CN104210572A - Omnidirectional wheel chassis for climbing robot - Google Patents
Omnidirectional wheel chassis for climbing robot Download PDFInfo
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- CN104210572A CN104210572A CN201410327796.1A CN201410327796A CN104210572A CN 104210572 A CN104210572 A CN 104210572A CN 201410327796 A CN201410327796 A CN 201410327796A CN 104210572 A CN104210572 A CN 104210572A
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Abstract
The invention discloses an omnidirectional wheel chassis for a climbing robot. The omnidirectional wheel chassis comprises a chassis bracket (1) and three omnidirectional wheels on the chassis bracket (1), wherein two omnidirectional wheels on the middle back part of the three omnidirectional wheels are directly fixed on the chassis bracket; the front omnidirectional wheel (2a) on the front part is fixed on a front bracket (4) which is hinged to the chassis bracket (1); a vertical rod (4a) of the front bracket (4) is connected with a front vertical rod (1a) on the chassis bracket (1) through a cylinder; an axle of the front omnidirectional wheel is penetrated forwards, and is connected with a driving bevel gear (3); the driving bevel gear (3) is meshed with a driven bevel gear (3a); the driven bevel gear (3a) is fixed on a transverse transmission shaft (5); both sides of the transmission shaft (5) are connected with climbing circular wheels (6) respectively; the diameters of the climbing circular wheels (6) are smaller than the diameter of the front omnidirectional wheel (2a); the transmission shaft (5) is fixed on the front bracket (4) through a bearing. The robot using the omnidirectional wheel chassis walks flexibly, and has high climbing capability.
Description
Technical field
The present invention relates to a kind of novel climbing robot chassis.
Background technology
Omni-directional wheel comprises wheel hub motor and flower wheel, and the excircle place of wheel hub motor evenly offers the wheel hub tooth of more than 3 or 3, and be equiped with a flower wheel between every two wheel hub teeth, the radial direction of this flower wheel is vertical with the tangential direction of wheel hub excircle.Therefore, omni-directional wheel can either pass through the axial rotation that wheel hub motor (bull wheel) carries out around motor shaft, can realize carrying out axial linear movement along the axle of wheel hub motor by the rotation of flower wheel (steamboat) again.The robot omni-directional wheel chassis of three omni-directional wheel compositions, by the combination of the rotating speed of three wheel hub motors and respective axial rotation, axial linear movement, robot can be made to have very high alerting ability at smooth ground running, namely can not change the attitude of car, planar move along any direction.But due to omni-directional wheel be only by immediately below flower wheel and ground form point cantact, linear contact lay is formed by whole excircle of taking turns and ground than common road wheel wheel, the area of contact of omni-directional wheel reduces, little with the friction force on ground, when climbing, its road surface friction force can not overcome the downslide component that robot gravity is formed, and causes its hill climbing ability very poor.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind of climbing robot omni-directional wheel chassis, uses the robot on this kind of omni-directional wheel chassis, and its walking is flexible, and hill climbing ability is strong.
The present invention solves its technical matters, and the technical scheme adopted is: a kind of climbing robot omni-directional wheel chassis, and comprise chassis overhang, three omni-directional wheels on chassis overhang, is characterized in that:
After two of three described omni-directional wheel postmedians, omni-directional wheel is directly fixed on chassis overhang, and anterior front omni-directional wheel is fixed on the front frame hinged with chassis overhang, and the vertical rod of front frame is connected by cylinder with the front vertical rod on chassis overhang;
Pass before the axial direction of front omni-directional wheel, and connect drive bevel gear, drive bevel gear engages with driven wheel of differential, driven wheel of differential is fixed on horizontal transmission shaft, the both sides of transmission shaft connect climbing circle wheel respectively, climbing circle wheel diameter is less than the diameter of front omni-directional wheel, and transmission shaft is fixed on front frame by bearing.
Working process of the present invention and principle are:
On level land during traveling, cylinder shrinks, front frame rotates up until vertical rod is closed up before on the vertical rod of front frame and chassis overhang around the hinge-point between front frame and chassis overhang, and it is liftoff that two the climbing circles being positioned at front frame front portion take turns upwards lifting, and front omni-directional wheel lands.Now whole robot is by three omni-directional wheels and earth surface, and climbing circle wheel is unsettled, identical with three common omni-directional wheel robots, by the combination of the wheel hub motor friction speed of three omni-directional wheels, can walk about flexibly along any direction on the ground.
And when robot needs to swash along certain degree of dip domatic, cylinder stretches out, front frame around the hinge-point between front frame and chassis overhang be rotated down until front frame vertical rod and chassis overhang on before vertical rod separate maximum angle, two the climbing circle wheels being positioned at front frame front portion touch ground downwards and by liftoff for front omni-directional wheel lifting.After now whole robot passes through two, omni-directional wheel and two climbing circles are above taken turns and earth surface, form four-wheel to contact to earth walking, add the number of the wheel that contacts to earth, and two climbing circle wheels form linear contact lay by excircle and ground, area of contact increase, thus make the whole walking of robot contact to earth area increase, improve road surface friction force, the sliding force that gravity is formed can be overcome, and its hill climbing ability is obviously promoted.
Compared with prior art, the invention has the beneficial effects as follows:
When level road is walked, cylinder shrinks, and three omni-directional wheels land, and walking manner is identical with common omni-directional wheel chassis, can move along any direction of level road, and its walking flexibly; When needing climbing, then cylinder stretches out, two climbing circle wheels with two after omni-directional wheel forms four-wheel and lands, and the area that lands of climbing circle wheel is large, and its friction force is strong, and can overcome the sliding force of gravity formation, its hill climbing ability is strong.
Below in conjunction with accompanying drawing and concrete embodiment, the present invention is described in further detail.
Accompanying drawing explanation
Fig. 1 is the perspective view of the present invention in the lower-left angle of level walking state.
Fig. 2 is that the present invention looks up structural representation in level walking state.
Fig. 3 is the perspective view of the present invention in the lower-left angle of climbing state.
Detailed description of the invention
Embodiment
Fig. 1-3 illustrates, a kind of specific implementation of the present invention is, a kind of climbing robot omni-directional wheel chassis, comprises chassis overhang 1, three omni-directional wheels on chassis overhang 1, wherein:
After two of three described omni-directional wheel postmedians, omni-directional wheel 2 is directly fixed on chassis overhang, anterior front omni-directional wheel 2a is fixed on the front frame 4 hinged with chassis overhang 1, and the vertical rod 4a of front frame 4 is connected by cylinder 7 with the front vertical rod 1a on chassis overhang 1;
Pass before the axial direction of front omni-directional wheel, and connect drive bevel gear 3, drive bevel gear 3 engages with driven wheel of differential 3a, driven wheel of differential 3a is fixed on horizontal transmission shaft 5, the both sides of transmission shaft 5 connect climbing circle wheel 6 respectively, climbing circle wheel 6 diameter is less than the diameter of front omni-directional wheel 2a, and transmission shaft 5 is fixed on front frame 4 by bearing.
The chassis overhang 1 of this example has two with the hinge-point of front frame 4, and near the sidepiece being positioned at front frame 4, the front vertical rod 1a on the vertical rod 4a of front frame 4 and chassis overhang 1 is two.
Claims (2)
1. a climbing robot omni-directional wheel chassis, comprise chassis overhang (1), three omni-directional wheels on chassis overhang (1), is characterized in that:
After two of three described omni-directional wheel postmedians, omni-directional wheel (2) is directly fixed on chassis overhang, anterior front omni-directional wheel (2a) is fixed on the front frame (4) hinged with chassis overhang (1), and the vertical rod (4a) of front frame (4) is connected by cylinder (7) with the front vertical rod (1a) on chassis overhang (1);
Pass before the axial direction of front omni-directional wheel, and connect drive bevel gear (3), drive bevel gear (3) engages with driven wheel of differential (3a), driven wheel of differential (3a) is fixed on horizontal transmission shaft (5), the both sides of transmission shaft (5) connect climbing circle wheel (6) respectively, climbing circle wheel (6) diameter is less than the diameter of front omni-directional wheel (2a), and transmission shaft (5) is fixed on front frame (4) by bearing.
2. one climbing robot omni-directional wheel chassis according to claim 1, it is characterized in that: described chassis overhang (1) has two with the hinge-point of front frame (4), near the sidepiece being positioned at front frame (4), the vertical rod (4a) of front frame (4) is two with the front vertical rod (1a) on chassis overhang (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410327796.1A CN104210572A (en) | 2014-07-10 | 2014-07-10 | Omnidirectional wheel chassis for climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410327796.1A CN104210572A (en) | 2014-07-10 | 2014-07-10 | Omnidirectional wheel chassis for climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104210572A true CN104210572A (en) | 2014-12-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410327796.1A Pending CN104210572A (en) | 2014-07-10 | 2014-07-10 | Omnidirectional wheel chassis for climbing robot |
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| Country | Link |
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| CN (1) | CN104210572A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105329334A (en) * | 2015-11-16 | 2016-02-17 | 重庆电子工程职业学院 | Vertical rotary shaft type omni-directional shifting device |
| CN107187533A (en) * | 2017-06-06 | 2017-09-22 | 广州市工贸技师学院 | Comprehensive bicycle and the comprehensive bicycle of many people |
| WO2018010006A1 (en) * | 2016-07-13 | 2018-01-18 | Crosswing Inc. | Mobile robot |
| CN109262579A (en) * | 2018-09-13 | 2019-01-25 | 大唐苏州热电有限责任公司 | A kind of robot cleaning solar panels |
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| US5323867A (en) * | 1992-03-06 | 1994-06-28 | Eric J. Allard | Robot transport platform with multi-directional wheels |
| CN101870309A (en) * | 2010-05-17 | 2010-10-27 | 哈尔滨工程大学 | Omni-directional mobile platform with lifting frame |
| CN202022066U (en) * | 2010-12-15 | 2011-11-02 | 浙江中控研究院有限公司 | Shock absorption and suspension structure of inspection vehicle for vehicle type robot |
| CN103448831A (en) * | 2013-09-16 | 2013-12-18 | 北京交通大学 | Obstacle-crossing carrying robot |
| CN103802911A (en) * | 2012-11-15 | 2014-05-21 | 陈晓 | Transmission mechanism of vehicle chassis |
| CN203637974U (en) * | 2013-12-05 | 2014-06-11 | 哈尔滨工程大学 | Differential gear chassis integrated with all-direction wheel |
| CN204056041U (en) * | 2014-07-10 | 2014-12-31 | 西南交通大学 | Climbing robot omni-directional wheel chassis |
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2014
- 2014-07-10 CN CN201410327796.1A patent/CN104210572A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US5323867A (en) * | 1992-03-06 | 1994-06-28 | Eric J. Allard | Robot transport platform with multi-directional wheels |
| CN101870309A (en) * | 2010-05-17 | 2010-10-27 | 哈尔滨工程大学 | Omni-directional mobile platform with lifting frame |
| CN202022066U (en) * | 2010-12-15 | 2011-11-02 | 浙江中控研究院有限公司 | Shock absorption and suspension structure of inspection vehicle for vehicle type robot |
| CN103802911A (en) * | 2012-11-15 | 2014-05-21 | 陈晓 | Transmission mechanism of vehicle chassis |
| CN103448831A (en) * | 2013-09-16 | 2013-12-18 | 北京交通大学 | Obstacle-crossing carrying robot |
| CN203637974U (en) * | 2013-12-05 | 2014-06-11 | 哈尔滨工程大学 | Differential gear chassis integrated with all-direction wheel |
| CN204056041U (en) * | 2014-07-10 | 2014-12-31 | 西南交通大学 | Climbing robot omni-directional wheel chassis |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105329334A (en) * | 2015-11-16 | 2016-02-17 | 重庆电子工程职业学院 | Vertical rotary shaft type omni-directional shifting device |
| CN105329334B (en) * | 2015-11-16 | 2018-01-12 | 重庆电子工程职业学院 | Vertical rotation axis formula omnidirectional mobile device |
| WO2018010006A1 (en) * | 2016-07-13 | 2018-01-18 | Crosswing Inc. | Mobile robot |
| US11872881B2 (en) | 2016-07-13 | 2024-01-16 | Crosswing Inc. | Mobile robot |
| CN107187533A (en) * | 2017-06-06 | 2017-09-22 | 广州市工贸技师学院 | Comprehensive bicycle and the comprehensive bicycle of many people |
| CN107187533B (en) * | 2017-06-06 | 2022-08-02 | 广州市工贸技师学院 | Omnibearing bicycle and multi-person omnibearing bicycle |
| CN109262579A (en) * | 2018-09-13 | 2019-01-25 | 大唐苏州热电有限责任公司 | A kind of robot cleaning solar panels |
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Application publication date: 20141217 |
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| RJ01 | Rejection of invention patent application after publication |