CN203601427U - Universal mobile robot - Google Patents
Universal mobile robot Download PDFInfo
- Publication number
- CN203601427U CN203601427U CN201320735047.3U CN201320735047U CN203601427U CN 203601427 U CN203601427 U CN 203601427U CN 201320735047 U CN201320735047 U CN 201320735047U CN 203601427 U CN203601427 U CN 203601427U
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- installation shaft
- gear
- wheel
- bevel gear
- differential
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Abstract
The utility model discloses a universal mobile robot. Existing mobile robots are poor in adaptive capacity for a complex terrain and do not nearly have the independent operation capacity. The universal mobile robot comprises an upper car body, a lower car body, a driving system and universal wheels. The driving system comprises a worm wheel, worm wheel installation shafts, driving straight gears, driven straight gears, universal wheel installation shafts, a driving bevel gear, a driven bevel gear, a driven bevel gear installation shaft, a differential mechanism, a main driving motor, a worm, a differential mechanism driving motor and a driving bevel gear installation shaft. The two ends of each worm wheel installation shaft are respectively and fixedly provided with one driving straight gear. Each driving straight gear is meshed with one driven straight gear. Each universal wheel installation shaft is movably sleeved with one driven straight gear. One end of each universal wheel installation shaft is fixedly connected with one universal wheel. According to the universal mobile robot, translational motion inside the horizontal plane, circular motion around a certain point and rotation motion perpendicular to the horizontal plane can be achieved.
Description
Technical field
The utility model belongs to Robotics field, relates to a kind of mobile robot, is specifically related to a kind of full decoupled direction movement robot of three degree of freedom that has.
Background technology
The development of Robotics is constantly expanded the field of robot application and scope, not only in the industries such as military affairs, industry, agricultural, medical treatment, service, space exploration, be widely used, and also obtained extensive application in the particular surroundings of space flight, hydrospace detection, danger or inclement condition.Along with the expansion of robot application scope, people wish that robot can complete more complicated task.Mobile robot is as the workplatform of carrying, and its exercise performance has a direct impact the effect that completes of task.Carry out the mobile robot of special dutys for some, require its ability can not only under narrow terrain environment with flexible motion, also require it to there is the closely ability of path of motion arbitrarily of tracking.Mobile robot is relatively poor for changeable complex-terrain adaptive capacity at present, and how not to possess independently working ability.In conjunction with mobile robot's mission requirements, there are three degree of freedom (two translation freedoms in horizontal surface in the urgent need to designing one, rotational freedom in vertical plane) full decoupled robot, make it autonomous adapt to complex-terrain environment, and complete independently detection mission and realize certain operation function.
Summary of the invention
The purpose of this utility model is for the deficiencies in the prior art, a kind of direction movement robot is provided, this mobile robot can by drive system realize the motion of translation of any direction in horizontal surface, perpendicular to horizontal surface rotatablely move and horizontal surface in around the circular movement of certain point.
The utility model comprises upper body, lower body, drive system and cardan wheel.Described upper body and lower body are casing, and upper body is arranged on lower body, and both removably connect.Drive system whole installation is in upper body and lower body inside, and cardan wheel is arranged on upper body and lower body outside, the rotation of drive systems cardan wheel.
Described drive system comprises worm gear, worm gear installation shaft, active straight gear, driven straight gear, cardan wheel installation shaft, drive bevel gear, driven wheel of differential, driven wheel of differential installation shaft, diff, main drive motor, worm screw, diff drive motor and drive bevel gear installation shaft; The output shaft of described two main drive motors is all fixedly connected with a worm screw, and every worm screw engages with a worm gear, and each worm gear is fixed on a worm gear installation shaft middle part; Two worm gear installation shaft horizontal vertical arrange, and the two ends of every worm gear installation shaft are all fixed with an initiatively straight gear, and each active straight gear engages with a driven straight gear, and each driven straight gear kink is in a cardan wheel installation shaft; Adjacent two cardan wheel installation shaft vertically arrange, and one end of every cardan wheel installation shaft is fixedly connected with the center of a cardan wheel.The output shaft of described diff drive motor is fixedly connected with drive bevel gear installation shaft, drive bevel gear is fixed in drive bevel gear installation shaft, and engage with four driven wheel of differentials that are uniformly distributed along the circumference simultaneously, each driven wheel of differential is fixed on one end of a driven wheel of differential installation shaft, the other end of every driven wheel of differential installation shaft all connects by a diff with the other end of corresponding cardan wheel installation shaft, and the differential casing of each diff is fixed with corresponding driven straight gear.Described worm screw, worm gear installation shaft, cardan wheel installation shaft, drive bevel gear installation shaft and driven wheel of differential installation shaft are all connected with lower body bearing.
