CN206466013U - A kind of automatic transportation omni-directional moving platform - Google Patents
A kind of automatic transportation omni-directional moving platform Download PDFInfo
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- CN206466013U CN206466013U CN201720023352.8U CN201720023352U CN206466013U CN 206466013 U CN206466013 U CN 206466013U CN 201720023352 U CN201720023352 U CN 201720023352U CN 206466013 U CN206466013 U CN 206466013U
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- wheel
- drive
- mobile platform
- driving wheel
- bevel gear
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Abstract
The utility model discloses a kind of automatic transportation omni-directional moving platform, including mobile platform framework, steering mechanism, steer-drive, driving wheel, steering mechanism includes helical gear drive system, Bevel Gear Transmission system, rack pinion system, slide track component, slide track component includes guide rail, sliding block, steer-drive includes stepper motor, decelerator, driving wheel includes wheel leg, servomotor, decelerator, wheel body, mobile platform uses wheeled construction, with four driving wheels, steer-drive controls driving wheel to turn to by steering mechanism, driving wheel drives mobile platform movement.The utility model is synchronously turned to by four driving wheels of a step motor control, control is simple, action is accurate, steering mechanism is arranged on inside mobile platform, servomotor and decelerator are arranged in driving wheel leg, high-speed, high precision all-around mobile is realized, possesses the advantages such as transmission efficiency, compact conformation, registration.
Description
Technical field
The utility model is related to intelligent robot technology field, more particularly to a kind of automatic transportation is put down with all-around mobile
Platform.
Background technology
With the rapid development of science and technology, all-around mobile technology gets more and more people's extensive concerning, and more and more
Occasion need the baggage transport cart in the motor dolly in flexible transporting equipment, such as factory, airport, disabled person is automatic
Wheelchair etc. is required for more flexible transporting equipment.All-around mobile refers to around realizing in the plane and around itself rotation
The motion of three degree of freedom, automobile in daily life is not full side due to without around itself rotating this free degree
Displacement is moved, and automobile lateral parking is just cumbersome.
The substantially following several buphthalmos wheels of traditional directional wheel, continuous switching wheel, eccentric wheel, global wheel and Mecanum wheel
Deng directional wheel, most of is all the directional wheel using wheel body.But there are following some problems in above directional wheel, 1, power
Poor performance is learned, the shortcoming of traditional directional wheel is moved by force by the frictional force produced between itself wheel and bottom surface, the wheel of wheel body
Axle easily fails, so as to cause using being limited, bearing capacity is poor.And Mecanum wheel is due to self structure,
Vibrations are than larger when mobile for mobile platform, and noise is big, and this can all be adversely affected.2nd, in obstacle performance, tradition is complete
The obstacle climbing ability of the wheel body of azimuth handwheel is restricted always, and the diameter for being primarily due to follower is too small, the quilt on the obstacle of very little
Dynamic side may be stuck, such as Mecanum wheel, and it uses Wheel structure, and Mecanum wheel is in terms of heavy duty and passive side
All poor to obstacle climbing ability, these are the bottlenecks of traditional directional wheel, also limit directional wheel in some specific use directions
Development.3rd, traditional directional wheel control is more complicated, and main cause is that wheel body stress is discrete, and mobile platform is when completing an action
Mutual cooperation between each wheel body is needed, causes control algolithm more complicated and less stable.Although part scientific research institutions are
Through developing the omni-directional moving platform of wheeled construction, but each driving wheel is required for an angle electrical machinery to control to turn to,
Motor number is more so that control is more complicated, it is difficult to ensure the degree of accuracy, action consistency is poor.
Utility model content
In order to overcome that platform kinematic accuracy present in existing omni-directional moving platform is high, reaction speed is not rapid enough,
Kinetic stability is poor, obstacle performance is poor, unreasonable structure the problems such as, the utility model, which is provided, a kind of relies on steering mechanism
Realize the novel omnibearing mobile platform that a stepper motor drives four driving wheels synchronously to turn to.
The utility model solves the technical scheme that its technical problem used：A kind of automatic transportation is flat with all-around mobile
Platform, including mobile platform framework, steer-drive, steering mechanism, driving wheel.Steer-drive is located at mobile platform framework
Inside, steering mechanism includes helical gear drive system, Bevel Gear Transmission system, rack pinion system, guide rail slide block etc., each to drive
Driving wheel all carries servomotor, and steer-drive transmits power using a stepper motor by steering mechanism revolves driving wheel
Turn, driving wheel band moving platform is moved, the two, which cooperates, realizes the all-around mobile of mobile platform.
Above-mentioned automatic transportation omni-directional moving platform, mobile platform framework is connected by section bar by trapezoidal bolt, corner fittings
Form, platform framework is divided into two layers, upper strata is used for load-carrying, lower floor is used for installing steering mechanism.
Above-mentioned automatic transportation omni-directional moving platform, steering mechanism's drive device include stepper motor, motor support plate,
Decelerator, drive device is arranged on mobile platform framework lower floor.
Above-mentioned automatic transportation omni-directional moving platform, steering mechanism is by helical gear drive system, Bevel Gear Transmission system, tooth
Rack power train, slide track component, steering spindle composition are taken turns, maximum can realize 0 ° to 90 ° rotation of driving wheel, helical gear drive
System includes active helical gear, driven helical gear, spatial intersecting axle, and alternating axis, which has altogether, includes two axles, and antarafacial is vertically pacified
Dress, two helical gears are separately mounted on two alternating axis.Bevel Gear Transmission system include drive bevel gear, driven wheel of differential,
Rectangular axis, bevel gear is arranged on two rectangular axis, coordinates transmission, and mobile platform divides altogether containing two groups of Bevel Gear Transmission components
Not An Zhuan mobile platform front and rear sides, rack pinion component include active spur gear, driven spur gear, rack, rack
Supporting plate, mobile platform contains two groups of teeth wheel rack transmission component altogether, is separately mounted to mobile platform front and rear sides, slide track component
Including line slideway, guide rail support plate, support frame.
Above-mentioned automatic transportation omni-directional moving platform, driving wheel includes wheel leg, servomotor, decelerator, wheel body.Take turns leg
Mainly it is bolted and is formed by steel plate, cuboid bloom, it is cavity that it is internal, and servomotor is arranged on inside wheel leg, subtracted
Fast device is arranged on servomotor, and wheel body is made up of steel wheel hub and solid rubber, on the output shaft of decelerator.
The utility model discloses a kind of automatic transportation omni-directional moving platform, and using wheeled construction, mobile platform has
Four driving wheels, when the stepper motor in steer-drive is rotated, drive decelerator to be rotated, the output shaft of decelerator
It is connected by shaft coupling with an alternating axis, active helical gear, active helical gear and slave thread is installed on alternating axis
Gear coordinates transmission, and slave thread gear is arranged on same axis with the drive bevel gear in bevel gearing, so that
Power is evenly transferred in the drive bevel gear at mobile platform two ends by stepper motor by helical gear, and drive bevel gear drives
Driven wheel of differential is rotated, and driven wheel of differential is connected on same axis with the active spur gear in rack pinion component, from
And drive bevel gear drives active spur gear to be rotated, active spur gear band carry-over bar is in the enterprising line slip of line slide rail, tooth
Bar drives two driven spur gears to be rotated, and driven spur gear passes through lining to exempt from key spur gear in rack pinion component
Set links together with steering spindle, therefore active spur gear drives steering spindle to be rotated.Steering spindle is connected to mobile platform
Driving wheel, so as to be driven four driving wheel synchronous axial systems for realizing that a stepper motor drives mobile platform by three-level.
The beneficial effects of the utility model are that the utility model can drive the four of mobile platform by a stepper motor
Individual driving wheel synchronous axial system gets up, and control is simple, keeps strokes, and effectively eliminates current wheeled omni-directional moving platform corner
The shortcomings of motor number is more, control difficulty is big, action is not accurate, are arranged on platform interior, to greatest extent by rotation transmission device
Ground make use of the space of mobile platform, and the height adjustable of device of rotation driving, and the occasion for narrow space has greater advantage,
Mobile platform steer-drive coordinates transmission using helical gear, bevel gear, rack-and-pinion, mobile platform is possessed transmission
The advantages such as efficiency high, stable drive, mechanism are compact, be simple to manufacture, registration.Servomotor built in driving wheel drives, can be real
Existing high-speed, high precision motion control, kinematic accuracy is high, is swift in response.Using wheeled construction, platform motion is more steady, loads energy
Power is strong.
Brief description of the drawings
The utility model is further illustrated with reference to the accompanying drawings and examples.
Fig. 1 is the utility model overall structure diagram；
Fig. 2 is the utility model mobile platform circuit theory schematic diagram；
Fig. 3 is the utility model steer-drive structural representation；
Fig. 4 is the utility model steering mechanism structural representation；
Fig. 5 is the utility model driving wheel structure schematic diagram；
Fig. 6 is that the utility model power transmits and turned to mobile schematic diagram.
1. mobile platform framework in figure, 11. section bars, 12. upper strata frameworks, 13. lower floor's frameworks, 2. steer-drives, 21.
Stepper motor, 22. motor support plates, 23. decelerators, 3. steering mechanism, 31. helical gear drive systems, 32. Bevel Gear Transmissions
System, 33. rack pinion systems, 34. slide track components, 35. steering shaft assemblies, 4. driving wheels, 41. wheel legs, 42. servomotors,
43. decelerator, 44. wheel bodys.
Embodiment
Below in conjunction with the accompanying drawings and embodiment is further described to the utility model, described embodiment is only this reality
With new a part of embodiment, rather than whole embodiments.Based on the embodiment in the utility model, ordinary skill
The every other embodiment that personnel are obtained on the premise of creative work is not made, belongs to the utility model protection
Scope.
Structure, ratio, size depicted in this specification institute accompanying drawings, quantity etc., only to coordinate specification to be taken off
The content shown, so that those skilled in the art is understood with reading, is not limited to the enforceable restriction bar of the utility model
Part, therefore do not have technical essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size are not influenceing
Under effect that the utility model can be generated and the purpose that can reach, all should still it fall in the technology disclosed in the utility model
In the range of Rong get Neng is covered.Meanwhile, cited such as " on ", " under ", "left", "right", " centre " term in this specification,
Understanding for narration is merely convenient to, and is not used to limit the enforceable scope of the utility model, the change of its relativeness or tune
It is whole, under without essence change technology contents, when being also considered as the enforceable category of the utility model.
【Embodiment】
A kind of automatic transportation omni-directional moving platform, including mobile platform framework 1, steer-drive 2, steering mechanism
3rd, driving wheel 4, steer-drive 2 is located inside mobile platform framework 1, and steering mechanism 3 is 31, cone including helical gear drive
Pinion unit 32, rack pinion system 33, guide rail slide block 34, turn to shaft assembly 35 etc., each driving wheel 4 carries servo
Motor 42, steer-drive 2 transmits power using a stepper motor 21 by steering mechanism 3 rotates driving wheel 4, drives
The band moving platform movement of wheel 4, the two, which cooperates, realizes the all-around mobile of mobile platform, and omni-directional moving platform uses wheeled knot
Structure, with four driving wheels 4, it realizes that the process of comprehensive divertical motion is, 21 turns of the stepper motor of steer-drive 2
It is dynamic, drive decelerator 23 to rotate, the output shaft of decelerator 23 is connected by shaft coupling with an alternating axis, is provided with alternating axis
Active helical gear, active helical gear coordinates with driven helical gear to be driven, and driven helical gear and Bevel Gear Transmission are 32
Drive bevel gear be arranged on same axis on so that stepper motor 21 by helical tooth train 31 by power be evenly transferred to move
In the drive bevel gear at moving platform two ends, drive bevel gear drives driven wheel of differential to rotate, driven wheel of differential and gear gear rack
Active spur gear in transmission component 33 is connected on same axis, so that drive bevel gear drives active spur gear to be turned
Dynamic, active spur gear band carry-over bar is in the enterprising line slip of line slide rail 34, and two driven spur gears of rack drives are rotated, tooth
Driven spur gear is linked together to exempt from key spur gear by bushing with steering spindle 35 in wheel rack transmission component 33, therefore main
Dynamic spur gear can drive steering axes, and steering spindle 35 is connected with the driving wheel 4 of mobile platform, it is possible to achieve driving wheel 4
Rotated freely in the range of 0 to 90 °, while driving wheel 4 drives operating by servomotor 42, in steer-drive 2 and driving
Take turns under the cooperation control of servomotor 42, whole mobile platform can realize any direction all-around mobile, as a whole, entirely
Orientation mobile platform is driven by using three-level has reached that a stepper motor 21 drives the synchronous mesh turned to of four driving wheels 4
, realize comprehensive the moving freely without dead angle of mobile platform.
In the present embodiment, above-mentioned mobile platform framework 1 is formed by connecting by section bar by trapezoidal bolt, corner fittings, platform framework 1
It is divided into two layers, upper strata is used for load-carrying, lower floor is used for installing steering mechanism 3.
In the present embodiment, above-mentioned steering mechanism's drive device 2 includes stepper motor 21, motor support plate 22, decelerator 23,
Drive device 2 is arranged on the lower floor of mobile platform framework 1.
