CN207482036U - A kind of intelligent family moving platform - Google Patents
A kind of intelligent family moving platform Download PDFInfo
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- CN207482036U CN207482036U CN201721503612.8U CN201721503612U CN207482036U CN 207482036 U CN207482036 U CN 207482036U CN 201721503612 U CN201721503612 U CN 201721503612U CN 207482036 U CN207482036 U CN 207482036U
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- moving platform
- gear ring
- driving wheel
- wheel
- intelligent family
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Abstract
A kind of intelligent family moving platform, belongs to robotic technology field.Head cover including moving portion and above moving portion（3）, moving portion include main frame（4）, in main frame（4）Both sides driving wheel is respectively symmetrically installed（2）And driven wheel（7）, it is additionally provided with and driving wheel（2）One-to-one actuating unit, it is characterised in that：The actuating unit includes motor（9）And and motor（9）Coordinate the retarder of installation, in the driving wheel（2）Mounting groove is provided at center, retarder is placed in mounting groove and the output terminal and driving wheel of retarder（2）It is fixedly connected, in main frame（4）On be also equipped with driving box（8）, in driving box（8）Inside it is provided with driving motor（9）The control circuit of work.This intelligent family moving platform using motor as power, greatly reduces noise and avoids and environmental pollution is caused due to exhaust gas discharges, while retarder is placed in driving wheel, make structure more compact.
Description
Technical field
A kind of intelligent family moving platform, belongs to robotic technology field.
Background technology
Mobile platform can help or solved the problems, such as instead of people it is many in real life, using mobile platform carry not
Same equipment can realize that a variety of different functions, such as self-service follow shot image, follow and lead the way, agricultural irrigation, spray agriculture
Medicine etc., therefore mobile platform is just becoming the main trend of liberation manual labor.In the prior art, mobile platform generally existing
There is following defect：
（1）, at present, for mobile platform using engine as power, engine drives mobile platform movement by retarder,
However engine can send out larger noise during non-combusted fuels are converted to mechanical energy, cause serious noise pollution,
Non-combusted fuels can generate a large amount of exhaust gas simultaneously, seriously affect environment.
（2）, the prior art mobile platform generally require setting braking mechanism, effectively kept away when mobile platform is short of power
Exempt from mobile platform automatic moving, setting braking mechanism can greatly increase its cost, although using the retarder of turbine and worm form,
The latching characteristics of turbine and worm can be utilized to realize brake, but set the retarder of turbine and worm form that can greatly increase movement
The volume of platform, while can also increase its cost.
Invention content
The technical problems to be solved in the utility model is：It overcomes the deficiencies of the prior art and provide a kind of using motor conduct
Power greatly reduces noise and avoids and environmental pollution caused due to exhaust gas discharges, while retarder is placed in driving wheel,
The intelligent family moving platform for making structure more compact.
Technical solution is used by the utility model solves its technical problem：The intelligent family moving platform, including moving portion
With the head cover above moving portion, moving portion includes main frame, driving wheel is respectively symmetrically equipped in the both sides of main frame
And driven wheel, it is additionally provided with and the one-to-one actuating unit of driving wheel, it is characterised in that：The actuating unit includes motor
And the retarder with motor cooperation installation, mounting groove is provided at the driving wheel center, retarder is placed in mounting groove
Interior and retarder output terminal is fixedly connected with driving wheel, and driving box is also equipped on main frame, is provided in driving box
The control circuit of driving motor work.
Preferably, the retarder is planetary reducer, including the sun gear that is set with successively from inside to outside and more
In the cavity that a planetary gear, sun gear and the engagement of multiple planetary gears are connected to fixed gear ring and movable gear ring docking surrounds,
Fixed gear ring is fixedly connected with the casing of the motor, and movable gear ring is fixedly and coaxially connected with the driving wheel.
Preferably, planet frame plate is additionally provided with, multiple planetary gears by planetary gear axis pin uniformly be expert at by installation
On carrier plate and planetary gear is using planetary gear axis pin as axis rotation.
Preferably, the outer diameter of the fixed gear ring is less than the outer diameter of movable gear ring.
Preferably, the junction of the fixed gear ring and movable gear ring is provided with bearing；In fixed gear ring and activity
The bearing for being used to support sun gear is separately installed in gear ring.
Preferably, several auxiliary equally on the main frame are additionally provided between the driving wheel and driven wheel
Wheel, the outer sheath of the driving wheel of homonymy, driven wheel and auxiliary wheel are equipped with crawler belt.
Preferably, the actuating unit is arranged between the driving wheel of both sides, and the driving box is located at actuating unit
Front end is also placed with motor driver and accumulator between the driving wheel of both sides.
