CN201042980Y - Castor floating structure for wheeled mobile welding robot - Google Patents

Castor floating structure for wheeled mobile welding robot Download PDF

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Publication number
CN201042980Y
CN201042980Y CNU2007200843050U CN200720084305U CN201042980Y CN 201042980 Y CN201042980 Y CN 201042980Y CN U2007200843050 U CNU2007200843050 U CN U2007200843050U CN 200720084305 U CN200720084305 U CN 200720084305U CN 201042980 Y CN201042980 Y CN 201042980Y
Authority
CN
China
Prior art keywords
car
wheel
spring
cardan wheel
floating
Prior art date
Application number
CNU2007200843050U
Other languages
Chinese (zh)
Inventor
毛志伟
喻强
张华�
Original Assignee
南昌大学
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 南昌大学 filed Critical 南昌大学
Priority to CNU2007200843050U priority Critical patent/CN201042980Y/en
Application granted granted Critical
Publication of CN201042980Y publication Critical patent/CN201042980Y/en

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Abstract

A universal-wheel floating configuration applied to a wheel-type mobile welding robot is characterized in that two driving wheels are connected with the lower end of the vehicle body, a front universal wheel is connected with the front-down end of the vehicle body, a rear universal wheel is connected with the back-down end of the vehicle body, a spring seat is connected with the upper end of the vehicle body, the spring seat is connected with a sliding seat and a spring, a plug screw is connected with the spring, and the spring seat and the sliding seat are fixedly connected with the vehicle body via long screws and screws. The utility model has the advantages that: (1) the bearing area of the configuration is large, and the utility model is stable and difficult to overturn; (2) when the ground is uneven, that the four wheels are on the ground simultaneously can be ensured with flexible movement; (3) the contact force between the floating universal wheels and the ground can be conveniently regulated.

Description

The cardan wheel floating structure that is used for wheeled mobile welding robot
Technical field
The utility model relates to a kind of cardan wheel floating structure, particularly a kind of cardan wheel floating structure that is used for wheeled mobile welding robot.
Background technology
At present, the application of robot more and more widely almost is penetrated into all spectra, and the mobile robot is an important branch in the robotics.Because wheeled mobile robot motion flexibly, control is simple thereby be that the mobile apparatus philtrum is most widely used a kind of.
In shipbuilding industry, there is the welding of a large amount of plain bending weld seams in the construction of boats and ships, as the hull bottom of limited space and the grid weld seam welding on deck, these weld operation at the scene usually, and the mobile welding robot technology that Robotics is combined with THE WELD SEAM TRACKING TECHNOLOGY is to solve its automation welding difficult problem effective ways.Traveling gear is one of gordian technique of mobile welding robot, and its requirement is: must have the most reasonably degree of freedom configuration, mechanism is light, motion is flexible, reliably, turn radius is little, control is simple, and can realize higher tracking accuracy.And the two-wheeled differential drives the traveling gear that is suitable for this requirement with the plane mobile robot of universal wheeled construction just.The two-wheeled differential drives with the cardan wheel structure and is divided into two kinds again, and a kind of is that a cardan wheel is prepended to two drive wheels, and another kind is that two cardan wheels place the forward and backward of driving respectively.Because under measure-alike situation, a kind of support structure area in back is bigger, supports more steady, be difficult for toppling, but this structure has a significant drawback, promptly when plane when not being very smooth, drive wheel in the middle of may causing can not contact with ground, thereby loses driving, thereby has limited its application.
Summary of the invention
The purpose of this utility model provides a kind of cardan wheel floating structure that is used for wheeled mobile welding robot.Solving the mobile robot is having certain curved surface or be not the problem that four-wheel lands simultaneously on the very smooth plane.
The utility model is achieved like this, it comprises car body, drive wheel, preceding cardan wheel, back cardan wheel, spring perch, slide and spring, it is characterized in that at two drive wheels of car body lower end connection, cardan wheel before the lower front end of car body connects, the following rear end of car body connects the back cardan wheel, upper end fixing spring seat behind the car body, and plug screw links to each other with spring perch by screw thread, be movably connected on the car body by a long spiro nail between slide and car body, slide just can slide between car body and spring perch like this.Back cardan wheel is connected with slide by screw, is placing a spring between spring perch and the slide to guarantee contacting between this cardan wheel and ground.Plug screw in the rotation spring seat, the amount of compression of adjustable springs, thereby the size of the contact force between adjusting back cardan wheel and ground.
The utility model has the advantages that: (1) support structure area is big, steadily is difficult for toppling; (2) when the unfairness of ground, can guarantee that also four-wheel lands simultaneously, and motion flexibly; (3) contact force of floating between cardan wheel and ground is easy to adjust.
Description of drawings
Fig. 1 is a structural representation of the present utility model;
Fig. 2 is a working state schematic representation of the present utility model.
Car body 2, drive wheel 3, preceding cardan wheel 4, back cardan wheel 5, workpiece 6, spring perch 7, slide 8, spring 9, plug screw 10, long spiro nail 11, screw in the drawings, 1,
The specific embodiment
As shown in Figure 1, the utility model comprises car body 1, drive wheel 2, preceding cardan wheel 3, back cardan wheel 4, spring perch 6, slide 7, spring 8, it is characterized in that at two drive wheels 2 of car body 1 lower end connection, cardan wheel 3 before the lower front end of car body connects, the following rear end of car body connects back cardan wheel 4, the upper end connects spring perch 6 behind the car body, slide 7 is connected with unsteady cardan wheel by screw 10, be movably connected on the car body by long spiro nail 11, plug screw 9 links to each other with spring perch 6 by screw thread, and spring 8 is positioned between spring perch and the slide.During use, rotate the amount of compression of plug screw 8 regulating springs earlier, thereby regulate the contact force of floating between cardan wheel and ground, make the mobile robot under drive wheel, can move according to desired direction and speed flexibility, thereby realize motion planning and the weld seam on the welded piece 5 is carried out automated welding.

