CN203300129U - Wheel type mobile teaching robot - Google Patents
Wheel type mobile teaching robot Download PDFInfo
- Publication number
- CN203300129U CN203300129U CN2013203620806U CN201320362080U CN203300129U CN 203300129 U CN203300129 U CN 203300129U CN 2013203620806 U CN2013203620806 U CN 2013203620806U CN 201320362080 U CN201320362080 U CN 201320362080U CN 203300129 U CN203300129 U CN 203300129U
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- wheel
- bearing
- driving wheel
- supporting roller
- turbine
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Abstract
The utility model discloses a wheel type mobile teaching robot. The wheel type mobile teaching robot comprises a vehicle frame, a driving wheel mechanism and a follower wheel mechanism, wherein the driving wheel mechanism comprises a motor base seat, a motor, a motor base seat baffle plate, a shaft coupling, a turbine, a driving wheel shaft, a worm, a key, a driving wheel bearing, a bearing end cap and a driving wheel, the follower wheel mechanism comprises a potentiometer pad, a follower wheel longitudinal shaft bearing, a potentiometer, a follower wheel longitudinal shaft, a follower wheel transverse shaft, a follower wheel bearing bracket, a follower wheel, a ring washer and an optical coded disc, the worm is engaged with the turbine through the driving wheel bearing mounted on a driving wheel support, the turbine and the driving wheel are mounted on the driving wheel shaft, the turbine and the driving wheel shaft are connected through the key, the driving wheel shaft is supported by a driving wheel shaft support bearing, and an outer ring of the driving wheel shaft support bearing is fixed in the driving wheel support. The wheel type mobile teaching robot is especially applicable to dismounting and assembly in practical teaching, enables students to clearly understand an inner motion structure at a glance and is applicable to teaching.
Description
Technical field
The utility model relates to a kind of robot, relates in particular to a kind of wheel type mobile teaching robot.
Background technology
along with development late 1960s of science and technology has been developed a autonomous mobile robot in the Stanford Research Institute of the U.S., thereby started the research to robot motion mechanism aspect, along with the application of computer technology and the development of sensor technology, promoted the mobile robot to learn the appearance of multiple research direction, new climax has appearred again in mobile robot's research, in China in order to cultivate the professional aspect robot, many colleges and universities have offered the relevant course of some robots, but the reasearch funds of some colleges and universities have determined that the relatively costly mobile robot of price of impossible purchase is for student's dismounting study, therefore design and develop a kind of inner structure simple and clear, the wheeled mobile robot that is fit to teaching is significant, also there is no now the wheeled robot of this suitable teaching use.
The utility model content
, in order to solve the existing weak point of above-mentioned technology, the utility model discloses a kind of wheel type mobile teaching robot.
In order to solve above technical matters, the technical solution adopted in the utility model is: a kind of wheel type mobile teaching robot comprises vehicle frame, drive wheel mechanism and supporting roller mechanism; Drive wheel mechanism comprises motor base, motor, motor base baffle plate, shaft coupling, turbine, live axle, worm screw, key, driving wheel bearing, bearing (ball) cover and adhesion wheel;
Supporting roller mechanism comprises pot pad, supporting roller longitudinal axis bearing, pot, the supporting roller longitudinal axis, supporting roller transverse axis, supporting roller bearing bracket stand, with motor car wheel, ring washer and optical code disk;
Worm screw is meshed with turbine by the driving wheel bearing that is installed on the driving wheel support; Turbine and adhesion wheel all are contained on live axle, and turbine is connected by key with live axle;
Live axle is supported by the live axle spring bearing, and the outer ring of live axle spring bearing is fixed in the driving wheel support.
The output terminal of motor is connected with worm screw and is screwed by shaft coupling; The external part of live axle connects adhesion wheel, and adhesion wheel is positioned at the inboard of motor.
Supporting roller longitudinal axis bearing is two, separates location by axle sleeve between two supporting roller longitudinal axis bearings;
The supporting roller bearing bracket stand is installed on vehicle frame by bolt; A back-up ring is installed below supporting roller longitudinal axis bearing; On the supporting roller transverse axis, optical code disk is installed.
The utility model is particularly suitable for dismounting, combination in field research, the student can open-and-shut understanding internal motion structure, very suitable the teaching.
Description of drawings
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail.
Fig. 1 is drive wheel mechanism schematic diagram of the present utility model.
Fig. 2 is supporting roller structural scheme of mechanism of the present utility model.
Fig. 3 is lateral plan of the present utility model.
Fig. 4 is one-piece construction schematic diagram of the present utility model.
In figure: 1, motor base; 2, motor; 3, motor base baffle plate; 4, shaft coupling; 5, turbine; 6, live axle; 7, worm screw; 8, driving wheel support; 9, key; 10, driving wheel bearing; 11, bearing (ball) cover; 12, adhesion wheel; 13, pot pad; 14, supporting roller longitudinal axis bearing shim; 15, axle sleeve; 16, supporting roller longitudinal axis bearing; 17, pot; 18, the supporting roller longitudinal axis; 19, supporting roller bearing bracket stand; 20, servo-actuated wheel stand; 21, with motor car wheel; 22, nut; 23, supporting roller transverse axis bearing; 24, back-up ring; 25, supporting roller transverse axis; 26, optical code disk; 27, screw; 28, live axle spring bearing; 29, vehicle frame; 30, accumulator.
Embodiment
As Figure 1-Figure 4, the utility model comprises vehicle frame 29, drive wheel mechanism and supporting roller mechanism.
Drive wheel mechanism comprises motor base 1, motor 2, motor base baffle plate 3, shaft coupling 4, turbine 5, live axle 6, worm screw 7, key 9, driving wheel bearing 10, bearing (ball) cover 11, adhesion wheel 12; Supporting roller mechanism comprises pot pad 13, supporting roller longitudinal axis bearing 16, pot 17, the supporting roller longitudinal axis 18, supporting roller bearing bracket stand 19, with motor car wheel 21, ring washer 24, supporting roller transverse axis 25 optical code disks 26.
drive wheel mechanism is to be driven by the motor 2 that is fixed on motor base 1, motor 2 is supported and is used for avoiding the damage of the vibrations of motor 2 generations to motor by motor base baffle plate 3, the output terminal of motor 2 is connected and is screwed with worm screw 7 by shaft coupling 4, worm screw 7 carries out the turbine and worm transmission to form turbine and worm reduction gear reduction gear ratio is i=20 by being installed on driving wheel bearing 10 and turbine 5 correct engagement on driving wheel support 8, turbine 5 is contained on same live axle 6 with adhesion wheel 12, turbine 5 is connected by key 9 with live axle 6, live axle 6 is supported by the live axle spring bearing 28 in Fig. 3, live axle spring bearing 28 outer rings are fixed in driving wheel support 8 equally, the external part of live axle 6 connects adhesion wheel 12, adhesion wheel 12 is positioned at the inboard of motor 2 by inner installation, the movement that cooperatively interacts as wheeled robot by each mechanism provides power.
as shown in Figure 2, do not produce driving moment with motor car wheel 21, it only plays a supportive role, it can freely rotate when robot turns to. and pot pad 13 is used for supporting pot 17 and plays simultaneously protection supporting roller longitudinal axis bearing 16 and avoid the external part of the supporting roller longitudinal axis 18 to rotate the effect that the people is produced harm, the rotation of the supporting roller longitudinal axis 18 realizes by two supporting roller longitudinal axis bearings 16 that are placed horizontally in supporting roller bearing bracket stand 19, separate location by axle sleeve 15 between two supporting roller longitudinal axis bearings 16, supporting roller bearing bracket stand 19 is installed on vehicle frame 29 by bolt, sealing and the wearing and tearing of considering that supporting roller longitudinal axis bearing 16 of bottom prevent the damage of the course of work to bearing 16 at back-up ring 24 of its lower installation, be bolted together with motor car wheel 21 and supporting roller transverse axis 25, realize rotation with motor car wheel 21 by being fixed in live axle spring bearing 28 on servo-actuated wheel stand 20, 24 pairs of supporting roller transverse axis bearings 23 of back-up ring position, be fixed on supporting roller transverse axis 25 optical code disk 26 use screws 27 are installed on supporting roller transverse axis 25 for the rotating speed of measuring supporting roller.