Preferably, the control circuit include microprocessor, the input port of microprocessor be connected with infrared module,
Ultrasonic wave module, camera and GPS module；WiFi module is connected on the output port of microprocessor, microprocessor
Output port connects motor driver, and motor driver connects above-mentioned motor.
Preferably, front apron is provided in the front end of driving box, the camera and ultrasonic wave module are mounted on front
On plate.
Compared with prior art, advantageous effect possessed by the utility model is：
1st, this intelligent family moving platform using motor as power, greatly reduces noise and avoids due to exhaust gas discharges
Environmental pollution is caused, while retarder is placed in driving wheel, makes structure more compact.
2nd, the radius of fixed gear ring outer wall is less than the radius of movable teeth ring outer wall, therefore driving wheel is in the drive of movable gear ring
During lower rotation, inner wall will not be in contact with the outer wall of fixed gear ring and be rubbed.
3rd, during movable ring gear against rotation, since sun gear is engaged with multiple planetary gears, the rotation direction of activity gear ring
It is opposite with the rotation direction of sun gear.Simultaneously as fixed gear ring is fixedly installed and carries internal tooth, it is meshed with planetary gear,
Planetary gear and planet frame plate are positioned, can realize planetary gear under sun gear drive rotation inside it and
It can realize the locking actively rotated to planetary gear in the case where sun gear does not turn, planetary gear is avoided to be driven in movable gear ring
Under be freely rotated.Therefore it in this intelligent family moving platform, by the auto-lock function of retarder itself, is omitted in the prior art
It has to that braking mechanism is separately provided, greatly reduces the cost of this intelligent family moving platform, and further reduce this intelligence
The volume and weight of mobile platform actuating unit, improves cruising ability.
4th, the positioning of this intelligent family moving platform is realized by GPS module, realization is facilitated to navigate；It can be with by infrared module
Realize the infrared remote control control of this intelligent family moving platform；WiFi module can realize smart mobile phone（Or tablet）With this intelligent mobile
The communication of platform can also realize the control to this intelligent family moving platform by conventional mobile phone app；Camera can be to this intelligence
Real-time pictures of the energy mobile platform during traveling are shot, and can be uploaded to smart mobile phone by WiFi module（It is or flat
Plate）；Ultrasonic wave module can be detected the barrier in advance route during progress, and realize automatic obstacle-avoiding.
Description of the drawings
Fig. 1 is intelligent family moving platform front view.
Fig. 2 removes capping top view for intelligent family moving platform.
Fig. 3 is intelligent family moving platform actuating unit structure diagram.
Fig. 4 is intelligent family moving platform control circuit block diagram.
Fig. 5 is 2 actuating unit structure diagram of intelligent family moving platform embodiment.
Wherein：1st, front apron 2, driving wheel 3, head cover 4, main frame 5, crawler belt 6, auxiliary wheel 7, driven wheel 8, drive
Dynamic box 9, motor 10, motor driver 11, column 12, accumulator 13, fixed gear ring 14, movable gear ring 15, planet tooth
Wheel 16, sun gear 17, planet frame plate 18, babinet 19, driven gear 20, gearbox output shaft 21, driving gear.
Specific embodiment
Fig. 1 ~ 4 are the most preferred embodiments of the utility model, and 1 ~ 5 pair of the utility model is done furtherly below in conjunction with the accompanying drawings
It is bright.
Embodiment 1：
As shown in Figure 1 and 2, a kind of intelligent family moving platform, including moving portion and the head cover 3 being fixed on above moving portion, head cover
3 upper surface is horizontal plane, for carrying other articles, such as atomizing sprayer, video camera.Moving portion includes main frame 4, in main frame
The front-end and back-end of frame 4 are respectively arranged with driving wheel 2 and driven wheel 7, between driving wheel 2 and driven wheel 7 by main frame 4 also
Several auxiliary wheels 6 are provided with, driving wheel 2, driven wheel 7 and auxiliary wheel 6 are symmetrical arranged in the both sides of moving portion, in moving portion
Both sides are respectively arranged with a crawler belt 5, and the crawler belt 5 of both sides is sleeved on the driving wheel 2 of corresponding side, driven wheel 7 and auxiliary simultaneously
The outside of wheel 6.Two driving wheels 2 are connect respectively with one group of actuating unit, and driving wheel 2 is driven simultaneously in rotation by crawler belt 5
The driven wheel 7 and auxiliary wheel 6 of corresponding side rotate.Driving wheel 2 according to actual needs can with driven wheel 7 it is contour simultaneously with ground
Contact, can also be upturned higher than driven wheel 7.
