CN207842525U - A kind of novel omnidirectional's structure wheel apparatus of electromechanical - Google Patents
A kind of novel omnidirectional's structure wheel apparatus of electromechanical Download PDFInfo
- Publication number
- CN207842525U CN207842525U CN201721535267.6U CN201721535267U CN207842525U CN 207842525 U CN207842525 U CN 207842525U CN 201721535267 U CN201721535267 U CN 201721535267U CN 207842525 U CN207842525 U CN 207842525U
- Authority
- CN
- China
- Prior art keywords
- wheel
- wheel carrier
- transmission shaft
- worm screw
- electromagnet
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Abstract
A kind of novel omnidirectional's structure wheel apparatus of electromechanical, upper lower seat, wheel carrier, worm gear including transmission, fixed worm screw between controllable decelerating motor, the pedestal of fixed motor, positioning electromagnet, positioning slip ring, commutation slip ring, commutation electromagnet, transmission shaft wheel carrier end cap and the matched rolling bearing of transmission shaft, transmission shaft and worm screw, worm screw, two wheel pieces, rolling bearing B for forming wheel hub, wheel shaft.The utility model rotates nature, steady；It can achieve the effect that Omni-mobile under the premise of not changing platform stance, each wheel torque basis equalization in non-X, Y-direction movement.When multiple omnidirectional's structure wheel apparatus are applied in combination, only achieve that the control of multiple omnidirectional's structure wheel apparatus drives by mechanical serial arrangement with single motor, motor is installed without each wheel.Realization is facilitated to set for this platform the walking functions such as independent navigation, positioning, tracking；Manufacturing process also has larger improvement, facilitates making without special equipment.
Description
Technical field
The utility model belongs to robot chassis mobile technology field, is related to one kind and building robot moving platform, carries
The Novel wheel-train device of kinetic force Omni-mobile control.
Background technology
Currently, in machinery industry and high-end industrial control system equipment manufacture industry, with the development of robot technology, with complete
Orientation mobile platform is more and more widely used for the wheeled mobile robot chassis of representative, and omni-directional moving platform
It is the chassis mobile mechanism using omni-directional wheel as moving component.Omni-directional wheel is also the critical component that platform realizes omnibearing movable, existing
Omni-directional wheel its basic principle be driving wheel can be done along wheel axis direction by several rollers in wheel rim from
By rolling, to realize the effect of driving wheel integrated motion in two degree of freedom of advance and translation.
Common chassis mobile mechanism can realize that the wheel component of Omni-mobile is broadly divided into two kinds：A kind of Mecanum wheels：
It is uniformly distributed multiple driven rollers that can be freely rotated on its wheel rim at an angle with hub axis,（General hub axis
It is in 45 ° of angles with roller axis）, when roller is rotated around the axle center of fixed rotating shaft, the envelope of each roller is cylinder
Face so that the omni-directional wheel can scroll forward and backward, a robot moving platform is usually built with four Mecanum wheel, by each
Speed control between a wheel can realize that not changing platform stance makes platform all-around mobile.Another kind is that Omni takes turns, wheel
Cross direction profiles several driven rollers that can be freely rotated on edge, and hub axis is mutually perpendicular to roller axles axis, works as roller
When son is around the axis rotation of fixed rotating shaft, the envelope of each roller is also cylindrical surface so that the wheel can scroll forward and backward, lead to
Normal omni wheels are also to build a robot moving platform with four omni wheels by the speed control between each wheel also may be used
To realize the all-around mobile of robot moving platform.
Both the above wheel advantage is compact-sized, may be implemented all-around mobile, but the wheel of above two train
Also it is inevitably present structure interval between several driven rollers being distributed on edge, wheel continuous rolling when single application
Poor, wheel, since there are gaps between wheel rim upper roller, will necessarily be trembled and be vibrated when rolling, especially prominent defect
It is that can only meet to move in X or Y one directions when single this omni-directional wheel builds mobile platform with the combination of common universal wheel, needs four
A combination of the above application could not change platform stance and realize Omni-mobile.In addition, in non-X, Y-direction and needing into a certain angle
When degree is mobile, torque is unbalanced produced by being moved due to each sprocket body members, and the power of wherein some motor will appear peak value,
It is susceptible to control failure, and control algolithm difficulty is bigger, manufacturing process is complicated difficult, needs special equipment system
Make.
Utility model content
In order to overcome the above-mentioned deficiencies of the prior art, the purpose of this utility model is to provide a kind of self-powered arbitrary
Direction is controllable, and the novel omnidirectional's structure wheel component of electromechanical of energy precise positioning；To realize that control is easy, rotation is certainly
So, steadily, avoid trembling caused by structure interval and shake, especially can single or multiple wheels with common universal wheel combination make
Used time, under the premise of not changing platform stance, each wheel torque can keep in balance when non-X, Y-direction movement, avoid some electricity
Acc power will appear the phenomenon that peak value, and improving in particular manufacturing process and not needing special equipment can manufacture.
The utility model is achieved through the following technical solutions.
The novel omnidirectional's structure wheel apparatus of a kind of electromechanical described in the utility model, including controllable decelerating motor
（1）, fixed motor pedestal（2）, positioning electromagnet（7）, positioning slip ring（3）, commutation slip ring（8）, commutation electromagnet（9）, pass
Moving axis（10）Wheel carrier end cap（11）With transmission shaft（10）Matched rolling bearing A（12）, transmission shaft（10）With worm screw（5）It
Between transmission（13）, fixed worm screw worm bearing seat（17）, wheel carrier（4）, worm gear（6）, worm screw（5）, composition wheel hub two
A wheel piece（14）, rolling bearing B（15）, wheel shaft（16）.
Decelerating motor（1）Mounted on pedestal（2）Above, pedestal（2）The back side is then installed by positioning electromagnet（7）With positioning slip ring
（3）, decelerating motor（1）The direct-connected transmission shaft of output shaft（10）Upper end axle journal；Commutate slip ring（8）With transmission shaft（10）It is to be connected with key
It connects and achieves synchronous rotation；Transmission shaft（10）It is fixed on commutation electromagnet（9）The rolling bearing A inside set（12）It is upper and with commutation
Electromagnet（9）Position is concentric, transmission shaft（10）Lower axle journal connects transmission（13）To worm screw（5）Transmit torque；Commutate electromagnet
（9）Then it is fixed on wheel carrier end cap（11）Above, wheel carrier end cap（11）It is fixed on wheel carrier again（4）Top, two worm bearing seats
（17）It is separately mounted to wheel carrier end cap（11）Above and wheel carrier（4）It plays supporting worm turning effort and constitutes whole wheel carrier in bottom；
Worm screw（5）Upper end axle journal with positioning slip ring（3）Convergence hole is mating connection；The wheel piece of two geometric identities（14）It is right
Title is arranged in worm gear（6）Both sides, through being bolted composition hub assembly；Two wheel pieces（14）It is interior to be equipped with rolling bearing B（15）,
Wheel shaft（16）Pass through rolling bearing B（15）Play support wheel carrier（4）And carrying effect；Wheel shaft（16）Again through wheel carrier（4）On installation
Hole is fixed with axis snap ring, makes worm gear（6）With worm screw（5）Vertical interlaced forms engagement type transmission, and hub assembly can also be revolved around wheel shaft
Turn.
The direction controlling of the utility model is achieved in the following ways：Transmission shaft（10）It is fixed on commutation electromagnet
（9）The rolling bearing A inside set（12）It is upper and with commutation electromagnet（9）Position is concentric, and usual omnidirectional's structure wheel apparatus is in normal row
When sailing, wherein the electromagnet that commutates（9）Coil be in power-off normally open, when electromagnet coil obtains it is electric after, be fixed on transmission shaft
（10）On commutation slip ring（8）Firmly it is sucked on electromagnet coil skeleton, and the electromagnet assembly that commutates is through wheel carrier end cap
（11）With omnidirectional's wheel support（4）And worm screw（5）And two worm bearing seats（17）Combination constitutes whole wheel carrier；At this moment motor power
It is then transmitted torque on whole wheel carrier by electromagnet assembly, and is rotated around drive shaft axis, make whole wheel carrier required for
Direction adjust the angle realize direction controlling.
The location control of the utility model is achieved in the following ways：When whole wheel carrier adjusts required angle
Afterwards, to prevent it from occurring jolting to generate during advancing deviating, positioning electromagnet（7）It is electric after moment lock and worm screw（5）
The positioning slip ring that upper end axle journal is mutually connected（3）, realize wheel carrier assembly precise positioning, and slip ring（3）With worm screw（5）Upper end axle journal
Between then using move mating connection mode do not influence worm screw rotation.
Compared with prior art, the utility model has the beneficial effects that：Present in wheel rim is taken turns without Mecanum, omni takes turns
Structure interval and bumps rotate nature, steady when being contacted with ground；In single or multiple structure wheel components with common steering wheel group
It closes in use, can achieve the effect that Omni-mobile under the premise of not changing platform stance, each wheel in non-X, Y-direction movement
Torque basis equalization can effectively avoid some power of motor and the phenomenon that peak value occurs.It is combined in multiple omnidirectional's structure wheel apparatus
In use, only achieving that the control of multiple omnidirectional's structure wheel apparatus drives by mechanical serial arrangement with single motor, it is not necessarily to
Each wheel installs motor.It can make the simple actual operation of control algolithm strong after built-in required control module, facilitate realization
It sets for this platform the walking functions such as independent navigation, autonomous positioning, automatic tracking；Manufacturing process also has larger improvement, without special
Facilitate making with equipment.