Described diff comprises differential casing, input shaft, planet axis, input finishing bevel gear cuter, bevel planet gear and output bevel gear; Described input shaft is all connected with case bearing with planet axis; Described input finishing bevel gear cuter is fixed on input shaft, and two bevel planet gears are fixed on the two ends of planet axis; One side of two bevel planet gears all engages with input finishing bevel gear cuter, and opposite side all engages with output bevel gear.It is external that the input shaft of each diff stretches out differential gear box, and be connected with a driven wheel of differential installation shaft by power-transfer clutch, and every cardan wheel installation shaft stretches in the differential casing of corresponding diff, and fixes with output bevel gear.
Described cardan wheel comprises two wheel bodys, roller and supports; Each wheel body is uniformly distributed along the circumference and is provided with multiple rollers, and each roller is connected with the bracket bearing being fixed on wheel body by a roller installation shaft.Two described wheel bodys are fixedly connected with, and roller on roller and another wheel body on a wheel body is along the circumferential direction alternately arranged successively.
The beneficial effects of the utility model:
1, the utility model can by drive system realize the motion of translation of any direction in horizontal surface, perpendicular to horizontal surface rotatablely move and horizontal surface in around the circular movement of certain point;
2, in the utility model, the design of cardan wheel has guaranteed the uninterrupted contact on wheel and ground effectively to reduce body oscillating of the present utility model, increases the adhesion value on wheel ground, strengthens its obstacle performance;
3, in the utility model, the transmission device of drive system adopts worm and gear, spur gear pair and bevel-gear pair, and simple in structure, easy for installation, accurate positioning, precision is high, action is fast, has good alerting ability and comformability, and work efficiency is high.
4, the utility model adopts three propulsions source (motor), respectively three degree of freedom is carried out to control operation, and easy and simple to handle, drive efficiency is high, and vehicle body space degree of utilization is high;
5, the utility model is widely used, except can using in the industries such as military affairs, industry, agricultural, medical treatment, service, space exploration, also can in the particular surroundings of space flight, hydrospace detection, danger or inclement condition, be used as mobile carrier detection, also can be used as the experiment porch of education sector.
Accompanying drawing explanation
Fig. 1 is integral structure block diagram of the present utility model;
Fig. 2 is that the utility model is removed the structural perspective after upper body;
Fig. 3 is kinematic sketch of mechanism of the present utility model;
Fig. 4 is the front elevation of Fig. 3;
Fig. 5 is the structural representation of diff in the utility model;
Fig. 6 is the structural perspective of cardan wheel in the utility model.
The specific embodiment
Below in conjunction with drawings and Examples, the utility model is described in further detail.
As illustrated in fig. 1 and 2, direction movement robot comprises upper body 1, lower body 2, drive system and cardan wheel 3.Upper body 1 and lower body 2 are casing, and upper body 1 is arranged on lower body 2, and both removably connect.Drive system whole installation is in upper body 1 and lower body 2 inside, and cardan wheel 3 is arranged on upper body 1 and lower body 2 outsides, and drive systems cardan wheel 3 rotates.
As shown in Fig. 2,3 and 4, drive system comprises worm gear 4, worm gear installation shaft 5, active straight gear 6, driven straight gear 7, cardan wheel installation shaft 8, drive bevel gear 9, driven wheel of differential 10, driven wheel of differential installation shaft 11, diff 12, main drive motor 13, worm screw 14, diff drive motor 15 and drive bevel gear installation shaft 16; The output shaft of two main drive motors 13 is all fixedly connected with a worm screw 14, and every worm screw 14 engages with a worm gear 4, and each worm gear 4 is fixed on worm gear installation shaft 5 middle parts; Two worm gear installation shaft 5 horizontal vertical settings, the two ends of every worm gear installation shaft 5 are all fixed with an initiatively straight gear 6, and each active straight gear 6 engages with a driven straight gear 7, and each driven straight gear 7 kinks are in a cardan wheel installation shaft 8; Adjacent two cardan wheel installation shaft 8 vertically arrange, and one end of every cardan wheel installation shaft 8 is fixedly connected with the center of a cardan wheel 3.The output shaft of diff drive motor 15 is fixedly connected with drive bevel gear installation shaft 16, drive bevel gear 9 is fixed in drive bevel gear installation shaft 16, and engage with four driven wheel of differentials 10 that are uniformly distributed along the circumference simultaneously, each driven wheel of differential 10 is fixed on one end of a driven wheel of differential installation shaft 11, the other end of every driven wheel of differential installation shaft 11 all connects by a diff 12 with the other end of corresponding cardan wheel installation shaft 8, and the differential casing 12-1 of each diff is fixing with corresponding driven straight gear 7.Worm screw 14, worm gear installation shaft 5, cardan wheel installation shaft 8, drive bevel gear installation shaft 16 and driven wheel of differential installation shaft 11 are all connected with lower body 2 bearings.
