CN208102157U - Omni-directional moving platform - Google Patents
Omni-directional moving platform Download PDFInfo
- Publication number
- CN208102157U CN208102157U CN201820473974.5U CN201820473974U CN208102157U CN 208102157 U CN208102157 U CN 208102157U CN 201820473974 U CN201820473974 U CN 201820473974U CN 208102157 U CN208102157 U CN 208102157U
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- Prior art keywords
- upper cover
- ball
- bearing
- bearing spider
- speed
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Abstract
The utility model discloses omni-directional moving platforms, four walking mechanisms including being separately positioned on rectangular upper cover bottom wall four corners, each walking mechanism includes the ball upper cover being fixedly linked with upper cover, a square bearing support is installed at angular position of each ball upper cover relative to upper cover, bearing hole is provided on four sides of bearing spider, two blocks arranged substantially perpendicular to each other are being installed with the oblique opposite ball upper cover of bearing spider, ball lower cover is fixed on two blocks and bearing spider, circular hole is provided in the center of ball lower cover, one ball turns is arranged in ball lower cover, ball upper cover, in the cavity that two blocks and bearing spider are constituted；A bearing is separately installed in the bearing hole in two adjacent sides on the inside of each bearing spider, the one end of each bearing spider by two bearings respectively with two shafts is rotatedly connected, driver board is fixed among the bottom wall of upper cover, the utility model platform can be mobile with 360 ° omni-directional.
Description
Technical field
The utility model relates to small-sized low speed mobile carrier, the utility model more particularly to omni-directional moving platform.
Background technique
Manned, the product of loading is found everywhere in life, greatly facilitates daily life.Existing carrier
It is all to be realized by wheel type movement, having some limitations property, for example turn to and need certain space just can be with certain in space
In the case where, steering may cannot be achieved, there are also difficulties mobile in the case where barrier is more, or even do not move.
Summary of the invention
The shortcomings that the purpose of the utility model is to overcome prior arts, it is simple to provide a kind of structure, and full side may be implemented
The dynamic platform of displacement.
The utility model is achieved through the following technical solutions：
The utility model omni-directional moving platform, four vehicle with walking machine including being separately positioned on rectangular upper cover bottom wall four corners
Structure, about rectangular upper cover central symmetry, each walking mechanism includes one and fixes with upper cover four walking mechanisms
Connected ball upper cover is equipped with a square bearing support at angular position of each ball upper cover relative to upper cover, in bearing
It is provided with bearing hole on four sides of support, it is arranged substantially perpendicular to each other being equipped with the oblique opposite ball upper cover of bearing spider
Two blocks, a ball lower cover are fixed on two blocks and bearing spider by fixing piece, in the ball lower cover
Centre is provided with circular hole, and a ball turns are arranged in the cavity that ball lower cover, ball upper cover, two blocks and bearing spider are constituted,
The bottom of the spin is protruded into the circular hole of ball lower cover and can be contacted with ground supports；On the inside of each bearing spider
Two adjacent sides on bearing hole in be separately installed with a bearing, each bearing spider by two bearings respectively with
One end of two shafts is rotatedly connected, and two horizontally disposed shafts are arranged substantially perpendicular to each other, shaft described in every
The other end and the output shaft of a DC speed-reducing are fixedly linked, and the DC speed-reducing is fixed on electric machine support,
The electric machine support is fixedly linked with upper cover, the vehicle with walking machine at two shafts being connected with each bearing spider and the position
The spin mutual extrusion of structure is arranged, and each spin can rotate under being driven by the frictional force that two shaft rotations generate；In upper cover
Bottom wall among be fixed with driver board, the DC speed-reducing that is oppositely arranged of every two is corresponded on the driver board
Inner side be separately installed with a motor driver, each motor driver passes through electric wire and two DC speed-reducing phases
Even, the motor driver is connected with single-chip microcontroller by control line, is connected respectively on the bottom wall of upper cover and at four sides
An IR evading obstacle sensors are connected to, IR evading obstacle sensors are fixedly linked with upper cover, and four IR evading obstacle sensors lead to respectively
It crosses control line to be connected with single-chip microcontroller, signal can be generated when detecting that the direction of motion has obstacle and feeds back to single-chip microcontroller, single-chip microcontroller connects
Control signal is exported when receiving signal to motor driver, and petahque is controlled by DC speed-reducing and realizes avoidance.
The utility model has the beneficial effects that：
1. the utility model platform can be mobile with 360 ° omni-directional.Every group of motor can rotate forward rotating forward, rotate forward reversion, reversion
It rotates forward, reversion reversion.
2. the utility model platform may be implemented to rotate in place i.e. every group of motor while rotate forward and inverts forward or reverse.
3. automatic obstacle-avoiding may be implemented in the utility model platform.
Detailed description of the invention
Fig. 1 is the perspective view of the omni-directional moving platform of the utility model；
Fig. 2 is the cross-sectional view of the omni-directional moving platform of the utility model；
Fig. 3 is the perspective view of the explosion of the walking mechanism of platform shown in Fig. 2.
Specific embodiment
The utility model is described in detail with attached drawing combined with specific embodiments below.
The utility model omni-directional moving platform as shown in drawings, including it is separately positioned on rectangular 12 bottom wall quadrangle of upper cover
Four walking mechanisms at place, four walking mechanisms are wrapped about rectangular 12 central symmetry of upper cover, each walking mechanism
The ball upper cover 1 being fixedly linked with upper cover 12 is included, is equipped with one at angular position of each ball upper cover 1 relative to upper cover 12
A square bearing support is provided with bearing hole on four sides of bearing spider, on the oblique opposite ball of bearing spider
Lid 1 is equipped with two blocks arranged substantially perpendicular to each other, and a ball lower cover 6 is fixed on two gears by fixing piece (can be screw)
On block and bearing spider, it is provided with circular hole in the center of the ball lower cover 6, a spin 2 is rotatably arranged on ball lower cover 1, ball
In the cavity that 6, two blocks of upper cover and bearing spider are constituted, the bottom of the spin 2 is protruded into the circular hole of ball lower cover 6 simultaneously
And it can be contacted with ground supports.
It is separately installed with a bearing 4 in the bearing hole in two adjacent sides on the inside of each bearing spider, often
3 one end of one bearing spider by two bearings respectively with two shafts is rotatedly connected, and two horizontally disposed
Shaft is arranged substantially perpendicular to each other, and the other end of shaft 3 and the output shaft of a DC speed-reducing 8 described in every are fixedly linked,
The DC speed-reducing 8 is fixed on electric machine support 5, and the electric machine support 5 is fixedly linked with upper cover 12, with each
2 mutual extrusion of the spin setting of walking mechanism at two connected shafts of bearing spider and the position, each spin 2 is by two
The frictional force that the rotation of shaft 3 generates can rotate under driving.
It is fixed with driver board 9 among the bottom wall of upper cover 12, it is opposite that every two is corresponded on the driver board 9
The inner side of the DC speed-reducing 8 of setting is separately installed with a motor driver 11, and each motor driver 11 passes through
Electric wire is connected with two DC speed-reducings 8, and the motor driver 11 is connected with single-chip microcontroller by control line.In upper cover
An IR evading obstacle sensors 13, IR evading obstacle sensors and upper cover stationary phase are connected separately on bottom wall and at four sides
Even, four IR evading obstacle sensors 13 are connected by control line with single-chip microcontroller respectively, the meeting when detecting that the direction of motion has obstacle
It generates signal and feeds back to single-chip microcontroller, single-chip microcontroller exports control signal to motor driver 11, subtracted by direct current when receiving signal
Speed motor 8 controls the movement of spin 2 and realizes avoidance.
The work course of the present apparatus is as follows：
By four spin by platform on the ground, single-chip microcontroller export control signal to motor driver 11, pass through
Motor driver 11 controls the positive and negative rotation and stopping of DC speed-reducing 8, and each spin 2 is rubbed by what 2 rotations of shaft 3 generated
It wipes power to drive and rotate, there are two types of rotation directions to rotate and reverse for shaft 3, and 4 kinds of rotations can be combined between 2 shafts 3
State rotates forward, rotates forward reversion, reversion rotates forward, reversion reversion, the realization of spin 2 can be made to advance, retreat, turn left in this way,
Turn right movement, worked in coordination by 4 spin 2 so that omni-directional moving platform realization advanced, retreated, turn left, turn right move and
It rotates in place, the surrounding of omni-directional moving platform is evenly distributed 4 IR evading obstacle sensors 13, when detecting that the direction of motion has barrier
Signal can be generated when hindering and feeds back to single-chip microcontroller, and single-chip microcontroller exports control signal to motor driver 11, passes through when receiving signal
DC speed-reducing 8 controls the movement of spin 2 and realizes avoidance.
Claims (1)
1. omni-directional moving platform, it is characterised in that：Four vehicle with walking machine including being separately positioned on rectangular upper cover bottom wall four corners
Structure, about rectangular upper cover central symmetry, each walking mechanism includes one and fixes with upper cover four walking mechanisms
Connected ball upper cover is equipped with a square bearing support at angular position of each ball upper cover relative to upper cover, in bearing
It is provided with bearing hole on four sides of support, it is arranged substantially perpendicular to each other being equipped with the oblique opposite ball upper cover of bearing spider
Two blocks, a ball lower cover are fixed on two blocks and bearing spider by fixing piece, in the ball lower cover
Centre is provided with circular hole, and a ball turns are arranged in the cavity that ball lower cover, ball upper cover, two blocks and bearing spider are constituted,
The bottom of the spin is protruded into the circular hole of ball lower cover and can be contacted with ground supports；On the inside of each bearing spider
Two adjacent sides on bearing hole in be separately installed with a bearing, each bearing spider by two bearings respectively with
One end of two shafts is rotatedly connected, and two horizontally disposed shafts are arranged substantially perpendicular to each other, shaft described in every
The other end and the output shaft of a DC speed-reducing are fixedly linked, and the DC speed-reducing is fixed on electric machine support,
The electric machine support is fixedly linked with upper cover, the vehicle with walking machine at two shafts being connected with each bearing spider and the position
The spin mutual extrusion of structure is arranged, and each spin can rotate under being driven by the frictional force that two shaft rotations generate；In upper cover
Bottom wall among be fixed with driver board, the DC speed-reducing that is oppositely arranged of every two is corresponded on the driver board
Inner side be separately installed with a motor driver, each motor driver passes through electric wire and two DC speed-reducing phases
Even, the motor driver is connected with single-chip microcontroller by control line, is connected respectively on the bottom wall of upper cover and at four sides
An IR evading obstacle sensors are connected to, IR evading obstacle sensors are fixedly linked with upper cover, and four IR evading obstacle sensors lead to respectively
It crosses control line to be connected with single-chip microcontroller, signal can be generated when detecting that the direction of motion has obstacle and feeds back to single-chip microcontroller, single-chip microcontroller connects
Control signal is exported when receiving signal to motor driver, and petahque is controlled by DC speed-reducing and realizes avoidance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820473974.5U CN208102157U (en) | 2018-04-04 | 2018-04-04 | Omni-directional moving platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820473974.5U CN208102157U (en) | 2018-04-04 | 2018-04-04 | Omni-directional moving platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208102157U true CN208102157U (en) | 2018-11-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820473974.5U Active CN208102157U (en) | 2018-04-04 | 2018-04-04 | Omni-directional moving platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208102157U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108423088A (en) * | 2018-04-04 | 2018-08-21 | 泰华伟业科技有限责任公司 | Omni-directional moving platform |
-
2018
- 2018-04-04 CN CN201820473974.5U patent/CN208102157U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108423088A (en) * | 2018-04-04 | 2018-08-21 | 泰华伟业科技有限责任公司 | Omni-directional moving platform |
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