As shown in Figure 3, requirement when vehicle frame 29 requires to meet car body operation and acceleration from strength and stiffness, simultaneously again can not be too heavy, thereby employing duralumin is as the material of vehicle frame. the thick duralumin plate of 20mm is housed on it, drive the partitioned portion of body with robot as robot car. simultaneously robot drives body and also is fixed on duralumin plate, under plate, space is equipped with driving directly relevant or parts such as electric power storage 30 that weight is larger and is beneficial to Design of Mechanical Structure and reduces body gravity, and center of gravity is more low more to be conducive to resist and to tumble.It is power source that robot adopts 48V direct current industrial storage battery 30, and accumulator 30 power supplies should reach specified ampere hour value, generally should guarantee at the experiment more than 8 hours and need of work.Should carry out periodic charge to accumulator, to extend the life-span of accumulator, and guarantee the robot reliably working.
Figure of description:
Above-mentioned embodiment is not to restriction of the present utility model; the utility model also is not limited in above-mentioned giving an example; those skilled in the art make in the technical solution of the utility model scope variation, remodeling, interpolation or replacement, also all belong to protection domain of the present utility model.
Claims (4)
1. a wheel type mobile teaching robot, comprise vehicle frame, drive wheel mechanism and supporting roller mechanism; It is characterized in that: described drive wheel mechanism comprises motor base, motor, motor base baffle plate, shaft coupling, turbine, live axle, worm screw, key, driving wheel bearing, bearing (ball) cover and adhesion wheel;
Described supporting roller mechanism comprises pot pad, supporting roller longitudinal axis bearing, pot, the supporting roller longitudinal axis, supporting roller transverse axis, supporting roller bearing bracket stand, with motor car wheel, ring washer and optical code disk;
Described worm screw is meshed with turbine by the driving wheel bearing that is installed on the driving wheel support; Turbine and adhesion wheel all are contained on live axle, and turbine is connected by key with live axle;
Described live axle is supported by the live axle spring bearing, and the outer ring of live axle spring bearing is fixed in the driving wheel support.
2. wheel type mobile teaching robot according to claim 1, it is characterized in that: the output terminal of described motor is connected with worm screw and is screwed by shaft coupling; The external part of described live axle connects adhesion wheel, and adhesion wheel is positioned at the inboard of motor.
3. wheel type mobile teaching robot according to claim 1, it is characterized in that: described supporting roller longitudinal axis bearing is two, separates location by axle sleeve between two supporting roller longitudinal axis bearings.
4. wheel type mobile teaching robot according to claim 1, it is characterized in that: described supporting roller bearing bracket stand is installed on vehicle frame by bolt; A back-up ring is installed below described supporting roller longitudinal axis bearing; On described supporting roller transverse axis, optical code disk is installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013203620806U CN203300129U (en) | 2013-06-24 | 2013-06-24 | Wheel type mobile teaching robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013203620806U CN203300129U (en) | 2013-06-24 | 2013-06-24 | Wheel type mobile teaching robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203300129U true CN203300129U (en) | 2013-11-20 |
Family
ID=49576125
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013203620806U Expired - Fee Related CN203300129U (en) | 2013-06-24 | 2013-06-24 | Wheel type mobile teaching robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203300129U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105788438A (en) * | 2016-03-07 | 2016-07-20 | 三峡大学 | S-type walking obstacle-crossing teaching trolley based on gravitational potential energy and operating method thereof |
-
2013
- 2013-06-24 CN CN2013203620806U patent/CN203300129U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105788438A (en) * | 2016-03-07 | 2016-07-20 | 三峡大学 | S-type walking obstacle-crossing teaching trolley based on gravitational potential energy and operating method thereof |
| CN105788438B (en) * | 2016-03-07 | 2018-03-16 | 三峡大学 | A kind of S types moving obstacle-crossing teaching dolly and operating method based on gravitional force |
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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: 20131120 Termination date: 20140624 |
|
| EXPY | Termination of patent right or utility model |