CN109367322A - Robotically-driven chassis - Google Patents
Robotically-driven chassis Download PDFInfo
- Publication number
- CN109367322A CN109367322A CN201811183723.4A CN201811183723A CN109367322A CN 109367322 A CN109367322 A CN 109367322A CN 201811183723 A CN201811183723 A CN 201811183723A CN 109367322 A CN109367322 A CN 109367322A
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- CN
- China
- Prior art keywords
- wheel
- hub
- hubs
- driven
- spoke
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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.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/003—Multidirectional wheels
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of robotically-driven chassis, including chassis body and traveling wheel；Traveling wheel includes driving wheel and driven wheel, and driving wheel is inflated wheel, and driven wheel is omni-directional wheel.The quantity of driving wheel and driven wheel is a pair；A pair of of driving wheel and a pair of driven are separately positioned on the left and right sides of chassis body.Barrier ability is strong flexibly, excessively, anti-seismic performance is good for present invention steering.
Description
Technical field
The present invention relates to robotically-driven chassis.
Background technique
Currently, unpiloted mobile robot is increasingly used in outdoor or large-scale museum place automatic detecting
Equal fields.The driving chassis of these mobile robots includes chassis body and traveling wheel, wherein traveling wheel include driving wheel and from
Rotation is driven by motor in driving wheel, driving wheel, and the universal wheel as driven wheel is driven to walk together.Universal wheel is easy hair when moving
Life is swung left and right, and the diameter of universal wheel can not generally be made too big, cause existing robotically-driven chassis in traveling luck
Row is not sufficiently stable, and it is poor to cross barrier ability.
Summary of the invention
Technical problem to be solved by the present invention lies in providing, a kind of steering is flexible, barrier ability is strong excessively, anti-seismic performance is good
Robotically-driven chassis.
Another technical problem to be solved by this invention is to provide the machine that a kind of installation and removal are convenient, maintenance cost is low
Device people drives chassis.
In order to solve the above technical problems, a kind of robotically-driven chassis according to an embodiment of the present invention, including chassis body
And traveling wheel；Traveling wheel includes driving wheel and driven wheel, and driving wheel is inflated wheel, and driven wheel is omni-directional wheel.
Above-mentioned robotically-driven chassis, wherein omni-directional wheel includes first wheel, the second wheel hub, the first roller group and
Second wheel group；First wheel and the second wheel hub are arranged side by side, and are detachably interconnected；Each wheel hub includes wheel rim, a plurality of
Spoke and wheel propeller boss, one end of each spoke are connected with the inner circumferential of wheel rim, and the other end of each spoke is connected with the periphery of wheel propeller boss；Often
One spoke is wave-shaped；The periphery of wheel rim is circumferentially spaced to be equipped with multiple roller grooves, is respectively formed in the two sides of each roller groove
One double wedge；Each roller group is made of multiple idler wheels, and each idler wheel includes wheel shaft and roller body, and roller body is sheathed on wheel
Axis, and can be rotated around wheel shaft；Multiple idler wheels of first roller group are separately positioned on multiple rollings of first wheel correspondingly
In race, multiple idler wheels of the second roller group are separately positioned on correspondingly in multiple roller grooves of the second wheel hub, each idler wheel
The both ends of wheel shaft be separately fixed on the double wedge of the idler wheel two sides.
Above-mentioned robotically-driven chassis, wherein each wheel hub includes the first half wheel hubs and the second half wheel hubs, the first half wheel
Hub and the second half wheel hubs are detachably interconnected along axial mutual pairing；Each half wheel hub includes rim part, a plurality of wheel
Spoke and wheel shaft hub, one end of each spoke are connected with the inner circumferential of rim part, the other end of each spoke and the outer phase of wheel shaft hub
Even；Each spoke is wave-shaped；The periphery of rim part is circumferentially spaced to be equipped with multiple idler wheel groove portions, in each idler wheel groove portion
Two sides are respectively formed a convex teeth portion；The wheel rim of wheel hub is by the rim part of the first half wheel hubs and the rim part pairing shape of the second half wheel hubs
Be combined to form at the wheel propeller boss of, wheel hub by the wheel shaft hub of the first half wheel hubs and the wheel shaft hub of the second half wheel hubs, wheel hub it is convex
Tooth is combined to form by the convex teeth portion of the first half wheel hubs and the convex teeth portion of the second half wheel hubs, and a plurality of spoke of wheel hub is by the first half wheel hubs
A plurality of spoke and a plurality of spokes of the second half wheel hubs collectively constitute.
The present invention has at least the following advantages:
1, robotically-driven chassis according to an embodiment of the present invention uses omni-directional wheel as driven wheel, compared with the prior art
Driven wheel is done using universal wheel, the wheel footpath of omni-directional wheel is bigger, and there is no eccentric gravity center shifts, so that robotically-driven
The barrier ability excessively on chassis is stronger, and operation is more stable, and body construction is also more compact；
2, the driving wheel on robotically-driven chassis according to an embodiment of the present invention is taken on by inflated wheel, absorbs the effect of vibration
It is good, it turns to flexibly, the speed of travel is faster；
3, the wheel hub of the omni-directional wheel on robotically-driven chassis according to an embodiment of the present invention has spoke wave-shaped, can
To absorb impact or vibration from ground or barrier；
4, the wheel hub of the omni-directional wheel on robotically-driven chassis according to an embodiment of the present invention is made of two and half wheel hubs, is not necessarily to
Dedicated dismantling device can conveniently realize installation and disassembly, consequently facilitating the components of replacement damage, reduce maintenance cost.
Detailed description of the invention
Fig. 1 shows the schematic perspective view on robotically-driven chassis according to an embodiment of the invention.
Fig. 2 shows the schematic top plan views on robotically-driven chassis according to an embodiment of the invention.
Fig. 3 shows the overall structure diagram of omni-directional wheel according to an embodiment of the invention.
Fig. 4 shows the schematic front view of omni-directional wheel according to an embodiment of the invention.
Fig. 5 shows the diagrammatic cross-section of omni-directional wheel according to an embodiment of the invention.
Fig. 6 shows the perspective exploded view of omni-directional wheel according to an embodiment of the invention.
Specific embodiment
Further explanation is made to the present invention with reference to the accompanying drawing.
Figures 1 and 2 show that the structure on robotically-driven chassis according to an embodiment of the invention.One is real according to the present invention
A kind of robotically-driven chassis 100 for applying example includes chassis body 1 and traveling wheel, and traveling wheel includes driving wheel 2 and driven wheel 3,
Wherein, driving wheel 2 is inflated wheel, and driven wheel 3 is omni-directional wheel.
In the present embodiment, the four-wheel car body that robotically-driven chassis is made of a pair of of driving wheel 2 and a pair of driven 3
Chassis, a pair of of driving wheel 2 and a pair of driven 3 are separately positioned on the left and right sides of chassis body 1.Driving wheel 2 is by motor
41 and reduction gearbox (not shown) transmit power, the outer diameter of driving wheel 2 and driven wheel 3 is 205 millimeters, also be can according to need
It is designed to other sizes.Battery and control circuit are equipped in chassis body 1, it, can by changing the speed difference or revolving speed of driving wheel 2
It realizes and changes direction and travel speed, travel speed can achieve 8 kilometers/hour, and crossing barrier ability can achieve 2 centimetres, pass through
The outer diameter for increasing wheel can also further increase barrier ability.By using a pair of of driving wheel and a pair of of omni-directional wheel, simplify
Navigation Control scheme, better than the scheme of 4 wheel drives or 3 wheel drives used by ordinary robot.According to actual needs, according to this
The robotically-driven chassis of inventive embodiments can by flexible design at it is preceding driving or after drive in a manner of, to adapt to different navigation
And place demand, to reduce turning radius, increases steering flexibility for example, can use rear wheel drive mode in small place,
If run for outdoor road, front-wheel drive mode can be used, to increase barrier ability and road holding.
It, as driven wheel, is adopted compared with the prior art using omni-directional wheel on robotically-driven chassis according to an embodiment of the present invention
Driven wheel is done with universal wheel, the wheel footpath of omni-directional wheel is bigger, and there is no eccentric gravity center shifts, so that robotically-driven bottom
The barrier ability excessively of disk is stronger, and operation is more stable, and body construction is also more compact.And driving wheel is taken on by inflated wheel, absorbs vibration
Effect is good, turns to flexibly, the speed of travel is faster.
Fig. 3 to Fig. 6 shows the structure of omni-directional wheel according to an embodiment of the present invention.Fig. 3 to Fig. 6 is please referred to, according to this hair
The omni-directional wheel 3 of bright embodiment includes first wheel 31, the second wheel hub 32, the first roller group 33 and the second roller group 34.
First wheel 31 and the second wheel hub 32 are arranged side by side, and are detachably interconnected.Each wheel hub include wheel rim 3a,
A plurality of spoke 3b and wheel propeller boss 3c, one end of each spoke 3b are connected with the inner circumferential of wheel rim 3a, the other end and wheel shaft of each spoke 3b
The periphery of hub 3c is connected.Each spoke 3b is wave-shaped.The periphery of wheel rim 3a is circumferentially spaced to be equipped with multiple roller groove 30a,
The two sides of each roller groove are respectively formed a double wedge 31a.
Each roller group is made of multiple idler wheel 3d, and each idler wheel 3d includes wheel shaft 33d and roller body 34d, idler wheel sheet
Body 34d is sheathed on wheel shaft 33d, and can rotate around wheel shaft 33d.Multiple idler wheel 3d of first roller group 33 distinguish correspondingly
It is arranged in multiple roller groove 30a of first wheel 31, multiple idler wheel 3d of the second roller group 34 are respectively set correspondingly
In multiple roller groove 30a of the second wheel hub 32, the both ends of the wheel shaft 33d of each idler wheel 3d are separately fixed at positioned at the idler wheel two sides
Double wedge 31a on.
It is wavy by the way that spoke to be shaped to, it can effectively absorb impact or shake from ground or barrier
It is dynamic, improve the damping capaicty of wheel hub.
In the present embodiment, first wheel 31 and the second wheel hub 32 pass through the wheel propeller boss and also cross the first wheel
The connector 4 of the wheel propeller boss of two wheel hubs is mutually detachably connected.Connector 4 includes main shaft part 41 and fastening lid 42, main shaft part
41 one end is equipped with the backstop cap 411 that can compress the end face of wheel propeller boss, and main shaft part 41 passes through the wheel propeller boss and second of first wheel
The wheel propeller boss of wheel hub, and be connected with each other with fastening cap 42 by multiple first screws 51.
Further, each wheel hub includes the first half wheel hubs 311 and the second half wheel hubs 322, the first half wheel hub 311 and second
Half wheel hub 322 is detachably interconnected along axial mutual pairing.
Each half wheel hub includes rim part 31f, a plurality of spoke 3b and wheel shaft hub 31c, one end of each spoke 3b and wheel rim
The inner circumferential of portion 31f is connected, and the other end of each spoke 3b is connected with the periphery of wheel shaft hub 31c.Each spoke 3b is wave-shaped.Wheel rim
The periphery of portion 31f is circumferentially spaced to be equipped with multiple idler wheel groove portion 301a, is respectively formed one in the two sides of each idler wheel groove portion 301a
Convex teeth portion 311a.
The wheel rim 3a of wheel hub is by the rim part 31f of the first half wheel hubs 311 and the rim part 31f pairing of the second half wheel hubs 322
It is formed, the wheel propeller boss 3c of wheel hub is by the wheel shaft hub 31c of the first half wheel hubs 311 and 31c pairs of the wheel shaft hub of the second half wheel hubs 322
It closes and is formed, the double wedge 31a of wheel hub is by the convex teeth portion 311a of the first half wheel hubs 311 and 311a pairs of convex teeth portion of the second half wheel hubs 322
It closes and is formed, a plurality of spoke 3b of wheel hub is by a plurality of spoke 3b of the first half wheel hubs 311 and a plurality of spoke 3b of the second half wheel hubs 322
It collectively constitutes.In example in figure, a plurality of spoke 3b of a plurality of spoke 3b of the first half wheel hubs 311 and the second half wheel hubs 322
It is oppositely arranged, but not limited to this, in other embodiments, a plurality of spoke 3b of the first half wheel hubs 311 and the second half
The a plurality of spoke 3b of wheel hub 322 can be arranged in a staggered manner.
The rim part 31f of the first half wheel hubs 311 is equipped with multiple first positioning through hole 315 of circumferentially spaced arrangement, the
The rim part of 2 half wheel hubs 322 is equipped with and one-to-one multiple second positioning through hole 316 of multiple first positioning through hole 315.
The first half wheel hubs 311 and the second half wheel hubs 322 pass through the fastener for passing through multiple first positioning through hole and the second positioning through hole
52 are connected with each other.In the present embodiment, fastener 52 is made of the second screw.
In the present embodiment, the inner surface of at least partly convex teeth portion 311a of the first half wheel hubs 311 is equipped with the first holding section
In 317a, the convex teeth portion 311a of the second half wheel hub 322 corresponding with the first half at least partly convex teeth portion 311a of wheel hub 311
Surface is equipped with the second holding section 318a, the second holding section 318a and corresponding first with the first holding section 317a corresponding matching
Holding section 317a is mutually clamped.First holding section 317a is pillar or groove, and the second holding section 318a is groove or pillar.
In the present embodiment, the inner surface of each convex teeth portion 311a of the first half wheel hubs 311 is equipped with the first half slot 327a, the
The inner surface of each convex teeth portion 311a of 2 half wheel hubs 322 is equipped with the second half slot 328a matched with the first half slot 327a.
The convex teeth portion 311a of the first half slot 327a of each convex teeth portion 311a of the first half wheel hubs 311 and corresponding the second half wheel hub 322
The second half slot 328a by the end of the wheel shaft 33d of idler wheel 3d full-round hole therein is held on to synthesis.
The wheel hub of the omni-directional wheel on robotically-driven chassis according to an embodiment of the present invention is made of two and half wheel hubs, without special
Dismantling device can conveniently realize installation and disassembly, consequently facilitating the components of replacement damage, reduce maintenance cost.
In this application, term " first ", " second " are used for description purposes only, and are not understood to indicate or imply opposite
Importance or the quantity for implicitly indicating indicated technical characteristic.Define " first " as a result, the feature of " second " can be bright
Show or implicitly include at least one this feature.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (9)
1. a kind of robotically-driven chassis, including chassis body and traveling wheel；The traveling wheel includes driving wheel and driven wheel,
It is characterized in that, the driving wheel is inflated wheel, and the driven wheel is omni-directional wheel.
2. robotically-driven chassis as described in claim 1, which is characterized in that the quantity of the driving wheel and the driven wheel
It is a pair；A pair of driving wheel and a pair of driven wheel are separately positioned on the left and right sides of chassis body.
3. robotically-driven chassis as claimed in claim 1 or 2, which is characterized in that the driving wheel is front-wheel, described
Driven wheel is rear-wheel.
4. robotically-driven chassis as described in claim 1, which is characterized in that the omni-directional wheel includes first wheel, second
Wheel hub, the first roller group and the second roller group；
The first wheel and second wheel hub are arranged side by side, and are detachably interconnected；
Each wheel hub includes that wheel rim, a plurality of spoke and wheel propeller boss, one end of each spoke are connected with the inner circumferential of the wheel rim, each spoke
The other end with it is described wheel propeller boss periphery be connected；Each spoke is wave-shaped；The periphery of the wheel rim is circumferentially spaced to be equipped with
Multiple roller grooves are respectively formed a double wedge in the two sides of each roller groove；
Each roller group is made of multiple idler wheels, and each idler wheel includes wheel shaft and roller body, and the roller body is sheathed on institute
Wheel shaft is stated, and can be rotated around the wheel shaft；Multiple idler wheels of first roller group are separately positioned on first wheel correspondingly
Multiple roller grooves in, multiple idler wheels of the second roller group are separately positioned on multiple roller grooves of the second wheel hub correspondingly
In, the both ends of the wheel shaft of each idler wheel are separately fixed on the double wedge of the idler wheel two sides.
5. robotically-driven chassis as claimed in claim 4, which is characterized in that the first wheel and second wheel hub are logical
The connector for crossing the wheel propeller boss of the wheel propeller boss and the second wheel hub also cross the first wheel is connected with each other.
6. robotically-driven chassis as claimed in claim 4, which is characterized in that each wheel hub includes the first half wheel hubs and the
2 half wheel hubs, the first half wheel hub and the second half wheel hubs are detachably interconnected along axial mutual pairing；
Each half wheel hub includes rim part, a plurality of spoke and wheel shaft hub, the interior phase of one end of each spoke and the rim part
Even, the other end of each spoke is connected with the periphery of the wheel shaft hub；Each spoke is wave-shaped；The outer periphery week of the rim part
To multiple idler wheel groove portions are equipped at intervals with, a convex teeth portion is respectively formed in the two sides of each idler wheel groove portion；
The wheel rim of the wheel hub is combined to form by the rim part of the first half wheel hubs and the rim part of the second half wheel hubs, the wheel hub
Wheel propeller boss is combined to form by the wheel shaft hub of the first half wheel hubs and the wheel shaft hub of the second half wheel hubs, and the double wedge of the wheel hub is by the
The convex teeth portion of the convex teeth portion of half wheel hub and the second half wheel hubs is combined to form, and a plurality of spoke of the wheel hub is by the first half wheel hubs
The a plurality of spoke of a plurality of spoke and the second half wheel hubs collectively constitutes.
7. robotically-driven chassis as claimed in claim 6, which is characterized in that the rim part of the first half wheel hub is equipped with
The rim part of multiple first positioning through hole of circumferentially spaced arrangement, the second half wheel hub is equipped with and described multiple first
One-to-one multiple second positioning through hole of positioning through hole；
Described the first half wheel hub and the second half wheel hubs are by passing through the tight of multiple first positioning through hole and the second positioning through hole
Firmware is connected with each other.
8. robotically-driven chassis as claimed in claim 6, which is characterized in that at least partly double wedge of the first half wheel hub
The inner surface in portion is equipped with the first holding section, the double wedge of the second half wheel hub corresponding with the first half at least partly convex teeth portions of wheel hub
The inner surface in portion is equipped with the second holding section with first holding section corresponding matching, second holding section and corresponding the
One holding section is mutually clamped.
9. robotically-driven chassis as claimed in claim 6, which is characterized in that the inner surface of each convex teeth portion of the first half wheel hubs
Equipped with the first half slot, the inner surface of each convex teeth portion of the second half wheel hubs is equipped with the second half matched with first half slot
Circular groove；Second half slot pair of the first half slot of each convex teeth portion of the first half wheel hubs and the convex teeth portion of corresponding the second half wheel hub
The end of the wheel shaft of idler wheel is held on full-round hole therein by synthesis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811183723.4A CN109367322A (en) | 2018-10-11 | 2018-10-11 | Robotically-driven chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811183723.4A CN109367322A (en) | 2018-10-11 | 2018-10-11 | Robotically-driven chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109367322A true CN109367322A (en) | 2019-02-22 |
Family
ID=65403027
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811183723.4A Pending CN109367322A (en) | 2018-10-11 | 2018-10-11 | Robotically-driven chassis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109367322A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110588834A (en) * | 2019-10-18 | 2019-12-20 | 广东博智林机器人有限公司 | Omnidirectional chassis and robot |
| CN111716969A (en) * | 2020-06-30 | 2020-09-29 | 苏州博田自动化技术有限公司 | Rail dual-purpose chassis vehicle for automatic operation of greenhouse |
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| TWI261032B (en) * | 2005-10-25 | 2006-09-01 | Jiun-Guang Luo | Bicycle wheel rim assembly |
| US20090033051A1 (en) * | 2007-07-31 | 2009-02-05 | Graco Children's Products Inc. | Stroller Wheel with Modular Suspension |
| CN202115264U (en) * | 2011-04-22 | 2012-01-18 | 成都航发液压工程有限公司 | Omnidirectional wheel |
| CN103600622A (en) * | 2013-12-10 | 2014-02-26 | 上海新世纪机器人有限公司 | Two-half type hub |
| CN103921624A (en) * | 2014-04-29 | 2014-07-16 | 红石电脑(上海)有限公司 | Buffering type wheel component |
| US20150115694A1 (en) * | 2013-10-29 | 2015-04-30 | WHILL, Inc. | Omni-directional wheel and omni-directional vehicle including the same |
| CN104590414A (en) * | 2014-12-29 | 2015-05-06 | 合肥工业大学 | All-around wheeled mobile robot with relative posture detection function |
| CN205327272U (en) * | 2016-01-18 | 2016-06-22 | 叶呈艳 | All -round pivoted electric bicycle |
| CN106931060A (en) * | 2017-03-09 | 2017-07-07 | 华南理工大学 | A kind of plane torsion spring and method for elastic driving joint of connecting |
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2018
- 2018-10-11 CN CN201811183723.4A patent/CN109367322A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI261032B (en) * | 2005-10-25 | 2006-09-01 | Jiun-Guang Luo | Bicycle wheel rim assembly |
| US20090033051A1 (en) * | 2007-07-31 | 2009-02-05 | Graco Children's Products Inc. | Stroller Wheel with Modular Suspension |
| CN202115264U (en) * | 2011-04-22 | 2012-01-18 | 成都航发液压工程有限公司 | Omnidirectional wheel |
| US20150115694A1 (en) * | 2013-10-29 | 2015-04-30 | WHILL, Inc. | Omni-directional wheel and omni-directional vehicle including the same |
| CN103600622A (en) * | 2013-12-10 | 2014-02-26 | 上海新世纪机器人有限公司 | Two-half type hub |
| CN103921624A (en) * | 2014-04-29 | 2014-07-16 | 红石电脑(上海)有限公司 | Buffering type wheel component |
| CN104590414A (en) * | 2014-12-29 | 2015-05-06 | 合肥工业大学 | All-around wheeled mobile robot with relative posture detection function |
| CN205327272U (en) * | 2016-01-18 | 2016-06-22 | 叶呈艳 | All -round pivoted electric bicycle |
| CN106931060A (en) * | 2017-03-09 | 2017-07-07 | 华南理工大学 | A kind of plane torsion spring and method for elastic driving joint of connecting |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110588834A (en) * | 2019-10-18 | 2019-12-20 | 广东博智林机器人有限公司 | Omnidirectional chassis and robot |
| CN111716969A (en) * | 2020-06-30 | 2020-09-29 | 苏州博田自动化技术有限公司 | Rail dual-purpose chassis vehicle for automatic operation of greenhouse |
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Application publication date: 20190222 |
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