CN202542387U - Steering synchronization system of multi-wheel system mobile robot - Google Patents
Steering synchronization system of multi-wheel system mobile robot Download PDFInfo
- Publication number
- CN202542387U CN202542387U CN 201220155256 CN201220155256U CN202542387U CN 202542387 U CN202542387 U CN 202542387U CN 201220155256 CN201220155256 CN 201220155256 CN 201220155256 U CN201220155256 U CN 201220155256U CN 202542387 U CN202542387 U CN 202542387U
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- drive wheel
- wheel bracket
- steering
- miniature gears
- mobile robot
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Abstract
The utility model relates to a steering synchronization system of a multi-wheel system mobile robot, which comprises a stand and a drive wheel bracket, wherein drive wheels are arranged on the drive wheel bracket, a horizontal rotary support is arranged between the drive wheel bracket and the stand and is provided with an inner ring and an outer ring which can relatively rotate, the upper end face of the outer ring is connected with and fixed on the stand through a connecting plate, the outer ring is provided with a fixed big gear, the lower end face of the inner ring is connected with and fixed to the drive wheel bracket through a connecting plate, a steering motor is arranged on the drive wheel bracket, a steering small gear meshed with the fixed large gear is arranged on an output shaft of the steering motor, a rotary coder is arranged on the drive wheel bracket, and the end part of a rotating shaft of the rotary coder is connected with a corner small gear meshed with the fixed big gear. Coordination control of the drive wheels in a steering process is realized through a control system, therefore, actions such as direct movement, 8-shaped movement, transverse movement, oblique movement and in situ rotation of a heavy load mobile robot are realized without steering of a guide rail, and a movement trail is high in automation degree; and the steering synchronization system can be adapted to different working environments.
Description
Technical field
The utility model relates to a kind of heavily loaded mobile robot, and particularly a kind of many trains mobile robot turns to synchro system.
Background technology
Heavy duty is moved transfer robot (AGV) and is mainly used in harbour and industries such as metallurgy, construction machinery and equipment, military project; Mainly be to be main with navigate modes such as laser, electromagnetism, magnetic dots; Owing to need to realize the conveying of heavily loaded goods; Generally all adopt many trains system, be used widely in the enterprise of American-European, Japan and Korea S.
At present that large-scale material is carried demand automatically is huge for China's metallurgy and construction machinery industry, but China does not also possess the ability to develop independently that heavily (overweight) carried automatic carrying machine working device people at present; The fast-developing counterweight (overweight) of China's ultra-large type construction machinery and equipment carries automatic carrying machine working device people demand and increases fast; Weight (overweight) year automatic carrying machine working device people demand that industries such as shipbuilding, bridge construction, port logistics are worked down to outdoor environment is also vigorous; Above-mentioned equipment is that the representative type robotization is produced and on-the-spot large-scale working equipment; Characteristics with big load, big inertia, and the degree of freedom height can satisfy the outdoor work environment requirement.The application that China moves transfer robot at present also is in the starting stage, adopts passive turning to, and needs to be provided with and the corresponding guide track of actual working environment, and degree of freedom is poor, can't satisfy outdoor work environment.
The utility model content
The technical matters that the utility model will solve provides and a kind ofly turns to degree of freedom many trains mobile robot high, that can adapt to different working environments to turn to synchro system.
For solving the problems of the technologies described above; The technical scheme of the utility model is: a kind of many trains mobile robot turns to synchro system; Comprise frame, independent steering gear, drive wheel bracket; On the said drive wheel bracket drive wheel is installed, the same axle mounting of drive motor and drive wheel is provided with independent steering gear between said drive wheel bracket and the frame; It is characterized in that: said independent steering gear comprise horizontal rotation supporting, connecting panel, fixedly big gear wheel, steer motor, turn to miniature gears, rotary encoder and corner miniature gears; Said horizontal rotation supporting has relatively turnable inner ring and outer ring, and the upper surface of outer ring is connected fixing with frame through connecting panel, and the outside face of outer ring is equipped with fixedly big gear wheel; The lower surface of inner ring is connected fixing with drive wheel bracket, steer motor is installed on the drive wheel bracket, is equipped with on the output shaft of steer motor and turns to miniature gears, turns to miniature gears and fixedly big gear wheel engagement; Rotary encoder also is installed, rotary encoder and the same axle mounting of corner miniature gears, corner miniature gears and fixedly big gear wheel engagement on the drive wheel bracket.
Description of drawings
Fig. 1 turns to the synchro system front view for many trains mobile robot in the utility model.
Fig. 2 turns to the synchro system birds-eye view for many trains mobile robot in the utility model.
Wherein: 1, drive wheel bracket 2, drive wheel 3, drive motor 4, horizontal rotation supporting 5, connecting panel 6, fixedly big gear wheel 7, steer motor 8, turn to miniature gears 9, rotary encoder 10, corner miniature gears 11 frames.
The specific embodiment
Like Fig. 1, shown in 2; Many trains mobile robot of the present invention turns to synchro system; Comprise frame 11, independent steering gear, drive wheel 2 and fixing drive wheel bracket 1 thereof; Drive wheel 2 is installed on the drive wheel bracket 1, is coaxially installed with drive motor 3 on the drive wheel, between drive wheel bracket 1 and the frame 11 independent steering gear is set; Comprise horizontal rotation supporting 4, connecting panel 5, fixedly big gear wheel 6, steer motor 7, turn to miniature gears 8, rotary encoder 9 and corner miniature gears 10; Concrete structure is: said horizontal rotation supporting 4 has relatively turnable inner ring and outer ring, and the upper surface of outer ring is connected fixing with frame 11 through connecting panel 5, and the outside face of outer ring is equipped with fixedly big gear wheel 6; The lower surface of inner ring is connected fixing with drive wheel bracket 1, steer motor 7 is installed on the drive wheel bracket, is equipped with on the output shaft of steer motor and turns to miniature gears 8, turns to miniature gears 8 and fixedly big gear wheel 6 engagements; Rotary encoder 9 also is installed on the drive wheel bracket 1, and with corner miniature gears 10 same axle mountings, the angle of rotation is carried out record, make to safeguard, change convenient, wherein corner miniature gears 10 and fixedly big gear wheel 6 engagements.
Principle of work: by the co-operative control of each drive wheel in the control system realization steering procedure, each drive wheel is established with the certain predetermined angle, sent instruction and make steer motor 7 work according to concrete applying working condition; Turn to miniature gears 8 around fixedly big gear wheel 6 rotations; Make drive wheel bracket 1 and drive wheel 2 mounted thereto along with rotating together because frame is with fixing, then corner miniature gears 10 along with the rotation that turns to miniature gears 8 around fixedly big gear wheel 6 rotations; Rotary encoder 9 opens the record anglec of rotation; And issue Vehicle Controller drive wheel institute gyration, when the angle of obtaining when coder reached consistent with the control system predetermined angle, the drive wheel direction was locked.Said drive motor is the low-voltage three-phase ac induction motor.
Realize the co-operative control of each drive wheel in the steering procedure by control system; Vehicle-borne control system is according to the actual condition set angle; Thereby realize heavily loaded mobile robot's craspedodrome, the Eight characters, walk crosswise, action such as diagonal and cast; Need not the guide rail guiding, motion track is spent height automatically, can adapt to different working environments.
Although illustrated and described embodiments of the invention; For those of ordinary skill in the art; Be appreciated that under the situation that does not break away from principle of the present invention and spirit and can carry out multiple variation, modification, replacement and modification that scope of the present invention is accompanying claims and be equal to and limit to these embodiment.
Claims (2)
1. the train mobile robot turns to synchro system more than one kind; Comprise frame (11), independent steering gear, drive wheel bracket (1); (1) is equipped with drive wheel (2) on the said drive wheel bracket; The coaxial drive motor (3) that is installed with of drive wheel; Between said drive wheel bracket (1) and the frame (11) independent steering gear is set, it is characterized in that: said independent steering gear comprise horizontal rotation supporting (4), connecting panel (5), fixedly big gear wheel (6), steer motor (7), turn to miniature gears (8), rotary encoder (9) and corner miniature gears (10), said horizontal rotation supports (4) and has relatively turnable inner ring and outer ring; The upper surface of outer ring is connected fixing with frame (11) through connecting panel (5), the outside face of outer ring is equipped with fixedly big gear wheel (6); The lower surface of inner ring is connected fixing with drive wheel bracket (1), steer motor (7) is installed on the drive wheel bracket, is equipped with on the output shaft of steer motor and turns to miniature gears (8), turns to miniature gears (8) and fixedly big gear wheel (6) engagement; Rotary encoder (9) also is installed, rotary encoder and the same axle mounting of corner miniature gears (10), corner miniature gears (10) and fixedly big gear wheel (6) engagement on the drive wheel bracket (1).
2. many trains mobile robot according to claim 1 turns to synchro system, it is characterized in that: said drive motor (3) is the low-voltage three-phase ac induction motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220155256 CN202542387U (en) | 2012-04-13 | 2012-04-13 | Steering synchronization system of multi-wheel system mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220155256 CN202542387U (en) | 2012-04-13 | 2012-04-13 | Steering synchronization system of multi-wheel system mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202542387U true CN202542387U (en) | 2012-11-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220155256 Expired - Fee Related CN202542387U (en) | 2012-04-13 | 2012-04-13 | Steering synchronization system of multi-wheel system mobile robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN202542387U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103895695A (en) * | 2014-03-24 | 2014-07-02 | 广州市远能物流自动化设备科技有限公司 | Helm driving device |
| CN107539738A (en) * | 2017-09-30 | 2018-01-05 | 卢毅然 | A kind of split cooperating type vehicle transfer equipment |
| KR20190025532A (en) * | 2016-01-05 | 2019-03-11 | 첸 센타이 | Power Wheel and Disc Type Omnidirectional Power Steering System |
| TWI659285B (en) | 2017-11-30 | 2019-05-11 | 財團法人金屬工業研究發展中心 | Power wheel and cooperative carrying method thereof |
| CN110329392A (en) * | 2019-06-24 | 2019-10-15 | 太原理工大学 | A kind of novel parking AGV trolley |
| US10589940B2 (en) | 2017-12-05 | 2020-03-17 | Metal Industries Research & Development Centre | Power wheel and cooperative carrying method thereof |
-
2012
- 2012-04-13 CN CN 201220155256 patent/CN202542387U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103895695A (en) * | 2014-03-24 | 2014-07-02 | 广州市远能物流自动化设备科技有限公司 | Helm driving device |
| KR20190025532A (en) * | 2016-01-05 | 2019-03-11 | 첸 센타이 | Power Wheel and Disc Type Omnidirectional Power Steering System |
| KR102080215B1 (en) * | 2016-01-05 | 2020-02-21 | 첸 센타이 | Motorized wheel and disc type omnidirectional power steering system |
| CN107539738A (en) * | 2017-09-30 | 2018-01-05 | 卢毅然 | A kind of split cooperating type vehicle transfer equipment |
| TWI659285B (en) | 2017-11-30 | 2019-05-11 | 財團法人金屬工業研究發展中心 | Power wheel and cooperative carrying method thereof |
| US10589940B2 (en) | 2017-12-05 | 2020-03-17 | Metal Industries Research & Development Centre | Power wheel and cooperative carrying method thereof |
| CN110329392A (en) * | 2019-06-24 | 2019-10-15 | 太原理工大学 | A kind of novel parking AGV trolley |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121121 Termination date: 20150413 |
|
| EXPY | Termination of patent right or utility model |