CN205872235U - Omni -directional mobile platform - Google Patents
Omni -directional mobile platform Download PDFInfo
- Publication number
- CN205872235U CN205872235U CN201620802953.4U CN201620802953U CN205872235U CN 205872235 U CN205872235 U CN 205872235U CN 201620802953 U CN201620802953 U CN 201620802953U CN 205872235 U CN205872235 U CN 205872235U
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- omni
- mobile platform
- wheel
- chassis
- directional
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Abstract
The utility model discloses an omni -directional mobile platform, a serial communication port, include: chassis, drive arrangement and at least a N omniwheel, wherein N more than or equal to 4, N is individual omniwheel is even to be set up the side all around on chassis is adjacent angle range between the omniwheel is all between 120N degree to 600N degree, drive arrangement driving part or whole omniwheel rotate. The utility model also discloses an another kind of omni -directional mobile platform, include: chassis, drive wheel, drive wheel installation mechanism, drive arrangement and at least a M omniwheel, wherein M more than or equal to 4, M is individual omniwheel is even to be set up the side all around on chassis is adjacent angle range between the omniwheel is all between 120M degree to 600M degree, the drive wheel passes through drive wheel installation mechanism sets up on the chassis, the drive arrangement drive the drive wheel rotates. The omni -directional mobile platform who realizes steady operation, rotation and strong obstacle climbing ability's a kind.
Description
Technical field
This utility model relates to a kind of mobile device, espespecially a kind of Omni-mobile platform.
Background technology
Wheel type intelligent vehicle, intelligent mobile robot application constantly expand, as the mobile platform machine realizing motion
The importance of structure design highlights further.Omni-directional wheel is widely used in robot, handbarrow, transfer conveyer, freight, luggage etc.
In the structure of mobile device, existing omni-directional wheel includes wheel hub motor and driven pulley, uniformly offers at the excircle of wheel hub motor
There is the wheel hub tooth of 3 or more than 3, be equiped with a driven pulley between each two wheel hub tooth, the rotary shaft of this driven pulley and wheel hub
The tangential direction of excircle is parallel.
In actual application, it is frequently run onto problems with: (1) working region needs pivot stud time narrow, operating
It is not sufficiently stable；(2), during omni-directional wheel roll, obstacle climbing ability reduces；(3) operating instability when mobile platform is advanced.
Utility model content
The purpose of this utility model is to provide a kind of Omni-mobile platform, it is achieved stable operation, rotation and stronger obstacle detouring
A kind of Omni-mobile platform of ability.
The technical scheme that this utility model provides is as follows: a kind of Omni-mobile platform, it is characterised in that including: chassis, drive
Dynamic device and the most N number of omni-directional wheel, wherein N is more than or equal to 4.
N number of described omni-directional wheel is uniformly arranged on the surrounding side on described chassis, the angular range between adjacent described omni-directional wheel
All between 120/N degree to 600/N degree；Described driving means drive part or all omni-directional wheel rotate.
Further, described Omni-mobile platform includes four omni-directional wheels.
Preferably, between the adjacent described omni-directional wheel of described Omni-mobile platform angle be followed successively by 60 °, 120 °, 60 °,
120°。
The Omni-mobile platform provided by this utility model, it is possible to bring at least one beneficial effect following:
First, the layout of multiple omni-directional wheels, improve forward-reverse and the flexible difficulty of pivot stud, car body possesses more simultaneously
Strong stability.
Secondly, four omni-directional wheels are separately positioned on the surrounding side on described chassis, and at an angle are evenly arranged, it is to avoid
The problem that when direct of travel is with omni-directional wheel axis direction consistent, obstacle climbing ability declines.
This utility model is also disclosed a kind of Omni-mobile platform, including: chassis, driving wheel, driving wheel installing mechanism, driving
Device and at least M omni-directional wheel, wherein M is more than or equal to 4；
M described omni-directional wheel is uniformly arranged on the surrounding side on described chassis, the angular range between adjacent described omni-directional wheel
All between 120/M degree to 600/M degree；Described driving wheel is arranged on described chassis by described driving wheel installing mechanism；Institute
Stating driving means drives described driving wheel to rotate.
Further, described Omni-mobile platform includes four omni-directional wheels.
Preferably, between the adjacent described omni-directional wheel of described Omni-mobile platform angle be followed successively by 60 °, 120 °, 60 °,
120°。
Preferably, described Omni-mobile platform includes that two driving wheels, the angle of two described driving wheel axis are 180
Degree.It is more stable that axis two driving wheels on the same line make Omni-mobile platform advance.
Preferably, described driving wheel installing mechanism is provided with vertical float controlling organization, makes driving wheel put down along with chassis
Can float in vertical direction, face.Meet the stability that ground car body the most at ordinary times runs.
The Omni-mobile platform provided by this utility model, it is possible to bring at least one beneficial effect following:
First, the layout of multiple omni-directional wheels, improve forward-reverse and the flexible difficulty of pivot stud.
Next, omni-directional wheel adds the layout of taking turns of driving wheel more makes mobile platform structure possess higher stability.