As shown in Fig. 2,3 and 5, diff 12 comprises differential casing 12-1, input shaft 12-2, planet axis 12-3, input finishing bevel gear cuter 12-4, bevel planet gear 12-5 and output bevel gear 12-6; Input shaft 12-2 is all connected with differential casing 12-1 bearing with planet axis 12-3; It is upper that input finishing bevel gear cuter 12-4 is fixed on input shaft 12-2, and two bevel planet gear 12-5 are fixed on the two ends of planet axis 12-3; A side of two bevel planet gear 12-5 all engages with input finishing bevel gear cuter 12-4, and opposite side all engages with output bevel gear 12-6.The input shaft 12-2 of each diff 12 stretches out outside differential casing 12-1, and be connected with a driven wheel of differential installation shaft 11 by power-transfer clutch, every cardan wheel installation shaft 8 stretches in the differential casing 12-1 of corresponding diff 12, and fixes with output bevel gear 12-4.
As shown in Figure 6, cardan wheel 3 comprises two wheel body 3-1, roller 3-2 and support 3-3; Each wheel body 3-1 is uniformly distributed along the circumference and is provided with four roller 3-2, and each roller 3-2 is connected with the support 3-3 bearing being fixed on wheel body by a roller installation shaft 3-4.Two wheel body 3-1 are fixedly connected with, and roller 3-2 on roller 3-2 and another wheel body 3-1 on a wheel body 3-1 along the circumferential direction alternately arranges successively.
The principle that this direction movement robot is realized each motion is as follows:
The motion of translation of any direction in horizontal surface: diff drive motor 15 is not opened, two main drive motors 13 are used in conjunction with, give corresponding worm screw 14 by transmission of power respectively, worm gear 4 engages transmission of power to worm gear installation shaft 5 with worm screw 14, worm gear installation shaft 5 drives the active straight gear 6 at its two ends to rotate, initiatively straight gear 6 and driven straight gear 7 engage and through diff 12, power are reached to cardan wheel 3, two pairs of cardan wheels 3 are because different rotating speeds can synthesize any direction, the speed of size, and then this direction movement robot realization is done translation motion along the direction setting arbitrarily.Now all power-transfer clutchs are in released state.
Perpendicular to rotatablely moving of horizontal surface: two main drive motors 13 are not all opened, diff drive motor 15 is opened, transmission of power is to drive bevel gear installation shaft 16, drive bevel gear installation shaft 16 drives drive bevel gear 9 to rotate, drive bevel gear 9 engages with four driven wheel of differentials 10 simultaneously, and then power is reached to four driven wheel of differential installation shaft 11, the rotating in same direction that power passes to 3, four cardan wheels 3 of cardan wheel through power-transfer clutch and diff 12 is converted to this direction movement robot vertical rotatablely moving in horizontal surface.Now all power-transfer clutchs are in linkage status.
In horizontal surface around the circular movement of certain point: two main drive motors 13 and diff drive motor 15 are used in conjunction with, and robot is in horizontal surface when translation, and diff drive motor 15 is redistributed power by the clutch state of controlling four power-transfer clutchs; When the suffered load of a pair of cardan wheel 3 is different, between these two cardan wheels 3, have velocity contrast, and then this direction movement robot does the circular movement around certain point.
The roller 3-2 of each wheel body 3-1 of this direction movement robot is uniformly distributed along the circumference, and the roller 3-2 on two wheel body 3-1 along the circumferential direction alternately arranges successively, any point that cardan wheel 3 is contacted with ground is constant in the distance to cardan wheel installation shaft 8 in the time that cardan wheel installation shaft 8 is rotated.
That this direction movement robot has is simple to operate, volume is little, the feature of compact conformation, can by drive system realize the motion of translation of any direction in horizontal surface, perpendicular to horizontal surface rotatablely move and horizontal surface in around the circular movement of certain point, to meet it at narrow, crowded occasion free-moving needs neatly, and have the ability to follow the tracks of closely path of motion arbitrarily, there is independently working ability.
Claims (3)
1. direction movement robot, comprises upper body, lower body, drive system and cardan wheel, it is characterized in that:
Described upper body and lower body are casing, and upper body is arranged on lower body, and both removably connect; Drive system whole installation is in upper body and lower body inside, and cardan wheel is arranged on upper body and lower body outside, the rotation of drive systems cardan wheel;
Described drive system comprises worm gear, worm gear installation shaft, active straight gear, driven straight gear, cardan wheel installation shaft, drive bevel gear, driven wheel of differential, driven wheel of differential installation shaft, diff, main drive motor, worm screw, diff drive motor and drive bevel gear installation shaft; The output shaft of described two main drive motors is all fixedly connected with a worm screw, and every worm screw engages with a worm gear, and each worm gear is fixed on a worm gear installation shaft middle part; Two worm gear installation shaft horizontal vertical arrange, and the two ends of every worm gear installation shaft are all fixed with an initiatively straight gear, and each active straight gear engages with a driven straight gear, and each driven straight gear kink is in a cardan wheel installation shaft; Adjacent two cardan wheel installation shaft vertically arrange, and one end of every cardan wheel installation shaft is fixedly connected with the center of a cardan wheel; The output shaft of described diff drive motor is fixedly connected with drive bevel gear installation shaft, drive bevel gear is fixed in drive bevel gear installation shaft, and engage with four driven wheel of differentials that are uniformly distributed along the circumference simultaneously, each driven wheel of differential is fixed on one end of a driven wheel of differential installation shaft, the other end of every driven wheel of differential installation shaft all connects by a diff with the other end of corresponding cardan wheel installation shaft, and the differential casing of each diff is fixed with corresponding driven straight gear; Described worm screw, worm gear installation shaft, cardan wheel installation shaft, drive bevel gear installation shaft and driven wheel of differential installation shaft are all connected with lower body bearing.
2. direction movement robot according to claim 1, is characterized in that: described diff comprises differential casing, input shaft, planet axis, input finishing bevel gear cuter, bevel planet gear and output bevel gear; Described input shaft is all connected with case bearing with planet axis; Described input finishing bevel gear cuter is fixed on input shaft, and two bevel planet gears are fixed on the two ends of planet axis; One side of two bevel planet gears all engages with input finishing bevel gear cuter, and opposite side all engages with output bevel gear; It is external that the input shaft of each diff stretches out differential gear box, and be connected with a driven wheel of differential installation shaft by power-transfer clutch, and every cardan wheel installation shaft stretches in the differential casing of corresponding diff, and fixes with output bevel gear.
3. direction movement robot according to claim 1, is characterized in that: described cardan wheel comprises two wheel bodys, roller and supports; Each wheel body is uniformly distributed along the circumference and is provided with multiple rollers, and each roller is connected with the bracket bearing being fixed on wheel body by a roller installation shaft; Two described wheel bodys are fixedly connected with, and roller on roller and another wheel body on a wheel body is along the circumferential direction alternately arranged successively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320735047.3U CN203601427U (en) | 2013-11-19 | 2013-11-19 | Universal mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320735047.3U CN203601427U (en) | 2013-11-19 | 2013-11-19 | Universal mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203601427U true CN203601427U (en) | 2014-05-21 |
Family
ID=50714119
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320735047.3U Withdrawn - After Issue CN203601427U (en) | 2013-11-19 | 2013-11-19 | Universal mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203601427U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103600787A (en) * | 2013-11-19 | 2014-02-26 | 浙江理工大学 | Universal mobile robot |
| CN110202484A (en) * | 2019-07-04 | 2019-09-06 | 姜涛 | Ball blast cambered surface wall-climbing device |
-
2013
- 2013-11-19 CN CN201320735047.3U patent/CN203601427U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103600787A (en) * | 2013-11-19 | 2014-02-26 | 浙江理工大学 | Universal mobile robot |
| CN103600787B (en) * | 2013-11-19 | 2015-11-18 | 浙江理工大学 | A kind of Universal mobile robot |
| CN110202484A (en) * | 2019-07-04 | 2019-09-06 | 姜涛 | Ball blast cambered surface wall-climbing device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20140521 Effective date of abandoning: 20151118 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20140521 Effective date of abandoning: 20151118 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |