CN202071916U - Wheel type robot base mechanism - Google Patents
Wheel type robot base mechanism Download PDFInfo
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- CN202071916U CN202071916U CN2011201728925U CN201120172892U CN202071916U CN 202071916 U CN202071916 U CN 202071916U CN 2011201728925 U CN2011201728925 U CN 2011201728925U CN 201120172892 U CN201120172892 U CN 201120172892U CN 202071916 U CN202071916 U CN 202071916U
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- wheel
- angular contact
- adaptor
- belt wheel
- rotating shaft
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Abstract
The utility model discloses an in-situ steering wheel type robot base mechanism. The base mechanism comprises a machine frame assembly, a gear train assembly and a steering and moving assembly. The gear train assembly is installed under the machine frame assembly, the steering and moving assembly is used for driving steering and horizontal moving of the gear train assembly. When a carrier is installed on a machine frame, movement of the gear train assembly is transmitted by transition pieces, and driving force of the transition pieces is realized by cooperating two motors in the steering and moving assembly, four synchronous belts and eight belt wheels, thereby ensuring stable steering and moving of the machine frame. The steering of the base mechanism is completed by individual driving of a first stepping motor, and the moving of the base mechanism is completed by the individual driving of a second stepping motor. The base mechanism is capable of realizing steering and moving functions only through the two motors and enabling two movements to be fully decoupled and is easy to control.
Description
Technical field
The utility model relates to a kind of base of using on the robot that is applicable to, more particularly says, is meant a kind of wheeled robot base mechanism that can pivot stud.
Background technology
Wheeled robot steering hardware commonly used mainly contains five kinds: Ai Keman turns to, differential steering, axle-articulated type turn to, four-wheel steering and car body-articulated type turn to.It is most typical method that Ai Keman turns to, and it is by back-wheel drive, and front-wheel is driven and turn to, and connects by Ai Ke Man U to make front-wheel realize synchronous deflection between two wheel flutters, similar with vehicle steering principle such as automobile.The both sides wheel individual drive of differential steering realizes turning to of different radii by changing the both sides wheel velocity.It is that the rotation of the axle by connecting the both sides wheel realizes turning to that axle-articulated type turns to, and turns to differently with Ai Keman, and wheel itself does not rotate around longitudinal axis.In the four-wheel steering mode, each wheel can be realized comprehensive the turning to of 360 degree of any one wheel by an independently steer motor driving.Car body-articulated type turns to mostly to be made up of two sections car bodies, connects by S. A. between two sections car bodies, and all there is the fixing wheel of direction every section car body both sides, realizes turning to by means of the rotation of certain section car body with respect to another section car body.
Each its characteristics: Ai Keman of above-mentioned five kinds of steering modes turns to the simplest, be easy to realize, but Turning radius is bigger; Differential steering can be realized less Turning radius, but any moment all have two motors to work at the same time, power consumption is bigger, and the synchronism of two motor movements is had relatively high expectations when driving car body and move with it; Axle-articulated type turns to needs two wheels of wheel shaft drive to move on a large scale, and power consumption is bigger, in addition the car body profile is also had certain limitation, interferes to avoid wheel and car body; Four-wheel steering is the most flexible, turns to but each wheel all needs a steer motor to drive, and cost and complexity are all high than alternate manner; It is similar that car body-articulated type steering feature and axle-articulated type turn to, and difference is that whole section car body all needs to rotate, and generally is used in the working environment of specific (special) requirements.
Summary of the invention
The purpose of this utility model is the problem that exists at existing wheeled robot platform, provides a kind of and controls simple, power consumption and cost is low, can realize the wheeled robot base mechanism that no-radius original place 360 degree turn to.This base mechanism under the cooperation between band, belt wheel, the adaptor synchronously, can be realized turning to and moving of wheeled robot by controlling two motor positive and inverses respectively separately.
A kind of wheeled robot base mechanism of the present utility model, this base mechanism include housing assembly (1), wheel module, turn to and (3) three parts of moving assembly;
Housing assembly (1) includes A adaptor (11), B adaptor (12), C adaptor (13), D adaptor (14), steering shaft (15) and quadrangle frame (16);
The middle part of quadrangle frame (16) is provided with center member (165), and this center member (165) is provided with central through hole (165a) and motor shaft via hole (165b); E angular contact bearing (152) is installed in the described central through hole (165a), and this E angular contact bearing (152) is socketed on the steering shaft (15); The motor shaft that described motor shaft via hole (165b) is used for first stepping motor (34) passes, and the casing of first stepping motor (34) then is fixedly mounted on the center member (165);
Four angles of quadrangle frame (16) are provided with A through hole (161), B through hole (162), C through hole (163) and D through hole (164); Wherein:
The C angular contact bearing (132) of C adaptor (13) is installed in the described A through hole (161), and this C angular contact bearing (132) is socketed in the C rotating shaft (131);
The A angular contact bearing (112) of A adaptor (11) is installed in the described B through hole (162), and this A angular contact bearing (112) is socketed in the A rotating shaft (111);
The B angular contact bearing (122) of B adaptor (12) is installed in the described C through hole (163), and this B angular contact bearing (122) is socketed in the B rotating shaft (121);
The D angular contact bearing (142) of D adaptor (14) is installed in the described D through hole (164), and this D angular contact bearing (142) is socketed in the D rotating shaft (141);
A adaptor (11) is made up of A rotating shaft (111), A angular contact bearing (112) and A nut (113), one end socket of A angular contact bearing (112) and A rotating shaft (111), the other end of A rotating shaft (111) is realized and the captiveing joint of A cardan wheel (21a) wheel carrier (21) by A nut (113);
B adaptor (12) is made up of B rotating shaft (121), B angular contact bearing (122) and B nut (123), one end socket of B angular contact bearing (122) and B rotating shaft (121), the other end of B rotating shaft (121) is realized and the captiveing joint of B cardan wheel (22a) wheel carrier (22) by B nut (123);
C adaptor (13) is made up of C rotating shaft (131), C angular contact bearing (132) and C nut (133), C angular contact bearing (132) and C rotating shaft (131) socket, the other end of C rotating shaft (131) realizes and the captiveing joint of the wheel carrier (21) of A directional wheel (21a) by C nut (133), be socketed with on the end of C rotating shaft (131) turn to and moving assembly (3) in G belt wheel (47);
D adaptor (14) is made up of D rotating shaft (141), D angular contact bearing (142) and D nut (143), D angular contact bearing (142) and D rotating shaft (141) socket, the other end of D rotating shaft (141) realizes and the captiveing joint of the wheel carrier (24) of B directional wheel (24a) by D nut (143), be socketed with on the end of D rotating shaft (141) turn to and moving assembly (3) in H belt wheel (48);
The wheel module includes A cardan wheel (21a), B cardan wheel (22a), A directional wheel (23a), B directional wheel (24a) and power directional wheel (25); A cardan wheel (21a) is connected with A adaptor (11), and B cardan wheel (22a) is connected with B adaptor (12), and A directional wheel (23a) is connected with C adaptor (13), and B directional wheel (24a) is connected with D adaptor (14);
Described power directional wheel (25) is made up of U-shaped wheel carrier (251), power shaft (252), wheel (253), A ball bearing of main shaft (254) and B ball bearing of main shaft (255), wheel (253) is installed on the power shaft (252), one end of power shaft (252) is socketed with A ball bearing of main shaft (254), the other end of power shaft (252) is socketed with B ball bearing of main shaft (255), this A ball bearing of main shaft (254) is installed in the through hole of a support arm of U-shaped wheel carrier (251), and this B ball bearing of main shaft (255) is installed in the through hole of another support arm of U-shaped wheel carrier (251);
Turn to and moving assembly (3) includes adapter plate (37), motor bracing frame (38), first stepping motor (34), second stepping motor (35), A and turns to synchronous band (31), B to turn to synchronous band (32), C to turn to synchronous band (33), movement synchronous belt (36), A belt wheel (41), B belt wheel (42), C belt wheel (43), D belt wheel (44), E belt wheel (45), F belt wheel (46), G belt wheel (47) and H belt wheel (48);
Adapter plate (37) is provided with flat board (371) and sleeve (372), and dull and stereotyped (371) are used to install motor bracing frame (38), are socketed with the upper end of steering shaft (15) in the sleeve (372);
Be connected with A belt wheel (41) on the output shaft of first stepping motor (34);
Be connected with F belt wheel (46) on the output shaft of second stepping motor (35);
Be socketed with A between A belt wheel (41) and the B belt wheel (42) and turn to synchronous band (31);
Be socketed with movement synchronous belt (36) between C belt wheel (43) and the F belt wheel (46);
Be socketed with C between D belt wheel (44) and the H belt wheel (48) and turn to synchronous band (33);
Be socketed with B between E belt wheel (45) and the G belt wheel (47) and turn to synchronous band (32);
E belt wheel (45), D belt wheel (44) and B belt wheel (42) are installed on the steering shaft (15) from top to bottom.