Again, multiple omni-directional wheels are separately positioned on the surrounding side on described chassis, and layout at an angle, it is to avoid row
Enter direction consistent with omni-directional wheel axis direction time obstacle climbing ability decline problem.
Finally, not using omni-directional wheel to drive but separately set driving wheel, transmission efficiency is higher, simultaneously than using omni-directional wheel to drive
Control algolithm can also be made to be simplified.
Accompanying drawing explanation
Below by the way of the most understandable, accompanying drawings preferred implementation, to a kind of Omni-mobile platform
Above-mentioned characteristic, technical characteristic, advantage and implementation thereof are further described.
Fig. 1 is the top view of a kind of embodiment of Omni-mobile platform.
Fig. 2 is the perspective view of the another kind of embodiment of Omni-mobile platform.
Fig. 3 is the top view of Fig. 2.
Fig. 4 is the front view of Fig. 2.
Fig. 5 is the schematic diagram of driving wheel installing mechanism.
Drawing reference numeral illustrates:
100a, chassis, 200a, the first omni-directional wheel, 210a, the second omni-directional wheel, 220a, the 3rd omni-directional wheel are 230a, the 4th complete
To wheel, 100b, chassis, 200b, the first omni-directional wheel, 210b, the second omni-directional wheel, 220b, the 3rd omni-directional wheel, 230b, the 4th omnidirectional
Wheel, the 300, first driving wheel, the 310, second driving wheel, 320, driving wheel installing mechanism, 321, connecting rod, 322, spring, 323, wheel
Seat, 324, motor reduction gearbox, 325, screw, 326, pedestal, 327, pin.
Detailed description of the invention
In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, accompanying drawing will be compareed below
Detailed description of the invention of the present utility model is described.It should be evident that the accompanying drawing in describing below is only of the present utility model one
A little embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to according to these
Accompanying drawing obtains other accompanying drawing, and obtains other embodiment.
For making simplified form, only schematically show the part relevant to this utility model in each figure, they are not
Represent its practical structures as product.It addition, so that simplified form readily appreciates, some figure has identical structure or merit
The parts of energy, only symbolically depict one of them, or have only marked one of them.In this article, " one " not only
Represent " only this ", it is also possible to represent the situation of " more than one ".
In this article, the restriction on the mathematics of " vertically " etc. non-critical and/or geometry meaning, also comprise this area skill
Art personnel may be appreciated and the error of the permission such as manufacture or use.
As it is shown in figure 1, the present embodiment proposes a kind of Omni-mobile platform, including: chassis 100a, driving means and extremely
Few N number of omni-directional wheel, wherein N is more than or equal to 4.
N number of described omni-directional wheel is uniformly arranged on the surrounding side on described chassis 100, the angle model between adjacent described omni-directional wheel
Enclose all between 120/N degree to 600/N degree；Described driving means drive part or all omni-directional wheel rotate.
Concrete, when chassis 100 surrounding arranges 4 omni-directional wheels, the angle of adjacent omni-directional wheel can be 90 °, 30 °, 150 °,
90°；When chassis 100 surrounding arranges 6 omni-directional wheels, the angle of adjacent omni-directional wheel can be 20 °, 60 °, 100 °, 50 °, 30 °,
100°。
As it is shown in figure 1, in a preferred embodiment of the present utility model, described Omni-mobile platform includes four omnidirectionals
Wheel, i.e. 200a, 210a, 220a, 230a.
In a preferred embodiment of the present utility model, described Omni-mobile platform includes four omni-directional wheels, adjacent described
Between omni-directional wheel, angle is followed successively by 60 °, 120 °, 60 °, 120 °.
As shown in Figures 2 and 3, the present embodiment proposes another kind of Omni-mobile platform, including: chassis 100b, driving wheel,
Driving wheel installing mechanism, driving means and at least M omni-directional wheel, wherein M is more than or equal to 4.
N number of described omni-directional wheel is uniformly arranged on the surrounding side of described chassis 100b, the angle between adjacent described omni-directional wheel
Scope is all between 120/M degree to 600/M degree；Described driving wheel is arranged on described chassis by described driving wheel installing mechanism
On 100b；Described driving means drives described driving wheel to rotate.
Concrete, when chassis 100b surrounding arranges 4 omni-directional wheels, the angle of adjacent omni-directional wheel can be 90 °, 30 °,
150°、90°；When chassis 100b surrounding arranges 6 omni-directional wheels, the angle of adjacent omni-directional wheel can be 20 °, 60 °, 100 °, 50 °,
30°、100°。
As shown in Fig. 2 and Fig. 3 and Fig. 4, in a preferred embodiment of the present utility model, described Omni-mobile platform includes
Four omni-directional wheels, i.e. 200b, 210b, 220b, 230b.
In a preferred embodiment of the present utility model, described Omni-mobile platform includes four omni-directional wheels, adjacent described
Between omni-directional wheel, angle is followed successively by 60 °, 120 °, 60 °, 120 °.
