, B universal wheel 22a keep moving in the same way with A directional wheel 23a, B directional wheel 24a.
In the present invention; The rotation of first stepper motor, 34 machine shafts is delivered to after the steering axle 15; Turn to through C and to be with 33 to turn to B and to be with 32 to be delivered to respectively on H belt wheel 48 and the G belt wheel 47 synchronously synchronously; Drive B directional wheel support 24 and turn over identical angle, avoid quadrilateral frame 16 to rotate because of the relative moment of torsion that first stepper motor 34 produces with A directional wheel support 23.The direction of motion that turn to synchronously with 31 at first stepper motor 34, A, B turns to synchronously with 32, C has changed quadrilateral frame 16 under turning to synchronously with 33 concerted action.Second stepper motor 35 is fixed on the motor bracing frame 38, and motor bracing frame 38 is connected with steering axle 15, is fixed with F belt wheel 46 on second stepper motor, 35 output shafts, and steering axle 15 is a tubular structure, and endoporus is a through hole; Shifting axle 254 is connected with wheel 25a, is fixed with C belt wheel 43 on the shifting axle.Movement synchronous belt 36 1 ends that pass steering axle 15 endoporus are connected on the F belt wheel 46; The other end is connected on the C belt wheel 43; Under the rotating drive of second stepper motor 35 rotation of motor is being transferred on the power shaft 252, the motion of power shaft 252 causes wheel 253 to move forward and backward, and moves forward and backward thereby the wheeled robot base is produced; Two directional wheels and two universal wheel generations are driven, have guaranteed steadily moving of base.
Though the present invention explains at preceding text according to preferred embodiment, does not represent the present invention to be confined to above-mentioned structure.For example, can adopt modes such as chain, wire rope to replace synchronous band transmitting movement; Can adopt power wheel to remain unchanged, a directional wheel and two universal wheels are arranged all around, being evenly distributed on the power wheel position is the structure on the circumference in the center of circle, as long as keep frame to move steadily, and frame does not rotate and gets final product when turning to.

Claims (4)

