CN106184471A - From walking direction movement device - Google Patents
From walking direction movement device Download PDFInfo
- Publication number
- CN106184471A CN106184471A CN201610759068.7A CN201610759068A CN106184471A CN 106184471 A CN106184471 A CN 106184471A CN 201610759068 A CN201610759068 A CN 201610759068A CN 106184471 A CN106184471 A CN 106184471A
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- China
- Prior art keywords
- axle
- main driving
- movement device
- direction movement
- chain
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- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses from walking direction movement device, including chassis, tray bottom is rotatably connected to two main driving wheels and two followers, and the line between line and two follower axle center between two main driving wheel axle center is arranged in a crossed manner.The present invention uses technique scheme to have following technical effect that smooth running, and running fix is accurate, and bearing capacity is big, there is brake function, integrate and turn to and walking, can universal walk, adapt to narrow and small place, can conveniently realize the movement to all directions.
Description
Technical field
The present invention relates to robotics, particularly relate to from walking direction movement device.
Background technology
Along with the development of intelligent robot technology, the field involved by robot is more and more extensive, at package packing machine
Industry, existing conveying robot is mostly fixed on the three unities, it is impossible to move freely work, and shift position inaccuracy,
Do not possesses brake function.Work to realize the de-stacking of different location, design this movable pedestal specially for unstacking robot.
Summary of the invention
The technical problem to be solved in the present invention is for problem above, it is provided that smooth running, and running fix is accurate, bearing capacity
Greatly, there is brake function, integrate and turn to and walking, can universal walk, adapt to the universal shifting of certainly walking in narrow and small place
Dynamic device.
In order to solve the problems referred to above, the present invention by the following technical solutions: from walking direction movement device, including chassis,
Tray bottom is rotatably connected to two main driving wheels and two followers, the line between two main driving wheel axle center and two quilts
Line between driving wheel axle center is arranged in a crossed manner.
The following is further improvement of the present invention:
Described chassis is provided with the second reducing motor for driving main driving wheel to walk, the second reducing motor respectively with two masters
Drive is in transmission connection.
Improve further:
Second reducing motor is in transmission connection with one of them main driving wheel by the first chain, and the second reducing motor passes through the 3rd chain
Bar is in transmission connection with another main driving wheel.
Improve further:
Chassis is provided with two main driving wheels of driving and two followers carry out 360 ° of first reducing motors turned to simultaneously.
Improve further:
Being connected by the second chain drive between two main driving wheels and two followers, the second chain passes through the first reducing motor
Being in transmission connection, the first reducing motor drives two main driving wheels and two followers to do divertical motion for simultaneously.
Improve further:
Described main driving wheel includes columnar inner pedestal, the outer sheath of inner pedestal equipped with outer bearing carrier, inner pedestal by
The two ends of outer bearing carrier pass, and inner pedestal is rotationally connected by bearing with outer bearing carrier, and the outside of outer bearing carrier is fixing to be connected
Having fixed plate, the upper end of outer bearing carrier is provided with platen；
The outside of described outer bearing carrier is fixedly connected with and turns to sprocket wheel；
The end of described inner pedestal is fixedly connected with adapter sleeve, and the axis of inner pedestal is vertically arranged with the axis of adapter sleeve；
The two ends of adapter sleeve are rotatably connected to a roller respectively.
Improve further:
It is rotatably connected to power transmission shaft by bearing in described inner pedestal, the axis of power transmission shaft and the dead in line of inner pedestal,
The two ends of power transmission shaft are passed by inner pedestal respectively, and one end of power transmission shaft is fixedly connected with drive sprocket, the other end of power transmission shaft
It is fixedly connected with cone pinion through adapter sleeve.
Improve further:
It is fixedly connected with two axle beds in described adapter sleeve, is rotatably connected to first axle in each axle bed, the first axle connects
Being connected to electromagnetic clutch, the first axle is in transmission connection with roller by electromagnetic clutch.
Improve further:
Described roller includes steel ring, and the outer sheath of steel ring hangs layer equipped with polyurethane, and the inner side of steel ring is fixedly connected with steel disk, steel disk
Center be fixedly connected with bearing chamber, is rotatably connected to the second axle by bearing in bearing chamber, one end of the second axle is with electric
Magnet clutch connects, and the other end of the second axle is connected by end cap and bearing chamber are fixing.
Improve further:
Wherein being fixedly connected with large bevel gear on two first axles on first axle, large bevel gear is with cone pinion transmission even
Connect, connect and be rotationally connected by bearing between the first axle and the axle bed having large bevel gear；
Described second reducing motor is in transmission connection by the drive sprocket of the first chain with one of them main driving wheel, and second slows down
Motor is in transmission connection by the drive sprocket of the 3rd chain with another main driving wheel；
It is bolted to connection between fixed plate and the chassis of outer bearing carrier；
It is connected with the 3rd expansion tightening wheel and directive wheel on 3rd chain；
The first expansion tightening wheel it is connected with on first chain.
The present invention uses technique scheme to have following technical effect that smooth running, and running fix is accurate, bearing capacity
Greatly, there is brake function, integrate and turn to and walking, can universal walk, adapt to narrow and small place, can be conveniently real
Now to the movement of all directions.
It is described further the most novel with embodiment below in conjunction with the accompanying drawings.
Accompanying drawing explanation
Accompanying drawing 1 is the structural representation of the present invention；
Accompanying drawing 2 is another structural representation of the present invention；
Accompanying drawing 3 is the top view of accompanying drawing 1；
Accompanying drawing 4 is the structural representation of universal wheel in the present invention；
Accompanying drawing 5 is the structural representation of roller；
Accompanying drawing 6 is the left view of accompanying drawing 5.
In figure: 1-drive sprocket；2-power transmission shaft；3-inner pedestal；4-turns to sprocket wheel；5-gland；6-outer bearing carrier；7-electricity
Magnet clutch；8-roller；9-axle bed；10-the first axle；11-end cap；12-cone pinion；
13-bearing chamber；Layer hung by 14-polyurethane；15-the second axle；16-large bevel gear；17-fixed plate；18-adapter sleeve；19-steel
Circle；20-steel disk；21-chassis；22-main driving wheel；23-follower；24-the first expansion tightening wheel；25-the second expansion tightening wheel；26-the 3rd
Expansion tightening wheel；27-directive wheel；B1-bolt；B2-the first reducing motor；B3-the second reducing motor；B4-the first chain；B5-second
Chain；B6-the 3rd chain.
Detailed description of the invention
Embodiment, as shown in Figure 1, Figure 2, Figure 3 shows, from walking direction movement device, including chassis 21, chassis 21 lower rotation
Connect and have two main driving wheels 22 and two followers 23, the line between two main driving wheel 22 axle center and two followers 23
Line between axle center is arranged in a crossed manner.
Described chassis 21 is provided with the second reducing motor B3 for driving main driving wheel 22 to walk, the second reducing motor B3
Be in transmission connection with one of them main driving wheel 22 by the first chain B4, the second reducing motor B3 by the 3rd chain B6 and another
Individual main driving wheel 22 is in transmission connection.
It is connected with the 3rd expansion tightening wheel 26 and directive wheel 27 on 3rd chain B6.
The first expansion tightening wheel 24 it is connected with on first chain B4.
Being in transmission connection by the second chain B5 between two main driving wheels 22 and two followers 23, the second chain B5 passes through
First reducing motor B2 is in transmission connection, and the first reducing motor B2 drives two main driving wheels 22 and two followers 23 for simultaneously
Do divertical motion.Second chain B5 can drive two main driving wheels 22 to carry out 360 ° with two followers 23 simultaneously and turn to.
As Figure 4-Figure 6, described main driving wheel 22 includes columnar inner pedestal 3, the outer sheath of inner pedestal 3 equipped with
Outer bearing carrier 6, inner pedestal 3 is passed by the two ends of outer bearing carrier 6, and inner pedestal 3 is rotated even by bearing with outer bearing carrier 6
Connecing, the outside of outer bearing carrier 6 is fixedly connected with fixed plate 17, and the upper end of outer bearing carrier 6 is provided with platen 15.
The outside of described outer bearing carrier 6 is fixedly connected with and turns to sprocket wheel 4.
The end of described inner pedestal 3 is fixedly connected with the axis of adapter sleeve 18, the axis of inner pedestal 3 and adapter sleeve 18
It is vertically arranged.
The two ends of adapter sleeve 18 are rotatably connected to a roller 8 respectively.
It is rotatably connected to the axle of power transmission shaft 2, the axis of power transmission shaft 2 and inner pedestal 3 by bearing in described inner pedestal 3
Line overlaps, and the two ends of power transmission shaft 2 are passed by inner pedestal 3 respectively, and one end of power transmission shaft 2 is fixedly connected with drive sprocket 1, transmission
The other end of axle 2 is fixedly connected with cone pinion 12 through adapter sleeve 18.
It is fixedly connected with two axle beds 9 in described adapter sleeve 18, in each axle bed 9, is rotatably connected to first axle 10,
Connecting on first axle 10 and have electromagnetic clutch 7, the first axle 10 is in transmission connection with roller 8 by electromagnetic clutch 7.
Described roller 8 includes steel ring 19, and the outer sheath of steel ring 19 hangs layer 14 equipped with polyurethane, and the inner side of steel ring 19 is fixing even
Being connected to steel disk 20, the center of steel disk 20 is fixedly connected with bearing chamber 13, is rotatably connected to the by bearing in bearing chamber 13
Two axles 15, one end of the second axle 15 is connected with electromagnetic clutch 7, and the other end of the second axle 15 is solid with bearing chamber 13 by end cap 11
Fixed connection.
Wherein it is fixedly connected with large bevel gear 16, large bevel gear 16 and umbellule on first axle 10 on two first axles 10
Gear 12 is in transmission connection, and connects and is rotationally connected by bearing between the first axle 10 and the axle bed 9 having large bevel gear 16.
The difference of described follower 23 and main driving wheel 22 does not install power transmission shaft 2 in being the inner pedestal 3 of follower 23,
Cone pinion 12 is not installed on power transmission shaft 2, the first axle 10 does not install large bevel gear 16.
Described second reducing motor B3 is connected by drive sprocket 1 transmission of the first chain B4 with one of them main driving wheel 22
Connecing, the second reducing motor B3 is in transmission connection by the drive sprocket 1 of the 3rd chain B6 with another main driving wheel 22.
It is connected by bolt B 1 is fixing between the fixed plate 17 of outer bearing carrier 6 and chassis 21.
During work, the second reducing motor B3 imparts power to the drive sprocket 1 in main driving wheel 22 by chain, passes through
Drive sprocket 1 transfers power to power transmission shaft 2, and power transmission shaft 2 transfers power to a side wheel 8, and then drives roller 8 to move；The
One reducing motor B2 drives the second chain B5 and the first reducing motor B2 to be in transmission connection, and the first reducing motor B2 passes through the second chain
B5 drives the sprocket wheel 4 that turns in main driving wheel 22 and follower 23 to rotate, and turns to sprocket wheel 4 to drive inner pedestal 3 to rotate, and then band
Dynamic main driving wheel 22 realizes 360 ° of rotations with follower 23 and completes to turn to.
Claims (10)
1. from walking direction movement device, including chassis (21), it is characterised in that: chassis (21) lower rotation connects two masters
Drive (22) and two followers (23), the line between two main driving wheel (22) axle center and two follower (23) axle center
Between line arranged in a crossed manner.
The most according to claim 1 from walking direction movement device, it is characterised in that: described chassis (21) be provided with for
Drive main driving wheel (22) the second reducing motor (B3) of walking, the second reducing motor (B3) respectively with two main driving wheels (22)
It is in transmission connection.
It is the most according to claim 2 from walking direction movement device, it is characterised in that: the second reducing motor (B3) is by the
One chain (B4) is in transmission connection with one of them main driving wheel (22), and the second reducing motor (B3) passes through the 3rd chain (B6) with another
One main driving wheel (22) is in transmission connection.