The accommodating chamber of this intelligent family moving platform is formed in the space that two intervals of crawler belt 5 are formed, exports and sets in accommodating chamber
A plurality of column 11 is equipped with, the bottom of column 11 is fixed on main frame 4, and upper part is used to support head cover 3, in the following table of head cover 3
Face is provided with several jacks, for coordinating grafting with column 11.
Polylith accumulator 12 has been arranged side by side in the rear end of accommodating chamber, the front end of accumulator 12 is provided with motor driver
10, it is above-mentioned driving mechanism in the front end of motor driver 10, driving mechanism includes motor 9 and connect with motor output shaft
Retarder, the quantity of accumulator 12 is determined according to the rated voltage of motor 9.In this intelligent movable platform, made using motor 9
For power, therefore the noise in the course of work is greatly reduced, while will not have any impact to environment.Accumulator 12, electricity
Machine driver 10, motor 9 and driving box 8 are supported by main frame 4.
In this intelligent family moving platform, in two groups of driving mechanisms, the output shaft of motor 9 is disposed opposite to each other, and is respectively facing each
From corresponding driving wheel 2, driving box 8 is provided in the front side of motor 9, this intelligent family moving platform is provided in box 8 is driven
Control circuit, driving box 8 front end be additionally provided with front apron 1.This intelligent family moving platform at work, is carried by accumulator 12
Motor 9 is controlled to work by motor driver 10 for working power, and by the control circuit in driving box 8, motor 9 leads to when working
It crosses retarder driving driving wheel 2 to rotate, realizes the movement of this intelligent family moving platform.
As shown in figure 3, above-mentioned retarder is planetary reducer, including the sun gear being set with successively from inside to outside
16th, planet frame plate 17, multiple planetary gears 15 being rotatably installed on planet frame plate 17, planet frame plate 17 and planetary gear 15 are nibbled
Conjunction is connected to fixed gear ring 13 and movable gear ring 14 is docked in the cavity surrounded, and fixed gear ring 13 and activity gear ring 14 are each by it
The outside of planetary gear 15 is mounted in from the internal tooth casing on annular inner wall.The engagement of sun gear 16 is connected to more in the inner cavity of retarder
Among a planetary gear 15.Multiple planetary gears 15 are rotatably installed in by planetary gear axis pin on planet frame plate 17, multiple planets
15 annular of gear is distributed on planet frame plate 17.Planet frame plate 17 is equipped with symmetrical two groups, and two groups of planet frame plates 17 connect respectively
The both ends of the planetary gear axis pin.
Sun gear 16 docks the cavity surrounded through fixed gear ring 13 and movable gear ring 14, in fixed gear ring 13 and movable teeth
A bearing for being used to support sun gear 16 is respectively arranged in circle 14, on the faying face of fixed gear ring 13 and movable gear ring 14
It is again provided with the bearing convenient for relatively rotating between fixed gear ring 13 and movable gear ring 14.The outer wall of fixed gear ring 13 with
The casing of motor 9 is fixedly connected, and the output shaft of motor 9 enters retarder, and and sun gear after passing through the side wall of fixed gear ring 13
16 coaxial grafting offer the slot with the cooperation grafting of the output shaft of motor 9, motor 9 and the sun on the end face of sun gear 16
Wheel 16 passes through conventional connection mode（Such as spline）It realizes fixed grafting, ensure that the coaxial of 9 output shaft of motor and sun gear 16
Rotation.
In the mounting groove that is internally provided with of above-mentioned driving wheel 2, retarder is integrally placed in the mounting groove, movable gear ring 14
Outer wall and mounting groove inner wall between pass through conventional connection mode（Such as spline）Realize fixed grafting, therefore movable gear ring 14
Driving wheel 2 can be driven to synchronize rotation in rotation.The radius of 13 outer wall of fixed gear ring is less than 14 outer wall of movable gear ring
Radius, therefore when driving wheel 2 rotates under the drive of movable gear ring 14, inner wall will not connect with the outer wall of fixed gear ring 13
It touches and rubs.Since retarder can be integrally placed inside driving wheel 2, so that the actuating unit of this intelligent family moving platform
Structure it is more compact, substantially reduce the volume of this intelligent family moving platform actuating unit.
The operation principle of retarder is as follows：Motor 9 rotate when, output shaft drive sun gear 16 rotate, sun gear 16 with
Multiple planetary gears 15 engage, and multiple planetary gears 15 is driven to rotate, the outside of planetary gear 15 simultaneously with movable gear ring 14 and
Fixed gear ring 13 engages, and planetary gear 15 can be rotated in the annular internal tooth on the inner wall of planetary gear axis pin upper edge fixed gear ring 13,
The movable gear ring 14 equally engaged is driven to rotate together simultaneously, further driving wheel 2 is driven to carry out by movable gear ring 14
Rotation.
