CN206280664U - A kind of pipeline mobile robot device - Google Patents
A kind of pipeline mobile robot device Download PDFInfo
- Publication number
- CN206280664U CN206280664U CN201620875192.5U CN201620875192U CN206280664U CN 206280664 U CN206280664 U CN 206280664U CN 201620875192 U CN201620875192 U CN 201620875192U CN 206280664 U CN206280664 U CN 206280664U
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- Prior art keywords
- mobile robot
- omni
- steering wheel
- robot device
- wheel
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Abstract
The utility model provides a kind of pipeline mobile robot device, including PTO, horizontal rotation apparatus, it is characterised in that：The PTO includes, reducing motor, base plate, omni-directional wheel, motor driving plate；The horizontal rotation apparatus include, steering wheel, supporting plate, aluminum alloy bearing rotating disk, by using the flexibility of omni-directional wheel, and a horizontal rotation apparatus are increased on this basis, effectively solve motion problems of the robot in narrow and small actionable space, the utility model has simple structure, high reliability, can be applied to the field such as pipe robot and subsurface investigation robot.
Description
Technical field
The utility model is related to a kind of mobile robot field, more particularly to a kind of pipeline mobile robot device.
Background technology
With the development of robot technology, increasingly, it is desired that robot can go to complete mechanical sex work instead of people, such as
Robot was all developed and was applied in practice, such as household sweeping robot in many fields the present.However, for pipe
The narrow and small situation of working space such as road and subsurface investigation, at present, does not have feasible scheme effectively to solve robotic movement convenient
Problem.
Utility model content
The purpose of this utility model is the shortcoming and deficiency for overcoming prior art, there is provided a kind of pipeline mobile robot dress
Put, using the flexibility of omni-directional wheel, and increased a horizontal rotation apparatus on this basis, effectively solve robot narrow and small
The motion problems of actionable space.
The purpose of this utility model is achieved through the following technical solutions：
A kind of pipeline mobile robot device, including, PTO, horizontal rotation apparatus, it is characterised in that：It is described
PTO includes, reducing motor, base plate, omni-directional wheel, motor driving plate；The horizontal rotation apparatus include, steering wheel, branch
Fagging, aluminum alloy bearing rotating disk.
Especially, the reducing motor includes four reducing motors, and the output shaft of four reducing motors is orthogonal,
Four reducing motors are evenly distributed on same level；
Especially, the omni-directional wheel is 4, and described each omni-directional wheel is installed on the corresponding reducing motor end；
Especially, the input of the reducing motor connects the motor driving plate, and the motor driving plate includes control
Device, the PWM ripples of the controller I/O port input control the output speed of the reducing motor；
Especially, perpendicular to the supporting plate and the base plate, the steering wheel main body is fixed on institute to the steering wheel output shaft
Base plate center is stated, the steering wheel output shaft connects the supporting plate；
Especially, the aluminum alloy bearing rotating disk center of circle exports overlapping of axles, the aluminum alloy bearing rotating disk with the steering wheel
It is fixed on the base plate；
The utility model has the advantages that：
The utility model provides a kind of simple structure of pipeline mobile robot device, and reliability is high, and low cost is easily pushed away
Extensively, it is convenient and practical.
Brief description of the drawings
Utility model is described further using accompanying drawing, but embodiment in accompanying drawing is not constituted to of the present utility model
What is limited, for one of ordinary skill in the art, on the premise of not paying creative work, can also be according to the following drawings
Obtain other accompanying drawings；
Fig. 1 is a kind of motion schematic diagram of pipeline mobile robot device of the utility model；
Fig. 2 is a kind of bottom schematic view of pipeline mobile robot device of the utility model；
Fig. 3 is a kind of horizontal rotatable platform schematic diagram of pipeline mobile robot device of the utility model；
Fig. 4 is the horizontal rotatable platform schematic diagram that a kind of pipeline mobile robot device of the utility model includes supporting plate；
Fig. 5 is a kind of side view of pipeline mobile robot device of the utility model；
Wherein：1st, reducing motor, 2, base plate, 3, omni-directional wheel, 4, aluminum alloy bearing rotating disk, 5, steering wheel, 6, supporting plate, 7, electricity
Machine driving plate.
Specific embodiment
The utility model is further described with the following Examples.
As shown in Fig. 2-5, there is provided a kind of pipeline mobile robot device, including, PTO, horizontal rotation dress
Put, it is characterised in that：PTO includes, reducing motor, base plate, omni-directional wheel, motor driving plate；Horizontal rotation apparatus bag
Include, steering wheel, supporting plate, aluminum alloy bearing rotating disk.
