CN104691644B - A kind of omnidirectional type movable pulley module - Google Patents

A kind of omnidirectional type movable pulley module Download PDF

Info

Publication number
CN104691644B
CN104691644B CN201510097076.5A CN201510097076A CN104691644B CN 104691644 B CN104691644 B CN 104691644B CN 201510097076 A CN201510097076 A CN 201510097076A CN 104691644 B CN104691644 B CN 104691644B
Authority
CN
China
Prior art keywords
bearing
shaft
splined shaft
steering wheel
movable pulley
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.)
Active
Application number
CN201510097076.5A
Other languages
Chinese (zh)
Other versions
CN104691644A (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 present invention proposes a kind of omnidirectional type movable pulley module.Steering wheel and splined shaft are arranged on installation mainboard;One end of splined shaft is fixed with spline shaft gear, and the other end is fixed with U-shaped board;Steering wheel gear on steering wheel output shaft is meshed with spline shaft gear;The left and right ends of wheel hub motor rotary shaft are fixed on two branch ends of U-shaped board;Control panel receives the instruction of outside control wheel hub motor steering and motion by communication interface;Steering wheel is connected with control panel, and the instruction sent according to control panel controls steering wheel rotational angle;Wheel hub motor is connected with driver, and driver is connected with control panel, and the instruction control wheel hub motor that driver is sent according to control panel moves forward and backward.The present invention is integrated with steering and locomotive function, omnidirectional type movable pulley is turned into a single module, adapts to outdoor common ground, manipulation simply, in robot after, the flexibility ratio of robot can be increased.

Description

A kind of omnidirectional type movable pulley module
Technical field
The invention belongs to field of electromechanical technology, and in particular to a kind of omnidirectional type movable pulley module.
Background technology
In the past 10 years, robot of China cause continues to develop, and robot just constantly extends with field and the scope of application. Wherein mobile robot is even more as the raising that family life is horizontal and community service is horizontal is by more and more extensive welcome.With The continuous expansion with field of mobile robot, mobile robot is proposed higher to mobile rapidity and flexibility Requirement.Under this requirement, omnidirectional type movable pulley has obtained more and more extensive attention.Omnidirectional type movable pulley has plane fortune Dynamic whole frees degree, including around and original place rotation, can typically be moved under any speed of any angle It is dynamic.The rapidity of omnidirectional type movable pulley and flexibility, and can be in families or other are narrow better than other wheeled modes Space in move freely, therefore its field used is more wide in range.Current omnidirectional type movable pulley, which is realized, following several sides Formula:Mecanum wheel, Omni-directional wheels, orthogonal wheel.
Diagonally distribute many small rollers on the wheel rim of Mecanum wheel, therefore wheel can be with horizontal sliding.The mother of small roller Line is very special, and when wheel rotates around fixed wheel arbor, the envelope of each small roller is the face of cylinder, so the wheel can Continuously rolls forward has 4 this new wheels to be combined, and easily can realize all-around mobile function with more flexible.But Be roller and ground contact area it is small, it is impossible to be applicable the surface state of complexity.
Omni-directional take turns and it is orthogonal wheel have similar design concept, both omni-directional wheels all have perpendicular to The small roller of axis is used for being displaced sideways, the difference is that the small roller of Omni-directional wheels is passive type, and it is orthogonal The small roller of wheel but has motor driving.But motor is more, power consumption is bigger.
The shortcomings that above-mentioned omnidirectional type movable pulley is:Its two dimensional motion is realized by special wheel structure, by more Individual omnidirectional type movement wheel drive force makes a concerted effort, to control the direction of motion of formed mobile platform, movement control technology Ask higher;Higher is required to ground planarization, is limited to flooring use mostly;Single wheel design is complicated, and cost is higher.
The content of the invention
The present invention proposes a kind of omnidirectional type movable pulley module, is integrated with steering and locomotive function, make omnidirectional type movable pulley into For a single module, outdoor common ground is adapted to, improves the ground adaptability of omnidirectional type movable pulley, manipulation is simple, peace After in robot, the flexibility ratio of robot can be increased.
In order to solve the above-mentioned technical problem, the present invention provides a kind of omnidirectional type movable pulley module, including installation mainboard, rudder Machine, splined shaft, U-shaped board and wheel hub motor;Steering wheel and splined shaft are arranged on installation mainboard;One end of splined shaft is fixed with spline Shaft gear, the other end are fixed with U-shaped board;Steering wheel gear on steering wheel output shaft is meshed with spline shaft gear;Wheel hub motor turns The left and right ends of moving axis are fixed on two branch ends of U-shaped board;The central axis upright of splined shaft rotates in wheel motor shaft The central axis of axle.
It is preferred that also include the driver of control panel and wheel hub motor;Control panel is used to receive outside by communication interface Control the instruction of wheel hub motor steering and motion;Steering wheel is connected with control panel, and the instruction control steering wheel sent according to control panel turns Dynamic angle;Wheel hub motor is connected with driver, and driver is connected with control panel, and the instruction that driver is sent according to control panel controls Wheel hub motor moves forward and backward.
It is preferred that the steering wheel gear is circumferentially positioned by being realized with the interference fit of steering wheel output shaft, by steering wheel Boss realize axially position.
It is preferred that realizing axially position by alignment pin between spline shaft gear and splined shaft, week is realized by gear key To positioning.
It is preferred that in the corresponding position of U-shaped board and spline axis connection, U-shaped board is fixed with copper nesting, and splined shaft is with flower Key, splined shaft are embedded in copper nested inner so as to realize between U-shaped board and splined shaft in the horizontal direction without relative displacement.
Sleeve is installed it is preferred that being bonded on lower bearing inner ring to the splined shaft between U-shaped board surface, under splined shaft End is spacing by nut, makes between splined shaft and U-shaped board in vertical direction without relative motion.
It is preferred that also include upper bearing (metal) and lower bearing, upper bearing (metal) and lower bearing are symmetrically mounted on a shaft shoulder of splined shaft Place, the stationarity rotated for ensureing splined shaft around central axis;Wherein, upper bearing (metal) positions its axle by installing the bottom of mainboard Bearing outer-ring, its bearing inner race is positioned by the shaft shoulder of splined shaft;Lower bearing positions its bearing inner race by the shaft shoulder of splined shaft, leads to Cross bearing cap and position its bearing outer ring.
It is preferred that also including bearing bracket stand, bearing bracket stand is fixed on installation mainboard, and bearing bracket stand bottom is provided with a bearing Lid, upper bearing (metal) and lower bearing are placed in bearing bracket stand, for protecting upper bearing (metal) and lower bearing.
It is preferred that also include:Mainboard cover plate, the surface of installation mainboard is fixed on, as the company being connected with external equipment Socket part;Mainboard side plate, it is fixed on installation mainboard and mainboard cover plate, for protecting the component installed on installation mainboard.
Compared with prior art, its remarkable advantage is the present invention, and omnidirectional type movable pulley is formed modularization, collection by the present invention Into turning to and mobile function, the ground adaptability of omnidirectional type movable pulley is improved;The present invention is without the program by complexity Realize making a concerted effort to control the purpose of the direction of motion of formed mobile platform, control phase for multiple omnidirectional type movement wheel drive forces To simple;Overall structure of the present invention is fairly simple, and cost is than relatively low.
Brief description of the drawings
Fig. 1 is omnidirectional type movable pulley module front view of the present invention.
Fig. 2 is Fig. 1 left view.
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.
Number explanation in accompanying drawing:
1:Installation mainboard, 2:Mainboard cover plate, 3:Mainboard side plate, 4:Splined shaft, 5:Spline shaft gear, 6:Alignment pin, 7:Tooth Wheel key, 8:Upper bearing (metal), 9:Bearing bracket stand, 10:Lower bearing, 11:Bearing cap, 12:Wheel hub motor clamping plate, 13:Wheel hub motor, 14:U Template location nut, 15:Elastomeric pad, 16:U-shaped board, 17:Copper is nested, and 18:Sleeve, 19:Steering wheel, 20:Steering wheel gear, 21:Control Box processed.
Embodiment
It is readily appreciated that, according to technical scheme, in the case where not changing the connotation of the present invention, this area Those skilled in the art can imagine a kind of numerous embodiments of omnidirectional type movable pulley module of the present invention.Therefore, have below Body embodiment and accompanying drawing are only the exemplary illustrations to technical scheme, and be not to be construed as the present invention whole or Person is considered as limitation or restriction to technical solution of the present invention.
With reference to Fig. 1 and Fig. 2, the present embodiment is a complete omnidirectional type movable pulley module, wherein installation mainboard 1 is as whole The frame of individual module, for installing and fixing miscellaneous part;Mainboard cover plate 2 is screwed in the surface of installation mainboard 1, is made For a cover plate, also serve as connecting the connecting portion of robot part;Mainboard side plate 3 is screwed in the installation He of mainboard 1 On mainboard cover plate 2, front and rear each one piece, mainly prevent the part for installing the installation of the inside of mainboard 1 from unnecessary touch occurs with extraneous Touch, to prevent the generation of danger.
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 Whole omnidirectional type movable pulley is controlled to be rotated around vertical direction axis, before wheel hub motor 13 controls omnidirectional type movable pulley module Migration is dynamic afterwards, and both combine the steering for completing omnidirectional type movable pulley module and locomotive function.
Control logic in the present embodiment is as follows:
With reference to Fig. 1, control is mainly completed by control box 21, wherein being integrated with the driver of wheel hub motor 13 and embedded control Making sheet, embedded control panel are connected to communication interface, can receive the control of outside operator or the transmission of robot body part The instruction that wheel hub motor 13 is turned to and moved.Steering wheel 19 is directly connected to embedded control panel, and embedded control panel sends instruction control Steering wheel angle processed, so as to drive steering wheel gear 20 to rotate, engaged by steering wheel gear 20 with spline shaft gear 5 and be delivered to rotation On splined shaft 4, splined shaft 4 by spline drive U-shaped board 16 rotate, U-shaped board 16 drive again connected wheel hub motor 13 around Vertical direction axis rotates, so as to realize the turning function of omnidirectional type movable pulley module.Wheel hub motor 13 is connected to driver, drives Dynamic device is connected to embedded control panel composition control circuit, and embedded control panel sends instruction and passes through driver control wheel hub electricity Machine 13 moves forward and backward, so as to realize the movable function of omnidirectional type movable pulley module.
In the present embodiment, steering wheel 19 realizes component needed for the turning function of omnidirectional type movable pulley module and its assembling such as Under:
With reference to Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5, the component needed for the part includes installation mainboard 1, steering wheel 19, steering wheel tooth Wheel 20, spline shaft gear 5, splined shaft 4, U-shaped board 16, upper bearing (metal) 8, lower bearing 10, bearing bracket stand and bearing cap 11.Steering wheel 19 is fixed On installation mainboard 1, steering wheel gear 20 is realized circumferentially positioned by the interference fit of the output shaft with steering wheel 19, passes through steering wheel Boss on 19 realizes axially position;Spline shaft gear 5 engages with steering wheel gear 20;Spline shaft gear 5 is realized by alignment pin 6 Axially position, spline shaft gear 5 carry out circumferentially positioned, wherein alignment pin 6 and spline shaft gear with splined shaft 4 by gear key 7 Hole on boss forms interference fit, and is coordinated with screw thread and splined shaft;Upper bearing (metal) 8 and lower bearing 10 are symmetrically mounted on splined shaft At 4 shaft shoulder, upper bearing (metal) 8 and lower bearing 10 are used to ensure the stationarity that splined shaft 4 rotates around vertical direction axis.Upper axle Hold 8 and position its bearing outer ring by installing the bottom of mainboard 1, its bearing inner race is positioned by the shaft shoulder of splined shaft 4;Lower bearing 10 Its bearing inner race is positioned by the shaft shoulder of splined shaft 4, its bearing outer ring is positioned by bearing cap 11.Bearing bracket stand 9 is used for accommodating Bearing 8 and lower bearing 10, play a part of fixed and protect upper bearing (metal) 8 and lower bearing 10, it is arranged on installation mainboard 1.Axle The bottom of bolster 9 is provided with a bearing cap 11, is fixed for convenient upper bearing (metal) 8 and lower bearing 10 are installed in bearing bracket stand 9.Set Cylinder 18 is fitted in the inner ring of lower bearing 10 to the splined shaft between the surface of U-shaped board 16, and the lower end of splined shaft 4 carries spline, spline The inside of embedded copper nesting 17, so that relative motion will not be produced in the horizontal direction between copper nesting 17 and U-shaped board 16.Spline The lower end installation elastomeric pad 15 and U-shaped board location nut 14 of axle 4 so that between splined shaft 4 and U-shaped board 16 in vertical direction not Can relative motion.
In the present embodiment, the installation of wheel hub motor 13 and positioning method are as follows:
With reference to Fig. 1, Fig. 2 and Fig. 6, the both ends of the rotary shaft of wheel hub motor 13 are stuck in two grooves of U-shaped board 16, and use nut It is fixed, it ensure that the positioning of its left and right.More stablize in order that wheel hub motor 13 is fixed in U-shaped board 16, with wheel hub motor Clamping plate 12 is embedded in U-shaped board neck, ensures that wheel hub motor is completely fixed relative to U-shaped board 16.