When movable gear ring 14 rotates, since sun gear 16 is engaged with multiple planetary gears 15, turn of movable gear ring 14
Dynamic direction is opposite with the rotation direction of sun gear 16.Simultaneously as fixed gear ring 13 is fixedly installed and with internal tooth, with planet tooth
Wheel 15 is meshed, and planetary gear 15 and planet frame plate 17 are positioned, can realize that planetary gear 15 drives in sun gear 16
Under rotation inside it, and can realize the locking actively rotated to planetary gear 15 in the case where sun gear 16 does not turn, keep away
Exempt from being freely rotated under the drive of movable gear ring 14 of planetary gear 15.Therefore in this intelligent family moving platform, by retarder certainly
The auto-lock function of body is omitted and has to that braking mechanism is separately provided in the prior art, greatly reduces this intelligent mobile and puts down
The cost of platform, and the volume and weight of this intelligent family moving platform actuating unit is further reduced, improve cruising ability.
As shown in figure 4, the control circuit being arranged in driving box 8 includes microprocessor and is connected to microprocessor difference
Infrared module, ultrasonic wave module, camera and GPS module on input port, connect on the output port of microprocessor
There is WiFi module, be used to implement the both-way communication with microprocessor.Above-mentioned motor is connected in the output port of microprocessor to drive
Dynamic device 10, motor driver 10 connect above-mentioned motor 9.
The positioning of this intelligent family moving platform is realized by GPS module, realization is facilitated to navigate；It can be real by infrared module
The now infrared remote control control of this intelligent family moving platform；WiFi module can realize smart mobile phone（Or tablet）It is put down with this intelligent mobile
The communication of platform can also realize the control to this intelligent family moving platform by conventional mobile phone app；Camera be mounted on it is above-mentioned before
At baffle 1, real-time pictures of this intelligent family moving platform during traveling can be shot, and can be by WiFi module
Reach smart mobile phone（Or tablet）；Ultrasonic wave module is similarly installed at above-mentioned front apron 1, can be during progress to anterior approach
Barrier on line is detected, and realizes automatic obstacle-avoiding.
Specific work process and operation principle are as follows：
This intelligent movable platform can be operated in manual working mode or automatic working method, and manual working mode is small by red
Outer remote control or WiFi modes drive this intelligent movable working platform, during using WiFi module, need to be first turned on smart mobile phone（Or
Tablet）WiFi function and WiFi module obtain and communicate and open corresponding app.Pass through the physical button or app on infrared remote control
On virtual key realize control.Under automated manner, this intelligent family moving platform is navigated by GPS.
No matter under automatic or manual mode, microprocessor drives corresponding motor 9 to work by motor driver 10, electricity
When machine 9 works, corresponding driving wheel 2 is driven to rotate by retarder.When motor 9 rotates, output shaft drives sun gear 16
Rotation, sun gear 16 are engaged with multiple planetary gears 15, multiple planetary gears 15 are driven to rotate, the outside of planetary gear 15 is simultaneously
It is engaged with movable gear ring 14 and fixed gear ring 13, planetary gear 15 can be on the inner wall of planetary gear axis pin upper edge fixed gear ring 13
Annular internal tooth rotates, while the movable gear ring 14 equally engaged is driven to rotate together, further passes through movable 14 band of gear ring
Dynamic driving wheel 2 is rotated.The advance of this intelligent family moving platform is realized by the forward and backward of corresponding motor 9, retreats and turns
It is curved to wait regular motions, projected route is completed, the device being mounted on head cover 3 works according to its respective working method.
Embodiment 2：
The present embodiment and embodiment 1 difference lies in：In the present embodiment, the output shaft of motor 9 is not directly accessed deceleration
In device, but it is connect by gear-box with retarder.
As shown in figure 5, gear-box includes babinet 18, intermeshing driving gear 21 and driven is provided in babinet 18
Gear 19, the output shaft of motor 9 pass through it is coaxially connected with driving gear 21 after the side wall of babinet 18, the one of gearbox output shaft 20
Hold from the opposite side of babinet 18 enter gear-box and with driven gear 19 it is coaxially connected, the other end, which enters after reduction box to be packed into, to be opened
It is located in the slot of the end face of sun gear 16, gearbox output shaft 20 and sun gear 16 pass through conventional connection mode（Such as spline）
Realize fixed grafting.