Description of the drawings
Fig. 1 is the utility model structure chart.
Fig. 2 is the utility model stereogram exploded view.
Wherein, 1 is decelerating motor, and 2 be pedestal, and 3 be positioning slip ring, and 4 be holder, and 5 be worm screw, 6, it is turbine, 7 be positioning
Electromagnet, 8 be commutation slip ring, and 9 be commutation electromagnet, and 10 be transmission shaft, and 11 be wheel carrier end cap, and 12 be rolling bearing A, and 13 be biography
Dynamic pair, 14 is take turns piece, and 15 be rolling bearing B, and 16 be wheel shaft, and 17 be worm bearing seat.
Specific implementation mode
The utility model will be described further in conjunction with attached drawing by following embodiment.
The utility model is achieved like this（As shown in Figure 1, 2）；Decelerating motor 1 is mounted on above pedestal 2, pedestal 2
The back side then install positioning electromagnet 7 and positioning slip ring 3, direct-connected 10 upper end axle journal of transmission shaft of output shaft of decelerating motor 1；Commutation
Slip ring 8 is that key connection achieves synchronous rotation with transmission shaft 10；Transmission shaft 10 is fixed on the axis of rolling set in commutation electromagnet 9
It holds on A12 and concentric with 9 position of commutation electromagnet, 10 lower end journal of transmission shaft connects transmission 13 and transmits torque to worm screw 5；It changes
It is then fixed on above wheel carrier end cap 11 to electromagnet 9, wheel carrier end cap 11 is fixed on 4 top of wheel carrier, two worm bearing seats 17 again
Wheel carrier end cap 11 is separately mounted to play supporting worm turning effort with 4 bottom of wheel carrier above and constitute whole wheel carrier；Worm screw 5 it is upper
The convergence hole of end-journal and positioning slip ring 3 is connected using dynamic；The wheel piece 14 of two geometric identities is symmetrically arranged in snail
The both sides of wheel 6, through being bolted composition hub assembly；And rolling bearing B15 has been set in two wheel pieces 14, wheel shaft 16 passes through rolling
Bearing B15 plays support wheel carrier 4 and carrying；Wheel shaft 16 is fixed through the mounting hole on wheel carrier 4 with axis snap ring again, make worm gear 6 with
5 vertical interlaced of worm screw forms engagement type transmission, and hub assembly can also be rotated around wheel shaft.
Direction controlling is achieved like this：As shown in Figure 1, 2, usual omnidirectional's structure wheel apparatus commutates in normally travel
The coil of electromagnet 9 is in power-off normally open, when electromagnet coil obtains it is electric after, the commutation slip ring 8 that is fixed on transmission shaft 10
Firmly it is sucked on electromagnet coil skeleton, and the electromagnet assembly that commutates is through wheel carrier end cap 11 and omnidirectional's wheel support 4 and worm screw 5
And two combinations of worm bearing seat 17 constitute whole wheel carrier；At this moment motor power is then transmitted torque to by electromagnet assembly whole
It on body wheel carrier, and is rotated around drive shaft axis, so that whole wheel carrier is adjusted the angle along required direction and realize direction controlling.
Location control is achieved like this：As shown in Figure 1, 2, after whole wheel carrier adjusts required angle, it is
Prevent it from occurring generation offset of jolting during traveling, positioning electromagnet 7 obtains the latching of electric and moment and 5 upper end axle journal phase of worm screw
The positioning slip ring 3 of linking is realized wheel carrier assembly precise positioning, is connected using dynamic between 5 upper end axle journal of slip ring 3 and worm screw
Mode does not influence worm screw rotation.
Claims (1)
1. a kind of novel omnidirectional's structure wheel apparatus of electromechanical, it is characterized in that including controllable decelerating motor（1）, fixed motor
Pedestal（2）, positioning electromagnet（7）, positioning slip ring（3）, commutation slip ring（8）, commutation electromagnet（9）, transmission shaft（10）Wheel carrier
End cap（11）With transmission shaft（10）Matched rolling bearing A（12）, transmission shaft（10）With worm screw（5）Between transmission
（13）, fixed worm screw worm bearing seat（17）, wheel carrier（4）, worm gear（6）, worm screw（5）, two of wheel hub wheel pieces of composition（14）、
Rolling bearing B（15）, wheel shaft（16）；
Decelerating motor（1）Mounted on pedestal（2）Above, pedestal（2）The back side is then installed by positioning electromagnet（7）With positioning slip ring（3）,
Decelerating motor（1）The direct-connected transmission shaft of output shaft（10）Upper end axle journal；Commutate slip ring（8）With transmission shaft（10）It is to be made with being keyed
It, which is realized, rotates synchronously；Transmission shaft（10）It is fixed on commutation electromagnet（9）The rolling bearing A inside set（12）It is upper and with commutation electromagnetism
Iron（9）Position is concentric, transmission shaft（10）Lower axle journal connects transmission（13）To worm screw（5）Transmit torque；Commutate electromagnet（9）Then
It is fixed on wheel carrier end cap（11）Above, wheel carrier end cap（11）It is fixed on wheel carrier again（4）Top, two worm bearing seats（17）Respectively
Mounted on wheel carrier end cap（11）Above and wheel carrier（4）It plays supporting worm turning effort and constitutes whole wheel carrier in bottom；Worm screw（5）'s
Upper end axle journal and positioning slip ring（3）Convergence hole is mating connection；The wheel piece of two geometric identities（14）It is symmetrically arranged in
Worm gear（6）Both sides, through being bolted composition hub assembly；Two wheel pieces（14）It is interior to be equipped with rolling bearing B（15）, wheel shaft（16）
Pass through rolling bearing B（15）Play support wheel carrier（4）And carrying effect；Wheel shaft（16）Again through wheel carrier（4）On mounting hole axis card
Ring is fixed, and worm gear is made（6）With worm screw（5）Vertical interlaced forms engagement type transmission, and hub assembly can also be rotated around wheel shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721535267.6U CN207842525U (en) | 2017-11-17 | 2017-11-17 | A kind of novel omnidirectional's structure wheel apparatus of electromechanical |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721535267.6U CN207842525U (en) | 2017-11-17 | 2017-11-17 | A kind of novel omnidirectional's structure wheel apparatus of electromechanical |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207842525U true CN207842525U (en) | 2018-09-11 |
Family
ID=63422460
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721535267.6U Expired - Fee Related CN207842525U (en) | 2017-11-17 | 2017-11-17 | A kind of novel omnidirectional's structure wheel apparatus of electromechanical |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207842525U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107719015A (en) * | 2017-11-17 | 2018-02-23 | 南昌大学 | A kind of new omnidirectional's structure wheel apparatus of electromechanical |
-
2017
- 2017-11-17 CN CN201721535267.6U patent/CN207842525U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107719015A (en) * | 2017-11-17 | 2018-02-23 | 南昌大学 | A kind of new omnidirectional's structure wheel apparatus of electromechanical |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104691644B (en) | A kind of omnidirectional type movable pulley module | |
| CN105882784B (en) | Omnidirectional mobile platform and power universal wheel thereof | |
| CN106240262A (en) | The compound mobile flight amphibious robot device of wing wheel | |
| CN106379409A (en) | Angle-controllable power differential omnidirectional wheel, and control method and omnidirectional moving platform thereof | |
| CN205292124U (en) | Initiative qxcomm technology wheel and mobile device | |
| CN107323192A (en) | A kind of air-ground amphibious mobile robot | |
| CN207842525U (en) | A kind of novel omnidirectional's structure wheel apparatus of electromechanical | |
| WO2018152940A1 (en) | Synchronous steering vehicle body | |
| CN107719015A (en) | A kind of new omnidirectional's structure wheel apparatus of electromechanical | |
| CN106427398B (en) | Can omnibearing movable omni-directional wheel | |
| CN112128300B (en) | Integrated ball screw semi-active energy feedback shock absorber | |
| CN207041912U (en) | A kind of universal toy car | |
| CN109466679B (en) | A kind of double drive without person bicycle | |
| CN210011819U (en) | Transmission system suitable for AGV steering wheel | |
| CN111361429A (en) | Double-wheel-set system of heavy-load AGV (automatic guided vehicle) and control method thereof | |
| CN205176652U (en) | Can realize wheel barrow device of all -round motion decoupling zero | |
| CN206242803U (en) | With the Mecanum wheel apparatus that roller controllability is rotated | |
| CN210240464U (en) | All direction movement's transmission structure | |
| CN106427388B (en) | Mecanum wheel apparatus with the rotation of roller controllability | |
| CN201744996U (en) | Omni directional mobile robot transmission mechanism | |
| CN110588766B (en) | Differential steering mechanism of automatic conveying trolley and steering control method | |
| CN209776542U (en) | Omnidirectional mobile platform | |
| CN210852048U (en) | Omnidirectional wheel structure | |
| CN107697181A (en) | Horizontal inner corner trim climbing robot | |
| CN209814176U (en) | Motor tricycle with novel differential mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180911 Termination date: 20191117 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |