CN103253313A - Modularized drive wheel and modularized robot with same - Google Patents
Modularized drive wheel and modularized robot with same Download PDFInfo
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- CN103253313A CN103253313A CN2012104186439A CN201210418643A CN103253313A CN 103253313 A CN103253313 A CN 103253313A CN 2012104186439 A CN2012104186439 A CN 2012104186439A CN 201210418643 A CN201210418643 A CN 201210418643A CN 103253313 A CN103253313 A CN 103253313A
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- modularized
- chassis
- wheel
- belt wheel
- event driven
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Abstract
The invention discloses a modularized drive wheel and a modularized robot with the same. The modularized drive wheel comprises a first seal box. A motor, a reducer and a synchronous wheel group are disposed in the seal box. The synchronous wheel group comprises a first pulley, a second pulley and a transmission belt which connects the first pulley and the second pulley. An output shaft of the motor is connected with the first pulley. An input shaft of the reducer is connected with the second pulley. An output shaft of the reducer extends to the outside of the seal box and is connected with a tire through a load-bearing shaft. The modularized robot comprises the modularized drive wheel and a chassis support. The modularized wheel is fixed on the chassis support. The modularized wheel is compact in structure, universal and convenient in rapid replacement, maintenance or upgrading. The chassis support of the modularized robot is firm in structure and good in structural rigidity, large load can be borne, the modularized wheel inserted to the chassis support is independent of the chassis support and can be replaced and maintained independently, and assembling speed is increased.
Description
Technical field
The present invention relates to a kind of modular event driven and take turns and comprise its modularization robot.
Background technology
The four-wheel robot system is a kind of driverless operation transport trolley of having equipped the independent power source, automatic guiding system being arranged.Wheeled robot can be applied to all kinds of conveying occasions, and its successful application at present is the carrying as material in the mechanized production system, transmission of instrument etc. between lathe and automated warehouse.Than other conveying arrangement (as rail transport trolley RGV, piler Staker Crane), wheeled robot has following advantage:
1) improves the control ability that transported substance is moved, can control in real time, handled accident.
2) transport route and have flexibility, can select different paths, avoiding obstacles.
3) has the ability of under danger or particular surroundings, carrying out work.
Wheel, the steering mode of the driving of wheeled robot and chassis structure form, employing are relevant.The chassis structure design will guarantee that robot can be freely mobile flexibly under the control of drive system, and chassis and driver train commonly used interfix, can't change fast and upgrade, thereby comparatively inconvenience of operation and maintenance.
Summary of the invention
The technical problem to be solved in the present invention is in order to overcome the drive wheel that can't change robot in the prior art fast or to be this drive wheel upgrading, make it safeguard the comparatively defective of inconvenience, providing a kind of modular event driven to take turns and comprise its modularization robot.
The present invention solves above-mentioned technical matters by following technical proposals:
A kind of modular event driven wheel, its characteristics are, it comprises a tire and a package, is provided with a motor, one speed reducer and synchronous wheels in this package, and these synchronous wheels comprise one first belt wheel, one second belt wheel and the driving band that connects this first belt wheel and this second belt wheel; The output shaft of this motor is connected with this first belt wheel; This input shaft of speed reducer is connected with this second belt wheel, and the output shaft of this retarder extends to the outside of this package and is connected with this tire by a load-bearing axle.
Wherein, this retarder is planetary reduction gear.
Wherein, this output shaft of this motor is connected with this first belt wheel by an aux. retarder.Thereby realize bigger reduction ratio output.
The present invention also provides a kind of modularization robot, and its characteristics are that it comprises at least two described modular event driven wheels; This modularization robot also comprises a chassis overhang, and described modular event driven wheel is fixed on this chassis overhang.
Wherein, this chassis overhang comprises two side stay bearing plates, is equipped with opening be used to this package that plugs this modular event driven wheel at described side stay bearing plate, and this package is fixed by fastener and this chassis overhang after inserting this opening; This chassis overhang also comprises chassis keel between two described side stay bearing plates; Described side stay bearing plate is connected with some cross sills by some entablatrances with the chassis keel.
Wherein, also be provided with some stirrups on this chassis overhang, described stirrup is connected on these chassis keel and this side stay bearing plate adjacent with these chassis keel.
Wherein, described fastener is screw.
Among the present invention, but above-mentioned optimum condition combination in any on the basis that meets this area general knowledge namely gets each preferred embodiment of the present invention.
Positive progressive effect of the present invention is: modular event driven wheel construction compactness of the present invention, have commonality, and be convenient to quick replacing, maintenance or upgrading expansion.In addition, the chassis overhang sound construction of this modularization robot guarantees structural rigidity, can carry bigger load, and separate with the modular event driven wheel of chassis overhang grafting, can exchange, be convenient to processing, and can change separately or keep in repair, improved its assembling speed.
Description of drawings
Fig. 1 is the structural representation of the modular event driven wheel in a preferred embodiment of the present invention.
Fig. 2 is the structural representation of the chassis overhang of the modularization robot in a preferred embodiment of the present invention.
The specific embodiment
Mode below by embodiment further specifies the present invention, but does not therefore limit the present invention among the described scope of embodiments.
As shown in Figure 1, modular event driven wheel in the present embodiment comprises a package 1, be provided with motor 2 at package 1, one speed reducer 6 and synchronous wheels, these synchronous wheels comprise one first belt wheel 3, one second belt wheel 4 and the driving band 5 that connects this first belt wheel 3 and this second belt wheel 4.First belt wheel 3 is connected with the output shaft of motor 2 by an aux. retarder (not shown), second belt wheel 4 is fixed on the input shaft of retarder 6, and the output shaft of retarder 6 passes from the sidewall of package 1, is connected with a tire 7 by a load-bearing axle (not shown).What the motor 2 in the present embodiment adopted is commercially available 350W drag cup carbon brush motor, and what retarder 6 adopted is commercially available planetary reduction gear.
Still also be provided with a coder (not shown) that is connected with motor 2 in this package 1, the pig-tail wire of the pig-tail wire of this coder and motor 2 is all drawn by the connection-peg 8 of a waterproof.
Below with the artificial example of the module machine of four-wheel, as shown in Figure 2, modularization robot in the present embodiment comprises a chassis overhang, this chassis overhang comprises two side stay bearing plates 91 that are oppositely arranged, and all offers two on every side stay bearing plate 91 and sees Fig. 1 with package 1() the adaptive opening 911 of cross-sectional plane.Between two side stay bearing plates 91, also be provided with chassis keel 92 that are used for strengthening this chassis overhang intensity.Be connected with four cross sills 94 by four entablatrances 93 between chassis keel 92 and the adjacent side stay bearing plate 91.
In addition, in order further to improve the bulk strength of chassis overhang, at chassis keel 92 be provided with stirrup 95 between the adjacent side stay bearing plate 91 with it.
After modular event driven wheel inserts corresponding opening 911, get final product package 1 and chassis overhang are fixing by screw.
When the drive part of the tire of modularization robot or a side take place aging, damage or when needing expansion, only need whole the taking off of modular event driven wheel of this side got final product.
Though more than described the specific embodiment of the present invention, it will be understood by those of skill in the art that these only are casehistorys, protection scope of the present invention is limited by appended claims.Those skilled in the art can make numerous variations or modification to these embodiments under the prerequisite that does not deviate from principle of the present invention and essence, but these changes and modification all fall into protection scope of the present invention.
Claims (7)
1. a modular event driven is taken turns, it is characterized in that, it comprises a tire and a package, is provided with a motor, one speed reducer and synchronous wheels in this package, and these synchronous wheels comprise one first belt wheel, one second belt wheel and the driving band that connects this first belt wheel and this second belt wheel; The output shaft of this motor is connected with this first belt wheel; This input shaft of speed reducer is connected with this second belt wheel, and the output shaft of this retarder extends to the outside of this package and is connected with this tire by a load-bearing axle.
2. modular event driven wheel as claimed in claim 1 is characterized in that this retarder is planetary reduction gear.
3. modular event driven wheel as claimed in claim 1 is characterized in that this output shaft of this motor is connected with this first belt wheel by an aux. retarder.
4. a modularization robot is characterized in that, it comprises at least two as each described modular event driven wheel in the claim 1 ~ 3; This modularization robot also comprises a chassis overhang, and described modular event driven wheel is fixed on this chassis overhang.
5. modularization robot as claimed in claim 4, it is characterized in that, this chassis overhang comprises two side stay bearing plates, is equipped with opening be used to this package that plugs this modular event driven wheel at described side stay bearing plate, and this package is fixed by fastener and this chassis overhang after inserting this opening; This chassis overhang also comprises chassis keel between two described side stay bearing plates; Described side stay bearing plate is connected with some cross sills by some entablatrances with the chassis keel.
6. modularization robot as claimed in claim 5 is characterized in that, also is provided with some stirrups on this chassis overhang, and described stirrup is connected on these chassis keel and this side stay bearing plate adjacent with these chassis keel.
7. modularization robot as claimed in claim 5 is characterized in that, described fastener is screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210418643.9A CN103253313B (en) | 2012-10-26 | 2012-10-26 | Modular event driven wheel and comprise its modularization robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210418643.9A CN103253313B (en) | 2012-10-26 | 2012-10-26 | Modular event driven wheel and comprise its modularization robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103253313A true CN103253313A (en) | 2013-08-21 |
| CN103253313B CN103253313B (en) | 2015-10-14 |
Family
ID=48957614
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210418643.9A Expired - Fee Related CN103253313B (en) | 2012-10-26 | 2012-10-26 | Modular event driven wheel and comprise its modularization robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103253313B (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009202761A (en) * | 2008-02-28 | 2009-09-10 | Ihi Corp | Mobile robot and its control method |
| CN201395050Y (en) * | 2009-04-21 | 2010-02-03 | 沈阳理工大学 | Electric walking device of lubrication oil charging truck |
| CN102529684A (en) * | 2011-11-23 | 2012-07-04 | 盐城工学院 | Wheel-side deceleration driving device of equal-length double wishbone suspension |
-
2012
- 2012-10-26 CN CN201210418643.9A patent/CN103253313B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009202761A (en) * | 2008-02-28 | 2009-09-10 | Ihi Corp | Mobile robot and its control method |
| CN201395050Y (en) * | 2009-04-21 | 2010-02-03 | 沈阳理工大学 | Electric walking device of lubrication oil charging truck |
| CN102529684A (en) * | 2011-11-23 | 2012-07-04 | 盐城工学院 | Wheel-side deceleration driving device of equal-length double wishbone suspension |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103253313B (en) | 2015-10-14 |
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| C14 | Grant of patent or utility model | ||
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151014 Termination date: 20201026 |
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| CF01 | Termination of patent right due to non-payment of annual fee |