The course of work and operation principle of the intelligent family moving platform of the present embodiment are same as Example 1, and details are not described herein.
The above descriptions are merely preferred embodiments of the present invention, is not to make other forms to the utility model
Limitation, any person skilled in the art is changed or is modified as possibly also with the technology contents of the disclosure above equivalent
The equivalent embodiment of variation.But it is every without departing from the content of the technical scheme of the utility model, the technology according to the utility model is real
Any simple modification, equivalent variations and the remodeling that confrontation above example is made still fall within the guarantor of technical solutions of the utility model
Protect range.
Claims (9)
1. a kind of intelligent family moving platform, the head cover including moving portion and above moving portion（3）, moving portion include main frame
（4）, in main frame（4）Both sides driving wheel is respectively symmetrically installed（2）And driven wheel（7）, it is additionally provided with and driving wheel（2）One
One corresponding actuating unit, it is characterised in that：The actuating unit includes motor（9）And and motor（9）Cooperation installation
Retarder, in the driving wheel（2）Mounting groove is provided at center, retarder is placed in mounting groove and the output terminal of retarder
With driving wheel（2）It is fixedly connected, in main frame（4）On be also equipped with driving box（8）, in driving box（8）Inside it is provided with driving electricity
Machine（9）The control circuit of work.
2. intelligent family moving platform according to claim 1, it is characterised in that：The retarder is planetary gear speed-reduction
Device, including the sun gear being set with successively from inside to outside（16）With multiple planetary gears（15）, sun gear（16）With multiple planet teeth
Wheel（15）Engagement is connected to fixed gear ring（13）With movable gear ring（14）It docks in the cavity surrounded, fixed gear ring（13）With it is described
Motor（9）Casing be fixedly connected, movable gear ring（14）With the driving wheel（2）It is fixedly and coaxially connected.
3. intelligent family moving platform according to claim 2, it is characterised in that：It is additionally provided with planet frame plate（17）, it is described
Multiple planetary gears（15）Planet frame plate is uniformly mounted on by planetary gear axis pin（17）Upper and planetary gear（15）With planetary gear
Axis pin is axis rotation.
4. intelligent family moving platform according to claim 2, it is characterised in that：The fixed gear ring（13）Outer diameter be less than
Movable gear ring（14）Outer diameter.
5. intelligent family moving platform according to claim 2, it is characterised in that：In the fixed gear ring（13）And movable teeth
Circle（14）Junction be provided with bearing；In fixed gear ring（13）With movable gear ring（14）It is inside separately installed with and is used to support the sun
Wheel（16）Bearing.
6. intelligent family moving platform according to claim 1, it is characterised in that：In the driving wheel（2）And driven wheel（7）
Between be additionally provided with it is several equally in the main frame（4）On auxiliary wheel（6）, the driving wheel of homonymy（2）, driven wheel（7）With
And auxiliary wheel（6）Outer sheath be equipped with crawler belt（5）.
7. intelligent family moving platform according to claim 1, it is characterised in that：The actuating unit is arranged on both sides actively
Wheel（2）Between, the driving box（8）Positioned at the front end of actuating unit, in both sides driving wheel（2）Between be also placed with motor drive
Dynamic device（10）And accumulator（12）.
8. intelligent family moving platform according to claim 1, it is characterised in that：The control circuit includes microprocessor,
Infrared module, ultrasonic wave module, camera and GPS module are connected in the input port of microprocessor；In microprocessor
WiFi module, the output port connection motor driver of microprocessor are connected on output port（10）, motor driver（10）
Connect above-mentioned motor（9）.
9. intelligent family moving platform according to claim 8, it is characterised in that：In driving box（8）Front end be provided with front
Plate（1）, the camera and ultrasonic wave module are mounted on front apron（1）On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721503612.8U CN207482036U (en) | 2017-11-13 | 2017-11-13 | A kind of intelligent family moving platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721503612.8U CN207482036U (en) | 2017-11-13 | 2017-11-13 | A kind of intelligent family moving platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207482036U true CN207482036U (en) | 2018-06-12 |
Family
ID=62476775
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721503612.8U Active CN207482036U (en) | 2017-11-13 | 2017-11-13 | A kind of intelligent family moving platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207482036U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115042570A (en) * | 2022-07-22 | 2022-09-13 | 长沙迪沃机械科技有限公司 | Amphibious tracked vehicle |
-
2017
- 2017-11-13 CN CN201721503612.8U patent/CN207482036U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115042570A (en) * | 2022-07-22 | 2022-09-13 | 长沙迪沃机械科技有限公司 | Amphibious tracked vehicle |
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