CN104691644A - Omni-directional mobile wheel module - Google Patents

Omni-directional mobile wheel module Download PDF

Info

Publication number
CN104691644A
CN104691644A CN201510097076.5A CN201510097076A CN104691644A CN 104691644 A CN104691644 A CN 104691644A CN 201510097076 A CN201510097076 A CN 201510097076A CN 104691644 A CN104691644 A CN 104691644A
Authority
CN
China
Prior art keywords
bearing
shaft
mainboard
castellated shaft
hub motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201510097076.5A
Other languages
Chinese (zh)
Other versions
CN104691644B (en
Inventor
陈昊
陶卫军
刘佳耀
李曾健
黄晶晶
邵奇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nanjing University of Science and Technology
Original Assignee
Nanjing University of Science and Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nanjing University of Science and Technology filed Critical Nanjing University of Science and Technology
Priority to CN201510097076.5A priority Critical patent/CN104691644B/en
Publication of CN104691644A publication Critical patent/CN104691644A/en
Application granted granted Critical
Publication of CN104691644B publication Critical patent/CN104691644B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Abstract

The invention provides an omni-directional mobile wheel module. A steering engine and a spline shaft are mounted on a main mounting plate. A spline shaft gear is fixed at one end of the spline shaft, and a U-shaped plate is fixed at the other end of the spline shaft. A steering engine gear on a steering engine output shaft is meshed with the spline shaft gear. The left end and the right end of a wheel hub motor rotation shaft are fixed at the two branch end parts of the U-shaped plate, and a control panel receives an external command for controlling the turning and movement of a wheel hub motor through a communication interface. The steering engine is connected with the control panel, and the rotation angle of the steering engine is controlled according to the command sent by the control panel. The wheel hub motor is connected with a driver, and the driver is connected with the control panel and controls the wheel hub motor to move forwards and backwards according to the command sent by the control panel. The omni-directional mobile wheel module integrates turning and move functions, so that an omni-directional mobile wheel becomes a separate module. The omni-directional mobile wheel module is suitable for the outdoor common ground and is easy to operate and control. After the omni-directional mobile wheel module is mounted on a robot, the flexibility of the robot can be increased.

Description

A kind of omnidirectional type movable pulley module
Technical field
The invention belongs to field of electromechanical technology, be specifically related to a kind of omnidirectional type movable pulley module.
Background technology
Over nearly 10 years, China's robot cause development, the utilization field of robot and Applicable scope are just constantly expanded.Wherein mobile robot is especially along with the raising of family life level and social orientation level is subject to welcoming more and more widely.Along with the continuous expansion in the utilization field of mobile robot, mobile robot is proposed higher requirement to the rapidity of movement and alerting ability.Under this requirement, omnidirectional type movable pulley obtains to be paid attention to more and more widely.Omnidirectional type movable pulley has whole degree of freedom of plane motion, comprises all around and original place rotation, generally can move under any speed of any angle.The rapidity of omnidirectional type movable pulley and alerting ability are better than other wheeled mode, and can move freely in family or other narrow spaces, and therefore its field used is more wide in range.Current omnidirectional type movable pulley realizes there is following several mode: Mecanum wheel, Omni-directional wheel, orthogonally to take turns.
The wheel rim of Mecanum wheel diagonally distributes many small rollers, therefore wheel can horizontal sliding.The bus of small roller is very special, when wheel rotates around fixing wheel arbor, the intrinsic curve of each small roller is the face of cylinder, can 4 this novel wheels be had to combine by rolls forward continuously so this is taken turns, can be more flexible realize all-around mobile function.But the area of contact on roller and ground is little, complicated surface state can not be suitable for.
Omni-directional wheel takes turns similar design concept with orthogonal, these two kinds of omni-directional wheels small roller all had perpendicular to axis is used for shifted laterally, small roller unlike Omni-directional wheel is passive type, and orthogonal small roller of taking turns has motor to drive.But motor is more, energy consuming ratio is larger.
The shortcoming of above-mentioned omnidirectional type movable pulley is: all realize its two dimensional motion by special wheel structure, by the sense of motion of formed mobile platform of making a concerted effort to control of multiple omnidirectional type movable pulley propulsive effort, higher to the requirement of movement control technology; Require higher to ground planarization, be mostly limited to flooring and use; Single wheel design is complicated, and cost compare is high.
Summary of the invention
The present invention proposes a kind of omnidirectional type movable pulley module, be integrated with and turn to and locomotive function, omnidirectional type movable pulley is made to become an independent module, adapt to outdoor common ground, improve the ground comformability of omnidirectional type movable pulley, manipulation is simple, is arranged on after on robot, can increases the flexibility ratio of robot.
In order to solve the problems of the technologies described above, the invention provides a kind of omnidirectional type movable pulley module, comprise and mainboard, steering wheel, castellated shaft, U-shaped plate and wheel hub motor are installed; Steering wheel and castellated shaft are arranged on to be installed on mainboard; One end of castellated shaft is fixed with spline shaft gear, and the other end is fixed with U-shaped plate; Steering wheel gear on steering wheel output shaft is meshed with spline shaft gear; The two ends, left and right of wheel hub motor turning cylinder are fixed on two branch ends of U-shaped plate; The central axis upright of castellated shaft is in the central axis of wheel hub motor axle turning cylinder.
Preferably, the actuator of control desk and wheel hub motor is also comprised; Control desk is used for the instruction being turned to by communication interface reception external control wheel hub motor and moved; Steering wheel is connected with control desk, and the instruction sent according to control desk controls steering wheel rotational angle; Wheel hub motor is connected with actuator, and actuator is connected with control desk, and actuator controls wheel hub motor according to the instruction that control desk sends and seesaws.
Preferably, described steering wheel gear is located by realizing circumference with the interference fit of steering wheel output shaft, realizes axial location by the boss on steering wheel.
Preferably, between spline shaft gear and castellated shaft, realize axial location by locating dowel pin, realize circumference location by gear key.
Preferably, at the corresponding position that U-shaped plate is connected with castellated shaft, it is nested that U-shaped plate is fixed with copper, and castellated shaft is with spline, and castellated shaft embeds copper nested inner thus realizes between U-shaped plate and castellated shaft in the horizontal direction without relative displacement.
Preferably, on the castellated shaft between lower bearing inner ring to U-shaped plate surface, laminating is provided with sleeve, and the lower end of castellated shaft is spacing by nut, makes between castellated shaft and U-shaped plate in the vertical direction without relative motion.
Preferably, also comprise head bearing and lower bearing, head bearing and lower bearing symmetry are arranged on a shaft shoulder place of castellated shaft, for ensureing the stationarity that castellated shaft rotates around central axis; Wherein, head bearing locates its outside race by the bottom of installing mainboard, locates its bearing inner ring by the shaft shoulder of castellated shaft; Lower bearing locates its bearing inner ring by the shaft shoulder of castellated shaft, locates its outside race by bearing cap shim.
Preferably, also comprise bearing frame, bearing frame is fixed on to be installed on mainboard, and bearing frame bottom is provided with a bearing cap shim, and head bearing and lower bearing are placed in bearing frame, for the protection of head bearing and lower bearing.
Preferably, also comprise: mainboard cover plate, be fixed on and install directly over mainboard, as the connecting portion be connected with external device; Mainboard side plate, is fixed on and installs on mainboard and mainboard cover plate, for the protection of installing the assembly that mainboard is installed.
Compared with prior art, its remarkable advantage is in the present invention, and the present invention, by omnidirectional type movable pulley composition module, is integrated with and turns to and the function of movement, improve the ground comformability of omnidirectional type movable pulley; The present invention, without the need to being realized the object of the sense of motion of making a concerted effort to control formed mobile platform of multiple omnidirectional type movable pulley propulsive effort by the program of complexity, controls relatively simple; Integral structure of the present invention is fairly simple, and cost compare is low.
Accompanying drawing explanation
Fig. 1 is omnidirectional type movable pulley module front view of the present invention.
Fig. 2 is the left view of Fig. 1.
Fig. 3 is the enlarged drawing at position I in Fig. 1.
Fig. 4 is the enlarged drawing at position II in Fig. 1.
Fig. 5 is steering wheel control logic part full sectional view in the present invention.
Fig. 6 is wheel hub motor scheme of installation of the present invention.
In accompanying drawing, sequence number illustrates:
1: mainboard is installed, 2: mainboard cover plate, 3: mainboard side plate, 4: castellated shaft, 5: spline shaft gear, 6: locating dowel pin, 7: gear key, 8: head bearing, 9: bearing frame, 10: lower bearing, 11: bearing cap shim, 12: wheel hub motor clamping piece, 13: wheel hub motor, 14:U template setscrew nuts, 15: elastomeric pad, 16:U template, 17: copper is nested, 18: sleeve, 19: steering wheel, 20: steering wheel gear, 21: control capsule.
Detailed description of the invention
Easy understand, according to technical scheme of the present invention, when not changing connotation of the present invention, one of ordinary skill in the art can imagine the numerous embodiments a kind of omnidirectional type movable pulley of the present invention module.Therefore, following detailed description of the invention and accompanying drawing are only the exemplary illustrations to technical scheme of the present invention, and should not be considered as of the present invention all or the restriction be considered as technical solution of the present invention or restriction.
Composition graphs 1 and Fig. 2, the present embodiment is a complete omnidirectional type movable pulley module, wherein installs the frame of mainboard 1 as whole module, is used for installing and fixing miscellaneous part; Mainboard cover plate 2 is screwed directly over installation mainboard 1, as a cover plate, also as the connecting portion that can connect robot part; Mainboard side plate 3 is screwed on installation mainboard 1 and mainboard cover plate 2, each one piece of front and back, mainly prevents installing the parts installed mainboard 1 inside and unnecessary touching occurs, in case the generation of danger with extraneous.
The movement output of the present embodiment has two parts, and first is steering wheel 19, and second is wheel hub motor 13; Steering wheel 19 controls whole omnidirectional type movable pulley and is rotating around vertical direction axis, and the front and back migration that wheel hub motor 13 controls omnidirectional type movable pulley module is dynamic, and both combinations complete turning to and locomotive function of omnidirectional type movable pulley module.
Control logic in the present embodiment is as follows:
Composition graphs 1, control to complete primarily of control capsule 21, wherein be integrated with actuator and the embedded control panel of wheel hub motor 13, embedded control panel is connected to communication interface, the instruction that the control wheel hub motor 13 that can receive outside operator or the transmission of robot body's part turns to and moves.Steering wheel 19 directly connects embedded control panel, embedded control panel sends instruction and controls steering wheel angle, thus drive steering wheel gear 20 to rotate, being engaged with spline shaft gear 5 by steering wheel gear 20 is delivered on castellated shaft 4 by rotation, castellated shaft 4 drives U-shaped plate 16 to rotate by spline, U-shaped plate 16 drives connected wheel hub motor 13 to rotate around vertical direction axis again, thus realizes the turning function of omnidirectional type movable pulley module.Wheel hub motor 13 is connected to actuator, and actuator is connected to embedded control panel composition control circuit, and embedded control panel sends instruction seesawing by driver control wheel hub motor 13, thus realizes the movable function of omnidirectional type movable pulley module.
In the present embodiment, steering wheel 19 realizes the assembly needed for the turning function of omnidirectional type movable pulley module and assembles as follows:
Composition graphs 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5, the assembly needed for this part comprises installs mainboard 1, steering wheel 19, steering wheel gear 20, spline shaft gear 5, castellated shaft 4, U-shaped plate 16, head bearing 8, lower bearing 10, bearing frame and bearing cap shim 11.Steering wheel 19 is fixed on to be installed on mainboard 1, and steering wheel gear 20 realizes circumference by the interference fit of the output shaft with steering wheel 19 and locates, and realizes axial location by the boss on steering wheel 19; Spline shaft gear 5 engages with steering wheel gear 20; Spline shaft gear 5 realizes axial location by locating dowel pin 6, and spline shaft gear 5 and castellated shaft 4 carry out circumference by gear key 7 and locate, and wherein locating dowel pin 6 forms interference fit with the hole on spline shaft gear boss, and coordinates with castellated shaft with screw thread; Head bearing 8 and lower bearing 10 symmetry are arranged on a shaft shoulder place of castellated shaft 4, and head bearing 8 and lower bearing 10 are for ensureing the stationarity that castellated shaft 4 rotates around vertical direction axis.Head bearing 8 locates its outside race by the bottom of installing mainboard 1, locates its bearing inner ring by the shaft shoulder of castellated shaft 4; Lower bearing 10 locates its bearing inner ring by the shaft shoulder of castellated shaft 4, locates its outside race by bearing cap shim 11.Bearing frame 9 is used for holding head bearing 8 and lower bearing 10, plays fixing and protection head bearing 8 and lower bearing 10 effect, and it is arranged on installs on mainboard 1.Bearing frame 9 bottom is provided with a bearing cap shim 11, for convenient, head bearing 8 and lower bearing 10 is installed to bearing frame 9 internal fixtion.Sleeve 18 is fitted on the castellated shaft between lower bearing 10 inner ring to U-shaped plate 16 surface, and the lower end of castellated shaft 4 is with spline, and spline embeds the inside of copper nested 17, thus makes can not produce relative motion in the horizontal direction between copper nested 17 and U-shaped plate 16.Elastomeric pad 15 and U-shaped plate setscrew nut 14 are installed in the lower end of castellated shaft 4, and making in the vertical direction can not relative motion between castellated shaft 4 and U-shaped plate 16.
In the present embodiment, installation and the locate mode of wheel hub motor 13 are as follows:
Composition graphs 1, Fig. 2 and Fig. 6, the two ends of wheel hub motor 13 turning cylinder are stuck in two grooves of U-shaped plate 16, and fix with nut, ensure that the location about it.More stable in order to make wheel hub motor 13 be fixed on U-shaped plate 16, use wheel hub motor clamping piece 12 to embed in U-shaped board groove, ensure that wheel hub motor is completely fixed relative to U-shaped plate 16.