In the present embodiment, above-mentioned steering mechanism 3 is that 31, Bevel Gear Transmission is that 32, rack-and-pinion is passed by helical gear drive
Dynamic is that 33, slide track component 34, steering spindle 35 are constituted, and maximum can realize 0 ° to 90 ° rotation of driving wheel 4, helical gear drive
Be 31 include active helical gear, driven helical gear, spatial intersecting axle, alternating axis, which has altogether, includes two axles, and antarafacial is vertical
Install, two helical gears are separately mounted on two alternating axis.Bevel Gear Transmission is 32 to include drive bevel gear, from mantle tooth
Wheel, rectangular axis, bevel gear are arranged on two rectangular axis, coordinate transmission, and mobile platform contains two groups of Bevel Gear Transmission components altogether,
Be separately mounted to mobile platform front and rear sides, rack pinion component 33 include active spur gear, driven spur gear, rack,
Rack support plate, mobile platform contains two groups of teeth wheel rack transmission component altogether, is separately mounted to mobile platform front and rear sides, slide rail
Component 34 includes line slideway, guide rail support plate, support frame.
In the present embodiment, above-mentioned driving wheel 4, which includes driving wheel, includes wheel leg 41, servomotor 42, decelerator 43, wheel body
44.Wheel leg 41 is mainly bolted and formed by steel plate, cuboid bloom, and it is cavity that it is internal, and servomotor 42 is arranged on
Take turns inside leg, decelerator 43 is arranged on servomotor, and wheel body 44 is made up of steel wheel hub and solid rubber, installed in decelerator
Output shaft on.
Claims (5)
1. a kind of automatic transportation omni-directional moving platform, including mobile platform framework, steer-drive, steering mechanism, drive
Driving wheel, steer-drive is located at mobile platform lower portion, and steering mechanism includes helical gear drive system, Bevel Gear Transmission
System, rack pinion system, guide rail slide block, each driving wheel carry servomotor, and steer-drive utilizes a stepping
Motor transmits power by steering mechanism rotates driving wheel, and driving wheel band moving platform is moved, and the two, which cooperates, realizes movement
The all-around mobile of platform, omni-directional moving platform uses wheeled construction, with four driving wheels, the stepping of steer-drive
Motor drives decelerator to rotate, and the output shaft of decelerator is connected by shaft coupling with an alternating axis, and master is provided with alternating axis
Dynamic helical gear, active helical gear coordinates with driven helical gear to be driven, driven helical gear and the master of Bevel Gear Transmission system
Dynamic bevel gear is arranged on same axis, so that power is evenly transferred to mobile platform two ends by stepper motor by helical gear
Drive bevel gear on, drive bevel gear drives driven wheel of differential to rotate, in driven wheel of differential and rack pinion component
Active spur gear is connected on same axis, so that drive bevel gear drives active spur gear to be rotated, active spur gear band
Carry-over bar is in the enterprising line slip of line slide rail, and two driven spur gears of rack drives are rotated, in rack pinion component
Driven spur gear is linked together to exempt from key spur gear by bushing with steering spindle, therefore active spur gear can drive steering
Axle is rotated, and steering spindle is connected with the driving wheel of mobile platform, it is possible to achieve driving wheel is rotated freely in the range of 0 to 90 °, together
When driving wheel driven and operate by servomotor, it is whole to move under the cooperation control of steer-drive and driving wheel servomotor
Moving platform can realize any direction all-around mobile, as a whole, and omni-directional moving platform reaches by using three-level transmission
The purpose that four driving wheels are synchronously turned to is driven to a stepper motor, the comprehensive freedom without dead angle of mobile platform is realized
It is mobile.
2. automatic transportation omni-directional moving platform according to claim 1, it is characterised in that above-mentioned mobile platform framework
It is formed by connecting by section bar by trapezoidal bolt, corner fittings, platform framework is divided into two layers, upper strata is used for load-carrying, lower floor is used for installing and turned
To mechanism.
3. automatic transportation omni-directional moving platform according to claim 1, it is characterised in that above-mentioned steering mechanism's driving
Device includes stepper motor, motor support plate, decelerator, and drive device is arranged on mobile platform framework lower floor.
4. automatic transportation omni-directional moving platform according to claim 1, it is characterised in that above-mentioned steering mechanism is by spiral shell
Pinion unit, Bevel Gear Transmission system, rack pinion system, slide track component, steering spindle composition are revolved, maximum can realize driving
0 ° to 90 ° rotation of wheel, helical gear drive system includes active helical gear, driven helical gear, spatial intersecting axle, alternating axis
Include two axles altogether, antarafacial right angle setting, two helical gears are separately mounted on two alternating axis, Bevel Gear Transmission system
Including drive bevel gear, driven wheel of differential, rectangular axis, bevel gear is arranged on two rectangular axis, coordinates transmission, and mobile platform is common
Containing two groups of Bevel Gear Transmission components, mobile platform front and rear sides are separately mounted to, rack pinion component includes actively straight
Gear, driven spur gear, rack, rack support plate, mobile platform contain two groups of teeth wheel rack transmission component altogether, are separately mounted to
Mobile platform front and rear sides, slide track component includes line slideway, guide rail support plate, support frame.
5. automatic transportation omni-directional moving platform according to claim 1, it is characterised in that above-mentioned driving wheel includes wheel
Leg, servomotor, decelerator, wheel body, wheel leg are mainly bolted and formed by steel plate, cuboid bloom, and it is internal for sky
Chamber, servomotor is arranged on inside wheel leg, and decelerator is arranged on servomotor, and wheel body is by steel wheel hub and solid rubber group
Into on the output shaft of decelerator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720023352.8U CN206466013U (en) | 2017-01-09 | 2017-01-09 | A kind of automatic transportation omni-directional moving platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720023352.8U CN206466013U (en) | 2017-01-09 | 2017-01-09 | A kind of automatic transportation omni-directional moving platform |
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| Publication Number | Publication Date |
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| CN206466013U true CN206466013U (en) | 2017-09-05 |
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| CN201720023352.8U Expired - Fee Related CN206466013U (en) | 2017-01-09 | 2017-01-09 | A kind of automatic transportation omni-directional moving platform |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106853843A (en) * | 2017-01-09 | 2017-06-16 | 江南大学 | A kind of achievable synchronous omni-directional moving platform for turning to |
| CN108016528A (en) * | 2017-12-26 | 2018-05-11 | 中冶京诚工程技术有限公司 | Automatic guide vehicle |
| CN108222602A (en) * | 2018-03-07 | 2018-06-29 | 西南交通大学 | A kind of automobile carrying device |
| CN110091302A (en) * | 2019-05-10 | 2019-08-06 | 东方电子股份有限公司 | A kind of improved intelligent robot of image recognition technology based on deep learning |
| CN110816646A (en) * | 2019-10-29 | 2020-02-21 | 山东科技大学 | All-directional mobile platform for automatic transportation and application thereof |
| CN111273123A (en) * | 2020-03-28 | 2020-06-12 | 杨其国 | Transformer detection device |
| CN115230843A (en) * | 2022-08-02 | 2022-10-25 | 浙江理工大学 | Agricultural movable platform with variable wheel track and conformal vibration reduction |
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2017
- 2017-01-09 CN CN201720023352.8U patent/CN206466013U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106853843A (en) * | 2017-01-09 | 2017-06-16 | 江南大学 | A kind of achievable synchronous omni-directional moving platform for turning to |
| CN106853843B (en) * | 2017-01-09 | 2024-02-02 | 江南大学 | Omnidirectional mobile platform capable of realizing synchronous steering |
| CN108016528B (en) * | 2017-12-26 | 2023-06-23 | 中冶京诚工程技术有限公司 | Automatic guiding vehicle |
| CN108016528A (en) * | 2017-12-26 | 2018-05-11 | 中冶京诚工程技术有限公司 | Automatic guide vehicle |
| CN108222602A (en) * | 2018-03-07 | 2018-06-29 | 西南交通大学 | A kind of automobile carrying device |
| CN108222602B (en) * | 2018-03-07 | 2023-07-28 | 西南交通大学 | Automobile carrying device |
| CN110091302A (en) * | 2019-05-10 | 2019-08-06 | 东方电子股份有限公司 | A kind of improved intelligent robot of image recognition technology based on deep learning |
| CN110091302B (en) * | 2019-05-10 | 2021-06-22 | 北京之乐时空科技有限公司 | Intelligent robot with improved image recognition technology based on deep learning |
| CN110816646A (en) * | 2019-10-29 | 2020-02-21 | 山东科技大学 | All-directional mobile platform for automatic transportation and application thereof |
| CN111273123B (en) * | 2020-03-28 | 2022-03-29 | 广西电网有限责任公司电力科学研究院 | Transformer detection device |
| CN111273123A (en) * | 2020-03-28 | 2020-06-12 | 杨其国 | Transformer detection device |
| CN115230843A (en) * | 2022-08-02 | 2022-10-25 | 浙江理工大学 | Agricultural movable platform with variable wheel track and conformal vibration reduction |
| CN115230843B (en) * | 2022-08-02 | 2023-07-25 | 浙江理工大学 | Agricultural mobile platform with changeable wheel track and conformal vibration reduction |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170905 Termination date: 20190109 |
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| CF01 | Termination of patent right due to non-payment of annual fee |