Claims (8)

1. a kind of omnidirectional type movable pulley module, it is characterised in that including installation mainboard, steering wheel, splined shaft, U-shaped board, wheel hub electricity Machine, upper bearing (metal) and lower bearing;Steering wheel and splined shaft are arranged on installation mainboard;One end of splined shaft is fixed with spline shaft gear, The other end is fixed with U-shaped board;Steering wheel gear on steering wheel output shaft is meshed with spline shaft gear;A left side for wheel hub motor rotary shaft Right both ends are fixed on two branch ends of U-shaped board;The central axis upright of splined shaft is in the center of wheel motor shaft rotary shaft Axis;Upper bearing (metal) and lower bearing are symmetrically mounted at a shaft shoulder of splined shaft, for ensureing that splined shaft rotates around central axis Stationarity;Wherein, upper bearing (metal) positions its bearing outer ring by installing the bottom of mainboard, and its axle is positioned by the shaft shoulder of splined shaft Hold inner ring;Lower bearing positions its bearing inner race by the shaft shoulder of splined shaft, and its bearing outer ring is positioned by bearing cap.
2. omnidirectional type movable pulley module as claimed in claim 1, it is characterised in that the driving also including control panel and wheel hub motor Device;Control panel is used for the instruction that outside control wheel hub motor steering and motion are received by communication interface;Steering wheel connects with control panel Connect, the instruction sent according to control panel controls steering wheel rotational angle;Wheel hub motor is connected with driver, and driver connects with control panel Connect, the instruction control wheel hub motor that driver is sent according to control panel moves forward and backward.
3. omnidirectional type movable pulley module as claimed in claim 2, it is characterised in that the steering wheel gear by with steering wheel output shaft Interference fit realize circumferentially positioned, axially position is realized by the boss on steering wheel.
4. omnidirectional type movable pulley module as claimed in claim 2, it is characterised in that by fixed between spline shaft gear and splined shaft Position pin realizes axially position, is realized by gear key circumferentially positioned.
5. omnidirectional type movable pulley module as claimed in claim 2, it is characterised in that the corresponding portion in U-shaped board with spline axis connection Position, U-shaped board are fixed with copper nesting, and splined shaft carries spline, and splined shaft is embedded in copper nested inner so as to realize U-shaped board and splined shaft Between in the horizontal direction without relative displacement.
6. omnidirectional type movable pulley module as claimed in claim 2, it is characterised in that in lower bearing inner ring between U-shaped board surface Splined shaft on fitting sleeve is installed, the lower end of splined shaft is spacing by nut, makes between splined shaft and U-shaped board in Vertical Square To without relative motion.
7. omnidirectional type movable pulley module as claimed in claim 1, it is characterised in that also including bearing bracket stand, bearing bracket stand is fixed on peace Fill on mainboard, bearing bracket stand bottom is provided with a bearing cap, and upper bearing (metal) and lower bearing are placed in bearing bracket stand, for protecting upper axle Hold and lower bearing.
8. omnidirectional type movable pulley module as claimed in claim 1, it is characterised in that also include:
Mainboard cover plate, the surface of installation mainboard is fixed on, as the connecting portion being connected with external equipment;
Mainboard side plate, it is fixed on installation mainboard and mainboard cover plate, for protecting the component installed on installation mainboard.
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 CN104691644A (en) 2015-06-10
CN104691644B true 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)

Families Citing this family (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
CN109080444B (en) * 2018-08-08 2020-07-17 中国科学院深圳先进技术研究院 Carrying device, carrying system and carrying method based on hub motor driving
CN110480496A (en) * 2019-07-24 2019-11-22 武汉大学 A kind of intelligence feather plucking robot

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1309582C (en) * 2001-03-29 2007-04-11 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
CN103010289B (en) * 2013-01-18 2016-01-20 西北农林科技大学 A kind of omnidirectional turns to liftable 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

Also Published As

Publication number Publication date
CN104691644A (en) 2015-06-10

Similar Documents

Publication Publication Date Title
CN104691644B (en) A kind of omnidirectional type movable pulley module
CN204489002U (en) A kind of omnidirectional type movable pulley module
CN105691131B (en) Independent steering driving wheel for mobile robot
CN202071916U (en) Wheel type robot base mechanism
CN103010289A (en) Omni-directional steering and lifting agricultural remote control mobile robot platform
CN102346482A (en) In-situ steering wheel type robot base mechanism
CN103287484B (en) Rack driven electric power steering apparatus
US20180022390A1 (en) Child drift car
CN205891045U (en) Omnidirectional movement platform and power universal wheel thereof
CN209757322U (en) Chassis of automatic guided vehicle and automatic guided vehicle
CN203345019U (en) Vehicle drive-by-wire steering wheel device
CN110040194A (en) Steering wheel and omnidirectional's AGV fork truck based on ring gear transmission
CN103465779A (en) Double-engine type omni-directional four-wheel drive traveling mechanism
CN203111296U (en) Vehicle steering wheel limiting device
CN102923182B (en) Manual/automatic switching connector for electric steering system
CN202557646U (en) A multidirectional movement device and glass loading machine
CN202641254U (en) Inflatable ball wheel type universal wheel without shaft
CN204469175U (en) A kind of electric return board
CN205524708U (en) Electric balance swingcar
CN209776541U (en) Self-rotation double-wheel driving device
CN106427398B (en) Can omnibearing movable omni-directional wheel
CN209776542U (en) Omnidirectional mobile platform
CN105536257A (en) Car capable of stepping on steps
CN110588766B (en) Differential steering mechanism of automatic conveying trolley and steering control method
CN206615005U (en) A kind of drive-type universal wheel

Legal Events

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