It is the most according to claim 3 from walking direction movement device, it is characterised in that: chassis (21) are provided with driving two
Main driving wheel (22) and two followers (23) carry out 360 ° of first reducing motors (B2) turned to simultaneously.
It is the most according to claim 4 from walking direction movement device, it is characterised in that: two main driving wheels (22) and two
Being in transmission connection by the second chain (B5) between follower (23), the second chain (B5) is by the first reducing motor (B2) transmission even
Connecing, the first reducing motor (B2) drives two main driving wheels (22) and two followers (23) to do divertical motion for simultaneously.
It is the most according to claim 5 from walking direction movement device, it is characterised in that: described main driving wheel (22) includes circle
The inner pedestal (3) of tubular, the outer sheath of inner pedestal (3) is equipped with outer bearing carrier (6), and inner pedestal (3) is by outer bearing carrier (6)
Two ends pass, inner pedestal (3) is rotationally connected by bearing with outer bearing carrier (6), and the outside of outer bearing carrier (6) is fixing to be connected
Fixed plate (17), the upper end of outer bearing carrier (6) is had to be provided with platen (15)；
The outside of described outer bearing carrier (6) is fixedly connected with and turns to sprocket wheel (4)；
The end of described inner pedestal (3) is fixedly connected with adapter sleeve (18), the axis of inner pedestal (3) and adapter sleeve (18)
Axis is vertically arranged；
The two ends of adapter sleeve (18) are rotatably connected to a roller (8) respectively.
It is the most according to claim 6 from walking direction movement device, it is characterised in that: described inner pedestal passes through in (3)
Bearing is rotatably connected to the dead in line of power transmission shaft (2), the axis of power transmission shaft (2) and inner pedestal (3), the two of power transmission shaft (2)
End is passed by inner pedestal (3) respectively, and one end of power transmission shaft (2) is fixedly connected with drive sprocket (1), another of power transmission shaft (2)
End is fixedly connected with cone pinion (12) through adapter sleeve (18).
It is the most according to claim 7 from walking direction movement device, it is characterised in that: the company of fixing in described adapter sleeve (18)
Being connected to two axle beds (9), be rotatably connected to first axle (10) in each axle bed (9), the upper connection of the first axle (10) has electromagnetism
Clutch (7), the first axle (10) is in transmission connection with roller (8) by electromagnetic clutch (7).
It is the most according to claim 8 from walking direction movement device, it is characterised in that: described roller (8) includes steel ring
(19), the outer sheath of steel ring (19) hangs layer (14) equipped with polyurethane, and the inner side of steel ring (19) is fixedly connected with steel disk (20), steel disk
(20) center is fixedly connected with bearing chamber (13), is rotatably connected to the second axle (15) by bearing in bearing chamber (13),
One end of second axle (15) is connected with electromagnetic clutch (7), and the other end of the second axle (15) passes through end cap (11) and bearing chamber
(13) fixing connection.
It is the most according to claim 9 from walking direction movement device, it is characterised in that: on two first axles (10) wherein
Being fixedly connected with large bevel gear (16) on piece first axle (10), large bevel gear (16) is in transmission connection with cone pinion (12), even
It is connected between first axle (10) of large bevel gear (16) and axle bed (9) be rotationally connected by bearing；
Described second reducing motor (B3) is passed by the drive sprocket (1) of the first chain (B4) with one of them main driving wheel (22)
Being dynamically connected, the second reducing motor (B3) is by drive sprocket (1) transmission of the 3rd chain (B6) with another main driving wheel (22)
Connect；
It is connected by bolt (B1) is fixing between the fixed plate (17) of outer bearing carrier (6) and chassis (21)；
It is connected with the 3rd expansion tightening wheel (26) and directive wheel (27) on 3rd chain (B6)；
The first expansion tightening wheel (24) it is connected with on first chain (B4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610759068.7A CN106184471A (en) | 2016-08-30 | 2016-08-30 | From walking direction movement device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610759068.7A CN106184471A (en) | 2016-08-30 | 2016-08-30 | From walking direction movement device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106184471A true CN106184471A (en) | 2016-12-07 |
Family
ID=58089141
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610759068.7A Pending CN106184471A (en) | 2016-08-30 | 2016-08-30 | From walking direction movement device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106184471A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108790854A (en) * | 2018-03-27 | 2018-11-13 | 安吉汽车物流股份有限公司 | Complete vehicle logistics warehousing system |
| CN109278862A (en) * | 2018-11-27 | 2019-01-29 | 大连大学 | A kind of walking of integrated form and side steering |
| CN109319009A (en) * | 2018-11-27 | 2019-02-12 | 大连大学 | A kind of robot running gear |
| CN109335711A (en) * | 2018-11-23 | 2019-02-15 | 山东省科学院自动化研究所 | A kind of heavy load unstacking robot and de-stacking method |
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| JP2003276595A (en) * | 2002-03-27 | 2003-10-02 | Toyo Electric Mfg Co Ltd | Driving bogie for rolling stock |
| CN101138993A (en) * | 2006-09-06 | 2008-03-12 | 吴雳鸣 | Umbrella gear biax synchronous activation magnetic chain pulley walking device |
| CN101913431A (en) * | 2010-08-18 | 2010-12-15 | 蒂森克虏伯机场系统(中山)有限公司 | Boarding bridge walking system with chassis |
| CN203395119U (en) * | 2013-07-03 | 2014-01-15 | 湖北格兰登机械有限公司 | Novel chain transmission trolley |
| 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 |
| CN204077795U (en) * | 2014-08-14 | 2015-01-07 | 柳州君天机器人自动化有限公司 | Entirely turn to mobile chassis |
| CN204250141U (en) * | 2014-12-05 | 2015-04-08 | 北京建筑大学 | Robot turns to gear frame |
| CN206012862U (en) * | 2016-07-15 | 2017-03-15 | 亨通国际开发股份有限公司 | Interlock braking mechanism and its brake system |
-
2016
- 2016-08-30 CN CN201610759068.7A patent/CN106184471A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003276595A (en) * | 2002-03-27 | 2003-10-02 | Toyo Electric Mfg Co Ltd | Driving bogie for rolling stock |
| CN101138993A (en) * | 2006-09-06 | 2008-03-12 | 吴雳鸣 | Umbrella gear biax synchronous activation magnetic chain pulley walking device |
| CN101913431A (en) * | 2010-08-18 | 2010-12-15 | 蒂森克虏伯机场系统(中山)有限公司 | Boarding bridge walking system with chassis |
| 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 |
| CN203395119U (en) * | 2013-07-03 | 2014-01-15 | 湖北格兰登机械有限公司 | Novel chain transmission trolley |
| CN204077795U (en) * | 2014-08-14 | 2015-01-07 | 柳州君天机器人自动化有限公司 | Entirely turn to mobile chassis |
| CN204250141U (en) * | 2014-12-05 | 2015-04-08 | 北京建筑大学 | Robot turns to gear frame |
| CN206012862U (en) * | 2016-07-15 | 2017-03-15 | 亨通国际开发股份有限公司 | Interlock braking mechanism and its brake system |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108790854A (en) * | 2018-03-27 | 2018-11-13 | 安吉汽车物流股份有限公司 | Complete vehicle logistics warehousing system |
| CN109335711A (en) * | 2018-11-23 | 2019-02-15 | 山东省科学院自动化研究所 | A kind of heavy load unstacking robot and de-stacking method |
| CN109335711B (en) * | 2018-11-23 | 2024-03-22 | 山东省科学院自动化研究所 | Large-load unstacking robot and unstacking method |
| CN109278862A (en) * | 2018-11-27 | 2019-01-29 | 大连大学 | A kind of walking of integrated form and side steering |
| CN109319009A (en) * | 2018-11-27 | 2019-02-12 | 大连大学 | A kind of robot running gear |
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Application publication date: 20161207 |