Claims (9)

1. an omnidirectional type movable pulley module, is characterized in that, comprises and installs mainboard, steering wheel, castellated shaft, U-shaped plate and wheel hub motor; Steering wheel and castellated shaft are arranged on to be installed on mainboard; One end of castellated shaft is fixed with spline shaft gear, and the other end is fixed with U-shaped plate; Steering wheel gear on steering wheel output shaft is meshed with spline shaft gear; The two ends, left and right of wheel hub motor turning cylinder are fixed on two branch ends of U-shaped plate; The central axis upright of castellated shaft is in the central axis of wheel hub motor axle turning cylinder.
2. omnidirectional type movable pulley module as claimed in claim 1, is characterized in that, also comprise the actuator of control desk and wheel hub motor; Control desk is used for the instruction being turned to by communication interface reception external control wheel hub motor and moved; Steering wheel is connected with control desk, and the instruction sent according to control desk controls steering wheel rotational angle; Wheel hub motor is connected with actuator, and actuator is connected with control desk, and actuator controls wheel hub motor according to the instruction that control desk sends and seesaws.
3. omnidirectional type movable pulley module as claimed in claim 2, is characterized in that, described steering wheel gear is located by realizing circumference with the interference fit of steering wheel output shaft, realizes axial location by the boss on steering wheel.
4. omnidirectional type movable pulley module as claimed in claim 2, is characterized in that, realize axial location between spline shaft gear and castellated shaft by locating dowel pin, realizes circumference location by gear key.
5. omnidirectional type movable pulley module as claimed in claim 2, it is characterized in that, at the corresponding position that U-shaped plate is connected with castellated shaft, it is nested that U-shaped plate is fixed with copper, castellated shaft is with spline, and castellated shaft embeds copper nested inner thus realizes between U-shaped plate and castellated shaft in the horizontal direction without relative displacement.
6. omnidirectional type movable pulley module as claimed in claim 2, it is characterized in that, on castellated shaft between lower bearing inner ring to U-shaped plate surface, laminating is provided with sleeve, and the lower end of castellated shaft is spacing by nut, makes between castellated shaft and U-shaped plate in the vertical direction without relative motion.
7. omnidirectional type movable pulley module as claimed in claim 2, is characterized in that, also comprise head bearing and lower bearing, and head bearing and lower bearing symmetry are arranged on a shaft shoulder place of castellated shaft, for ensureing the stationarity that castellated shaft rotates around central axis; Wherein, head bearing locates its outside race by the bottom of installing mainboard, locates its bearing inner ring by the shaft shoulder of castellated shaft; Lower bearing locates its bearing inner ring by the shaft shoulder of castellated shaft, locates its outside race by bearing cap shim.
8. omnidirectional type movable pulley module as claimed in claim 7, is characterized in that, also comprise bearing frame; bearing frame is fixed on to be installed on mainboard; bearing frame bottom is provided with a bearing cap shim, and head bearing and lower bearing are placed in bearing frame, for the protection of head bearing and lower bearing.
9. omnidirectional type movable pulley module as claimed in claim 1, is characterized in that, also comprise:
Mainboard cover plate, is fixed on and installs directly over mainboard, as the connecting portion be connected with external device;
Mainboard side plate, is fixed on and installs on mainboard and mainboard cover plate, for the protection of installing the assembly that mainboard is installed.
CN201510097076.5A 2015-03-04 2015-03-04 A kind of omnidirectional type movable pulley module Active CN104691644B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510097076.5A CN104691644B (en) 2015-03-04 2015-03-04 A kind of omnidirectional type movable pulley module

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510097076.5A CN104691644B (en) 2015-03-04 2015-03-04 A kind of omnidirectional type movable pulley module

Publications (2)

Publication Number Publication Date
CN104691644A true CN104691644A (en) 2015-06-10
CN104691644B CN104691644B (en) 2017-12-05

Family

ID=53339287

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201510097076.5A Active CN104691644B (en) 2015-03-04 2015-03-04 A kind of omnidirectional type movable pulley module

Country Status (1)

Country Link
CN (1) CN104691644B (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105425792A (en) * 2015-11-17 2016-03-23 杭州瓦瑞科技有限公司 Omnidirectional mobile automatic guided vehicle
CN106313103A (en) * 2016-10-21 2017-01-11 上海未来伙伴机器人有限公司 Joint connection structure for humanoid robot
CN107297757A (en) * 2017-08-27 2017-10-27 刘哲 A kind of mobile robot
CN109080444A (en) * 2018-08-08 2018-12-25 中国科学院深圳先进技术研究院 A kind of handling device and handling system, method for carrying based on In-wheel motor driving
CN110480496A (en) * 2019-07-24 2019-11-22 武汉大学 A kind of intelligence feather plucking robot

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1460074A (en) * 2001-03-29 2003-12-03 Ntn株式会社 Bearing device for drive wheel
CN202144268U (en) * 2011-06-13 2012-02-15 中车集团沈阳汽车车桥制造有限公司 Supporting structure for independent suspension type front wheel edge of light vehicle
CN103010289A (en) * 2013-01-18 2013-04-03 西北农林科技大学 Omni-directional steering and lifting agricultural remote control mobile robot platform
CN203935347U (en) * 2014-06-26 2014-11-12 周广刚 Universal wheel and the wheel conversion equipment of keeping straight on for electric wheelchair
CN204489002U (en) * 2015-03-04 2015-07-22 南京理工大学 A kind of omnidirectional type movable pulley module

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1460074A (en) * 2001-03-29 2003-12-03 Ntn株式会社 Bearing device for drive wheel
CN202144268U (en) * 2011-06-13 2012-02-15 中车集团沈阳汽车车桥制造有限公司 Supporting structure for independent suspension type front wheel edge of light vehicle
CN103010289A (en) * 2013-01-18 2013-04-03 西北农林科技大学 Omni-directional steering and lifting agricultural remote control mobile robot platform
CN203935347U (en) * 2014-06-26 2014-11-12 周广刚 Universal wheel and the wheel conversion equipment of keeping straight on for electric wheelchair
CN204489002U (en) * 2015-03-04 2015-07-22 南京理工大学 A kind of omnidirectional type movable pulley module

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105425792A (en) * 2015-11-17 2016-03-23 杭州瓦瑞科技有限公司 Omnidirectional mobile automatic guided vehicle
CN106313103A (en) * 2016-10-21 2017-01-11 上海未来伙伴机器人有限公司 Joint connection structure for humanoid robot
CN107297757A (en) * 2017-08-27 2017-10-27 刘哲 A kind of mobile robot
CN109080444A (en) * 2018-08-08 2018-12-25 中国科学院深圳先进技术研究院 A kind of handling device and handling system, method for carrying based on In-wheel motor driving
CN110480496A (en) * 2019-07-24 2019-11-22 武汉大学 A kind of intelligence feather plucking robot

Also Published As

Publication number Publication date
CN104691644B (en) 2017-12-05

Similar Documents

Publication Publication Date Title
CN204489002U (en) A kind of omnidirectional type movable pulley module
CN104691644A (en) Omni-directional mobile wheel module
CN201737114U (en) Bidirectional rotating handle and vehicle employing same
US6978860B2 (en) Method and system for electric power steering
CN201321120Y (en) Self-generating stroller structure
EP2340953A1 (en) An improved in-wheel motor structure
CN206242803U (en) With the Mecanum wheel apparatus that roller controllability is rotated
CN206029852U (en) Family service robot chassis
CN109572840B (en) Mobile robot and control method thereof
CN101898611A (en) Bi-directional rotary handle and vehicle with same
CN102267504A (en) Omnidirectional wheel type mobile robot
CN201515286U (en) multi-disc motor
CN205516488U (en) Screw orientation system based on steering engine control
CN205736639U (en) A kind of double omni-directional wheel
TWI652183B (en) Magnetic power assisted booster
CN203111296U (en) Vehicle steering wheel limiting device
CN108423064A (en) A kind of steering wheel device
CN204469175U (en) A kind of electric return board
CN203581081U (en) Automotive full-circle steering mechanism
CN204161084U (en) Electric wheel hub internal speed-changing package assembly
CN207782603U (en) The wheel hub motor of plug-in synchronous grating disc
CN106427388B (en) Mecanum wheel apparatus with the rotation of roller controllability
CN207029516U (en) Inside turn straight line steering wheel
CN202439506U (en) Omni-directional wheel with two movement patterns
CN104354526B (en) A kind of wheel of built-in power set

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant