CN112208674A - Omnidirectional movement robot - Google Patents
Omnidirectional movement robot Download PDFInfo
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- CN112208674A CN112208674A CN202010899305.6A CN202010899305A CN112208674A CN 112208674 A CN112208674 A CN 112208674A CN 202010899305 A CN202010899305 A CN 202010899305A CN 112208674 A CN112208674 A CN 112208674A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
The invention belongs to the technical field of robot equipment, and particularly relates to an omnidirectional moving robot. Specifically, the omnidirectional moving robot includes: the steering drive device comprises a chassis frame and an even number of steering power systems, each steering power system comprises a steering arm, a hub motor and a steering power mechanism, a first connecting part of each steering arm is rotatably connected to the chassis frame, a stator part of each hub motor is connected to a second connecting part of each steering arm, a power output end drives a third connecting part of each steering arm to rotate relative to the chassis frame, the third connecting part is coaxially arranged relative to the central axis of rotation of the chassis frame and the first connecting part relative to the central axis of rotation of the chassis frame, and a horizontal transmission arrangement mode is formed among a steering drive, a steering transmission assembly and the third connecting part. The technical scheme of the invention solves the problems that the steering structure of the chassis structure of the robot in the prior art is inflexible, and the overall height of the robot is higher, so that the overall gravity center of the robot is difficult to reduce.
Description
Technical Field
The invention belongs to the technical field of robot equipment, and particularly relates to an omnidirectional moving robot.
Background
At present, an intelligent security inspection robot (including power inspection) has higher requirements on motion performance, however, a chassis structure of a robot commonly seen in the market is a chassis structure with front wheels steering in ackermann mode and a chassis structure with four wheels differential speed. The front wheel directly leads to large turning radius due to Ackerman steering of the front wheel, and the front wheel is very troublesome and heavy when moving at a narrow space position; the latter adopts four-wheel differential steering mode, theoretically can realize the movement performance of in-situ rotation, flexible traveling and the like, but in practical application, the differential steering mode can cause larger access with an ideal movement track due to ground slipping, and can seriously lose tires, reduce the service life and increase the use cost of the robot.
On the other hand, most of the existing chassis structures of the four-wheel steering robot have poor placement positions of steering motors (generally, the steering motors are wheel-side motors, namely, the motors are arranged on the edges of wheels), so that the overall height of the robot is very high, and the difficulty in subsequently reducing the overall gravity center of the robot is increased. Meanwhile, in the common four-wheel steering robot chassis structure, the whole weight of the robot is heavy, so that reinforcing rib parts must be arranged to ensure the whole rigidity and fatigue strength of the robot.
Disclosure of Invention
The invention aims to provide an omnidirectional moving robot, and aims to solve the problems that a chassis structure of the robot in the prior art is inflexible in steering structure, and the overall height of the robot is high, so that the overall gravity center of the robot is difficult to reduce.
In order to achieve the purpose, the invention adopts the technical scheme that: an omnidirectional exercise robot comprising: a chassis frame; an even number of steering power systems, all of which are mounted on the chassis frame and symmetrically disposed in pairs opposite to each other with respect to a center line of the chassis frame extending in the advancing direction, each steering power system comprising: the steering arm is provided with a first connecting part, a second connecting part and a third connecting part which are rigidly connected, and the first connecting part is rotatably connected to the chassis frame; the hub motor comprises a stator part and a rotor part, the stator part is rotatably sleeved by the rotor part, the stator part is connected to the second connecting part, and the central axis of rotation of the rotor part relative to the chassis frame is perpendicular to the central axis of rotation of the first connecting part relative to the chassis frame; the steering power mechanism comprises a steering driver and a steering transmission assembly, the steering transmission assembly is provided with a power input end and a power output end, the power input end is in transmission connection with the power output end, the steering driver is connected to the chassis frame, a power output shaft of the steering driver is connected with the power input end, the power output end is connected with a third connecting part, the power output end drives the third connecting part to rotate relative to the chassis frame, and the third connecting part and the first connecting part are coaxially arranged relative to the central axis of rotation of the chassis frame; wherein, turn to and be horizontal transmission arrangement mode between driver, the steering transmission subassembly and the third connecting portion.
Optionally, the steering transmission assembly comprises a first synchronous pulley, a second synchronous pulley and a synchronous belt, the first synchronous pulley is a power input end, the second synchronous pulley is a power output end, the synchronous belt is connected between the first synchronous belt and the second synchronous belt, a power output shaft of the steering driver drives the first synchronous pulley to synchronously rotate, and the second synchronous pulley is fixedly connected with the third connecting portion.
Optionally, the steering transmission assembly further comprises a tensioning device connected to the chassis frame and located between the first synchronous pulley and the second synchronous pulley, and the synchronous belt passes around the tensioning device to tension the synchronous belt between the first synchronous belt path and the second synchronous pulley.
Optionally, the tensioning device comprises a base, a rotating disk, a torsion spring and a roller, the base is connected to the chassis frame, the rotating disk is rotatably connected to the base, the torsion spring is assembled between the base and the rotating disk in a pre-tightening mode, the roller is rotatably connected to the rotating disk, and the synchronous belt bypasses the roller.
Optionally, the first synchronous pulley and the second synchronous pulley are both gears, and the synchronous belt is a toothed belt.
Optionally, the steering drive is a power steering engine.
Optionally, the power input end is a worm, the power output end is a gear set, the worm is meshed with an input gear of the gear set, the worm is connected to a power output shaft of the steering driver, and an output gear of the gear set drives the third connecting portion to rotate synchronously.
Optionally, first connecting portion are for rotating the mount pad, and the second connecting portion are for connecting the L type mounting panel of constituteing by riser and diaphragm, and the third connecting portion are the spliced pole, rotate the mount pad and rotationally connect on the chassis underframe through the round pin axle, riser with rotate mount pad fixed connection, spliced pole fixed connection is on the diaphragm, the central axis of spliced pole and the coaxial setting of the central axis of round pin axle.
Optionally, the first connecting portion and the second connecting portion are the first end and the second end of the straight arm rod respectively, the third connecting portion is a transmission shaft, the transmission shaft is rotatably connected to the chassis frame, the first end of the straight arm rod is connected to the transmission shaft and rotates synchronously with the transmission shaft, and the end of the transmission shaft is connected to the power output end.
Alternatively, the number of the steering power systems is 4, and the 4 steering power systems are distributed on corresponding corner positions of the chassis frame.
The invention has at least the following beneficial effects:
the omnidirectional moving robot provided by the invention is applied to inspection work or other experiments and detection work, on the basis of ensuring that the robot can normally walk and advance, the wheel structure formed by the wheel hub motor is integrated with the power source and the rotating wheel, so that the walking wheel structure is more compact and more attractive, the wheel hub motor can provide strong torque, the moving performance of the robot is greatly improved, the capabilities of climbing, obstacle crossing and the like are stronger, the space is saved and strong advancing driving force can be provided by adopting the wheel hub motor, and the function of rapid parking or parking can be realized by electric braking. Moreover, the omnidirectional moving robot is provided with the steering driver, the steering transmission assembly and the third connecting part in a horizontal transmission arrangement mode, the arrangement height of the steering power mechanism can be reduced as far as possible on the basis of ensuring stable power transmission, the whole gravity center height of the robot is favorably reduced, and the stability of the robot is improved when the gravity center is low. In the process of moving and turning of the omnidirectional moving robot, the turning power systems are mutually independent, and the first connecting part, the second connecting part and the third connecting part which are respectively arranged in each turning power system through the turning arm are respectively connected with the chassis frame, the stator part and the power output end of the turning power mechanism, so that the rotation of plus and minus 90 degrees can be realized in the turning process of each hub motor, and the function of omnidirectional movement of the robot is realized.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic view of an assembly structure of an omnidirectional moving robot according to a first embodiment of the present invention;
fig. 2 is a schematic view of an assembly structure of one of steering power systems of the omnidirectional moving robot according to the first embodiment of the invention;
FIG. 3 is an exploded view of FIG. 2;
fig. 4 is a schematic view of an assembly structure of a tensioner of an omnidirectional moving robot according to a first embodiment of the present invention;
FIG. 5 is a top view of FIG. 4;
FIG. 6 is a cross-sectional view taken along line A-A of FIG. 5;
fig. 7 is a schematic structural diagram of a steering arm of an omnidirectional moving robot according to a first embodiment of the invention;
fig. 8 is a schematic view of an assembly structure of one of steering power systems of an omnidirectional moving robot according to a second embodiment of the present invention.
Wherein, in the figures, the respective reference numerals:
10. a chassis frame; 11. a steering engine mounting seat; 100. a steering power system; 20. a steering arm; 21. a first connection portion; 22. a second connecting portion; 221. a vertical plate; 222. a transverse plate; 23. a third connecting portion; 30. a hub motor; 31. a stator portion; 32. a rotor portion; 40. a steering power mechanism; 41. a steering driver; 42. a steering transmission assembly; 421. a power input; 422. a power output end; 4221. an input gear; 4222. an intermediate transmission gear; 4223. an output gear; 423. a synchronous belt; 424. a tensioning device; 4241. a base; 4242. rotating the disc; 4243. a torsion spring; 4244. a roller; 4245. a nut fitting; 51. a pin shaft; 52. locking the nut; 200. and (4) a storage battery.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
As shown in fig. 1 to 3, a first embodiment of the present invention provides an omnidirectional moving robot, which is called omnidirectional movement, that is, the robot can realize movement in any direction on the ground, including a general serpentine movement, a general curvilinear travel movement, and an ackermann steering movement. The omnidirectional movement robot comprises a chassis frame 10 and an even number (an even number larger than or equal to 4) of steering power systems 100, wherein all the steering power systems 100 are installed on the chassis frame 10 and are symmetrically arranged pairwise and oppositely relative to a central line of the chassis frame 10 extending along the advancing direction, the steering power systems 100 are used for realizing turning and turning in the walking process of the robot, working instruments and precision tools which are required to be carried by the robot are installed on the chassis frame 10, and the chassis frame 10 and the steering power systems 100 form a chassis structure of the robot and can bear the whole robot. Each steering power system includes a steering arm 20, a hub motor 30 and a steering power mechanism 40, specifically, the steering arm 20 has a first connecting portion 21, a second connecting portion 22 and a third connecting portion 23 that are rigidly connected, the hub motor 30 includes a stator portion 31 and a rotor portion 32 (the rotor portion 32 is a wheel, the stator portion 31 is a hub structure equipped with a power source, and the power source provides power for the rotor portion 32, so as to realize the rotation and walking of the wheel), and the steering power mechanism 40 includes a steering driver 41 and a steering transmission assembly 42. In the specific assembly, the first connection portion 21 is rotatably connected to the chassis frame 10, the rotor portion 32 rotatably surrounds the stator portion 31, the stator portion 31 is connected to the second connection portion 22, and the rotation center axis of the rotor portion 32 with respect to the chassis frame 10 is perpendicular to the rotation center axis of the first connection portion 21 with respect to the chassis frame 10. Further assembled, the steering transmission assembly 42 has a power input end 421 and a power output end 422, the power input end 421 is in transmission connection with the power output end 422, the steering driver 41 is connected to the chassis frame 10, a power output shaft of the steering driver 41 is connected with the power input end 421, the power output end 422 is connected with the third connecting portion 23, the power output end 422 drives the third connecting portion 23 to rotate relative to the chassis frame 10, and the third connecting portion 23 is coaxially arranged with the first connecting portion 21 relative to the central rotation axis of the chassis frame 10. In the omnidirectional exercise robot, the first connection portion 21 is a vertical axis perpendicular to the ground with respect to the rotation center axis of the chassis frame 10, and the steering driver 41, the steering transmission assembly 42, and the third connection portion 23 are arranged in a horizontal transmission manner (when the omnidirectional exercise robot is placed on a flat ground, the first connection portion 21 is a vertical line with respect to the rotation center axis of the chassis frame 10, and the horizontal direction is parallel to the flat ground).
The omnidirectional moving robot provided by the invention is applied to inspection work or other experiments and detection work, on the basis of ensuring that the robot can normally walk and advance, the wheel structure formed by the wheel hub motor 30 is utilized, the power source and the rotating wheel are integrated in the wheel hub motor 30, so that the walking wheel structure is more compact and more attractive, the wheel hub motor 30 can provide strong torque force, the moving performance of the robot is greatly improved, the capabilities of climbing, obstacle crossing and the like are stronger, in addition, the space is saved by adopting the wheel hub motor 30, strong advancing driving force can be provided, and the function of fast parking or parking can be realized through electric braking (the braking effect generated when the power source of the stator part 31 is powered off and the power is stopped output). In addition, the omnidirectional moving robot sets the steering driver 41, the steering transmission assembly 42 and the third connecting part 23 to be in a horizontal transmission arrangement mode, so that the arrangement height of the steering power mechanism 40 can be reduced as much as possible on the basis of ensuring stable power transmission, the whole gravity center height of the robot is favorably reduced, and the stability of the robot is improved when the gravity center is low. In the process of the omnidirectional moving robot running and turning, because the steering power systems 100 are independent from each other, and the first connecting part 21, the second connecting part 22 and the third connecting part 23 which are respectively arranged in each steering power system 100 through the steering arm 20 are respectively connected with the chassis frame 10, the stator part 31 and the power output end 422 of the steering power mechanism 40, each in-wheel motor 30 can rotate by plus or minus 90 degrees in the turning process, and the robot can realize the function of omnidirectional moving.
As shown in fig. 2 and 3, the steering transmission assembly 42 includes a first synchronous pulley, a second synchronous pulley and a synchronous belt 423, and the transmission manner of the synchronous belt transmission steering power is adopted, so that the components of the steering power mechanism 40 are arranged at the same horizontal height, and the height of the chassis structure of the robot is greatly reduced (i.e. the height of the center of gravity of the whole robot is reduced). Specifically, the first synchronous pulley is a power input end 421, the second synchronous pulley is a power output end 422, the synchronous belt 423 is used as an intermediate transmission medium for transmitting steering power between the power input end 421 and the power output end 422, the synchronous belt 423 is wound between the first synchronous belt and the second synchronous belt in a crossing manner, a power output shaft of the steering driver 41 drives the first synchronous pulley to synchronously rotate, the second synchronous pulley is driven to rotate by power transmitted by the synchronous belt 423, the second synchronous pulley is arranged on the third connecting portion 23, and the second synchronous pulley is locked and fixed on the third connecting portion 23 through the locking nut 52.
The timing belt 423 is made of a flexible material, and a stretching phenomenon exists in an elastic deformation range in the using process, so that the timing belt 423 is loosened between the first timing pulley and the second timing pulley, in order to keep the timing belt 423 in a tightened state between the first timing pulley and the second timing pulley no matter the timing belt 423 is placed still or in the transmission working process, the steering transmission assembly 42 further includes a tensioning device 424, the tensioning device 424 is connected to the chassis frame 10, the tensioning device 424 is located between the first timing pulley and the second timing pulley, and the timing belt 423 bypasses the tensioning device 424 to tension the timing belt 423 between the first timing pulley and the second timing pulley.
Specifically, as shown in fig. 4-6, the tensioner 424 includes a base 4241, a rotary plate 4242, a torsion spring 4243, and a roller 4244. The base 4241 is fixedly connected to the chassis frame 10, the base 4241 has a central column, the rotary plate 4242 is rotatably connected to the central column of the base 4241 and is screwed on the central column through a nut fitting 4245 to prevent the rotary plate 4242 from being separated from the central column. The torsion spring 4243 is assembled between the base 4241 and the rotary disk 4242 in a pre-tightening mode, one end of the torsion spring 4243 is fixed to the base 4241, the other end of the torsion spring 4243 is fixed to the rotary disk 4242, and the torsion spring 4243 is sleeved on the central column. The roller 4244 is rotatably connected to an extension arm of the rotary plate 4242, and the timing belt 423 passes around the roller 4244. Thus, under the elastic force of the torsion spring 4243, the roller 4244 can adaptively match the elastic expansion and contraction of the timing belt 423 to always abut against the timing belt 423, so that the timing belt 423 is always kept tight between the first timing pulley and the second timing pulley.
In the first embodiment, in order to prevent a slip of the timing belt 423 during the transmission of the steering power, in the omnidirectional moving robot, the first and second timing pulleys are both gears, and the timing belt 423 is a toothed belt. And, turn to driver 41 for the power steering wheel to through steering wheel mount pad 11 with the steering wheel assembly fix on chassis frame 10, thereby export sufficient steering power through the steering wheel.
As shown in fig. 7, the first connecting portion 21 is a rotary mounting seat, the second connecting portion 22 is an L-shaped mounting plate formed by connecting a vertical plate 221 and a horizontal plate 222, and a space formed below the horizontal plate 222 of the L-shaped mounting plate can avoid a connecting end of the chassis frame 10 connected to the first connecting portion 21, so that no motion interference occurs during the rotation of the in-wheel motor 30 by plus or minus 90 degrees. The third connecting portion 23 is a connecting column, the rotating mounting seat is rotatably connected to the chassis frame 10 through a pin shaft 51, the whole hub motor 30 rotates relative to the chassis frame 10 in the steering process and takes the central axis of the pin shaft 51 as a rotating axis, the vertical plate 221 and the rotating mounting seat are fixedly connected, the connecting column is fixedly connected to the transverse plate 222, and the central axis of the connecting column and the central axis of the pin shaft 51 are coaxially arranged.