The output shaft that the position of four reducing motors of PTO meets adjacent reducing motor is orthogonal, four
Reducing motor is evenly distributed on same horizontal circumference, and each omni-directional wheel is installed on corresponding reducing motor end, is slowed down
The input of motor is connected to motor driving plate, and the PWM ripples being input into by the controller I/O port being connected in motor driving plate are controlled
The output speed of reducing motor, realizes the control to robot translation direction.
The steering wheel output shaft of horizontal rotation apparatus is fixed on center under base plate perpendicular to supporting plate and base plate, steering wheel main body
Place, output shaft is connected to supporting plate center.The aluminum alloy bearing rotating disk center of circle and steering wheel output overlapping of axles, are fixed on base plate,
Carry supporting plate.By steering wheel for this device provides rotary power, device is set to be rotated relative to base plate.
As shown in figure 3, being illustrated to the horizontal rotation apparatus of this pipeline mobile robot device：
The horizontal rotation apparatus of this pipeline mobile robot device by being fixed on the steering wheel output level rotary power of base plate,
The supporting plate Arbitrary Rotation on its output shaft is driven, the aluminum alloy bearing rotating disk under supporting plate plays dispensing support plate and pushes
The effect of power and stabilization.
As shown in figure 1, being illustrated to this pipeline mobile robot device motion control：
(1) when wheel c, wheel d together with same rotating speed rotate counterclockwise when and wheel a and wheel b together with same turn
When speed turns clockwise, this mobile vehicle is moved to A directions；
(2) when wheel a, wheel d together with same rotating speed rotate counterclockwise when and wheel b and wheel c together with same turn
When speed turns clockwise, this mobile vehicle is moved to B directions；
(3) when wheel a, wheel d are turned clockwise with same rotating speed together and wheel b and wheel c are together with same turn
During fast rotate counterclockwise, this mobile vehicle is moved to C directions；
(4) when wheel c, wheel d are turned clockwise with same rotating speed together and wheel a and wheel b are together with same turn
During fast rotate counterclockwise, this mobile vehicle is moved to D directions；
(5) when all wheels are coordinated with other steerings and rotating speed, it is capable of achieving the translation of arbitrary orientation.
Finally it should be noted that above example is only used to illustrate the technical solution of the utility model, rather than to this reality
With the limitation of novel protected scope, although being explained to the utility model with reference to preferred embodiment, this area it is general
It is logical it will be appreciated by the skilled person that can be modified to the technical solution of the utility model or equivalent, without deviating from this
The spirit and scope of utility model technical scheme.
Claims (4)
1. a kind of pipeline mobile robot device, including PTO, horizontal rotation apparatus, it is characterised in that：It is described dynamic
Power output device includes, reducing motor, base plate, omni-directional wheel, motor driving plate；The horizontal rotation apparatus include, steering wheel, support
Plate, aluminum alloy bearing rotating disk；The omni-directional wheel is installed on corresponding reducing motor end, and the input of reducing motor is connected to electricity
Machine driving plate；The steering wheel output shaft of horizontal rotation apparatus is fixed on center under base plate perpendicular to supporting plate and base plate, steering wheel main body
Place, the steering wheel output shaft connects the supporting plate；The aluminum alloy bearing rotating disk center of circle exports overlapping of axles, institute with the steering wheel
Aluminum alloy bearing rotating disk is stated to be fixed on the base plate.
2. pipeline mobile robot device according to claim 1, it is characterised in that：The reducing motor subtracts including four
Speed motor, the output shaft of four reducing motors is orthogonal, and four reducing motors are evenly distributed on same level.
3. pipeline mobile robot device according to claim 1, it is characterised in that：The omni-directional wheel is 4, described every
One omni-directional wheel is installed on the corresponding reducing motor end.
4. pipeline mobile robot device according to claim 1, it is characterised in that：The input of the reducing motor connects
The motor driving plate is connect, the motor driving plate includes controller, subtracted described in the PWM ripples control that the controller I/O port is input into
The output speed of speed motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620875192.5U CN206280664U (en) | 2016-08-12 | 2016-08-12 | A kind of pipeline mobile robot device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620875192.5U CN206280664U (en) | 2016-08-12 | 2016-08-12 | A kind of pipeline mobile robot device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206280664U true CN206280664U (en) | 2017-06-27 |
Family
ID=59085099
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620875192.5U Expired - Fee Related CN206280664U (en) | 2016-08-12 | 2016-08-12 | A kind of pipeline mobile robot device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206280664U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109945014A (en) * | 2019-03-26 | 2019-06-28 | 焦作大学 | A kind of pipe robot hoofing part mechanism |
-
2016
- 2016-08-12 CN CN201620875192.5U patent/CN206280664U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109945014A (en) * | 2019-03-26 | 2019-06-28 | 焦作大学 | A kind of pipe robot hoofing part mechanism |
| CN109945014B (en) * | 2019-03-26 | 2020-07-31 | 焦作大学 | Walking driving mechanism for pipeline robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20170627 Termination date: 20180812 |