The utility model wheeled robot base mechanism, A directional wheel (23a), B directional wheel (24a), A cardan wheel (21a), B cardan wheel (22a) that its quadrangle frame (16) bottom is provided with, A directional wheel (23a) is the diagonal angle layout with B directional wheel (24a), and A cardan wheel (21a) is the diagonal angle layout with B cardan wheel (22a).
The utility model wheeled robot base mechanism, its power directional wheel (25) are arranged on the cross central line of quadrangle frame (16) bottom and the intersection point place of longitudinal centerline.
The advantage of wheeled robot base mechanism of the present utility model is:
1. turning to by the first stepping motor independent drive of base mechanism finished, the moving by second stepping motor of base mechanism
Independent drive is finished, and this base mechanism only both can have been realized turning to and locomotive function with two motors, can make two kinds again
It is full decoupled to move, and controls very simple.
2. the utility model design-calculated base mechanism is finished a kind of action only needs a machine operation, low in energy consumption.
3. the utility model design-calculated base mechanism can realize that no-radius 360 degree in original place turn to, but the path of motion accuracy control,
Effectively reduced the dead angle of working space.
4. the transmission parts are belt wheel, are with synchronously in the utility model design-calculated base mechanism, are gauge member, to motion
Synchronism and process and assemble precision do not have specific (special) requirements, and cost is low.
Description of drawings
Fig. 1 is the constructional drawing of the utility model wheeled robot base mechanism.
Figure 1A is another visual angle constructional drawing of the utility model wheeled robot base mechanism.
Fig. 2 is the constructional drawing of the utility model mid frame assembly.
Fig. 2 A is the exploded drawings of the utility model mid frame assembly.
Fig. 3 is the constructional drawing that turns in the utility model with moving assembly.
Fig. 3 A is the assembly drowing that turns in the utility model with moving assembly and power directional wheel.
Fig. 3 B is the constructional drawing of the utility model motor bracing frame.
Fig. 3 C is the exploded drawings of the utility model power directional wheel.
Fig. 4 is the scheme drawing of the utility model wheel module when turning to translation.
Among the figure: 1. housing assembly 11.A adaptor 111.A rotating shaft 112.A angular contact bearing
113.A nut 12.B adaptor 121.B rotating shaft 122.B angular contact bearing
123.B nut 13.C adaptor 131.C rotating shaft 132.C angular contact bearing
133.C nut 14.D adaptor 141.D rotating shaft 142.D angular contact bearing
143.D nut 15. steering shaft 152.E angular contact bearings 16. quadrangle frames
161.A through hole 162.B through hole 163.C through hole 64.D through hole 165. center members
165a. central through hole 165b. motor shaft via hole 21a.A cardan wheel 21.A cardan wheel wheel carrier
22a.B cardan wheel 22.B cardan wheel wheel carrier 23a.A directional wheel 23.A directional wheel wheel carrier
24a.B directional wheel 24.B directional wheel wheel carrier
25. power directional wheel 251.U shape wheel carrier 252. power shafts 253. wheel 254.A ball bearing of main shafts
255.B ball bearing of main shaft 3. turns to moving assembly 31.A and turns to synchronous band
Be with 34. first stepping motors synchronously 32.B turn to synchronous band 33.C to turn to
35. second stepping motor, 36. movement synchronous belts, 37. adapter plates, 371. flat boards
372. sleeve 38. motor bracing frame 41.A belt wheel 42.B belt wheel 43.C belt wheels
44.D belt wheel 45.E belt wheel 46.F belt wheel 47.G belt wheel 48.H belt wheel
The specific embodiment
Below in conjunction with accompanying drawing the utility model is described in further detail.
Shown in Fig. 1, Figure 1A, the wheeled robot base mechanism of a kind of pivot stud of the present utility model, this base mechanism includes housing assembly 1, wheel module, turns to and 3 three parts of moving assembly, the wheel module is installed in the below of housing assembly 1, and robot carrier is installed in the top of housing assembly 1.Turn to moving assembly 3 and place robot carrier inside.
(1) housing assembly 1
Shown in Fig. 2, Fig. 2 A, housing assembly 1 includes A adaptor 11, B adaptor 12, C adaptor 13, D adaptor 14, steering shaft 15 and quadrangle frame 16.
The middle part of quadrangle frame 16 is provided with center member 165, and this center member 165 is provided with central through hole 165a and motor shaft via hole 165b; In the described central through hole 165a E angular contact bearing 152 is installed, this E angular contact bearing 152 is socketed on the steering shaft 15; The motor shaft that described motor shaft via hole 165b is used for first stepping motor 34 passes, and the casing of first stepping motor 34 then is fixedly mounted on the center member 165;
Four angles of quadrangle frame 16 are provided with A through hole 161, B through hole 162, C through hole 163 and D through hole 164; Wherein:
The C angular contact bearing 132 of C adaptor 13 is installed in the described A through hole 161, and this C angular contact bearing 132 is socketed in the C rotating shaft 131;
The A angular contact bearing 112 of A adaptor 11 is installed in the described B through hole 162, and this A angular contact bearing 112 is socketed in the A rotating shaft 111;
The B angular contact bearing 122 of B adaptor 12 is installed, this B angular contact axle in the described C through hole 163
122 are connected in the B rotating shaft 121;
The D angular contact bearing 142 of D adaptor 14 is installed in the described D through hole 164, and this D angular contact bearing 142 is socketed in the D rotating shaft 141.
A adaptor 11 is made up of A rotating shaft 111, A angular contact bearing 112 and A nut 113, A angular contact bearing 112 is installed in the B through hole 162 of quadrangle frame 16, and an end socket of A angular contact bearing 112 and A rotating shaft 111, the other end of A rotating shaft 111 is realized captiveing joint with the wheel carrier 21 of A cardan wheel 21a by A nut 113.
In the utility model, the upper end of steering shaft 15 is installed in the sleeve 372 of adapter plate 37, and the lower end of steering shaft 15 is installed on the U-shaped wheel carrier 251, and steering shaft 15 is socketed with E belt wheel 45, D belt wheel 44, E angular contact bearing 152 and B belt wheel 42 from top to bottom.Socket E angular contact bearing 152 on the steering shaft 15, and E angular contact bearing 152 is installed on the center member 165 of quadrangle frame 16; Turning under the driving of first stepping motor 34, steering shaft 15 is under A turns to synchronously with 31 transmission and rotate, the one side that steering shaft 15 rotates makes B turn to be with synchronously 32, C turns to and is with 33 to keep rotating synchronously synchronously, captiveing joint of rotating shaft in belt wheel and the adaptor, under the condition that rotating shaft is rotated, realize the divertical motion of directional wheel; Steering shaft 15 rotates makes itself and the captiveing joint of U-shaped wheel carrier 251 on the other hand, and after drive U-shaped wheel carrier 251 turned over an angle (being deflection angle β), wheel 253 was also followed and turned over equal angular, thereby has realized that base turns to.
In the utility model, the adaptor that adopts angular contact bearing and rotating shaft to constitute realizes that frame is motionless, and the carrier that is installed in the frame top is moved with the wheel module, has guaranteed the stationarity of robot carrier on base mechanism.