Claims (1)

1. cardan wheel floating structure that is used for wheeled mobile welding robot, it comprises car body, drive wheel, preceding cardan wheel, back cardan wheel, spring perch, slide and spring, it is characterized in that at two drive wheels of car body lower end connection, cardan wheel before the lower front end of car body connects, the following rear end of car body connects the back cardan wheel, a spring perch is fixed in the upper end behind the car body, and plug screw links to each other with spring perch by screw thread, is movably connected on the car body by a long spiro nail between slide and car body.
CNU2007200843050U 2007-04-23 2007-04-23 Castor floating structure for wheeled mobile welding robot CN201042980Y (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CNU2007200843050U CN201042980Y (en) 2007-04-23 2007-04-23 Castor floating structure for wheeled mobile welding robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CNU2007200843050U CN201042980Y (en) 2007-04-23 2007-04-23 Castor floating structure for wheeled mobile welding robot

Publications (1)

Publication Number Publication Date
CN201042980Y true CN201042980Y (en) 2008-04-02

Family

ID=39257871

Family Applications (1)

Application Number Title Priority Date Filing Date
CNU2007200843050U CN201042980Y (en) 2007-04-23 2007-04-23 Castor floating structure for wheeled mobile welding robot

Country Status (1)

Country Link
CN (1) CN201042980Y (en)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102673676A (en) * 2012-04-13 2012-09-19 机科发展科技股份有限公司 AGV (Automatic Guided Vehicle) for multiple-wheel train heavy load mobile robot
CN102806955A (en) * 2012-08-23 2012-12-05 公安部上海消防研究所 Six-wheeled full-drive fire-fighting robot moving carrier
CN103332236A (en) * 2013-07-11 2013-10-02 青岛海通机器人系统有限公司 Moving device of robot
CN104163217A (en) * 2013-05-16 2014-11-26 泰金宝电通股份有限公司 Automatic guided vehicle device
CN105437260A (en) * 2016-01-04 2016-03-30 杭州亚美利嘉科技有限公司 Robot chassis
CN106051377A (en) * 2016-05-30 2016-10-26 北京玄通海纳科技发展有限公司 Pipeline robot
CN106245941A (en) * 2016-07-29 2016-12-21 浙江大丰实业股份有限公司 A kind of universal ride
CN106274852A (en) * 2016-07-29 2017-01-04 浙江大丰实业股份有限公司 A kind of universal ride of stage
CN106627833A (en) * 2016-11-17 2017-05-10 深圳市佳都实业发展有限公司 Wheeled movement chassis system and movement device
CN109823443A (en) * 2019-03-19 2019-05-31 浙江欣奕华智能科技有限公司 A kind of robot chassis with overturn-preventing structure

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102673676A (en) * 2012-04-13 2012-09-19 机科发展科技股份有限公司 AGV (Automatic Guided Vehicle) for multiple-wheel train heavy load mobile robot
CN102673676B (en) * 2012-04-13 2015-11-25 机科发展科技股份有限公司 Many train heavy duty mobile robot AGV
CN102806955A (en) * 2012-08-23 2012-12-05 公安部上海消防研究所 Six-wheeled full-drive fire-fighting robot moving carrier
CN104163217A (en) * 2013-05-16 2014-11-26 泰金宝电通股份有限公司 Automatic guided vehicle device
CN104163217B (en) * 2013-05-16 2017-04-26 泰金宝电通股份有限公司 Automatic guided vehicle device
CN103332236A (en) * 2013-07-11 2013-10-02 青岛海通机器人系统有限公司 Moving device of robot
CN105437260A (en) * 2016-01-04 2016-03-30 杭州亚美利嘉科技有限公司 Robot chassis
CN106051377A (en) * 2016-05-30 2016-10-26 北京玄通海纳科技发展有限公司 Pipeline robot
CN106274852A (en) * 2016-07-29 2017-01-04 浙江大丰实业股份有限公司 A kind of universal ride of stage
CN106245941A (en) * 2016-07-29 2016-12-21 浙江大丰实业股份有限公司 A kind of universal ride
CN106274852B (en) * 2016-07-29 2018-11-30 浙江大丰实业股份有限公司 A kind of universal ride of stage
CN106627833A (en) * 2016-11-17 2017-05-10 深圳市佳都实业发展有限公司 Wheeled movement chassis system and movement device
CN109823443A (en) * 2019-03-19 2019-05-31 浙江欣奕华智能科技有限公司 A kind of robot chassis with overturn-preventing structure

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GR01 Patent grant
C14 Grant of patent or utility model
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20080402

Termination date: 20110423

C17 Cessation of patent right