CN201080211Y - Household intelligence moving platform device - Google Patents
Household intelligence moving platform device Download PDFInfo
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- CN201080211Y CN201080211Y CNU2006201394919U CN200620139491U CN201080211Y CN 201080211 Y CN201080211 Y CN 201080211Y CN U2006201394919 U CNU2006201394919 U CN U2006201394919U CN 200620139491 U CN200620139491 U CN 200620139491U CN 201080211 Y CN201080211 Y CN 201080211Y
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Abstract
The utility model relates to a family intelligent mobile platform device. The family intelligent mobile platform device comprises a chassis (4), a main body supporting frame composed of a supporting plate (2) and a middle partition board (5), a power supply part, a sensing device, a controller (1) and an intelligent equipment, wherein, the main body supporting frame is fixed on the chassis (4), all the power supply part, the sensing device, the controller (1) and the intelligent equipment are fixed on the main body supporting frame, and the sensing device and the intelligent equipment are both connected to the controller and are connected with the power supply part. The utility model is characterized in that the chassis is composed of a front chassis (15) and a rear chassis (19), and is connected with a bearing (17) through a chassis bearing seat (16) and a chassis axle (18), and a gap (20) is formed between the front chassis (15) and the rear chassis (19).
Description
Technical field
This use is novel to relate to a kind of home intelligent mobile platform device, particularly, relates to a kind of mobile platform device that can be applicable to the load bearing of home smart machine, especially can be as a kind of general mobile platform device of home services robot.
Background technology
At present, most widely used mobile platform remains wheeled construction, and just the wheel with some is contained on the chassis, the moving of the rotating speed implementation platform by the control wheel.But, common wheel can only roll towards a direction, when platform runs into obstacle or is subjected to space constraint, turn round or during sideway movement, the lateral slip friction must take place with ground in the drive wheel that is installed on the chassis, platform just can not be realized quick flexible movement like this, and is many more than overcoming the force of rolling friction work owing to overcoming force of sliding friction simultaneously, also can produce unnecessary waste of power.
In addition, in order to make platform stable strong, four wheels is housed on the chassis usually, but owing to be subjected to the influence of platform by volume and layout, wheel does not generally design shock absorption device, and the road surface that adds the work of normal conditions lower platform is not desirable plane, and four wheels can not land simultaneously like this, as intelligent family moving platform, such structure all can exert an influence to the particularity of control.
Cliding friction when doing shifted laterally between wheel and the ground in order to overcome platform, improve the alerting ability that platform moves, the utility model provides a kind of directional wheel, the improvement that this is taken turns by structure is suitable for moving on two orthogonal directions, therefore, wheel and ground-surface friction are converted into friction of rolling in the time of platform can being done shifted laterally, thereby reduce friction, make the control reaction faster, move more flexible.
For make platform on scraggly road surface (as imperfect plane such as indoor) go up when mobile, four wheels can land simultaneously, the utility model provides a kind of chassis structure of brand new moveable hinge chain type.
Summary of the invention
The purpose of this invention is to provide a kind of home intelligent mobile platform device that has the chassis of can be comprehensive, light, moving rapidly;
Another object of the present invention provide a kind of can be on rough road surface (imperfect plane) go up home intelligent mobile platform device of realizing that four wheels lands simultaneously;
Another object of the present invention provides a kind of directional wheel that can be respectively moves flexibly two vertical direction and adopts the home intelligent mobile platform device on the moveable hinge chain type chassis of this directional wheel.
Above-mentioned purpose realizes by technical scheme once:
A kind of home intelligent mobile platform device, this home intelligent mobile platform device comprises chassis 4, the body supports frame that constitutes by stay bearing plate 2 and intermediate hsg 5, power unit, sensing device, controller 1 and smart machine constitute, wherein the body supports frame is fixed on the chassis 4, power unit, sensing device, controller 1 and smart machine all are fixed on the body supports frame, sensing device, smart machine all is connected on the controller and connects power unit, it is characterized in that described chassis is made of front chassis 15 and rear chassis 19 and pass through chassis axle bearing 16, chassis axle 18 and bearing 17 are linked together, and leave gap 20 between front chassis 15 and the rear chassis 19;
Described chassis 4 has four drive wheels, and each drive wheel all has a DC servo motor, four drive wheels place the chassis around, and the rotating shaft of four drive wheels is distributed on two orthogonal straight lines;
Described drive wheel adopts directional wheel, and the wheel body edge of this directional wheel is first-class to be arranged at intervals with a plurality of side wheels 8, the rotation axis of each side wheels 8 all with the axis normal of directional wheel;
Each side wheels 8 has side direction wheel shaft 10, bearing 13 and two rubber rings 14, and side direction wheel shaft 10 is arranged on the inside of bearing 13,14 outsides that are fixed to bearing 13 of two rubber rings.
This home intelligent mobile platform device is by adopting directional wheel, realized stage apparatus light in comprehensive direction, fast, motion deftly; Four directional wheels are respectively by four DC servo motor independent drive, not only propulsive effort is big, can also can move by one way or another at any time with implementation platform by the control of controller to motor, the flat-bed working environment is not subjected to the influence of space and layout.By the rotation of hinges, make front chassis and rear chassis relative motion in the working process, land when realizing four directional wheels.