(2) wheel module
Shown in Fig. 1, Figure 1A, Fig. 3 C, the wheel module includes A cardan wheel 21a, B cardan wheel 22a, A directional wheel 23a, B directional wheel 24a and power directional wheel 25;
Shown in Fig. 3 C, described power directional wheel 25 is made of U-shaped wheel carrier 251, power shaft 252, wheel 253, A ball bearing of main shaft 254 and B ball bearing of main shaft 255, wheel 253 is installed on the power shaft 252, also be equipped with on the power shaft 252 turn to moving assembly 3 in C belt wheel 43, the two ends of power shaft 252 are socketed with A ball bearing of main shaft 254 and B ball bearing of main shaft 255 respectively, this A ball bearing of main shaft 254 is installed in the through hole of a support arm of U-shaped wheel carrier 251, and this B ball bearing of main shaft 255 is installed in the through hole of another support arm of U-shaped wheel carrier 251.
A cardan wheel 21a passes through 113 fixed installations of A nut by its wheel carrier 21 (being A cardan wheel wheel carrier 21) and the A rotating shaft 111 in the A adaptor 11.In other words, A cardan wheel 21a is connected with A adaptor 11.
A directional wheel 23a passes through 133 fixed installations of C nut by its wheel carrier 23 (being A directional wheel wheel carrier 23) and the C rotating shaft 131 in the C adaptor 13.In other words, A directional wheel 23a is connected with C adaptor 13.
B directional wheel 24a passes through 143 fixed installations of D nut by its wheel carrier 24 (being B directional wheel wheel carrier 24) and the D rotating shaft 141 in the D adaptor 14.In other words, B directional wheel 24a is connected with D adaptor 14.
Referring to shown in Figure 4, track when base mechanism moves such as AC line and BD line are provided with A cardan wheel 21a and B directional wheel 24a on the AC line, A directional wheel 23a and B cardan wheel 22a are set on the BD line.The intersection point of base mechanism cross central line and longitudinal centerline (central axis that is steering shaft 15 is crossed this intersection point) locates to be provided with power directional wheel 25.
The utility model is provided with two directional wheels (A directional wheel 23a, B directional wheel 24a) and two cardan wheels (A cardan wheel 21a, B cardan wheel 22a) in quadrangle frame 16 bottoms, and two directional wheels and two cardan wheels adopt the diagonal angle layout type, adopt the wheel of diagonal angle layout different structure to help turning under the driving at first stepping motor 34, the wheel that only needs to drive a diagonal angle turns over certain angle, the wheel at another diagonal angle is followed, and has just realized turning to of base.
The utility model is provided with power directional wheel 25 in quadrangle frame 16 bottom centre (intersection point of cross central line and longitudinal centerline), and on the power shaft 252 of power directional wheel 25 socket C belt wheel 43, be socketed with movement synchronous belt 36 on the C belt wheel 43, under the driving of second stepping motor 35, movement synchronous belt 36 transmits this and moves propulsive effort, thereby power directional wheel 25 is moved after turning to finishing again.
In the utility model, A cardan wheel 21a, B cardan wheel 22a, A directional wheel 23a, B directional wheel 24a and C directional wheel 25a are that product is bought in the outside.Directional wheel and cardan wheel can select for use the really rich castor Co., Ltd in Fushan City, Guangdong Province to produce product, as the directional wheel and the cardan wheel of 2-4646-925 model.
(3) turn to and moving assembly 3
Shown in Fig. 3, Fig. 3 A, turn to moving assembly 3 and include an adapter plate 37, motor bracing frame 38, two stepping motors, four band and eight belt wheels synchronously.
Shown in Fig. 3 B, adapter plate 37 is provided with flat board 371 and sleeve 372, and dull and stereotyped 371 are used to install motor bracing frame 38, are socketed with the upper end of steering shaft 15 in the sleeve 372.
Two stepping motors are meant first stepping motor 34 and second stepping motor 35; First stepping motor 34 is used to realize the driving that turns to of base, and second stepping motor 35 is used to realize the mobile driving of base.The casing of second stepping motor 35 is fixed on the motor bracing frame 38, and motor bracing frame 38 is installed on the adapter plate 37.
Article four, synchronously band be meant A turn to be with 31 synchronously, B turn to be with 32 synchronously, C turn to be with 33 synchronously, movement synchronous belt 36.
Eight belt wheels are meant A belt wheel 41, B belt wheel 42, C belt wheel 43, D belt wheel 44, E belt wheel 45, F belt wheel 46, G belt wheel 47 and H belt wheel 48.