1. the wheeled robot base mechanism of a pivot stud is characterized in that: this base mechanism includes housing assembly (1), wheel module, turns to and (3) three parts of moving assembly;
Housing assembly (1) includes A adaptor (11), B adaptor (12), C adaptor (13), D adaptor (14), steering axle (15) and quadrilateral frame (16);
The middle part of quadrilateral frame (16) is provided with middle cross beam (165), and this middle cross beam (165) is provided with central through hole (165a) and motor shaft via hole (165b); E angular contact bearing (152) is installed in the said central through hole (165a), and this E angular contact bearing (152) is socketed on the steering axle (15); The motor shaft that said motor shaft via hole (165b) is used for first stepper motor (34) passes, and the casing of first stepper motor (34) then is fixedly mounted on the middle cross beam (165);
Four angles of quadrilateral frame (16) are provided with A through hole (161), B through hole (162), C through hole (163) and D through hole (164); Wherein:
The C angular contact bearing (132) of C adaptor (13) is installed in the said A through hole (161), and this C angular contact bearing (132) is socketed in the C rotating shaft (131);
The A angular contact bearing (112) of A adaptor (11) is installed in the said B through hole (162), and this A angular contact bearing (112) is socketed in the A rotating shaft (111);
The B angular contact bearing (122) of B adaptor (12) is installed in the said C through hole (163), and this B angular contact bearing (122) is socketed in the B rotating shaft (121);
The D angular contact bearing (142) of D adaptor (14) is installed in the said D through hole (164), and this D angular contact bearing (142) is socketed in the D rotating shaft (141);
A adaptor (11) is made up of A rotating shaft (111), A angular contact bearing (112) and A nut (113); One end socket of A angular contact bearing (112) and A rotating shaft (111), the other end of A rotating shaft (111) is realized and being fixedly connected of A universal wheel (21a) wheel carrier (21) through A nut (113);
B adaptor (12) is made up of B rotating shaft (121), B angular contact bearing (122) and B nut (123); One end socket of B angular contact bearing (122) and B rotating shaft (121), the other end of B rotating shaft (121) is realized and being fixedly connected of B universal wheel (22a) wheel carrier (22) through B nut (123);
C adaptor (13) is made up of C rotating shaft (131), C angular contact bearing (132) and C nut (133); C angular contact bearing (132) and C rotating shaft (131) socket; The other end of C rotating shaft (131) realizes and being fixedly connected of the wheel carrier (21) of A directional wheel (21a) through C nut (133), be socketed with on the end of C rotating shaft (131) turn to and moving assembly (3) in G belt wheel (47);
D adaptor (14) is made up of D rotating shaft (141), D angular contact bearing (142) and D nut (143); D angular contact bearing (142) and D rotating shaft (141) socket; The other end of D rotating shaft (141) realizes and being fixedly connected of the wheel carrier (24) of B directional wheel (24a) through D nut (143), be socketed with on the end of D rotating shaft (141) turn to and moving assembly (3) in H belt wheel (48);
The wheel module includes A universal wheel (21a), B universal wheel (22a), A directional wheel (23a), B directional wheel (24a) and power directional wheel (25); A universal wheel (21a) is connected with A adaptor (11), and B universal wheel (22a) is connected with B adaptor (12), and A directional wheel (23a) is connected with C adaptor (13), and B directional wheel (24a) is connected with D adaptor (14);
Said power directional wheel (25) is made up of U-shaped wheel carrier (251), power shaft (252), wheel (253), A ball bearing (254) and B ball bearing (255); Wheel (253) is installed on the power shaft (252); One end of power shaft (252) is socketed with A ball bearing (254); The other end of power shaft (252) is socketed with B ball bearing (255); This A ball bearing (254) is installed in the through hole of a support arm of U-shaped wheel carrier (251), and this B ball bearing (255) is installed in the through hole of another support arm of U-shaped wheel carrier (251);
Turn to and moving assembly (3) includes installing plate (37), motor bracing frame (38), first stepper motor (34), second stepper motor (35), A and turns to synchronous band (31), B to turn to synchronous band (32), C to turn to synchronous band (33), movement synchronous belt (36), A belt wheel (41), B belt wheel (42), C belt wheel (43), D belt wheel (44), E belt wheel (45), F belt wheel (46), G belt wheel (47) and H belt wheel (48);
Installing plate (37) is provided with flat board (371) and sleeve (372), and dull and stereotyped (371) are used to install motor bracing frame (38), are socketed with the upper end of steering axle (15) in the sleeve (372);
Be connected with A belt wheel (41) on the output shaft of first stepper motor (34);
Be connected with F belt wheel (46) on the output shaft of second stepper motor (35);
Be socketed with A between A belt wheel (41) and the B belt wheel (42) and turn to synchronous band (31);
Be socketed with movement synchronous belt (36) between C belt wheel (43) and the F belt wheel (46);
Be socketed with C between D belt wheel (44) and the H belt wheel (48) and turn to synchronous band (33);
Be socketed with B between E belt wheel (45) and the G belt wheel (47) and turn to synchronous band (32);
E belt wheel (45), D belt wheel (44) and B belt wheel (42) are installed on the steering axle (15) from top to bottom.
2. the wheeled robot base mechanism of pivot stud according to claim 1; It is characterized in that: A directional wheel (23a), B directional wheel (24a), A universal wheel (21a), B universal wheel (22a) that quadrilateral frame (16) bottom is provided with; A directional wheel (23a) is the diagonal angle layout with B directional wheel (24a), and A universal wheel (21a) is the diagonal angle layout with B universal wheel (22a).
3. the wheeled robot base mechanism of pivot stud according to claim 1 is characterized in that: power directional wheel (25) is arranged on the cross central line of quadrilateral frame (16) bottom and the intersection point place of longitudinal centre line.
4. the wheeled robot base mechanism of pivot stud according to claim 1 is characterized in that the kinematic relation of this base mechanism is:
(a) under turning to of first stepper motor (34) drives, A belt wheel (41) rotation causes through A to turn to synchronous band (31) to drive B belt wheel (42) rotation;
(b) turn under synchronous band (31) drive at A, installing plate (37), power wheel support (251), B belt wheel (42), D belt wheel (44) and E belt wheel (45) are done motion in the same way;
(c) D belt wheel (44) rotation causes through B to turn to synchronous band (32) to drive G belt wheel (47) rotation;
The rotation of G belt wheel (47) drives A directional wheel (23a) generation and turns to;
(d) E belt wheel (45) rotation causes through C to turn to synchronous band (33) to drive H belt wheel (48) rotation; The rotation of H belt wheel (48) drives B directional wheel (24a) generation and turns to;
(e) rotation of steering axle (15) drive power wheel support (251) and installing plate 37 produce and turn to;
(f) step (c), step (d) and step (e) turn to completion after, start second stepper motor (35);
(g) under the mobile driving of second stepper motor (35), F belt wheel (46) rotation causes through movement synchronous belt (36) and drives C belt wheel (43) rotation; The power shaft (252) that the rotation of C belt wheel (43) drives power directional wheel (25) rotates, and then realizes that wheel (253) moves;
(h) under the cooperation of second stepper motor (35) and movement synchronous belt (36), A universal wheel (21a), B universal wheel (22a) keep moving in the same way with A directional wheel (23a), B directional wheel (24a).
CN2011101392073A 2011-05-27 2011-05-27 In-situ steering wheel type robot base mechanism Pending CN102346482A (en)

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CN107124899A (en) * 2016-07-15 2017-09-01 深圳市大疆创新科技有限公司 Movable fixture, follow shot equipment, movable fixture control system and method
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CN103991491A (en) * 2013-02-19 2014-08-20 北京机械工业自动化研究所 Wheel-type omni-directional moving device and method and transportation device
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CN105882784B (en) * 2016-05-27 2021-08-17 中国科学院宁波材料技术与工程研究所 Omnidirectional mobile platform and power universal wheel thereof
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WO2019196757A1 (en) * 2018-04-08 2019-10-17 AIrobot株式会社 Universal wheel, traveling mechanism and autonomous moving transport robot
CN108958396A (en) * 2018-06-26 2018-12-07 芜湖广智天和信息技术有限公司 A kind of portable computer system integrated control cabinet
CN108958396B (en) * 2018-06-26 2021-11-12 合肥卓瑞信息技术有限公司 Portable computer system integrated control cabinet
CN113545709A (en) * 2021-07-09 2021-10-26 胡天琦 Intelligent robot chassis structure with flexible steering function

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