Description of drawings
Fig. 1 is the front elevation of home intelligent mobile platform of the present utility model;
Fig. 2 is the upward view on chassis described in the utility model;
Fig. 3 (a) is the front elevation of directional wheel in the utility model, and Fig. 3 (b) is the radial section figure of directional wheel;
Fig. 4 is the cross sectional representation of the side wheels on the directional wheel edge.
In the accompanying drawings: 1. controller, 2. body supports frame, 3. storage battery, 4. chassis, 5. intermediate hsg, 6. power supply, 7. directional wheel, 8. side wheels, 9. screw, 10. side direction wheel shaft, 11. wheel bodys, 12. wheel cap, 13.619/3-2Z bearing, 14. rubber rings, 15. front chassis, 16. chassis axle bearings, 17.61902-2Z bearing, 18. chassis axle, 19. rear chassis, 20. gaps.
The specific embodiment
Describe preferred implementation of the present utility model in detail below in conjunction with accompanying drawing:
The utility model proposes a kind of home intelligent mobile platform device.This home intelligent mobile platform device comprises chassis 4, the body supports frame that constitutes by stay bearing plate 2 and intermediate hsg 5, power unit, sensing device, controller 1 and smart machine constitute, wherein the body supports frame is fixed on the chassis 4, power unit, sensing device, controller 1 and smart machine all are fixed on the body supports frame, sensing device, smart machine all is connected on the controller and connects power unit, it is characterized in that described chassis is made of front chassis 15 and rear chassis 19 and pass through chassis axle bearing 16, chassis axle 18 and bearing 17 are linked together, and leave gap 20 between front chassis 15 and the rear chassis 19; Wherein this stage apparatus mainly is to be used for carrying corresponding smart machine, at this smart machine of just being correlated with in concrete introduction;
Described chassis 4 has four drive wheels, and each drive wheel all has a DC servo motor, four drive wheels place the chassis around, and the rotating shaft of four drive wheels is distributed on two orthogonal straight lines;
Described drive wheel adopts directional wheel, and the wheel body edge of this directional wheel is first-class to be arranged at intervals with a plurality of side wheels 8, the rotation axis of each side wheels 8 all with the axis normal of directional wheel;
Each side wheels 8 has side direction wheel shaft 10, bearing 13 and two rubber rings 14, and side direction wheel shaft 10 is arranged on the inside of bearing 13,14 outsides that are fixed to bearing 13 of two rubber rings.Be more suitable for the moveable hinge chain type chassis that mobile platform uses.On this chassis, be equiped with four drive wheels, i.e. directional wheel, below introduce directional wheel earlier as drive wheel so that understand moving of chassis better.
As shown in Figure 3, described directional wheel 7 is by the side wheels 8 (steamboat) of some is housed on the edge of directional wheel 7 (bull wheel) in uniform way, side wheels 8 rotation axiss and bull wheel axis normal, make bull wheel when shifted laterally, the steamboat and the ground at its edge remain friction of rolling, thereby realize the multidirectional motion of wheel.In the directional wheel shown in Fig. 3 as the mobile platform drive wheel, the side wheels 8 of some is uniform and place the edge of wheel body 11 by side direction wheel shaft 10 according to same intervals, after covering wheel cap 12, by screw 9 wheel cap 12 and wheel body 11 are linked together, guarantee that the axis of side wheels 8 is vertical mutually with the axis of directional wheel 7.The quantity of side wheels 8 is adjusted accordingly according to the big I of wheel body 11 diameters, and wheel body 11 diameters are big more usually, and the number of the side wheels 8 that needs is just many more.
In Fig. 4, side direction wheel shaft 10,619/3-2Z bearing 13 and two rubber ring 14 common side wheels 8 of forming.During side wheels 8 work, side direction wheel shaft 10 is clamped the relative motionless state that is in by the wheel body 11 of directional wheel 7 with wheel cap 12, when directional wheel 7 is wanted shifted laterally, two rubber rings 14 of side wheels 8 outer rims and ground friction, force bearing 13 Internal and external cycles to relatively rotate, thereby realized the multidirectional motion of directional wheel 7.
As shown in Figure 2, it is front chassis 15 and rear chassis 19 that common integral rigidity chassis is divided into two parts, and two parts are connected by the hinge that bearing system constitutes, and between front chassis 15 and rear chassis 19, leave certain clearance, be convenient to the relative movable of front chassis 15 and rear chassis 19, make the chassis have a rotary freedom parallel to the ground, front chassis 15, rear chassis 19 is by chassis axle bearing 16, chassis axle 18 and 61902-2Z bearing 17 are linked together, and have realized having the chassis structure design of hinges by relatively rotating of chassis axle and chassis axle bearing.Work as ground, the position injustice that platform moves through like this, a projection (or depression) is arranged, and when just having a wheel to press this projection (or depression), because the gravity on chassis self, its excess-three wheel will inevitably be realized landing simultaneously around the rotation of hinge by two parts before and after the chassis under the effect of gravity.Its centre bearer system comprises bearing seat 16, chassis axle 18 and bearing 17, and bearing seat 16 can rotate with respect to chassis axle 18 by bearing 17; Bearing seat 16 is fixed on the front chassis 15; One end of chassis axle 18 then is fixed on the rear chassis 19.
It shown in Fig. 1 the front elevation of home intelligent mobile platform of the present invention.Wherein four directional wheels 7 are by 90.On chassis 4, four jiaos of chassis 4 are provided with four drive wheels uniformly at intervals, and each drive wheel all is to be driven by planetary reduction gear by independent DC servo motor; The rotating shaft of described four drive wheels is distributed in (see figure 2) on two orthogonal straight lines.Comprise that the power unit of storage battery 3 and power supply 6 and sensing device directly are fixed on the body supports frame on the chassis 4, controller 1 is installed in the top of mobile platform by body supports frame 2 and intermediate hsg 5.Usually in order to reduce the flat-bed center of gravity, parts that quality is heavier such as power supply unit grade be installed in by under the position, and parts such as controller, the sensing device etc. of lighter weight are installed in by last position.
Like this, the effect of this home intelligent mobile platform device is: 1. this intelligent family moving platform can be realized comprehensive moving, run into obstacle or be subjected to space constraint when moving inconvenience when platform moves, the flat reaction fast and flexible need not commutation and just can move towards any direction; 2. guarantee platform on scraggly road surface when mobile, four wheels can land simultaneously, makes control more accurate.
Above-listed detailed description is to specify at a possible embodiments of the present utility model, only this embodiment is not in order to limit claim of the present invention, allly do not break away from equivalent embodiment or the change that the present utility model skill spirit is done, for example, equivalence embodiment Deng changing all should be contained in the claim of this case.
Claims (4)
1. home intelligent mobile platform device, this home intelligent mobile platform device comprises that chassis (4), the body supports frame, power unit, sensing device, controller (1) and the smart machine that are made of stay bearing plate (2) and intermediate hsg (5) constitute, wherein the body supports frame is fixed on the chassis (4), power unit, sensing device, controller (1) and smart machine all are fixed on the body supports frame, sensing device, smart machine all are connected on the controller and connect power unit, it is characterized in that:
Described chassis is made of front chassis (15) and rear chassis (19) and is linked together by chassis axle bearing (16), chassis axle (18) and bearing (17), leaves gap (20) between front chassis (15) and the rear chassis (19).
2. according to the home intelligent mobile platform device described in the claim 1, it is characterized in that: described chassis (4) have four drive wheels, each drive wheel all has a DC servo motor, four drive wheels place the chassis around, and the rotating shaft of four drive wheels is distributed on two orthogonal straight lines.
3. according to the home intelligent mobile platform device described in the claim 2, it is characterized in that: described drive wheel adopts directional wheel, the first-class a plurality of side wheels (8) that are arranged at intervals with in the wheel body edge of this directional wheel, the rotation axis of each side wheels (8) all with the axis normal of directional wheel.
4. according to the home intelligent mobile platform device described in the claim 3, it is characterized in that: each side wheels (8) has side direction wheel shaft (10), bearing (13) and two rubber rings (14), side direction wheel shaft (10) is arranged on the inside of bearing (13), and two rubber rings (14) then are fixed to the outside of bearing (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2006201394919U CN201080211Y (en) | 2006-12-29 | 2006-12-29 | Household intelligence moving platform device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2006201394919U CN201080211Y (en) | 2006-12-29 | 2006-12-29 | Household intelligence moving platform device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201080211Y true CN201080211Y (en) | 2008-07-02 |
Family
ID=39613891
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2006201394919U Expired - Fee Related CN201080211Y (en) | 2006-12-29 | 2006-12-29 | Household intelligence moving platform device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201080211Y (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102528792A (en) * | 2012-01-16 | 2012-07-04 | 河南科技大学 | Search and rescue robot utilizing SMS (Short Messaging Service) for communication |
| CN103523113A (en) * | 2013-10-30 | 2014-01-22 | 中国人民解放军军事交通学院 | Universal forklift chassis and universal forklift |
| CN103991492A (en) * | 2014-06-11 | 2014-08-20 | 重庆大学 | Intelligent trolley based on Kinect technology |
| CN104493830A (en) * | 2014-12-26 | 2015-04-08 | 浙江工业大学 | Supermarket service robot |
-
2006
- 2006-12-29 CN CNU2006201394919U patent/CN201080211Y/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102528792A (en) * | 2012-01-16 | 2012-07-04 | 河南科技大学 | Search and rescue robot utilizing SMS (Short Messaging Service) for communication |
| CN103523113A (en) * | 2013-10-30 | 2014-01-22 | 中国人民解放军军事交通学院 | Universal forklift chassis and universal forklift |
| CN103991492A (en) * | 2014-06-11 | 2014-08-20 | 重庆大学 | Intelligent trolley based on Kinect technology |
| CN104493830A (en) * | 2014-12-26 | 2015-04-08 | 浙江工业大学 | Supermarket service robot |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |