CN204077795U - Entirely turn to mobile chassis - Google Patents
Entirely turn to mobile chassis Download PDFInfo
- Publication number
- CN204077795U CN204077795U CN201420458495.8U CN201420458495U CN204077795U CN 204077795 U CN204077795 U CN 204077795U CN 201420458495 U CN201420458495 U CN 201420458495U CN 204077795 U CN204077795 U CN 204077795U
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- wheel
- turn
- drive
- turns
- base plate
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Abstract
The utility model discloses one and entirely turn to mobile chassis, relate to chassis technology field, it comprises the base plate being provided with multiple Omni-mobile unit, Omni-mobile unit comprises at least one wheel, connect wheel hub turn to bracing frame, be sleeved on turn to turning to drive wheel, be arranged on the vertical pivot turned in bracing frame on bracing frame, the running wheel be fixed on vertical pivot, be arranged at vertical pivot lower end drive bevel gear, be sleeved on wheel shaft is meshed with drive bevel gear by dynamic bevel gear; The running wheel of multiple Omni-mobile unit, drive wheel is turned to connect respectively by the first driving band, the second driving band; Base plate is provided with a travel driving motor and and turns to drive motor, and output shaft and first driving band of travel driving motor are in transmission connection, and turns to the bracing frame that turns to of the output shaft of drive motor and one of them Omni-mobile unit to be in transmission connection.The utility model is compared to prior art, and chassis is light and handy, and alerting ability is high, and nullability is good.
Description
Technical field
The utility model relates to chassis technology field, especially a kind of be applicable to vehicle or mobile robot entirely turn to mobile chassis.
Background technology
At present, the main form of the vehicle chassis on market or mobile robot chassis has wheeled with crawler type these two kinds.Wheeled chassis cost is low, also easily controls it and turns to, and the chassis loaded area of carrying out formula is large, compares and is adapted at severe pavement usage.But these two kinds of modes all can not realize the full turning function of 360 degree when turning to.Now general robot mechanism entirely turns to and will realize being all add steer motor on each steering shaft, this chassis comprises base plate, be arranged at multiple wheels below base plate, each wheel be all connected with alone turn to drive motor and travel driving motor, there is following deficiency in the chassis of this structure: 1, required motor quantity is many, makes to control complexity; 2, the space occupied by multiple motor is relatively large, causes the volume on whole chassis to become large, and robot is moved comparatively heavy, alerting ability is low.
Utility model content
The purpose of this utility model is to provide one and entirely turns to mobile chassis, and this chassis can solve existing chassis, and to there is number of motors many, causes controlling complicated, that volume is large, heavy and alerting ability is low problem.
In order to solve the problem, the technical solution adopted in the utility model is: this mobile chassis that entirely turns to comprises base plate, be arranged on the multiple wheels below described base plate, the travel driving motor driving described wheel to walk turns to drive motor with the described wheel steering of driving, described base plate is provided with multiple Omni-mobile unit, described Omni-mobile unit comprises wheel described at least one, what connect the wheel shaft of this wheel turns to bracing frame, turn to described in being sleeved on and bracing frame turns to drive wheel, the vertical pivot in bracing frame is turned to described in being arranged on, be fixed on the running wheel on described vertical pivot, be arranged at the drive bevel gear of described vertical pivot lower end, be sleeved on described wheel shaft is meshed with described drive bevel gear by dynamic bevel gear, the described running wheel of described multiple Omni-mobile unit is connected by the first driving band, turns to drive wheel to be connected by the second driving band described in described multiple Omni-mobile unit, described base plate is provided with described in travel driving motor described in one and one and turns to drive motor, output shaft and described first driving band of described travel driving motor are in transmission connection, described in turn to the output shaft of drive motor and turn to bracing frame to be in transmission connection described in Omni-mobile unit described in one of them.
Above-mentionedly entirely to turn in the technical scheme of mobile chassis, technical scheme can also be more specifically: the two ends of institute's wheel shaft are respectively arranged with two described wheels, describedly turn to bracing frame to have a setting to be arranged in sleeve on described base plate and to be positioned at bow integrated with this sleeve below described base plate, two yokes of described bow offer the through hole for installing described wheel shaft, are separately installed with bearing between described through hole and described wheel shaft; Base plate offers the perforation for installing described sleeve, the periphery of described perforation is provided with bearing seat, the bearing abutted against with described sleeve is installed in described bearing seat; Described vertical pivot is placed in described sleeve, is provided with two supplementary bearings between described vertical pivot and described sleeve.
