CN203637974U - Differential gear chassis integrated with all-direction wheel - Google Patents
Differential gear chassis integrated with all-direction wheel Download PDFInfo
- Publication number
- CN203637974U CN203637974U CN201320797203.9U CN201320797203U CN203637974U CN 203637974 U CN203637974 U CN 203637974U CN 201320797203 U CN201320797203 U CN 201320797203U CN 203637974 U CN203637974 U CN 203637974U
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- wheel
- chassis
- servomotor
- auxiliary
- chassis overhang
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Abstract
The utility model discloses a differential gear chassis integrated with an all-direction wheel. The differential gear chassis comprises a chassis support, two front wheels arranged on two sides of a front end of the chassis support, rear driving wheel mechanisms on two sides of the rear side of the chassis support, and an auxiliary turning mechanism. The auxiliary turning mechanism comprises a cylinder, an auxiliary all-direction wheel, an auxiliary wheel servo motor, a rotation support, an extension spring and bearing seats. The auxiliary wheel servo motor is arranged on the rotation support. The auxiliary wheel is connected with an output shaft of the auxiliary wheel servo motor. A fore-end of the output shaft of the auxiliary wheel servo motor is connected with the rotation support via the bearing seat. The rotation support hinged with an output end of the cylinder and the chassis support separately. The extension spring is arranged between the chassis support and the rotation support. Each front wheel is connected with a front servo motor arranged on the chassis support respectively. An output shaft of each of the servo motors penetrates each of the front wheels. The fore-ends of the output shafts of the servo motors are connected with the chassis support via the bearing seats.
Description
Technical field
The utility model relates to a kind of body chassis, is particularly useful for the body chassis of walking robot.
Background technology
At present, international and domestic robot contest emerges in an endless stream, and obtain in play good result, realize the desired task of match, and the robot of need to taking in competition moves accurately and reliably, speed is fast, can overcome various obstacles.Meanwhile, possesses certain field positioning ability.The task of the present invention is directed to Manual Robot in Asia-Pacific robot TV contest in 2012, in task, Manual Robot need to be no more than under the prerequisite of 50kg in deadweight, takes advantage of to carry the operator of 60kg and complete and get coin, put coin, the multi-task such as dock with robot.
Wheel chassis on conventional meaning, is generally all back-wheel drive, has the feature of good operability.But, in the heavy duty situation of robot, realize quick turning, chassis is easy to depart from predetermined run trace and occurs skidding.
Summary of the invention
The purpose of this utility model is motion and the location in order to realize robot ground on the scene fast and stable, and a kind of differential speed gears chassis of combining omnidirectional wheel is provided.
The differential speed gears chassis of a kind of combining omnidirectional wheel of the utility model, comprises chassis overhang, and two are positioned at the front-wheel of chassis overhang front end both sides, are positioned at the rear drive sprocket mechanism of both sides, chassis overhang rear end, also comprise:
Auxiliary turning mechanism, auxiliary turning mechanism comprises cylinder, auxiliary omni-directional wheel, jockey pulley servomotor, rotary support and extension spring, bearing seat, jockey pulley servomotor is located on rotary support, auxiliary omni-directional wheel is connected on the output shaft of jockey pulley servomotor, the output shaft front end of jockey pulley servomotor is connected with rotary support by bearing seat, rotary support is hinged with cylinder mouth and chassis overhang respectively, and extension spring is between chassis overhang and rotary support;
Two front-wheels are connected with respectively a front-wheel servomotor, two front-wheel servomotors are installed on respectively on chassis overhang, the output shaft of each front-wheel servomotor is all through a front-wheel, and the output shaft front end of each front-wheel servomotor is connected with chassis overhang by bearing seat.
Rear drive sprocket mechanism comprises two spider gears, two trailing wheel servomotors and two code-discs, and two spider gears are connected with respectively a trailing wheel servomotor, and two trailing wheel servomotors are installed on respectively on chassis overhang, and each spider gear outside is provided with code-disc.
The differential speed gears chassis of a kind of combining omnidirectional wheel of the utility model can also comprise:
1, the auxiliary omni-directional wheel in auxiliary turning mechanism is distributed between two front-wheels perpendicular to the axis of chassis overhang.
2, two front-wheels become miter angle symmetrical with the line of centers of chassis overhang.
3, rear drive sprocket mechanism two spider gears are with respect to the line of centers symmetry of chassis overhang.
The beneficial effects of the utility model:
Wheel chassis on conventional meaning will be realized quick turning, and chassis is easy to depart from predetermined run trace and occurs skidding.The present invention is directed to this situation, design a set of four wheel drive chassis, and designed the omni-directional wheel device of a set of auxiliary turning.Front driving wheel and the rear drive sprocket layout on chassis overhang is to realize the key problem in technology that robot ambulation is quick, stable, deceleration and stopping performance is good; The installation site of auxiliary turning mechanism and the power output size that cylinder provides are to realize key problem in technology robot stabilized, quick continuous turning.
Accompanying drawing explanation
Fig. 1 is a kind of integral layout figure of differential speed gears chassis of combining omnidirectional wheel.
Fig. 2 is a kind of lateral plan of differential speed gears chassis of combining omnidirectional wheel.
Fig. 3 is a kind of birds-eye view of differential speed gears chassis of combining omnidirectional wheel.
Fig. 4 is a kind of quick walking mode figure of differential speed gears chassis of combining omnidirectional wheel.
Fig. 5 is a kind of quick turning mode chart of differential speed gears chassis of combining omnidirectional wheel.
The specific embodiment
Below concrete structure of the present utility model is described:
By reference to the accompanying drawings 1～5, a kind of differential speed gears chassis of combining omnidirectional wheel is made up of chassis overhang, front driving wheel mechanism, rear drive sprocket mechanism, auxiliary turning mechanism four parts.The chassis overhang 1 material side of being aluminum pipe, adopts welding manner to connect between each square tube aluminium, link robust and succinct; Front driving wheel mechanism comprises servomotor 2, omni-directional wheel 3, and servomotor 2 is fixed on chassis overhang 1, and omni-directional wheel 3 is connected on servomotor 2 output shafts 10 by key; Rear drive sprocket mechanism comprises servomotor 4, spider gear 5 and code-disc detecting device, and servomotor 4 is fixed on chassis overhang 1, and spider gear 5 is connected on servomotor 4 output shafts 11 by flange, and code-disc is arranged on spider gear 5 outsides.Auxiliary turning mechanism comprises cylinder 6, omni-directional wheel 7, servomotor 8, rotary support 9 and extension spring 12, servomotor 8 is arranged on rotary support 9, omni-directional wheel 7 is arranged on rotary support 9, cylinder 6 mouths are hinged on rotary support 9 one end, rotary support 9 other ends are arranged on chassis overhang 1, and extension spring 12 is fixed between chassis overhang 1 and rotary support 9.When auxiliary wheel work, contacting with ground, is chassis steering torque, realizes chassis tempo turn, and auxiliary wheel is lifted away from ground while work, and therefore the mode of operation of auxiliary wheel is by the control that cooperatively interacts of extension spring and cylinder.The integral layout of chassis train is: rear drive sprocket mechanism two spider gears are symmetrical with respect to line of centers, front driving wheel mechanism two omni-directional wheels become miter angle symmetrical with line of centers, and the omni-directional wheel in auxiliary turning mechanism is distributed between two omni-directional wheels of front driving wheel mechanism perpendicular to axis.
Chassis overhang assembly relation: the particular location layout of chassis overhang 1 each bar is shown in accompanying drawing 1, the material side of being aluminum pipe, adopts welding manner to connect between each square tube aluminium.
Front driving wheel mechanism assembly relation: servomotor 2 is fixed on chassis overhang 1 by motor cabinet 13, omni-directional wheel 3 is connected on servomotor 2 output shafts 10 by key, and the other end of axle is positioned on chassis overhang by bearing seat 14.
Rear drive sprocket mechanism assembly relation: servomotor 4 is fixed on chassis overhang 1 by motor cabinet, spider gear 5 is connected on servomotor 4 output shafts 11 by flange, the other end of axle is positioned on chassis overhang by bearing seat, and code-disc is arranged on spider gear 5 outsides and is fixed on chassis overhang by industrial slide rail.
Auxiliary turning mechanism assembly relation: servomotor 8 is arranged on rotary support 9 by motor cabinet, omni-directional wheel 7 is connected on servomotor 8 output shafts by flange, the other end of output shaft is positioned on rotary support 9 by bearing seat, cylinder 6 mouths are hinged on rotary support 9 one end, rotary support 9 other ends are hinged on chassis overhang 1, and extension spring 12 is fixed between chassis overhang 1 and rotary support 9.
Working process: the differential chassis of combining omnidirectional wheel, two spider gears are closed loop control, three omni-directional wheels are open loop control.There are two kinds of mode of operations on this differential chassis: the first is quick walking mode, as shown in Figure 4.Now, cylinder 6 is off working state, and extension spring 12 hauls rotary support 9 and rotates by axis of revolution 15, makes omni-directional wheel 7 be lifted away from ground, and rear like this two spider gears 5 and front two omni-directional wheels land, and realize chassis and walk fast.The second is quick turning pattern, as shown in Figure 5.Now, cylinder 6 is mode of operation, and cylinder makes rotary support 9 rotate around axis of revolution 15 by piston rod aft mount 16 thrust, and omni-directional wheel 7 contacts with ground like this, and five take turns driving simultaneously, realize chassis and turn fast.
Claims (5)
1. a differential speed gears chassis for combining omnidirectional wheel, comprises chassis overhang, and two are positioned at the front-wheel of chassis overhang front end both sides, are positioned at the rear drive sprocket mechanism of both sides, chassis overhang rear end, it is characterized in that, also comprise:
Auxiliary turning mechanism, auxiliary turning mechanism comprises cylinder, auxiliary omni-directional wheel, jockey pulley servomotor, rotary support and extension spring, bearing seat, jockey pulley servomotor is located on rotary support, auxiliary omni-directional wheel is connected on the output shaft of jockey pulley servomotor, the output shaft front end of jockey pulley servomotor is connected with rotary support by bearing seat, rotary support is hinged with cylinder mouth and chassis overhang respectively, and extension spring is between chassis overhang and rotary support;
Two front-wheels are connected with respectively a front-wheel servomotor, two front-wheel servomotors are installed on respectively on chassis overhang, the output shaft of each front-wheel servomotor is through its corresponding front-wheel, and the output shaft front end of each front-wheel servomotor is connected with chassis overhang by bearing seat.
Rear drive sprocket mechanism comprises two spider gears, two trailing wheel servomotors and two code-discs, and two spider gears are connected with respectively a trailing wheel servomotor, and two trailing wheel servomotors are installed on respectively on chassis overhang, and each spider gear outside is provided with code-disc.
2. the differential speed gears chassis of a kind of combining omnidirectional wheel according to claim 1, is characterized in that: the auxiliary omni-directional wheel in described auxiliary turning mechanism perpendicular to the axis of chassis overhang, be distributed between two front-wheels.
3. the differential speed gears chassis of a kind of combining omnidirectional wheel according to claim 1 and 2, is characterized in that: two described front-wheels become miter angle symmetrical with the line of centers of chassis overhang.
4. the differential speed gears chassis of a kind of combining omnidirectional wheel according to claim 1 and 2, is characterized in that: described rear drive sprocket mechanism two spider gears are with respect to the line of centers symmetry of chassis overhang.
5. the differential speed gears chassis of a kind of combining omnidirectional wheel according to claim 3, is characterized in that: described rear drive sprocket mechanism two spider gears are with respect to the line of centers symmetry of chassis overhang.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320797203.9U CN203637974U (en) | 2013-12-05 | 2013-12-05 | Differential gear chassis integrated with all-direction wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320797203.9U CN203637974U (en) | 2013-12-05 | 2013-12-05 | Differential gear chassis integrated with all-direction wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203637974U true CN203637974U (en) | 2014-06-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320797203.9U Expired - Fee Related CN203637974U (en) | 2013-12-05 | 2013-12-05 | Differential gear chassis integrated with all-direction wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203637974U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104210572A (en) * | 2014-07-10 | 2014-12-17 | 西南交通大学 | Omnidirectional wheel chassis for climbing robot |
| CN104590414A (en) * | 2014-12-29 | 2015-05-06 | 合肥工业大学 | All-around wheeled mobile robot with relative posture detection function |
| CN104986150A (en) * | 2015-06-17 | 2015-10-21 | 电子科技大学 | Brake device and chassis system for moving robot |
| CN105329334A (en) * | 2015-11-16 | 2016-02-17 | 重庆电子工程职业学院 | Vertical rotary shaft type omni-directional shifting device |
| CN105752199A (en) * | 2016-02-23 | 2016-07-13 | 武汉需要智能技术有限公司 | Suspension type robot chassis structure |
-
2013
- 2013-12-05 CN CN201320797203.9U patent/CN203637974U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104210572A (en) * | 2014-07-10 | 2014-12-17 | 西南交通大学 | Omnidirectional wheel chassis for climbing robot |
| CN104590414A (en) * | 2014-12-29 | 2015-05-06 | 合肥工业大学 | All-around wheeled mobile robot with relative posture detection function |
| CN104986150A (en) * | 2015-06-17 | 2015-10-21 | 电子科技大学 | Brake device and chassis system for moving robot |
| CN104986150B (en) * | 2015-06-17 | 2018-01-02 | 电子科技大学 | A kind of chassis system for mobile robot |
| CN105329334A (en) * | 2015-11-16 | 2016-02-17 | 重庆电子工程职业学院 | Vertical rotary shaft type omni-directional shifting device |
| CN105329334B (en) * | 2015-11-16 | 2018-01-12 | 重庆电子工程职业学院 | Vertical rotation axis formula omnidirectional mobile device |
| CN105752199A (en) * | 2016-02-23 | 2016-07-13 | 武汉需要智能技术有限公司 | Suspension type robot chassis structure |
| CN105752199B (en) * | 2016-02-23 | 2018-11-09 | 武汉需要智能技术有限公司 | A kind of underslung robot chassis structure |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140611 Termination date: 20161205 |