As shown in Figures 2 and 3, in a preferred embodiment of the present utility model, described Omni-mobile platform includes two
Driving wheel, the i.e. first driving wheel 300 and the second driving wheel 310, the angle of two described driving wheel axis is 180 degree.
As it is shown in figure 5, in a specific embodiment of the present utility model, described driving wheel installing mechanism is provided with vertical
Floating control mechanism, makes driving wheel can float along the direction vertical with chassis 100b plane.Meet the ground fortune of car body the most at ordinary times
The stability of row.
Driving wheel is connected with motor reduction gearbox 324, and motor reduction gearbox 324 is positioned at above chassis 100 when mounted, and adjoins
It is provided with and below chassis 100, passes wheel seat 323 for 323,2 screws 325 of wheel seat fixing with chassis, and at screw 325
On be arranged with spring 322, after installation, screw 325 and spring 322 are fixed by two bars 321, at wheel seat 323 away from motor reduction gearbox
One end, edge of 324 is provided with pin hole, and pin 327 passes pin hole fixed pedestal 326 on wheel seat 323.
It should be noted that, above-described embodiment all can independent assortment as required.The above is only of the present utility model
Preferred implementation, it is noted that for those skilled in the art, without departing from this utility model principle
On the premise of, it is also possible to making some improvements and modifications, these improvements and modifications also should be regarded as protection domain of the present utility model.
Claims (8)
1. an Omni-mobile platform, it is characterised in that including: chassis, driving means and the most N number of omni-directional wheel, wherein N is big
In equal to 4；
N number of described omni-directional wheel is uniformly arranged on the surrounding side on described chassis, and the angular range between adjacent described omni-directional wheel all exists
120/N degree is between 600/N degree；Described driving means drive part or all omni-directional wheel rotate.
Omni-mobile platform the most according to claim 1, it is characterised in that: described Omni-mobile platform includes four omnidirectionals
Wheel.
Omni-mobile platform the most according to claim 2, it is characterised in that: described Omni-mobile platform adjacent described entirely
Between wheel, angle is followed successively by 60 °, 120 °, 60 °, 120 °.
4. an Omni-mobile platform, it is characterised in that including: chassis, driving wheel, driving wheel installing mechanism, driving means with
And at least M omni-directional wheel, wherein M is more than or equal to 4；
M described omni-directional wheel is uniformly arranged on the surrounding side on described chassis, and the angular range between adjacent described omni-directional wheel all exists
120/M degree is between 600/M degree；Described driving wheel is arranged on described chassis by described driving wheel installing mechanism；Described drive
Dynamic device drives described driving wheel to rotate.
Omni-mobile platform the most according to claim 4, it is characterised in that: described Omni-mobile platform includes four omnidirectionals
Wheel.
Omni-mobile platform the most according to claim 5, it is characterised in that: described Omni-mobile platform adjacent described entirely
Between wheel, angle is followed successively by 60 °, 120 °, 60 °, 120 °.
7. according to the arbitrary described Omni-mobile platform of claim 4-6, it is characterised in that described Omni-mobile platform includes two
Individual driving wheel, the angle of two described driving wheel axis is 180 degree.
A kind of Omni-mobile platform the most according to claim 7, it is characterised in that arrange on described driving wheel installing mechanism
There is vertical float controlling organization, make driving wheel can float along the direction vertical with chassis plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620802953.4U CN205872235U (en) | 2016-07-28 | 2016-07-28 | Omni -directional mobile platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620802953.4U CN205872235U (en) | 2016-07-28 | 2016-07-28 | Omni -directional mobile platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205872235U true CN205872235U (en) | 2017-01-11 |
Family
ID=57698892
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620802953.4U Expired - Fee Related CN205872235U (en) | 2016-07-28 | 2016-07-28 | Omni -directional mobile platform |
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| Country | Link |
|---|---|
| CN (1) | CN205872235U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110202484A (en) * | 2019-07-04 | 2019-09-06 | 姜涛 | Ball blast cambered surface wall-climbing device |
-
2016
- 2016-07-28 CN CN201620802953.4U patent/CN205872235U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
|---|---|---|---|
| GR01 | Patent grant | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170118 Address after: 315336 Ningbo Binhai New Area, Hangzhou, Binhai Road, No. four, No. 131, No. Patentee after: Ningbo GQY Video &Telecom Joint Stock Co., Ltd. Address before: 201318 Shanghai city Pudong New Area Zhou Pu Zhen Shen Mei Road 99 Lane 3 No. 1-9 Building 2 floor B block Patentee before: Shanghai New Century Robot Co., Ltd. |
|
| TR01 | Transfer of patent right |
Effective date of registration: 20190726 Address after: Room 149, Building 6, 1000 Airport Road, Haishu District, Ningbo City, Zhejiang Province Patentee after: Ningbo GQY Automation System Integration Co., Ltd. Address before: 315336 Ningbo Binhai New Area, Hangzhou, Binhai Road, No. four, No. 131, No. Patentee before: Ningbo GQY Video IT Co., Ltd. |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170111 Termination date: 20200728 |
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| CF01 | Termination of patent right due to non-payment of annual fee |