CN207523831U - Mobile platform, robot and Vending Machine - Google Patents
Mobile platform, robot and Vending Machine Download PDFInfo
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- CN207523831U CN207523831U CN201721410693.7U CN201721410693U CN207523831U CN 207523831 U CN207523831 U CN 207523831U CN 201721410693 U CN201721410693 U CN 201721410693U CN 207523831 U CN207523831 U CN 207523831U
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Abstract
The utility model is related to intelligence machine fields, disclose a kind of mobile platform, robot and Vending Machine, wherein, mobile platform includes chassis body (1), driving wheel (2) and driven wheel, the driving wheel (2) is two, it is respectively arranged in the left and right sides of the chassis body (1), the driven wheel includes two omni-directional wheels (3), two omni-directional wheels (3) are respectively arranged in the front and rear sides of the chassis body (1), and the axle center (31) of omni-directional wheel is parallel with the axle center (21) of the driving wheel.Since driven wheel is using omni-directional wheel, omni-directional wheel will not be rotated around its installation axle, therefore, for existing differential steering formula chassis, the utility model can be as possible increase omni-directional wheel radius, and the radius of omni-directional wheel is bigger, and the obstacle climbing ability on chassis also can be correspondingly stronger.
Description
Technical field
The utility model is related to intelligence machine field, the chassis and be equipped with that more particularly, to intelligence machine is walked
Robot, the Vending Machine on the chassis.
Background technology
Mobile robot is roughly divided into Omni-mobile formula chassis and differential steering formula chassis at present.Wherein differential steering formula bottom
Dish structure is simple, drive efficiency is high, control difficulty is low, obstacle climbing ability is strong, thus is widely used.Existing differential steering
Two driving wheels are generally arranged in center chassis both sides by formula chassis, and respectively arrangement is one or more driven before and after chassis
Universal caster wheel.Above-mentioned universal caster wheel can be rotated freely along its installation axle, and the core wheel of universal caster wheel is arranged in its mounting axis
Rear, its spacing is usually castor radius.It is arranged so and is automatically rotated to bobbin movement direction convenient for universal caster wheel, and at any time
It is consistent therewith.Understand that universal caster wheel is equivalent to radius along the space occupied during installation axle 360 degree rotation by foregoing description
The cylinder of 4r, high 2r.
Above-mentioned chassis arrangement has following shortcoming：
(1) in mobile chassis from during forward travel state is converted to fallback state, universal caster wheel will along its installation axle with
Machine rotates 180 degree.Uncontrollable twisting by a small margin integrally has occurred for robot for its external manifestation, its small range is caused to move
Precision is low, vision perception is poor.
(2) before and after being arranged in chassis due to universal caster wheel, during across obstacle, universal caster wheel limited contact barrier.If
The driving force that driving wheel provides is F, and the gravity that universal caster wheel is born is G, and universal caster wheel radius is r, may span across the barrier limit
It is highly h, can obtains：Understand that barrier limiting altitude h is directly proportional to universal caster wheel radius r.By
The space occupied is equivalent to the cylinder of radius 4r, high 2r when universal caster wheel is along installation axle 360 degree rotation.Therefore chassis obstacle detouring
It is required that higher, universal caster wheel occupied space is bigger, the layout design on chassis and other parts is influenced bigger.
(3) set center chassis to the length at its edge as R, driven universal caster wheel radius be r, universal caster wheel installation axle with
Center chassis distance is L.Under the premise of universal caster wheel occupied space is without departing from chassis edge, it can obtain：L≤R-2r.With reference to upper
Second point deficiency is stated it is found that chassis obstacle detouring requirement is higher, universal caster wheel mounting distance is smaller, and chassis overall stability is poorer.
(4) it is in smaller angle when encountering with chassis direction of advance since universal caster wheel can be rotated freely along its installation axle
Strip barrier when, universal caster wheel is very likely passively rotated to barrier direction, so as to losing obstacle climbing ability completely.
Therefore, it copes with existing differential steering formula chassis to be improved, to solve the above problems.
Utility model content
The drawbacks of for the prior art, the main purpose of the utility model are to provide a kind of completely new mobile platform, make
Chassis body has larger parts arrangement space, reduces the influence that driven wheel is laid out chassis part, while improve chassis
Obstacle climbing ability.
Technical solution is used by the utility model solves its technical problem：Mobile platform, including chassis body, driving
Wheel and driven wheel, the driving wheel are two, are respectively arranged in the left and right sides of the chassis body, and the driven wheel includes
Two omni-directional wheels, two omni-directional wheels are respectively arranged in the front and rear sides of the chassis body, and the axle center of omni-directional wheel and the driving
The axle center of wheel is parallel.That is, driving wheel and omni-directional wheel are in be longitudinally arranged.
Further, the driving wheel is configured with the pressing device that driving wheel can be made to keep patch ground state.
Further, the pressing device includes the first fixed seat, the second fixed seat, spring and moving bar piece；It is described
The first fixed seat and the second fixed seat be both secured on the chassis body, and be located at the two of the driving wheel side respectively
End；The moving bar piece is articulated in second fixed seat, and one end of moving bar piece is fixed with the driving wheel to be connected
It connects, the other end is connect with one end of the spring；The other end of the spring is connected in first fixed seat, and spring
In tensional state.
Further, the moving bar piece includes integrally formed L-shaped portion and is folded to portion, the end in the L-shaped portion with
One end connection of the spring, the portion that is folded to protrudes to the outside of chassis body relative to L-shaped portion and is fixed on the driving
Near the axle center for taking turns inside.
Further, the omni-directional wheel is installed in the ear mount on chassis body.
Further, the difference in height between the bottom surface of the chassis body and the omni-directional wheel minimum point is 25-35mm.
Further, the difference in height between the bottom surface of the chassis body and the omni-directional wheel minimum point is 31mm.
Further, two driving wheels can realize differential steering by two groups of driving mechanism drivings respectively.
The utility model additionally provides a kind of robot, and including mobile platform, the mobile platform is above-mentioned
Mobile platform.
The utility model additionally provides a kind of Vending Machine, and including mobile platform, the mobile platform is upper
The mobile platform stated.
The mobile platform of the utility model is designed using differential steering formula, and two driving wheels are arranged in chassis body
Both sides, and a driven omni-directional wheel is respectively longitudinally arranged before and after chassis body, it has the advantages that：(1) due to omni-directional wheel
Without being rotated along its installation point, occupied space is its script volume, therefore, mounting distance L≤R-r, wherein, R is bottom
Disk center is to the length at its edge, and r is the radius of driven wheel (referred to herein as omni-directional wheel), and L is in driven wheel installation axle and chassis
The distance of the heart；Therefore, compared to L≤R-2r of the aforementioned prior art, when one timing of value of R, to ensure enough L values, Ke Yijin
The radius r of amount increase driven wheel, thus, it is possible to there is sufficient arrangement space (space master in guarantee chassis body and its parts
To be determined by L) under the premise of, increase the radius r of omni-directional wheel, to improve the obstacle climbing ability on chassis, note, the radius of driven wheel is got over
Greatly, the obstacle climbing ability on chassis correspondingly also can be stronger；(2) when longitudinally fixed omni-directional wheel touches small angle strip barrier
The phenomenon that will not occurring passively to deflect, further improves the obstacle climbing ability and adaptability on chassis；(3) it is extensive in spring
Under the action of multiple power, hinged moving bar piece always can apply driving wheel one pushing due to being fixed with driving wheel
Active force, when throwing over barrier, even if chassis body tilts, driving wheel still can keep pressed status, is affixed with ground, ensure
Chassis can walk on.
Description of the drawings
Fig. 1 is the structure diagram of embodiment 1；
Fig. 2 is the vertical view of Fig. 1；
Fig. 3 is the A-A direction views of Fig. 2；
Fig. 4 is the outline drawing of omni-directional wheel in embodiment 1；
In figure label for：1- chassis bodies, 2- driving wheels, 3- omni-directional wheels, 4- pressing devices, 11- ear mounts, 12- notches, 21-
The axle center of driving wheel, the axle center of 31- omni-directional wheels, 32- wheel discs, 33- rollers, 331- inner ring rollers, 332- cup rollers, 41-
One fixed seat, the second fixed seats of 42-, 43- springs, 44- moving bar pieces, 441-L shapes portion, 442- are folded to portion.
Specific embodiment
The utility model is described in further detail with reference to specific embodiment, but the embodiment party of the utility model
Formula is without being limited thereto.
Embodiment 1：
As shown in Figure 1, Figure 2, shown in Fig. 3 and Fig. 4, the mobile platform of the present embodiment, including chassis body 1, driving wheel 2 and driven
Wheel.The driving wheel 2 is two, is respectively arranged in the left and right sides of the chassis body 1；The driven wheel includes two entirely
To 3 (Omni wheel) of wheel, two omni-directional wheels 3 are respectively arranged in the front and rear sides of the chassis body 1, and the axle center 31 of omni-directional wheel
It is parallel with the axle center 21 of the driving wheel.
As shown in figure 4, the omni-directional wheel 3 (Omni wheel), by a wheel disc 32 and is fixed on 32 periphery of wheel disc
Several rollers 33 are formed, and wheel disc axle center contacts, and can with roller axis perpendicular, wheel coiling axis rotation, roller with ground successively
It is freely rotated around Pivot Point Center.Preferably, the roller 33 on spoke divides for inner ring roller 331 and cup roller 332, and Internal and external cycle is all
Can be around the roller axis rotation with wheel disc axis perpendicular, and the roller of Internal and external cycle is staggeredly arranged mutually, both ensure that in this way
Contact point height when wheel disc 32 rolls with ground is constant, avoids the vibration on chassis, while also ensure and all may be used at an arbitrary position
It is freely rolled, that is, is displaced sideways with realizing along the direction with wheel disc axis parallel.
Two driving wheels 2 can realize differential steering by two groups of driving mechanism drivings respectively.
In one embodiment, the omni-directional wheel 3 is installed in the ear mount 11 on chassis body 1.Preferably, this implementation
Example selects the omni-directional wheel of a diameter of 102mm, and after the omni-directional wheel 3 installation, the difference in height between 1 bottom surface of minimum point and chassis body is
31mm。
Note, the installation of driven wheel need to open up corresponding notch 12, and the first half of driven wheel can pass through bottom in chassis body 1
Disk body 1, as shown in Figure 1,2 and 3, therefore notch 12 is bigger, and the arrangement space of parts is more limited on chassis body 1.This implementation
Example will not be rotated around its installation axle due to driven omni-directional wheel 3, (wherein, R is center chassis to mounting distance L≤R-r
To the length at its edge, r is the radius of omni-directional wheel, and L is omni-directional wheel installation axle and the distance of center chassis), when chassis body 1
One timing (i.e. R values are certain) of size, to ensure that chassis body 1 has enough parts arrangement spaces (ensureing that L values are sufficiently large), phase
For L≤R-2r of the prior art, the radius r of the present embodiment can be as possible increase omni-directional wheel, and the radius r of omni-directional wheel
Bigger, the obstacle climbing ability on chassis also can be correspondingly stronger.
Chassis body 1 may tilt during due to, obstacle detouring, therefore not hindered to ensure that the chassis after tilting can also walk,
A kind of pressing device 4 that driving wheel 2 can be made to keep patch ground state is provided in one embodiment of the present embodiment.
The pressing device 4 includes the first fixed seat 41, the second fixed seat 42, spring 43 and moving bar piece 44；It is described
The first fixed seat 41 and the second fixed seat 42 be both secured on the chassis body 1, and be located at 2 side of driving wheel respectively
Both ends；The moving bar piece 44 is articulated in second fixed seat 42, one end of moving bar piece 44 and the drive
Driving wheel 2 is fixedly connected, and the other end is connect with one end of the spring 43；The other end of the spring 43 is connected to described first
In fixed seat 41, and spring 43 is in tensional state.Preferably, the moving bar piece 44 includes integrally formed L-shaped portion 441
With the portion that is folded to 442, the end in the L-shaped portion 441 is connect with one end of the spring 43, and described is folded to portion 442 relative to L-shaped
It protrudes and is fixed near the axle center of 2 inside of driving wheel to the outside of chassis body 1 in portion 441.
