CN106671076A - Self-driven type universal power module - Google Patents
Self-driven type universal power module Download PDFInfo
- Publication number
- CN106671076A CN106671076A CN201611190073.7A CN201611190073A CN106671076A CN 106671076 A CN106671076 A CN 106671076A CN 201611190073 A CN201611190073 A CN 201611190073A CN 106671076 A CN106671076 A CN 106671076A
- Authority
- CN
- China
- Prior art keywords
- wheel hub
- installing hole
- idler gear
- train
- connecting rod
- 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.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Gear Transmission (AREA)
Abstract
The invention belongs to the field of robots, and relates to a self-driven type universal power module. The self-driven type universal power module comprises rubber rollers, roller brackets, a first hub, a second hub, hub connecting rods, a first motor, a second motor, motor brackets, a first intermediate gear, a second intermediate gear, intermediate gear connecting rods and a transmission wheel system, wherein the transmission wheel system comprises an input gear, an intermediate transmission structure and an output gear. According to the self-driven type universal power module, the first motor can drive the whole mechanism to rotate, and the second motor can drive the intermediate gears to rotate, so that the rubber rotors can be driven to rotate; the two motors can coordinately work, and thus the performing time is short; the whole mechanism can bear force in two directions through the rubber rollers, the first hub and the second hub, so that the force bearing direction of the mechanism is increased.
Description
Technical field
The invention belongs to robot field, is related to a kind of self-driven omnidirectional's power plant module.
Background technology
With increasingly improving for people's living standard and being continuously increased for demand, various intelligent equipments engender.Entirely
To driver, it has also become one of requisite major function original paper in various wheeled robot chassis.Existing omnidirectional's driver
（As shown in Figure 1）, including motor 1, motor 22, electric machine support 3 and tire 4.Controlled by controlled motor 1 and motor 22
The direction of motion of tire 4, so as to control the motion on robot chassis.
The above-mentioned prior art for referring to of analysis has the following disadvantages, i.e. the technical problem to be solved:
1st, two motors of conventional omni-directional driver drive a tire simultaneously so that two motors are unable to collaborative work, perform the time
It is long；
2nd, the tire of conventional omni-directional driver mostly is single load bearing, and structure stress direction is few.
The content of the invention
It is an object of the invention to overcome defect present in prior art, a kind of self-driven omnidirectional's power mould is designed
Block.The device is mainly used in robot industry.Efficiently solve and perform in conventional omni-directional driver time length and stress side
To few problem.
To achieve these goals, a kind of self-driven omnidirectional's power plant module of design is the technical scheme is that, including
Rubber roller, roller bracket, wheel hub one, wheel hub two, wheel hub connecting rod, motor one, motor two, electric machine support, idler gear one,
Idler gear two, idler gear connecting rod and train.Wherein train includes input gear, intermediate transmission structure and defeated
Go out gear.
The installing hole one of roller bracket is provided with the wheel hub one, the angle of installing hole one of two adjacent groups roller bracket is
45°；The installing hole two of roller bracket is provided with the wheel hub two, the angle of installing hole two of two adjacent groups roller bracket is 45 °；Institute
The installing hole one that train is provided with wheel hub one is stated, the angle of installing hole one of two adjacent groups train is 45 °；The wheel hub
The installing hole two of train is provided with two, the angle of installing hole two of two adjacent groups train is 45 °；Open on the wheel hub one
There is the installing hole one of wheel hub connecting rod, the angle of the installing hole one of two neighboring wheel hub connecting rod is 22.5 °；On the wheel hub two
The installing hole two of wheel hub connecting rod is provided with, the angle of the installing hole two of two neighboring wheel hub connecting rod is 22.5 °；The wheel hub one
On be provided with the mounting groove of idler gear one；The mounting groove of idler gear two is provided with the wheel hub two.
Its annexation is：16 rubber rollers are arranged on above 16 roller brackets；Eight institutes
State above the installing hole one of the roller bracket of the roller bracket on the wheel hub one；Eight roller brackets are installed
Above the installing hole two of the roller bracket on the wheel hub two；Eight trains are arranged on the wheel hub one
The train installing hole one above；The train of eight trains on the wheel hub two
Installing hole two above；The idler gear one is arranged on above the mounting groove of the idler gear one on the wheel hub one；It is described
Idler gear two is arranged on above the mounting groove of the idler gear two on the wheel hub two；The input tooth of the train
Wheel is engaged respectively with the idler gear one and the idler gear two；The output gear of the train is arranged on institute
State above rubber roller；The wheel hub one is arranged in the wheel hub connecting rod by the installing hole one of the wheel hub connecting rod
Face；The wheel hub two is arranged on above the wheel hub connecting rod by the installing hole two of the wheel hub connecting rod；The wheel hub one
It it is 22.5 ° with the angle of the wheel hub two；The idler gear one and the idler gear two, are connected by the idler gear
Bar links together；The output shaft of the motor one is connected with mechanism；The output shaft of the motor two and the center tooth
Wheel one connects.
The advantages of the present invention are：Due to the lead agency unitary rotation of the motor one of the present invention, institute
Stating motor two drives idler gear to rotate, so as to drive the rubber roller to rotate so that two motors can be performed with collaborative work
Time is short.
Due to the rubber roller of the invention, wheel hub one and wheel hub two so that mechanism integrally can be with bidirectional stress, mechanism
Impact direction increases.
Description of the drawings
Fig. 1 is conventional omni-directional activation configuration schematic diagram；
Fig. 2 is omnidirectional's activation configuration schematic diagram of the present invention；
Fig. 3 is omnidirectional's driver sectional median plane structural representation of the present invention；
Fig. 4 is that omnidirectional's activation configuration of the present invention is driven schematic diagram；
Fig. 5 is the structural representation of omnidirectional's drive hub one of the present invention；
Fig. 6 is the structural representation of omnidirectional's drive hub one of the present invention；
Wherein, 1- motors one；2- motors two；3- electric machine supports；4- tires；21- rubber rollers；22- roller brackets；23- wheel hubs
One；24- wheel hubs two；25- wheel hub connecting rods；26- motors one；27- motors two；31- electric machine supports；32- idler gears one；33-
Idler gear two；34- idler gear connecting rods；41- trains；42- input gears；43- intermediate transmission structures；44- is exported
Gear；The installing hole one of 51- roller brackets；The installing hole one of 52- trains；The installing hole one of 53- wheel hub connecting rods；
The mounting groove of 54- idler gears one；The installing hole two of 61- roller brackets；The installing hole two of 62- trains；63- wheel hubs connect
The installing hole two of bar；The mounting groove of 64- idler gears two.
Specific embodiment
The specific embodiment of the present invention is further described with reference to the accompanying drawings and examples, following examples are only used
In clearly illustrating technical scheme, and can not be limited the scope of the invention with this.
As shown in Fig. 2, Fig. 3, Fig. 4, Fig. 5 and Fig. 6, a kind of self-driven omnidirectional's power of design is the technical scheme is that
Module, including rubber roller 21, roller bracket 22, wheel hub 1, wheel hub 2 24, wheel hub connecting rod 25, motor 1, motor two
27th, electric machine support 31, idler gear 1, idler gear 2 33, idler gear connecting rod 34 and train 41.Wherein it is driven
Train 41 includes input gear 42, intermediate transmission structure 43 and output gear 44.
The installing hole 1 of roller bracket is provided with the wheel hub 1, the installing hole 1 of two adjacent groups roller bracket is pressed from both sides
Angle is 45 °；The installing hole 2 61 of roller bracket is provided with the wheel hub 2 24, the installing hole 2 61 of two adjacent groups roller bracket is pressed from both sides
Angle is 45 °；The installing hole 1 of train is provided with the wheel hub 1, the installing hole 1 of two adjacent groups train is pressed from both sides
Angle is 45 °；The installing hole 2 62 of train is provided with the wheel hub 2 24, the installing hole 2 62 of two adjacent groups train is pressed from both sides
Angle is 45 °；The installing hole 1 of wheel hub connecting rod, the installing hole one of two neighboring wheel hub connecting rod are provided with the wheel hub 1
53 angle is 22.5 °；The installing hole 2 63 of wheel hub connecting rod is provided with the wheel hub 2 24, two neighboring wheel hub connecting rod
The angle of installing hole 2 63 is 22.5 °；The mounting groove 54 of idler gear one is provided with the wheel hub 1；On the wheel hub 2 24
It is provided with the mounting groove 64 of idler gear two.
Its annexation is：16 rubber rollers 21 are arranged on above 16 roller brackets 22；Eight
The individual roller bracket 22 is arranged on above the installing hole 1 of the roller bracket on the wheel hub 1；Eight rollings
Submounts 22 are arranged on above the installing hole 2 61 of the roller bracket on the wheel hub 2 24；Eight trains 41
Above the installing hole 1 of the train on the wheel hub 1；Eight trains 41 are arranged on institute
State above the installing hole 2 62 of the train on wheel hub 2 24；The idler gear 1 is arranged on the wheel hub 1
On idler gear one mounting groove 54 above；The idler gear 2 33 is arranged on the idler gear two on the wheel hub 2 24
Mounting groove 64 above；The input gear 42 of the train 41 respectively with the idler gear 1 and the centre
Gear 2 33 is engaged；The output gear 44 of the train 41 is arranged on above the rubber roller 21；The wheel hub
One 23 are arranged on above the wheel hub connecting rod 25 by the installing hole 1 of the wheel hub connecting rod；The wheel hub 2 24 passes through
The installing hole 2 63 of the wheel hub connecting rod is arranged on above the wheel hub connecting rod 25；The wheel hub 1 and the wheel hub two
24 angle is 22.5 °；The idler gear 1 and the idler gear 2 33, are connected by the idler gear connecting rod 34
It is connected together；The motor 1 is arranged on the electric machine support 31；The output shaft of the motor 1 integrally connects with mechanism
Connect；The output shaft of the motor 2 27 is connected with the idler gear 1.
The lead agency unitary rotation of the motor 1, the motor 2 27 drive the idler gear 1 and it is described in
Between gear 2 42 rotate, the idler gear 1 and the idler gear 2 42 drive respectively 16 trains 41
Rotate, 16 trains 41 drive respectively 16 rubber rollers 21 to rotate, this principle causes two motors can
With collaborative work, the time is performed short.
The rubber roller 21, the wheel hub 1 and the wheel hub 2 24 so that mechanism integrally can be with bidirectional stress, machine
Structure Impact direction increases.
The above is only the preferred embodiments of the present invention, it is noted that for the ordinary skill people of the art
For member, on the premise of without departing from the technology of the present invention principle, some improvements and modifications can also be made, these improvements and modifications
Also should be regarded as protection scope of the present invention.
Claims (3)
1. a kind of self-driven omnidirectional's power plant module, it is characterised in that：Including rubber roller（21）, roller bracket（22）, wheel hub
One（23）, wheel hub two（24）, wheel hub connecting rod（25）, motor one（26）, motor two（27）, electric machine support（31）, idler gear
One（32）, idler gear two（33）, idler gear connecting rod（34）And train（41）；
Wherein described train（41）Including input gear（42）, intermediate transmission structure（43）And output gear（44）；It is described
Wheel hub one（23）On be provided with the installing hole one of roller bracket（51）, the installing hole one of two adjacent groups roller bracket（51）Angle is
45°；The wheel hub two（24）On be provided with the installing hole two of roller bracket（61）, the installing hole two of two adjacent groups roller bracket（61）
Angle is 45 °；The wheel hub one（23）On be provided with the installing hole one of train（52）, the installing hole of two adjacent groups train
One（52）Angle is 45 °；The wheel hub two（24）On be provided with the installing hole two of train（62）, two adjacent groups train
Installing hole two（62）Angle is 45 °；The wheel hub one（23）On be provided with the installing hole one of wheel hub connecting rod（53）, two neighboring wheel
The installing hole one of hub connecting rod（53）Angle be 22.5 °；The wheel hub two（24）On be provided with the installing hole two of wheel hub connecting rod
（63）, the installing hole two of two neighboring wheel hub connecting rod（63）Angle be 22.5 °；The wheel hub one（23）On be provided with center tooth
The mounting groove of wheel one（54）；The wheel hub two（24）On be provided with the mounting groove of idler gear two（64）；
Its annexation is：16 rubber rollers（21）Installed in 16 roller brackets（22）Above；Eight
The individual roller bracket（22）Installed in the wheel hub one（23）On the roller bracket installing hole one（51）Above；Eight
The roller bracket（22）Installed in the wheel hub two（24）On the roller bracket installing hole two（61）Above；Eight institutes
State train（41）Installed in the wheel hub one（23）On the train installing hole one（52）Above；Described in eight
Train（41）Installed in the wheel hub two（24）On the train installing hole two（62）Above；The center tooth
Wheel one（32）Installed in the wheel hub one（23）On idler gear one mounting groove（54）Above；The idler gear two（33）
Installed in the wheel hub two（24）On idler gear two mounting groove（64）Above；The train（41）The input
Gear（42）Respectively with the idler gear one（32）With the idler gear two（33）Engagement；The train（41）Institute
State output gear（44）Installed in the rubber roller（21）Above；The wheel hub one（23）By the peace of the wheel hub connecting rod
Dress hole one（53）Installed in the wheel hub connecting rod（25）Above；The wheel hub two（24）By the installation of the wheel hub connecting rod
Hole two（63）Installed in the wheel hub connecting rod（25）Above；The wheel hub one（23）With the wheel hub two（24）Angle be
22.5°；The idler gear one（32）With the idler gear two（33）, by the idler gear connecting rod（34）It is connected to
Together；The motor one（26）Installed in the electric machine support（31）On；The motor one（26）Output shaft and mechanism's entirety
Connection；The motor two（27）Output shaft and the idler gear one（32）Connection.
2. a kind of self-driven omnidirectional's power plant module according to claim 1, it is characterised in that：The motor one（26）Band
Motivation structure unitary rotation, the motor two（27）Drive the idler gear one（32）With the idler gear two（42）Rotate,
The idler gear one（32）With the idler gear two（42）16 trains are driven respectively（41）Rotate, 16
The individual train（41）16 rubber rollers are driven respectively（21）Rotate, this principle allows two motors to cooperate with
Work.
3. a kind of self-driven omnidirectional's power plant module according to claim 1, it is characterised in that：The rubber roller
（21）, the wheel hub one（23）With the wheel hub two（24）So that mechanism integrally can be with bidirectional stress.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611190073.7A CN106671076A (en) | 2016-12-21 | 2016-12-21 | Self-driven type universal power module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611190073.7A CN106671076A (en) | 2016-12-21 | 2016-12-21 | Self-driven type universal power module |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106671076A true CN106671076A (en) | 2017-05-17 |
Family
ID=58870865
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611190073.7A Pending CN106671076A (en) | 2016-12-21 | 2016-12-21 | Self-driven type universal power module |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106671076A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205292124U (en) * | 2016-01-13 | 2016-06-08 | 成都电科创品机器人科技有限公司 | Initiative qxcomm technology wheel and mobile device |
| CN205523385U (en) * | 2016-04-25 | 2016-08-31 | 成都电科创品机器人科技有限公司 | Initiative omniwheel and mobile device |
| CN206277394U (en) * | 2016-12-21 | 2017-06-27 | 北京灵铱科技有限公司 | A kind of self-driven omnidirectional's power plant module |
-
2016
- 2016-12-21 CN CN201611190073.7A patent/CN106671076A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205292124U (en) * | 2016-01-13 | 2016-06-08 | 成都电科创品机器人科技有限公司 | Initiative qxcomm technology wheel and mobile device |
| CN205523385U (en) * | 2016-04-25 | 2016-08-31 | 成都电科创品机器人科技有限公司 | Initiative omniwheel and mobile device |
| CN206277394U (en) * | 2016-12-21 | 2017-06-27 | 北京灵铱科技有限公司 | A kind of self-driven omnidirectional's power plant module |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170517 |
|
| WD01 | Invention patent application deemed withdrawn after publication |