Alternatively, the steering arm 20 may be another possible structure, namely: the first connecting portion 21 and the second connecting portion 22 are the first end and the second end of the straight arm rod, respectively, and the third connecting portion 23 is a transmission shaft. In this configuration of the steering arm 20, a straight arm transmission shaft is rotatably connected to the chassis frame 10, a first end of the straight arm is connected to the transmission shaft and rotates synchronously with the transmission shaft (for example, the first end of the straight arm is provided with a through hole through which the transmission shaft passes, and the transmission shaft is in key transmission with a hole wall of the through hole), and an end of the transmission shaft is connected to the power output end 422.
In the first embodiment, the number of the steering power systems 100 is 4, and the 4 steering power systems 100 are distributed at corresponding corner positions of the chassis frame 10. That is, the omni-directional robot can be classified as a four-wheel steering robot after being assembled.
According to another aspect of the present invention, as shown in fig. 8, a second embodiment of the present invention also provides an omnidirectional moving robot. In the omnidirectional exercise robot of the second embodiment, the power input end 421 is a worm, the power output end 422 is a gear set, the worm is engaged with the input gear 4221 of the gear set, the worm is connected to the power output shaft of the steering driver 41, the input gear 4221 and the intermediate transmission gear 4222 of the gear set are assembled on the chassis frame 10, and the output gear 4223 of the gear set is connected to the third connecting portion 23. Like the first embodiment, in the second embodiment, the steering engine, the worm, the gear set, and the third connecting portion 23 are assembled to be in a horizontal transmission arrangement, so that the components of the steering power mechanism 40 are arranged at the same horizontal height, and the height of the chassis structure of the robot is greatly reduced (i.e., the height of the center of gravity of the whole robot is reduced). In the second embodiment, since the steering power mechanism 40 employs a gear train meshing transmission as an intermediate transmission, the robot of the second embodiment does not need to be provided with a tensioning device.
Compared with the omnidirectional moving robot of the first embodiment, the omnidirectional moving robot of the second embodiment has the same structure except for the difference in the structure, and thus, the description thereof is omitted.
In the omnidirectional moving robot of the present invention, a hollow storage battery placing space is formed on the chassis frame 10, the storage battery 200 is installed in the storage battery placing space, and the storage battery 200 supplies power to the power source in each stator part 31, each steering engine, various power-using working devices and power-using precision tools carried by the robot, and a control system of the robot, so as to maintain the robot to normally perform inspection work or perform other experiments and detection work.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. An omnidirectional exercise robot, comprising:
a chassis frame (10);
an even number of steering power systems (100), all of the steering power systems (100) being mounted on the chassis frame (10) and symmetrically disposed opposite to each other in pairs with respect to a center line of the chassis frame (10) extending in a forward direction, each of the steering power systems comprising:
a steering arm (20), wherein the steering arm (20) is provided with a first connecting part (21), a second connecting part (22) and a third connecting part (23) which are rigidly connected, and the first connecting part (21) is rotatably connected to the chassis frame (10);
a hub motor (30), the hub motor (30) comprising a stator part (31) and a rotor part (32), the rotor part (32) rotatably sleeving the stator part (31), the stator part (31) being connected to the second connection part (22), and the rotor part (32) being perpendicular to the central axis of rotation of the first connection part (21) relative to the chassis frame (10) with respect to the central axis of rotation of the chassis frame (10);
a steering power mechanism (40), wherein the steering power mechanism (40) comprises a steering driver (41) and a steering transmission assembly (42), the steering transmission assembly (42) has a power input end (421) and a power output end (422), the power input end (421) is in transmission connection with the power output end (422), the steering driver (41) is connected to the chassis frame (10), the power output shaft of the steering driver (41) is connected with the power input end (421), the power output end (422) is connected with the third connecting part (23), the power output end (422) drives the third connecting part (23) to rotate relative to the chassis frame (10), the third connection portion (23) is coaxially arranged with respect to a rotational center axis of the chassis frame (10) and the first connection portion (21) is coaxially arranged with respect to a rotational center axis of the chassis frame (10);
wherein, horizontal transmission arrangement mode is presented between steering driver (41), steering transmission subassembly (42) and the third connecting portion (23).
2. The omnidirectional exercise robot of claim 1,
turn to transmission subassembly (42) and include first synchronous pulley, second synchronous pulley and hold-in range (423), first synchronous pulley does power input end (421), second synchronous pulley does power output end (422), hold-in range (423) are connected first synchronous belt with between the second hold-in range, the power output shaft that turns to driver (41) drives first synchronous pulley synchronous rotation, second synchronous pulley with third connecting portion (23) fixed connection.
3. The omnidirectional exercise robot of claim 2,
the steering transmission assembly (42) further comprises a tensioning device (424), the tensioning device (424) is connected to the chassis frame (10), the tensioning device (424) is located between the first synchronous pulley and the second synchronous pulley, and the synchronous belt (423) bypasses the tensioning device (424) to tension the synchronous belt (423) between the first synchronous belt path and the second synchronous pulley.
4. An omnidirectional exercise robot according to claim 3,
the tensioning device (424) comprises a base (4241), a rotating disk (4242), a torsion spring (4243) and rollers (4244), the base (4241) is connected to the chassis frame (10), the rotating disk (4242) is rotatably connected to the base (4241), the torsion spring (4243) is assembled between the base (4241) and the rotating disk (4242) in a pre-tightening mode, the rollers (4244) are rotatably connected to the rotating disk (4242), and the synchronous belt (423) bypasses the rollers (4244).
5. The omnidirectional exercise robot of any one of claims 2 to 4,
the first synchronous belt wheel and the second synchronous belt wheel are both gears, and the synchronous belt (423) is a toothed belt.
6. The omnidirectional exercise robot of claim 5,
the steering driver (41) is a power steering engine.
7. The omnidirectional exercise robot of claim 1,
the power input end (421) is a worm, the power output end (422) is a gear set, the worm is meshed with an input gear (4221) of the gear set, the worm is connected to a power output shaft of the steering driver (41), and an output gear (4223) of the gear set drives the third connecting portion (23) to synchronously rotate.
8. An omnidirectional exercise robot according to claim 1, 2, 3, 4, or 7, wherein,
first connecting portion (21) are for rotating the mount pad, second connecting portion (22) are for connecting the L type mounting panel of constituteing by riser (221) and diaphragm (222), third connecting portion (23) are the spliced pole, it rotationally connects through round pin axle (51) to rotate the mount pad on chassis frame (10), riser (221) with rotate mount pad fixed connection, spliced pole fixed connection is in on diaphragm (222), the central axis of spliced pole with the coaxial setting of the central axis of round pin axle (51).
9. An omnidirectional exercise robot according to claim 1, 2, 3, 4, or 7, wherein,
the first connecting portion (21) and the second connecting portion (22) are respectively a first end and a second end of a straight arm rod, the third connecting portion (23) is a transmission shaft, the transmission shaft is rotatably connected to the chassis frame (10), the first end of the straight arm rod is connected to the transmission shaft and rotates synchronously with the transmission shaft, and the end portion of the transmission shaft is connected with the power output end (422).
10. The omnidirectional exercise robot of claim 1,
the number of the steering power systems (100) is 4, and the 4 steering power systems (100) are distributed on the corresponding corner positions of the chassis frame (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010899305.6A CN112208674A (en) | 2020-08-31 | 2020-08-31 | Omnidirectional movement robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010899305.6A CN112208674A (en) | 2020-08-31 | 2020-08-31 | Omnidirectional movement robot |
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| CN112208674A true CN112208674A (en) | 2021-01-12 |
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| CN202010899305.6A Pending CN112208674A (en) | 2020-08-31 | 2020-08-31 | Omnidirectional movement robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115152433A (en) * | 2022-08-17 | 2022-10-11 | 松灵机器人(深圳)有限公司 | Running gear and harvester |
| CN115432059A (en) * | 2022-10-12 | 2022-12-06 | 烟台艾睿光电科技有限公司 | Wheeled robot and chassis assembly thereof |
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| CN115152433B (en) * | 2022-08-17 | 2024-01-23 | 松灵机器人(深圳)有限公司 | Walking device and harvester |
| CN115432059A (en) * | 2022-10-12 | 2022-12-06 | 烟台艾睿光电科技有限公司 | Wheeled robot and chassis assembly thereof |
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Application publication date: 20210112 |