Embodiment 2：
A kind of robot is present embodiments provided, including mobile platform, which is described in embodiment 1
Mobile platform.
Embodiment 3：
A kind of Vending Machine is present embodiments provided, including mobile platform, which is 1 institute of embodiment
The mobile platform stated.
Claims (10)
1. mobile platform, including chassis body (1), driving wheel (2) and driven wheel, the driving wheel (2) is two, is pacified respectively
The left and right sides loaded on the chassis body (1), it is characterised in that：The driven wheel includes two omni-directional wheels (3), Liang Ge omnidirectionals
Wheel (3) is respectively arranged in the front and rear sides of the chassis body (1), and the axle center (31) of omni-directional wheel and the axle center of the driving wheel
(21) it is parallel.
2. mobile platform according to claim 1, it is characterised in that：The driving wheel (2), which is configured with, can make driving
Take turns the pressing device (4) that (2) keep patch ground state.
3. mobile platform according to claim 2, it is characterised in that：The pressing device (4) is fixed including first
Seat (41), the second fixed seat (42), spring (43) and moving bar piece (44)；First fixed seat (41) and the second fixed seat
(42) it is both secured on the chassis body (1), and is located at the both ends of the driving wheel (2) side respectively；The motion bar
Part (44) is articulated in second fixed seat (42), one end of moving bar piece (44) and the fixed company of the driving wheel (2)
It connects, the other end is connect with the one end of the spring (43)；The other end of the spring (43) is connected to first fixed seat
(41) on, and spring (43) is in tensional state.
4. mobile platform according to claim 3, it is characterised in that：The moving bar piece (44) is including being integrally formed
L-shaped portion (441) and be folded to portion (442), the end of the L-shaped portion (441) is connect with one end of the spring (43), described
It is folded to the axis that portion (442) protrudes and is fixed on the inside of the driving wheel (2) to the outside of chassis body (1) relative to L-shaped portion (441)
Near the heart.
5. mobile platform according to claim 1, it is characterised in that：The omni-directional wheel (3) is installed on chassis body (1)
On ear mount (11) on.
6. mobile platform according to claim 1, it is characterised in that：The bottom surface of the chassis body (1) and the omnidirectional
It is 25-35mm to take turns the difference in height between (3) minimum point.
7. mobile platform according to claim 6, it is characterised in that：The bottom surface of the chassis body (1) and the omnidirectional
It is 31mm to take turns the difference in height between (3) minimum point.
8. according to the mobile platform described in any one in claim 1-7, it is characterised in that：Two driving wheels
(2) differential steering can be realized by two groups of driving mechanism drivings respectively.
9. robot, including mobile platform, it is characterised in that：The mobile platform is any one in claim 1-8
Mobile platform described in.
10. Vending Machine, including mobile platform, it is characterised in that：The mobile platform is to appoint in claim 1-8
Mobile platform described in meaning one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721410693.7U CN207523831U (en) | 2017-10-27 | 2017-10-27 | Mobile platform, robot and Vending Machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721410693.7U CN207523831U (en) | 2017-10-27 | 2017-10-27 | Mobile platform, robot and Vending Machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207523831U true CN207523831U (en) | 2018-06-22 |
Family
ID=62571444
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721410693.7U Active CN207523831U (en) | 2017-10-27 | 2017-10-27 | Mobile platform, robot and Vending Machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207523831U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108068910A (en) * | 2017-10-27 | 2018-05-25 | 成都越凡创新科技有限公司 | Mobile platform, robot and Vending Machine |
-
2017
- 2017-10-27 CN CN201721410693.7U patent/CN207523831U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108068910A (en) * | 2017-10-27 | 2018-05-25 | 成都越凡创新科技有限公司 | Mobile platform, robot and Vending Machine |
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