Further, described in turn to drive wheel to be installed in described upper cartridge, described in turn to the lower end of drive wheel to have spacing annular boss, the upper surface of the described bearing in this spacing annular boss and described bearing seat is inconsistent; Described running wheel is arranged on the top of described vertical pivot, and the lower end of described walking wheel flutter has annular boss, this annular boss and between described sleeve and described vertical pivot, the upper surface of bearing that is positioned at top is inconsistent.
Further, described base plate is provided with the tightening device for the first driving band described in tensioning and described second driving band.
Further, described running wheel and the described drive wheel that turns to are belt pulley, and described first driving band and described second driving band are drive belt.
Further, described running wheel circumferentially offers the groove of accommodating described first driving band, described in turn to drive wheel circumferentially to offer the groove of accommodating described second driving band.
Owing to have employed technique scheme, the utility model compared with prior art has following beneficial effect:
1, be with the vertical pivot of motor car wheel walking to be arranged at turning in bracing frame of drive wheel steering, and commutated by finishing bevel gear cuter, realization coaxially turns to entirely, locomotive function, and the alerting ability of mechanism is high, and chassis structure is compact, is conducive to reducing volume;
2, adopt transmission connection piece to carry out synchrodrive and realize multi-axes moving, only need employing two motors to control respectively to turn to and hoofing part, what just can realize chassis platform turns to locomotive function entirely, and nullability is good, reduce the usage quantity of motor, make chassis become light and handy.
Accompanying drawing explanation
Fig. 1 is that this turns to the structural representation of mobile chassis embodiment entirely.
Fig. 2 is that this turns to the front elevation of mobile chassis entirely.
Fig. 3 is that this turns to the birds-eye view of mobile chassis entirely.
Fig. 4 is the structural representation of Omni-mobile unit.
Detailed description of the invention
Below in conjunction with accompanying drawing embodiment, the utility model is described in further detail:
Entirely turning to mobile chassis mainly to comprise base plate 1, Omni-mobile unit 2, travel driving motor 5, turn to drive motor 6, first driving band 3, second driving band 4 and tightening device 7 shown in Fig. 1 to Fig. 4, base plate 1 is evenly provided with three groups of Omni-mobile unit 2, often organizes Omni-mobile unit 2 and include wheel 2-1, wheel shaft 2-4, drive bevel gear 2-3, by dynamic bevel gear 2-2, vertical pivot 2-9, running wheel 2-8, turn to bracing frame 2-5 and turn to drive wheel 2-7, be mounted with two wheel 2-1 faced at the two ends of wheel shaft 2-4 respectively, turn to bracing frame 2-5 to have a setting and be arranged in the sleeve 2-52 on base plate 1 and be positioned at bow 2-51 integrated with this sleeve 2-52 below base plate 1, see Fig. 2, two yokes of bow 2-51 offer the through hole 2-511 for installing wheel shaft 2-4, clutch shaft bearing 2-42 and the second bearing 2-43 is separately installed with between each through hole 2-511 and wheel shaft 2-4, at clutch shaft bearing 2-42, pad 2-41 is provided with between second bearing 2-43 and corresponding wheel 2-1, base plate 1 offers the perforation 1-1 for installing the sleeve 2-52 turning to bracing frame 2-5, perforation 1-1 inwall and sleeve 2-52 outer wall are free-running fit, in the upper surface of base plate 1, the periphery of perforation 1-1 is provided with bearing seat 2-6, the 3rd bearing 2-61 abutted against with sleeve 2-52 is installed in bearing seat 2-6, be installed with on sleeve 2-52 top and turn to drive wheel 2-7, the lower end of drive wheel 2-7 is turned to have spacing annular boss 2-71, the upper surface of this spacing annular boss 2-71 and the 3rd bearing 2-61 is inconsistent, see Fig. 4, vertical pivot 2-9 is placed in and turns in the sleeve 2-52 of bracing frame 2-5, 4th bearing 2-91 and the 5th bearing 2-92 is installed between vertical pivot 2-9 and sleeve 2-52, the upper surface of the 5th bearing 2-92 is mutually concordant with turning to the upper surface of bracing frame 2-5, sleeve 2-52 inwall and vertical pivot 2-9 outer wall are respectively arranged with the limited step of installation the 4th bearing 2-91 and the 5th bearing 2-92, running wheel 2-8 is arranged on the top of vertical pivot 2-9, the lower end of walking wheel flutter 2-8 has annular boss 2-81, the upper surface of this annular boss 2-81 and the 5th bearing 2-92 is inconsistent, drive bevel gear 2-3 is fixed on the lower end of vertical pivot 2-9, drive bevel gear 2-3 be sleeved on being engaged by dynamic bevel gear 2-2 on wheel shaft 2-4, to realize commutation, travel driving motor 5 is fixed on base plate 1, the output shaft of travel driving motor 5 is provided with and drives synchronizing wheel 5-1, this driving synchronizing wheel 5-1 is connected by the first driving band 3 with the running wheel 2-8 of three groups of Omni-mobile unit 2, the drive wheel 2-7 that turns to of three groups of Omni-mobile unit 2 is connected, see Fig. 1 and Fig. 3 by the second driving band 4, drive motor 6 is turned to be fixed on the lower surface of base plate 1, turn to the output shaft of drive motor 6 upwards and be in transmission connection by the bracing frame 2-52 that turns to of V belt translation mode with wherein one group of Omni-mobile unit 2, the drive wheel 2-7 that turns to of three groups of Omni-mobile unit 2 is connected, see Fig. 2 by the second driving band 4.The running wheel 2-8 of the present embodiment and turn to drive wheel 2-9 to be belt pulley, first driving band 3 and the second driving band 4 are drive belt, running wheel 2-8 circumferentially offers the groove of accommodating first driving band 3, turns to drive wheel 2-7 circumferentially to offer the groove of accommodating second driving band 4.In order to make stable transmission safe and reliable, base plate 1 is also provided with the tightening device 7 for tensioning first driving band 3 and the second driving band 4.It is worth mentioning that, turn to drive motor 6 for stepping motor.In other embodiments, running wheel can be sprocket wheel with turning to drive wheel, and the first driving band and described second driving band can be driving chain.
This turns to turning to of mobile chassis to be independent of each other with walking entirely, power path during walking is: the output shaft of travel driving motor 5 drives and drives synchronizing wheel 5-1 to rotate, synchronizing wheel 5-1 is driven to drive the running wheel 2-8 of each group of Omni-mobile unit 2 to rotate through the first driving band 3, running wheel 2-8 makes drive bevel gear 2-3 synchronous axial system through vertical pivot 2-9, drive bevel gear 2-3 with engaged by dynamic bevel gear 2-2 after to commutate transmission, be with motor car wheel 2-1 to rotate around the axis of wheel shaft 2-2 by by dynamic bevel gear 2-2 through wheel shaft 2-4; The power path entirely turned to is: turn to the output shaft of drive motor 6 to drive the bracing frame 2-5 that turns to of wherein one group of Omni-mobile unit 2 to rotate by V belt translation mode, then turn to bracing frame 2-5 synchronous axial system by what turn to drive wheel 2-7 and the second driving band 4 to drive other two groups of Omni-mobile unit 2, turn to bracing frame 2-5 to be with motor car wheel 2-1 to rotate around the axis of sleeve 2-52 through wheel shaft 2-2.
Claims (6)
1. one kind turns to mobile chassis entirely, comprise base plate, be arranged on the multiple wheels below described base plate, the travel driving motor driving described wheel to walk turns to drive motor with the described wheel steering of driving, it is characterized in that: described base plate is provided with multiple Omni-mobile unit, described Omni-mobile unit comprises wheel described at least one, what connect the wheel shaft of this wheel turns to bracing frame, turn to described in being sleeved on and bracing frame turns to drive wheel, the vertical pivot in bracing frame is turned to described in being arranged on, be fixed on the running wheel on described vertical pivot, be arranged at the drive bevel gear of described vertical pivot lower end, be sleeved on described wheel shaft is meshed with described drive bevel gear by dynamic bevel gear, the described running wheel of described multiple Omni-mobile unit is connected by the first driving band, turns to drive wheel to be connected by the second driving band described in described multiple Omni-mobile unit, described base plate is provided with described in travel driving motor described in one and one and turns to drive motor, output shaft and described first driving band of described travel driving motor are in transmission connection, described in turn to the output shaft of drive motor and turn to bracing frame to be in transmission connection described in Omni-mobile unit described in one of them.
2. according to claim 1ly entirely turn to mobile chassis, be characterised in that: the two ends of institute's wheel shaft are respectively arranged with two described wheels, describedly turn to bracing frame to have a setting to be arranged in sleeve on described base plate and to be positioned at bow integrated with this sleeve below described base plate, two yokes of described bow offer the through hole for installing described wheel shaft, are separately installed with bearing between described through hole and described wheel shaft; Base plate offers the perforation for installing described sleeve, the periphery of described perforation is provided with bearing seat, the bearing abutted against with described sleeve is installed in described bearing seat; Described vertical pivot is placed in described sleeve, is provided with two supplementary bearings between described vertical pivot and described sleeve.
3. according to claim 2ly entirely turn to mobile chassis, be characterised in that: described in turn to drive wheel to be installed in described upper cartridge, the described lower end of drive wheel that turns to has spacing annular boss, and the upper surface of the described bearing in this spacing annular boss and described bearing seat is inconsistent; Described running wheel is arranged on the top of described vertical pivot, and the lower end of described walking wheel flutter has annular boss, this annular boss and between described sleeve and described vertical pivot, the upper surface of bearing that is positioned at top is inconsistent.
4. according to any one of claims 1 to 3 claim, entirely turn to mobile chassis, be characterised in that: described base plate is provided with the tightening device for the first driving band described in tensioning and described second driving band.
5. according to claim 4ly entirely turn to mobile chassis, be characterised in that: described running wheel and the described drive wheel that turns to are belt pulley, and described first driving band and described second driving band are drive belt.
6. according to claim 5ly entirely turn to mobile chassis, be characterised in that: described running wheel circumferentially offers the groove of accommodating described first driving band, described in turn to drive wheel circumferentially to offer the groove of accommodating described second driving band.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420458495.8U CN204077795U (en) | 2014-08-14 | 2014-08-14 | Entirely turn to mobile chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420458495.8U CN204077795U (en) | 2014-08-14 | 2014-08-14 | Entirely turn to mobile chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204077795U true CN204077795U (en) | 2015-01-07 |
Family
ID=52170538
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420458495.8U Expired - Fee Related CN204077795U (en) | 2014-08-14 | 2014-08-14 | Entirely turn to mobile chassis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204077795U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104129430A (en) * | 2014-08-14 | 2014-11-05 | 柳州君天机器人自动化有限公司 | Full steering moving chassis |
| CN106184471A (en) * | 2016-08-30 | 2016-12-07 | 安丘博阳机械制造有限公司 | From walking direction movement device |
| CN106241211A (en) * | 2016-08-30 | 2016-12-21 | 安丘博阳机械制造有限公司 | Intelligence induction system |
| CN107042011A (en) * | 2017-05-10 | 2017-08-15 | 西南交通大学 | A kind of shuttlecock automatically picking up balls Ma Qiu omnidirectionals dolly |
| CN108125754A (en) * | 2016-11-26 | 2018-06-08 | 沈阳新松机器人自动化股份有限公司 | A kind of all-around mobile body chassis |
| CN108420192A (en) * | 2018-02-06 | 2018-08-21 | 卢亚东 | A kind of new function dining table |
| CN113264308A (en) * | 2021-05-24 | 2021-08-17 | 和县隆盛精密机械有限公司 | AGV dolly for stereoscopic warehouse |
-
2014
- 2014-08-14 CN CN201420458495.8U patent/CN204077795U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104129430A (en) * | 2014-08-14 | 2014-11-05 | 柳州君天机器人自动化有限公司 | Full steering moving chassis |
| CN106184471A (en) * | 2016-08-30 | 2016-12-07 | 安丘博阳机械制造有限公司 | From walking direction movement device |
| CN106241211A (en) * | 2016-08-30 | 2016-12-21 | 安丘博阳机械制造有限公司 | Intelligence induction system |
| CN108125754A (en) * | 2016-11-26 | 2018-06-08 | 沈阳新松机器人自动化股份有限公司 | A kind of all-around mobile body chassis |
| CN107042011A (en) * | 2017-05-10 | 2017-08-15 | 西南交通大学 | A kind of shuttlecock automatically picking up balls Ma Qiu omnidirectionals dolly |
| CN108420192A (en) * | 2018-02-06 | 2018-08-21 | 卢亚东 | A kind of new function dining table |
| CN113264308A (en) * | 2021-05-24 | 2021-08-17 | 和县隆盛精密机械有限公司 | AGV dolly for stereoscopic warehouse |
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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: 20150107 Termination date: 20150814 |
|
| EXPY | Termination of patent right or utility model |