CN204236615U - With the motion platform of differential all-directional movable pulley - Google Patents
With the motion platform of differential all-directional movable pulley Download PDFInfo
- Publication number
- CN204236615U CN204236615U CN201420773330.XU CN201420773330U CN204236615U CN 204236615 U CN204236615 U CN 204236615U CN 201420773330 U CN201420773330 U CN 201420773330U CN 204236615 U CN204236615 U CN 204236615U
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- wheel
- differential
- directional
- movable pulley
- platform
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Abstract
The utility model relates to a kind of motion platform with differential all-directional movable pulley, the all-directional mobile wheel of mobile platform is differential all-directional movable pulley, the wheel a and the wheel b that include same structure are formed, and described wheel a and wheel b are the enclosed construction that four identical conical spheres lacking part spherical crown are joined together to form by four driven axles; Center shaft is positioned at the center of wheel, and four driven axles are fixing on center shaft, and two groups of driven axle a and b are 45 degree of bias angles on the vertical plane of imput shaft; The curved surface that conical spheres can touch with ground is provided with skid resistant course, and described skid resistant course is protrude from the projection on this curved surface, and the summit of described projection around conical spheres on curved surface neatly arranges at equal intervals.Can be non-slip when the motion platform of this differential all-directional movable pulley moves on smooth earth, be suitable for the motion platform of robot.
Description
Technical field
The utility model relates to the motion platform of a kind of Tape movement wheel, is specifically related to a kind of motion platform with differential all-directional movable pulley.
Background technology
The current motion platform structure with differential all-directional movable pulley is simple, and motion flexibly, can realize the continuity of whole driving process, and load-carrying capacity is strong, and be easy to control, obstacle climbing ability is strong, is suitable for the motion platform of robot.
The existing motion platform with differential all-directional movable pulley, this mobile platform comprises Platform and module, under three direction movement wheels are fixed on described Platform and module in 120 degree of distributions by moving shaft bolster mutually along disk contour, and driven by Timing Belt by stepping motor respectively; Three direction movements wheel is formed for differential type includes the wheel a of same structure and wheel b, and wheel a and b is that four conical spheres lacking apical cap are joined together to form closed structure by four driven axles, and the angle of taper of conical spheres is 90 degree; Center shaft is positioned at the center of wheel, and four driven axles are fixing on center shaft, and two groups of driven axles are 45 degree of bias angles on the vertical plane of imput shaft.
The surface of the directional wheel of this platform is smooth, and when using this directional wheel on smooth ground, wheel can not produce enough friction force, thus skidding occurs.In order to realize the continuity of whole driving process, each ball wheel is made up of the structure closed four conical spheres, this closed structure means that the gap between adjacent conical spheres is sufficiently little, when on the ground there being the similar rubbish such as hair or paper scrap, be very easy to be involved in small gap, thus hinder the motion of directional wheel.
Utility model content
The purpose of this utility model is to solve the problem, and proposes the motion platform with differential all-directional movable pulley, the function with slip-skid prevention of this platform.
The utility model realizes above-mentioned purpose like this: with the motion platform of differential all-directional movable pulley, it comprises Platform and module, under three all-directional mobile wheels are separately fixed at described Platform and module in 120 degree of distributions mutually along disk contour, three all-directional mobile wheels are by Timing Belt and synchronous pulley, be in transmission connection with respective DC servo motor respectively, three DC servo motor are fixed on Platform and module by motor pressing plate; Described all-directional mobile wheel is differential all-directional movable pulley, the wheel a and the wheel b that include same structure are formed, and described wheel a and wheel b are the enclosed construction that four identical conical spheres lacking part spherical crown are joined together to form by four driven axles; Center shaft is positioned at the center of wheel, and four driven axles are fixing on center shaft, and two groups of driven axle a and b are 45 degree of bias angles on the vertical plane of imput shaft; The curved surface that conical spheres can touch with ground is provided with skid resistant course, and described skid resistant course is protrude from the projection on this curved surface, and the summit of described projection around conical spheres on curved surface neatly arranges at equal intervals.
Preferably, conical spheres is connected on driven axle by detachable snap.
Can be non-slip when this differential type all-round wheel moves on smooth earth, and the foreign material between adjacent conical spheres in gap can be cleared up at any time, ensure directional wheel fluent motion.
Accompanying drawing explanation
Fig. 1 is the motion platform lower surface schematic diagram of the new type differential all-directional movable pulley of this practicality.
Fig. 2 is the motion platform upper surface schematic diagram of the new type differential all-directional movable pulley of this practicality.
Fig. 3 is slip differential formula directional wheel.
In figure: 1. Platform and module; 2. direction movement wheel; 3. synchronous pulley; 4. wheel a; 5. wheel b; 6. conical spheres; 7. center shaft; 8. DC servo motor; 9. motor pressing plate; 10. driven axle; 11. curved surfaces; 12. is protruding.
Detailed description of the invention
As shown in Figure 1, with the motion platform of differential all-directional movable pulley, it comprises Platform and module 1, three all-directional mobile wheels 2 are separately fixed at described Platform and module 1 time in 120 degree of distributions mutually along disk contour, three all-directional mobile wheels 2, by Timing Belt and synchronous pulley 3, are in transmission connection with respective DC servo motor 8 respectively.As shown in Figure 2, three DC servo motor 8 are fixed on Platform and module 1 by motor pressing plate 9.As shown in Figure 3, described all-directional mobile wheel is differential all-directional movable pulley, the wheel a and the wheel b that include same structure are formed, and described wheel a and wheel b are the enclosed construction that four identical conical spheres 6 lacking part spherical crown are joined together to form by four driven axles 10; Center shaft 7 is positioned at the center of wheel, and four driven axles 10 are fixed on center shaft 7, and two groups of driven axle a and b are 45 degree of bias angles on the vertical plane of imput shaft 7.The curved surface 11 that conical spheres 6 can touch with ground is provided with skid resistant course, and described skid resistant course is the projection 12 protruded from curved surface 11, and described protruding 12 neatly arrange at equal intervals around the summit of conical spheres 6 on curved surface 11.
This motion platform conical spheres 6 is connected on driven axle 10 by detachable snap, buckle is easily dismantled, when the similar foreign material gaps be involved between conical spheres such as hair on the ground or paper scrap affect the motion of directional wheel, buckle can be opened, pull down finishing bevel gear cuter to clear up, or carry out periodic cleaning, ensure the smoothness of directional wheel motion.
Claims (2)
1. with the motion platform of differential all-directional movable pulley, it comprises Platform and module (1), under three all-directional mobile wheels (2) are separately fixed at described Platform and module (1) in 120 degree of distributions mutually along disk contour, three all-directional mobile wheels (2) are by Timing Belt and synchronous pulley (3), be in transmission connection with respective DC servo motor (8) respectively, three DC servo motor (8) are fixed on Platform and module (1) by motor pressing plate (9); Described all-directional mobile wheel is differential all-directional movable pulley, the wheel a and the wheel b that include same structure are formed, and described wheel a and wheel b are the enclosed construction that four identical conical spheres (6) lacking part spherical crown are joined together to form by four driven axles (10); Center shaft (7) is positioned at the center of wheel, four driven axles (10) are fixed on center shaft (7), two groups of driven axle a and b are 45 degree of bias angles on the vertical plane of imput shaft (7), it is characterized in that: the curved surface (11) that conical spheres (6) can touch with ground is provided with skid resistant course, described skid resistant course is for protruding from the projection (12) on curved surface (11), and described projection (12) neatly arranges at equal intervals around the summit of conical spheres (6) on curved surface (11).
2., as claimed in claim 1 with the motion platform of differential all-directional movable pulley, it is characterized in that: described conical spheres (6) is connected to (10) on driven axle by detachable snap.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420773330.XU CN204236615U (en) | 2014-12-09 | 2014-12-09 | With the motion platform of differential all-directional movable pulley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420773330.XU CN204236615U (en) | 2014-12-09 | 2014-12-09 | With the motion platform of differential all-directional movable pulley |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204236615U true CN204236615U (en) | 2015-04-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420773330.XU Expired - Fee Related CN204236615U (en) | 2014-12-09 | 2014-12-09 | With the motion platform of differential all-directional movable pulley |
Country Status (1)
| Country | Link |
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| CN (1) | CN204236615U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105480316A (en) * | 2016-01-11 | 2016-04-13 | 佛山市南海区广工大数控装备协同创新研究院 | Spherical robot capable of realizing omnidirectional movement |
| CN107226143A (en) * | 2017-05-05 | 2017-10-03 | 华南理工大学 | A kind of transmission device of spherical tire |
| CN107757742A (en) * | 2017-09-12 | 2018-03-06 | 南京航空航天大学 | Continuous rotation driving straight line ejection mechanism and its polyhedron robot and movement technique |
| CN108044633A (en) * | 2017-12-15 | 2018-05-18 | 华南理工大学 | A kind of turnover robot traveling chassis |
-
2014
- 2014-12-09 CN CN201420773330.XU patent/CN204236615U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105480316A (en) * | 2016-01-11 | 2016-04-13 | 佛山市南海区广工大数控装备协同创新研究院 | Spherical robot capable of realizing omnidirectional movement |
| CN105480316B (en) * | 2016-01-11 | 2017-11-07 | 佛山市南海区广工大数控装备协同创新研究院 | A kind of all-around mobile ball shape robot |
| CN107226143A (en) * | 2017-05-05 | 2017-10-03 | 华南理工大学 | A kind of transmission device of spherical tire |
| CN107757742A (en) * | 2017-09-12 | 2018-03-06 | 南京航空航天大学 | Continuous rotation driving straight line ejection mechanism and its polyhedron robot and movement technique |
| CN107757742B (en) * | 2017-09-12 | 2019-08-20 | 南京航空航天大学 | Continuous rotation drives straight line ejection mechanism and its polyhedron robot and movement technique |
| CN108044633A (en) * | 2017-12-15 | 2018-05-18 | 华南理工大学 | A kind of turnover robot traveling chassis |
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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: 20150401 Termination date: 20151209 |
|
| EXPY | Termination of patent right or utility model |