CN109968311A - A kind of walking chassis mechanism and robot - Google Patents
A kind of walking chassis mechanism and robot Download PDFInfo
- Publication number
- CN109968311A CN109968311A CN201711467064.2A CN201711467064A CN109968311A CN 109968311 A CN109968311 A CN 109968311A CN 201711467064 A CN201711467064 A CN 201711467064A CN 109968311 A CN109968311 A CN 109968311A
- Authority
- CN
- China
- Prior art keywords
- driving wheel
- turning motor
- carrier
- walking
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Abstract
Walking chassis mechanism provided by the invention is run in the same direction at the same speed by controlling two driving wheels respectively when turning motor is braked, realizes the walking forward or backward of body chassis；When turning motor is braked, the differential for controlling two driving wheels is run in the same direction, realizes the turning of body chassis；When turning motor is braked, two synchronized inverted runnings of driving wheel are controlled, realize the cast of body chassis；When turning motor is in driving condition, and control the synchronized inverted running of two driving wheels, the forward direction on the forward direction for driving wheel carrier and chassis is set to form certain drift angle, run two driving wheels in the same direction at the same speed, achieve the purpose that translate to any direction, the front and back walking and front and back turning walking that can not only realize walking chassis mechanism, can also realize the translation to any direction and cast.The present invention also provides a kind of robots with walking chassis mechanism of the present invention.
Description
Technical field
The present invention relates to robot field, in particular to a kind of walking chassis mechanism and robot.
Background technique
Currently, many manufacturing enterprises still manually complete production material and workpiece both at home and abroad, cannot achieve full-automatic
The needs that metaplasia produces, cost of labor improve, and labor intensity increases, and constrain the development of enterprise, many enterprises all are trying every possible means to drop
Low labour cost really finds the few of more preferable method, can only manually have enough to meet the need workpiece between station, can not also reduce and subtract
Few artificial quantity, labour cost is higher, and the quality of production is unstable, high production cost, and is unable to complete requirements of mass production,
It can not be improved for speed of production, there are security risks for equipment, seriously affect production operation.
With factory automation, the gradually development of computer integrated manufacturing system technology and flexible manufacturing system, automatically
Change the extensive use of tiered warehouse facility, robot is as connection and adjusting discrete type logistics system so that necessity of its operation serialization
Automated handling handling means, application range and technical level have obtained swift and violent development.
It is power that robot, which is using microcontroller as control core, battery, nobody equipped with non-contact guiding device drives
Sail homing guidance carrier loader, the basic function of automatic job is guiding traveling, recognizes location and stop quasi- and transfer load.As contemporary object
More and more extensive answer has been obtained in the effective means of stream process automation and the key equipment of flexible manufacturing system, robot
With.
For the walking chassis mechanism of general robot, it can only realize front and back walking and front and back turning walking, cannot achieve
Translation and cast to any direction are directed to certain special requirements, generate not to the extensive use of robot in this way
Benefit influences.
Summary of the invention
The embodiment of the invention provides a kind of walking chassis mechanism and robots, before not only can realizing walking chassis mechanism
Walking and front and back turning walking afterwards, can also realize the translation to any direction and cast, to reach the mesh of universal walking
's.
In a first aspect, the present invention provides a kind of walking chassis mechanism, including carrier frame, driven universal wheel, crossed roller
Bearing turns round fixed gear, drives wheel carrier, turning motor, turning motor gear and driving wheel, the driven universal wheel symmetrical
It is mounted on the bottom of the carrier frame, the outer ring of the crossed roller bearing and the fixed gear of revolution and the fixed company of carrier frame
It connects, the driving wheel carrier is fixedly connected with the inner ring of the crossed roller bearing, and the driving wheel carrier passes through the crossed roller
Bearing and the carrier frame relatively rotate, and the turning motor is mounted on the driving wheel carrier, the turning motor gear
It is fixed in the shaft of the turning motor and is intermeshed with the fixed gear of the revolution, the driving wheel is mounted on the drive
On driving wheel frame.
Optionally, the driving wheel is two and is separately mounted to the both ends of the driving wheel carrier, and the driving wheel uses
Hub motor structure.
Optionally, the turning motor is two servo motors, and the turning motor is symmetrical relative to fixed gear is turned round
It is arranged on the driving wheel carrier.
Optionally, the turning motor is vertically set on the driving wheel carrier.
Optionally, the driving wheel is provided with power device, and the power device is connect with the driving wheel.
Optionally, the power device includes first servo motor and the second servo motor, and the driving wheel includes first
Driving wheel and the second driving wheel, first driving wheel are connect with the first servo motor, second driving wheel and described
The connection of second servo motor.
Optionally, the carrier frame is rectangular frame, and the carrier frame is made of aluminum profile.
Optionally, the carrier frame is provided with jacking apparatus, and the jacking apparatus includes lifting motor, worm gear case
And screw rod, the jacking apparatus are vertically set on the carrier frame.
Optionally, the code-disc for further including controller and being arranged on the turning motor, the controller are adopted by code-disc
Collect the rotational angle of the turning motor.
Second aspect, the present invention provide a kind of robot, and the robot has above-mentioned walking chassis mechanism.
Walking chassis mechanism provided by the invention and robot drive wheel carrier phase when turning motor is in on-position
It will not rotate for carrier frame；When turning motor is in driving condition, driving wheel carrier can occur relative to carrier frame
It relatively rotates；When turning motor is braked, is run in the same direction at the same speed by controlling two driving wheels respectively, realize body chassis forward
Or it walks backward；When turning motor is braked, the differential for controlling two driving wheels is run in the same direction, realizes the turning of body chassis；It returns
When rotating motor is braked, two synchronized inverted runnings of driving wheel are controlled, realize the cast of body chassis；When turning motor is in
When driving condition, and the synchronized inverted running of two driving wheels is controlled, the forward direction on the forward direction for driving wheel carrier and chassis is made to form one
Fixed drift angle runs two driving wheels in the same direction at the same speed, achievees the purpose that translate to any direction, can not only realize row
The front and back walking and front and back turning walking for walking body chassis, can also realize the translation to any direction and cast.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the walking chassis mechanism in the embodiment of the present invention；
Fig. 2 is the elevational schematic view of the walking chassis mechanism in the embodiment of the present invention；
Elevational schematic view when Fig. 3 is the driving wheel carrier revolution α angle of the walking chassis mechanism in the embodiment of the present invention；
Fig. 4 is the explosive view of the walking chassis mechanism in the embodiment of the present invention.
Appended drawing reference: carrier frame 1, driven universal wheel 2, crossed roller bearing 3, turn round fixed gear 4, driving wheel carrier 5,
Turning motor 6, turning motor gear 7, driving wheel 8.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
Description and claims of this specification and term " first ", " second ", " third ", " in above-mentioned attached drawing
The (if present)s such as four " are to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should manage
The data that solution uses in this way are interchangeable under appropriate circumstances, so that the embodiments described herein can be in addition to illustrating herein
Or the sequence other than the content of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that
Cover it is non-exclusive include, for example, containing the process, method, system, product or equipment of a series of steps or units need not limit
In step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, produce
The other step or units of product or equipment inherently.
As shown in connection with fig. 1, the present invention provides a kind of walking chassis mechanism, including carrier frame 1, driven universal wheel 2, intersection
Roller bearing 3 turns round fixed gear 4, driving wheel carrier 5, turning motor 6, turning motor gear 7 and driving wheel 8, described driven
Universal wheel 2 is symmetrically mounted on the bottom of the carrier frame 1, the outer ring of the crossed roller bearing 3 and turn round fixed gear 4 and
Carrier frame 1 is fixedly connected, and the driving wheel carrier 5 is fixedly connected with the inner ring of the crossed roller bearing 3, the driving wheel carrier
5 are relatively rotated by the crossed roller bearing 3 with the carrier frame 1, and the turning motor 6 is mounted on the driving wheel carrier
On 5, the turning motor gear 7 is fixed in the shaft of the turning motor 6 and mutually nibbles with the fixed gear 4 of the revolution
It closes, the driving wheel 8 is mounted on the driving wheel carrier 5.
As shown in connection with fig. 2, the driving wheel 8 is two and is separately mounted to the both ends of the driving wheel carrier 5, driving wheel 8
Using the structure of hub motor, driving motor, transmission and brake apparatus are all integrated into wheel hub, it is same to control two driving wheels 8
Fast operation in the same direction, realizes the walking forward or backward of walking chassis mechanism；The differential for controlling two driving wheels 8 is run in the same direction, real
The turning of existing body chassis；The synchronized inverted running of two driving wheels 8 is controlled, realizes the cast of body chassis；Control two
The synchronized inverted running of driving wheel 8 simultaneously runs turning motor 6, and carrier frame 1 is made not rotate with respect to ground, and drives wheel carrier
5 forward direction and the forward direction of carrier frame 1 form certain drift angle, then make the synchronized operation in the same direction of two driving wheels 8 again, reach to
The purpose of any direction translation.
The turning motor 6 is the identical servo motor of two specifications, and turning motor 6 is right relative to fixed gear 4 is turned round
Claim to be arranged on the driving wheel carrier 5, be symmetrical arranged using two or more turning motors 6, when can make rotation
Time torque is symmetrical, and uniform force, smooth running can also improve torque, turns to more when walking body chassis carrying weight
Flexibly.
Fixed gear 4 is turned round to be horizontally arranged in walking chassis mechanism, center line perpendicular to the ground, the turning motor 6
Be vertically set on the driving wheel carrier 5, be mounted in this way turning motor gear 7 on turning motor 6 can preferably with return
Turn fixed gear 4 to engage, be exported convenient for torque.
The driving wheel carrier 5 is equipped with power device, and the power device is connect with the driving wheel 8, specifically, described dynamic
Power device includes first servo motor and the second servo motor, and the driving wheel 8 includes the first driving wheel and the second driving wheel, institute
It states the first driving wheel to connect with the first servo motor, second driving wheel is connected with second servo motor, control
The synchronized operation in the same direction of two driving wheels 8, realizes the walking forward or backward of walking chassis mechanism；Control the difference of two driving wheels 8
Fast operation in the same direction, realizes the turning of body chassis；The synchronized inverted running of two driving wheels 8 is controlled, realizes the original place of body chassis
Revolution；It controls the synchronized inverted running of two driving wheels 8 and runs turning motor 6, make before driving forward direction and the chassis of wheel carrier 5
To certain drift angle is formed, then makes the synchronized operation in the same direction of two driving wheels 8 again, achieve the purpose that translate to any direction.
Optionally, the carrier frame 1 is rectangular frame, and the carrier frame 1 is made of aluminum profile, can also be used
The light material of other high mechanical strengths, does not limit this, and can be self-possessed by using light material with alleviator, raising is held
Loading capability.
In order to provide the lift capability of walking chassis mechanism, the carrier frame 1 is provided with jacking apparatus, the jacking dress
It sets including lifting motor, worm gear case and screw rod, the jacking apparatus is vertically set on the carrier frame 1, passes through liter
The lifting that motor realizes jacking apparatus is dropped, more occasion needs are met.
It further include controller and the code-disc that is arranged on the turning motor 6 in order to which translation is better achieved, turning motor
Driving wheel carrier 5 is driven to rotate when 6 work, the controller acquires the rotational angle of the turning motor 6 by code-disc, when reaching
When required angle, controller controls the braking of turning motor 6 and realizes translation direction alignment, and then driving wheel 8 is rotated to translation
Direction is mobile, and any direction translation can be realized.
It should be noted that carrier frame 1 is the carrier frame of reliable intensity, when ensuring body chassis operation, provide
Enough strength and stiffness supports.
Drive wheel carrier 5 be reliable intensity driving wheel carrier, with ensure driving wheel 8 run when, provide enough intensity and just
Degree support.
Driving wheel 8 is flexible speed regulation driving wheel that is controllable, can provide enough torques, it is ensured that can be mentioned to the operation of body chassis
For enough driving torques, and it effectively can accurately adjust the rotational speed of driving wheel 8.
For flexibility and reliability the driven universal wheel 2 of driven universal wheel 2, can be adjusted flexibly with the traffic direction of driving wheel 8 from
Dynamic traffic direction.
Turning motor 6 is the turning motor of high-precision control, can accurately control the forward direction and body chassis of driving wheel carrier 5
Forward direction be formed by drift angle.
Turning round fixed gear 4 is the fixed gear of high-precision revolution, it is ensured that it is fixed with carrier frame 1 to turn round fixed gear 4
When precision positioning and improve gear engagement when efficiency.
Turning motor gear 7 is high-precision turning motor gear, it is ensured that the high-precision control of angle of revolution and raising tooth
Efficiency when wheel engagement.
Crossed roller bearing 3 is high-intensitive, efficient crossed roller bearing, can provide support enough axial loads
And moment of flexure, and efficient revolution can be provided.
Walking chassis mechanism provided by the invention drives wheel carrier 5 bottom of relative to when turning motor 6 is in on-position
Disk frame will not rotate；When turning motor 6 is in driving condition, driving wheel carrier 5 can occur relatively relative to carrier frame 1
Rotation；When turning motor 6 is braked, by controlling the synchronized operation in the same direction of two driving wheels 8 respectively, realize body chassis forward or
It walks backward；When turning motor 6 is braked, the differential for controlling two driving wheels 8 is run in the same direction, realizes the turning of body chassis；It returns
When rotating motor 6 is braked, the synchronized inverted running of two driving wheels 8 is controlled, realizes the cast of body chassis；Turning motor 6 is made
It when dynamic, control the synchronized inverted running of two driving wheels 8 and runs turning motor 6, make before driving forward direction and the chassis of wheel carrier 5
To certain drift angle is formed, then makes the synchronized operation in the same direction of two driving wheels 8 again, achieve the purpose that translate to any direction.
The operating process of walking chassis mechanism provided by the invention specifically may be such that when two as shown in connection with fig. 3
When a 8 synchronized operation in the same direction of driving wheel, turning motor 6 is on-position.Driving wheel 8 can drive carrier frame 1 forward or backward
Operation；When two 8 differentials of driving wheel are run in the same direction, turning motor 6 is on-position.Driving wheel 8 can drive carrier frame 1 to
Before left front, right, it is left back, right after the operation of any one direction；When two 8 synchronized inverted runnings of driving wheel, turning motor 6 is
On-position.Driving wheel 8 can drive 1 original place of carrier frame to turn round to the left or to the right；When two synchronized inverted runnings of driving wheel 8
When, turning motor 6 be driving condition, and turning motor 6 make drive wheel carrier 5 with respect to carrier frame 1 relative rotation direction and
Angular velocity omega 1 and the synchronized inverted running of driving wheel 8 make the absolute value same direction of the angular velocity omega 2 of 1 cast of carrier frame
When opposite, carrier frame 1 will not rotate relative to ground, but drive wheel carrier 5 that opposite turn occurs relative to carrier frame 1
It is dynamic.Rotational angle at this time can be fed back by the code-disc of turning motor.When driving wheel carrier 5 reaches with respect to the revolution of carrier frame 1
Predetermined angular, two driving wheels 8 are changed to synchronized operation in the same direction at this time, and turning motor 6 is on-position, and carrier frame 1 will edge
With driving wheel carrier 5 be formed by angle direction linear running.As long as that is, allow driving wheel carrier 5 with respect to carrier frame 1 into
Row revolution, so that it may make that wheel carrier 5 is driven to reach any value, then synchronized operation driving wheel 8 in the same direction with respect to the angle of carrier frame 1,
It can be so that carrier frame 1 be mobile to any direction.
As shown in connection with fig. 4, walking chassis mechanism provided by the invention, including carrier frame 1, driven universal wheel 2, intersection rolling
Sub- bearing 3 turns round and fixes gear 4, driving wheel carrier 5, turning motor 6, turning motor gear 7 and driving wheel 8, and described driven ten thousand
The bottom of the carrier frame 1, the outer ring of the crossed roller bearing 3 and the fixed gear 4 of revolution and bottom are symmetrically mounted on to wheel 2
Disk frame 1 is fixedly connected, and the driving wheel carrier 5 is fixedly connected with the inner ring of the crossed roller bearing 3, the driving wheel carrier 5
It is relatively rotated by the crossed roller bearing 3 with the carrier frame 1, the turning motor 6 is mounted on the driving wheel carrier 5
On, the turning motor gear 7 is fixed in the shaft of the turning motor 6 and is intermeshed with the fixed gear 4 of the revolution,
The driving wheel 8 is mounted on the driving wheel carrier 5, by controlling the synchronized operation in the same direction of two driving wheels 8 respectively, realizes chassis
The walking forward or backward of mechanism；The differential for controlling two driving wheels 8 is run in the same direction, realizes the turning of body chassis；Control two
The synchronized inverted running of a driving wheel 8, realizes the cast of body chassis；Control the synchronized inverted running of two driving wheels 8 simultaneously
Turning motor 6 is run, so that the forward direction on the forward direction for driving wheel carrier 5 and chassis is formed certain drift angle, then makes two driving wheels 8 again
Synchronized operation in the same direction, achievees the purpose that translate to any direction, can not only realize front and back walking and the front and back of walking chassis mechanism
Turning walking, can also realize the translation to any direction and cast.
Correspondingly, the present invention provides a kind of robot, and robot provided by the invention uses above-mentioned walking chassis mechanism, leads to
It crosses and controls the synchronized operation in the same direction of two driving wheels 8 respectively, realize the walking forward or backward of body chassis；Control two driving wheels
8 differential is run in the same direction, realizes the turning of body chassis；Two synchronized inverted runnings of driving wheel are controlled, realize body chassis
Cast；It controls the synchronized inverted running of two driving wheels 8 and runs turning motor 6, make the forward direction and the chassis that drive wheel carrier 5
Forward direction form certain drift angle, then make the synchronized operation in the same direction of two driving wheels 8 again, reach the mesh translated to any direction
, it can not only realize the front and back walking and front and back turning walking of walking chassis mechanism, can also realize the translation to any direction
And cast.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
A kind of walking chassis mechanism provided by the present invention and robot are described in detail above, for this field
Those skilled in the art, thought according to an embodiment of the present invention has change in specific embodiments and applications
Place, in conclusion the contents of this specification are not to be construed as limiting the invention.
Claims (10)
1. a kind of walking chassis mechanism, which is characterized in that solid including carrier frame, driven universal wheel, crossed roller bearing, revolution
Fixed gear, driving wheel carrier, turning motor, turning motor gear and driving wheel, the driven universal wheel are symmetrically mounted on described
The outer ring of the bottom of carrier frame, the crossed roller bearing is fixedly connected with the fixed gear of revolution and carrier frame, the drive
Driving wheel frame is fixedly connected with the inner ring of the crossed roller bearing, the driving wheel carrier by the crossed roller bearing with it is described
Carrier frame relatively rotates, and the turning motor is mounted on the driving wheel carrier, and the turning motor gear is fixed on described
It is intermeshed in the shaft of turning motor and with the fixed gear of the revolution, the driving wheel is mounted on the driving wheel carrier.
2. walking chassis mechanism according to claim 1, which is characterized in that the driving wheel is two and is separately mounted to
The both ends of the driving wheel carrier, the driving wheel use hub motor structure.
3. walking chassis mechanism according to claim 1, which is characterized in that the turning motor is that two specifications are identical
Servo motor, the turning motor are symmetricly set on the driving wheel carrier relative to fixed gear is turned round.
4. walking chassis mechanism according to claim 1 or 3, which is characterized in that the turning motor is vertically set on institute
It states on driving wheel carrier.
5. walking chassis mechanism according to claim 1, which is characterized in that the driving wheel is provided with power device, institute
Power device is stated to connect with the driving wheel.
6. walking chassis mechanism according to claim 5, which is characterized in that the power device includes first servo motor
With the second servo motor, the driving wheel includes the first driving wheel and the second driving wheel, first driving wheel and described first
Servo motor connection, second driving wheel are connected with second servo motor.
7. walking chassis mechanism according to claim 1, which is characterized in that the carrier frame is rectangular frame, described
Carrier frame is made of aluminum profile.
8. walking chassis mechanism according to claim 1, which is characterized in that the carrier frame is provided with jacking apparatus,
The jacking apparatus includes lifting motor, worm gear case and screw rod, and the jacking apparatus is vertically set on the carrier frame
On.
9. walking chassis mechanism according to claim 1, which is characterized in that further include controller and setting in the revolution
Code-disc on motor, the controller acquire the rotational angle of the turning motor by code-disc.
10. a kind of robot, which is characterized in that the robot has walking bottom as claimed in any one of claims 1-9 wherein
Disc mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711467064.2A CN109968311A (en) | 2017-12-28 | 2017-12-28 | A kind of walking chassis mechanism and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711467064.2A CN109968311A (en) | 2017-12-28 | 2017-12-28 | A kind of walking chassis mechanism and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109968311A true CN109968311A (en) | 2019-07-05 |
Family
ID=67075418
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711467064.2A Pending CN109968311A (en) | 2017-12-28 | 2017-12-28 | A kind of walking chassis mechanism and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109968311A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111976465A (en) * | 2020-08-06 | 2020-11-24 | 广东博智林机器人有限公司 | Drive device and chassis |
| CN114802530A (en) * | 2021-01-28 | 2022-07-29 | 广东博智林机器人有限公司 | Moving platform and spraying equipment |
| CN115888130A (en) * | 2022-12-01 | 2023-04-04 | 河北体育学院 | Martial art arena trolley and control method thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3410466A1 (en) * | 1984-03-22 | 1985-09-26 | Albert 5789 Hallenberg Krämer | Lorry trailer |
| JPH08108855A (en) * | 1994-10-07 | 1996-04-30 | Shinko Electric Co Ltd | Running and turning device of conveying vehicle |
| CN101143599A (en) * | 2007-11-01 | 2008-03-19 | 上海交通大学 | Omnidirectional mobile non-rotating radius wheel type small-sized robot |
| CN106043496A (en) * | 2016-08-01 | 2016-10-26 | 江苏科技大学 | All-direction moving AGV with lifting comb teeth |
| CN106379409A (en) * | 2016-09-27 | 2017-02-08 | 南京航空航天大学 | Angle-controllable power differential omnidirectional wheel, and control method and omnidirectional moving platform thereof |
| CN106672114A (en) * | 2017-02-28 | 2017-05-17 | 武汉慧能机器人科技有限公司 | Omni-directional driving wheel device and AGV (automatic guided vehicle) |
-
2017
- 2017-12-28 CN CN201711467064.2A patent/CN109968311A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3410466A1 (en) * | 1984-03-22 | 1985-09-26 | Albert 5789 Hallenberg Krämer | Lorry trailer |
| JPH08108855A (en) * | 1994-10-07 | 1996-04-30 | Shinko Electric Co Ltd | Running and turning device of conveying vehicle |
| CN101143599A (en) * | 2007-11-01 | 2008-03-19 | 上海交通大学 | Omnidirectional mobile non-rotating radius wheel type small-sized robot |
| CN106043496A (en) * | 2016-08-01 | 2016-10-26 | 江苏科技大学 | All-direction moving AGV with lifting comb teeth |
| CN106379409A (en) * | 2016-09-27 | 2017-02-08 | 南京航空航天大学 | Angle-controllable power differential omnidirectional wheel, and control method and omnidirectional moving platform thereof |
| CN106672114A (en) * | 2017-02-28 | 2017-05-17 | 武汉慧能机器人科技有限公司 | Omni-directional driving wheel device and AGV (automatic guided vehicle) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111976465A (en) * | 2020-08-06 | 2020-11-24 | 广东博智林机器人有限公司 | Drive device and chassis |
| CN114802530A (en) * | 2021-01-28 | 2022-07-29 | 广东博智林机器人有限公司 | Moving platform and spraying equipment |
| CN115888130A (en) * | 2022-12-01 | 2023-04-04 | 河北体育学院 | Martial art arena trolley and control method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109968311A (en) | A kind of walking chassis mechanism and robot | |
| JP7092420B2 (en) | Intelligent parking lot and its work-intensive transfer robot | |
| CN102520724B (en) | Compact universal moving mechanism for automatic guided vehicle (AGV) and AGV transportation vehicle | |
| CN106379409A (en) | Angle-controllable power differential omnidirectional wheel, and control method and omnidirectional moving platform thereof | |
| CN105137764A (en) | Parallel robot motion control method with fast response and robust performance | |
| CN110316281A (en) | A kind of AGV carrier of backpack | |
| CN206553152U (en) | A kind of spinning lifting mechanism for automatic Guided Vehicle | |
| CN101973314B (en) | Multi-degree-of-freedom four-track counterweight trolley synchronous control system and control method | |
| CN105619409A (en) | Movement optimizing treatment method for manual teaching robot | |
| CN106364259A (en) | Speed reduction driving wheel and robot with same | |
| CN106142057A (en) | A kind of self-travel type both arms industrial robot device based on AGV | |
| CN105082103A (en) | Indoor movable robot | |
| CN205524574U (en) | Electric platform | |
| CN109693787A (en) | A kind of logistics unmanned plane of the high reliablity with Level tune function | |
| CN202542387U (en) | Steering synchronization system of multi-wheel system mobile robot | |
| CN106041900A (en) | Box carrying and stacking machine | |
| CN203740015U (en) | Omnidirectional working drive mechanism suitable for AGV | |
| CN205058021U (en) | Commodity circulation robot | |
| CN210525143U (en) | Automatic change control hydraulic pressure arm | |
| CN110666471A (en) | Six-freedom-degree attitude adjusting platform for butt joint assembly of low trackless large carrier rocket cabin sections | |
| CN206066423U (en) | A kind of self-travel type both arms industrial robot device based on AGV | |
| CN206049224U (en) | Omni-mobile platform and its steering wheel and driving wheel | |
| CN213920658U (en) | Permanent magnet synchronous motor driving mechanism for tyre crane and tyre crane | |
| CN206336790U (en) | A kind of arm support rotating control assembly | |
| CN206012330U (en) | Can be along the AGV dollies of any angular orientation walking |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190705 |
|
| RJ01 | Rejection of invention patent application after publication |