Be connected with A belt wheel 41 on the output shaft of first stepping motor 34.
Be connected with F belt wheel 46 on the output shaft of second stepping motor 35.
Being socketed with A between A belt wheel 41 and the B belt wheel 42 turns to and is with 31 synchronously.
Be socketed with movement synchronous belt 36 between C belt wheel 43 and the F belt wheel 46.
Being socketed with C between D belt wheel 44 and the H belt wheel 48 turns to and is with 33 synchronously.
Being socketed with B between E belt wheel 45 and the G belt wheel 47 turns to and is with 32 synchronously.
In the utility model, first stepping motor 34 is identical with second stepping motor, 35 horsepower outputs.The 42BYGH4604 two-phase 6 line 12V stepping motors of selecting for use changzhou flourish generation Electrical Appliances Co., Ltd to produce.
Referring to shown in Figure 4, but the movement relation of the wheeled robot base mechanism of a kind of pivot stud of the present utility model is:
(a) the turning under the driving of first stepping motor 34,41 rotations of A belt wheel cause by A and turn to synchronous band
31 drive 42 rotations of B belt wheel;
(b) B belt wheel 42, D belt wheel 44 and E belt wheel 45 are connected on the steering shaft 15, captive joint with adapter plate 37 in the upper end of steering shaft 15, captive joint with power wheel support 251 in the lower end of steering shaft 15; Therefore, A turn to be with synchronously 31 drive under, adapter plate 37, power wheel support 251, B belt wheel 42, D belt wheel 44 and E belt wheel 45 are done motion in the same way, and steering angle is identical; A turns to the angle that turns over 31 drive steering shafts 15 synchronously to be designated as deflection angle β;
(c) D belt wheel 44 rotation causes to turn to by B and is with 32 to drive 47 rotations of G belt wheels synchronously; Wheel carrier 23 generations that the rotation of G belt wheel 47 drives A directional wheel 23a turn to, and the angle that its A directional wheel 23a turns over equals β;
(d) E belt wheel 45 rotation causes to turn to by C and is with 33 to drive 48 rotations of H belt wheels synchronously; Wheel carrier 24 generations that the rotation of H belt wheel 48 drives B directional wheel 24a turn to, and the angle that its B directional wheel 24a turns over equals β;
(e) rotation of steering shaft 15 drive power wheel support 251 and adapter plate 37 produce and turn to;
(f) after turning to of step (c), step (d) and step (e) reaches required angle, start second stepping motor 35 and enter mobile the driving;
(g) under the mobile driving of second stepping motor 35,46 rotations of F belt wheel cause by movement synchronous belt 36 and drive 43 rotations of C belt wheel; The power shaft 252 that the rotation of C belt wheel 43 drives power directional wheel 25 rotates, and then realizes that wheel 253 moves.
(h) under the cooperation of second stepping motor 35 and movement synchronous belt 36, A cardan wheel 21a, the B cardan wheel 22a in the wheel module keeps moving in the same way with A directional wheel 23a, B directional wheel 24a.
In the utility model, the rotation of first stepping motor, 34 machine shafts is delivered to after the steering shaft 15, by C turn to be with synchronously 33 and B turn to and be with 32 to be delivered to respectively on H belt wheel 48 and the G belt wheel 47 synchronously, drive B directional wheel support 24 and turn over identical angle, avoid quadrangle frame 16 to rotate because of the relative moment of torsion that first stepping motor 34 produces with A directional wheel support 23.The sense of motion that turn to synchronously with 31 at first stepping motor 34, A, B turns to synchronously with 32, C has changed quadrangle frame 16 under turning to synchronously with 33 concerted action.Second stepping motor 35 is fixed on the motor bracing frame 38, and motor bracing frame 38 is connected with steering shaft 15, is fixed with F belt wheel 46 on second stepping motor, 35 output shafts, and steering shaft 15 is a tubular structure, and endoporus is a through hole; Shifting axle 254 is connected with wheel 25a, is fixed with C belt wheel 43 on the shifting axle.Movement synchronous belt 36 1 ends that pass steering shaft 15 endoporus are connected on the F belt wheel 46, the other end is connected on the C belt wheel 43, under the rotating drive of second stepping motor 35 rotation of motor is being transferred on the power shaft 252, the motion of power shaft 252 causes wheel 253 to move forward and backward, thereby the wheeled robot base is produced to move forward and backward, two directional wheels and two cardan wheel generations are driven, have guaranteed steadily moving of base.
Though the utility model above is being illustrated according to preferred embodiment, do not represent the utility model to be confined to above-mentioned structure.For example, can adopt modes such as chain, steel rope to replace synchronous band transmitting movement; Can adopt power wheel to remain unchanged, a directional wheel and two cardan wheels are arranged all around, being evenly distributed on the power wheel position is structure on the circumference in the center of circle, as long as keep frame to move steadily, and frame does not rotate and gets final product when turning to.
Claims (3)
1. the wheeled robot base mechanism of a pivot stud is characterized in that: this base mechanism includes housing assembly (1), wheel module, turns to and (3) three parts of moving assembly;
Housing assembly (1) includes A adaptor (11), B adaptor (12), C adaptor (13), D adaptor (14), steering shaft (15) and quadrangle frame (16);
The middle part of quadrangle frame (16) is provided with center member (165), and this center member (165) is provided with central through hole (165a) and motor shaft via hole (165b); E angular contact bearing (152) is installed in the described central through hole (165a), and this E angular contact bearing (152) is socketed on the steering shaft (15); The motor shaft that described motor shaft via hole (165b) is used for first stepping motor (34) passes, and the casing of first stepping motor (34) then is fixedly mounted on the center member (165);
Four angles of quadrangle frame (16) are provided with A through hole (161), B through hole (162), C through hole (163) and D through hole (164); Wherein:
The C angular contact bearing (132) of C adaptor (13) is installed in the described A through hole (161), and this C angular contact bearing (132) is socketed in the C rotating shaft (131);
The A angular contact bearing (112) of A adaptor (11) is installed in the described B through hole (162), and this A angular contact bearing (112) is socketed in the A rotating shaft (111);
The B angular contact bearing (122) of B adaptor (12) is installed in the described C through hole (163), and this B angular contact bearing (122) is socketed in the B rotating shaft (121);
The D angular contact bearing (142) of D adaptor (14) is installed in the described D through hole (164), and this D angular contact bearing (142) is socketed in the D rotating shaft (141);
A adaptor (11) is made up of A rotating shaft (111), A angular contact bearing (112) and A nut (113), one end socket of A angular contact bearing (112) and A rotating shaft (111), the other end of A rotating shaft (111) is realized and the captiveing joint of A cardan wheel (21a) wheel carrier (21) by A nut (113);
B adaptor (12) is made up of B rotating shaft (121), B angular contact bearing (122) and B nut (123), one end socket of B angular contact bearing (122) and B rotating shaft (121), the other end of B rotating shaft (121) is realized and the captiveing joint of B cardan wheel (22a) wheel carrier (22) by B nut (123);
C adaptor (13) is made up of C rotating shaft (131), C angular contact bearing (132) and C nut (133), C angular contact bearing (132) and C rotating shaft (131) socket, the other end of C rotating shaft (131) realizes and the captiveing joint of the wheel carrier (21) of A directional wheel (21a) by C nut (133), be socketed with on the end of C rotating shaft (131) turn to and moving assembly (3) in G belt wheel (47);
D adaptor (14) is made up of D rotating shaft (141), D angular contact bearing (142) and D nut (143), D angular contact bearing (142) and D rotating shaft (141) socket, the other end of D rotating shaft (141) realizes and the captiveing joint of the wheel carrier (24) of B directional wheel (24a) by D nut (143), be socketed with on the end of D rotating shaft (141) turn to and moving assembly (3) in H belt wheel (48);
The wheel module includes A cardan wheel (21a), B cardan wheel (22a), A directional wheel (23a), B directional wheel (24a) and power directional wheel (25); A cardan wheel (21a) is connected with A adaptor (11), and B cardan wheel (22a) is connected with B adaptor (12), and A directional wheel (23a) is connected with C adaptor (13), and B directional wheel (24a) is connected with D adaptor (14);
Described power directional wheel (25) is made up of U-shaped wheel carrier (251), power shaft (252), wheel (253), A ball bearing of main shaft (254) and B ball bearing of main shaft (255), wheel (253) is installed on the power shaft (252), one end of power shaft (252) is socketed with A ball bearing of main shaft (254), the other end of power shaft (252) is socketed with B ball bearing of main shaft (255), this A ball bearing of main shaft (254) is installed in the through hole of a support arm of U-shaped wheel carrier (251), and this B ball bearing of main shaft (255) is installed in the through hole of another support arm of U-shaped wheel carrier (251);
Turn to and moving assembly (3) includes adapter plate (37), motor bracing frame (38), first stepping motor (34), second stepping motor (35), A and turns to synchronous band (31), B to turn to synchronous band (32), C to turn to synchronous band (33), movement synchronous belt (36), A belt wheel (41), B belt wheel (42), C belt wheel (43), D belt wheel (44), E belt wheel (45), F belt wheel (46), G belt wheel (47) and H belt wheel (48);
Adapter plate (37) is provided with flat board (371) and sleeve (372), and dull and stereotyped (371) are used to install motor bracing frame (38), are socketed with the upper end of steering shaft (15) in the sleeve (372);
Be connected with A belt wheel (41) on the output shaft of first stepping motor (34);
Be connected with F belt wheel (46) on the output shaft of second stepping motor (35);
Be socketed with A between A belt wheel (41) and the B belt wheel (42) and turn to synchronous band (31);
Be socketed with movement synchronous belt (36) between C belt wheel (43) and the F belt wheel (46);
Be socketed with C between D belt wheel (44) and the H belt wheel (48) and turn to synchronous band (33);
Be socketed with B between E belt wheel (45) and the G belt wheel (47) and turn to synchronous band (32);
E belt wheel (45), D belt wheel (44) and B belt wheel (42) are installed on the steering shaft (15) from top to bottom.
2. the wheeled robot base mechanism of pivot stud according to claim 1, it is characterized in that: A directional wheel (23a), B directional wheel (24a), A cardan wheel (21a), B cardan wheel (22a) that quadrangle frame (16) bottom is provided with, A directional wheel (23a) is the diagonal angle layout with B directional wheel (24a), and A cardan wheel (21a) is the diagonal angle layout with B cardan wheel (22a).
3. the wheeled robot base mechanism of pivot stud according to claim 1 is characterized in that: power directional wheel (25) is arranged on the cross central line of quadrangle frame (16) bottom and the intersection point place of longitudinal centerline.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201728925U CN202071916U (en) | 2011-05-27 | 2011-05-27 | Wheel type robot base mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201728925U CN202071916U (en) | 2011-05-27 | 2011-05-27 | Wheel type robot base mechanism |
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| CN202071916U true CN202071916U (en) | 2011-12-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2011201728925U Expired - Fee Related CN202071916U (en) | 2011-05-27 | 2011-05-27 | Wheel type robot base mechanism |
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| CN (1) | CN202071916U (en) |
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| CN102346482A (en) * | 2011-05-27 | 2012-02-08 | 北京英传奇科技有限公司 | In-situ steering wheel type robot base mechanism |
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| CN105015638A (en) * | 2015-07-08 | 2015-11-04 | 上海大学 | Vehicle type robot capable of walking in S curve based on crank regulating swinging arm |
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| CN105015638A (en) * | 2015-07-08 | 2015-11-04 | 上海大学 | Vehicle type robot capable of walking in S curve based on crank regulating swinging arm |
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| CN108725622A (en) * | 2018-07-13 | 2018-11-02 | 中国工程物理研究院化工材料研究所 | A kind of novel omnidirectional's traveling robot |
| CN108725622B (en) * | 2018-07-13 | 2023-08-22 | 中国工程物理研究院化工材料研究所 | Omnidirectional traveling robot |
| CN110843951A (en) * | 2019-12-10 | 2020-02-28 | 东莞市蓝企信息科技有限公司 | Parking mechanism of minimally invasive surgery robot |
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Granted publication date: 20111214 Termination date: 20130527 |