CN209241198U - A kind of platform-type omni-directional wheel driving assembly of robot - Google Patents
A kind of platform-type omni-directional wheel driving assembly of robot Download PDFInfo
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- CN209241198U CN209241198U CN201822127565.2U CN201822127565U CN209241198U CN 209241198 U CN209241198 U CN 209241198U CN 201822127565 U CN201822127565 U CN 201822127565U CN 209241198 U CN209241198 U CN 209241198U
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Abstract
The utility model relates to a kind of platform-type omni-directional wheel driving assemblies of robot, it is made of body assembly, mobile driving assembly, steering driving assembly, feedback sense component, wheel module, mobile driving assembly, steering driving assembly, feedback sense component are all set on body assembly, and wheel module is connect with driving assembly is turned to.The utility model realizes the underlying of mobile driving motor, saves the valuable installation space on device top.Realize the straight defeated and direct-connected function of power, it is higher that omnidirectional driving wheel dynamic response is faster, mechanical transfer loses smaller and drive wheel precision.It realizes the power transmitting under displacement is set, ensure that the mobile driving of omni-directional wheel and the independence turned to.It realizes the operating range of omni-directional wheel and the adjustment in orientation, realizes that system closed loop is precisely controlled, improve device and control precision；Feedback gear mechanism is used simultaneously, effectively reduces or even sensor is avoided to be influenced by mechanical oscillation, lowers system electrical and mechanical white noise.
Description
Technical field
The utility model belongs to robotic technology field, and in particular to a kind of platform-type omni-directional wheel driving group of robot
Part.
Background technique
Omni-mobile platform is able to achieve plane omnidirectional moving, and can realize and rotate in place, small, the motor-driven spirit with steering space
Activity is good, manipulation is convenient, moves the advantages that steady, is the rows such as electric business logistics, the carrying of factory's material, military explosive and home services
Industry provides a perfect solution.Omni-mobile platform has under the premise of not changing itself posture because of it to any
The ability of direction movement has 3 or 3 or more in the plane freedom of motion, kinematic dexterity is higher, very suitable
It closes in narrow or limited space area operation.
Omni-mobile mechanism used by realizing train omnidirectional moving usually at present has ball wheel, Mike to receive female wheel, universal wheel
Or the modified product based on them.
(1) ball wheel construction:
Application No. is the patent of 201110421107.X " motion platforms based on the driving of Qiu Lun omnidirectional ", and being related to one kind can
Paleocinetic smart motion platform, in particular to a kind of movement by three ball wheels of control is to realize the complete of platform entirety
To the mechanism of movement, belong to motor driven, sensor instrument distance, wireless telecommunications and automatic control technology field；Specifically include three sets
Same ball wheel drive mechanical structure and three motor drivers, context aware systems and platform control system；Platform main control
Resume module obtains control instruction, issues motor driver control module, and ball wheel rolls under the control of driving motor, realizes flat
The movement of platform.Omni-directional principle of the invention based on balls tumble, it can be achieved that manual control and two kinds of operating modes of autonomous operation,
And single platform operation and the multi-platform method of operation, have small in size, balance is good, and motor behavior expressive force is prominent, quick machine
The characteristics of dynamic and omnidirectional moving.It is similar that there are also application No. is 201280035387.3 patent " omnibearing moving platforms ".
Global wheel generally uses magnetism or other means, fully controls to ball wheel, to realize wheel in the direction XY
Upper omnidirectional moving.But global wheel control is got up more difficult, is seldom used in actual use, it is more at present to be present in concept product
In, such as global wheel mechanism for tire of Audi etc..
(2) Mike receives female wheel structure:
Application No. is 201611060832.8 patent disclosure " a kind of Omni-mobile platform ", including vehicle body frame, pendulum
Dynamic component, swing vehicle axle and damper, the wobble component are fixed on vehicle body frame bottom, and the swing vehicle axle passes through described
Wobble component being mounted on the vehicle body frame of swinging up and down of the relatively described vehicle body frame bottom；The swing vehicle axle includes
The middle section being connect with the wobble component and the swing arm positioned at middle section two sides, the middle section and the swing group
Part connection, the swing arm are equipped with wheel far from the end of the middle section；Shown damper one end and the vehicle body frame
Connection, the other end are connect with the swing arm.The mobile platform, on ground in the case where injustice, it is also possible that Omni-mobile is flat
Platform smooth operations, while service life is longer.
Similar, there are also " a kind of independences of Omni-mobile platform application No. is 201620216799.2 patent disclosure
Suspension mechanism ", including Mecanum wheel, transition shaft assembly, flange installation base plate, guide rail slide block, suspension installation base plate, oil gas are mixed
Close spring mounting seat and air-fuel mixture spring.The utility model, can basis by using air-fuel mixture spring and guide rail slide block
The irregularities on ground adjust the height of Mecanum wheel, so that the moment guarantees that Mecanum wheel can sufficiently connect with ground
Touching, so that all Mecanum wheel uniform forces, it is ensured that even running can allow Mecanum wheel preferably to adapt to ground
Irregularities can adaptively adjust Mecanum wheel terrain clearance, structure is simple, and system is steady by using air-fuel mixture spring
It is fixed, it is convenient for safeguarding.
Mike receives female wheel because its design and control are all relatively simple, using relatively broad in Omni-mobile product.But because
It is discontinuous with the contact point on ground for it, and only one controlled motion freedom degree, cause to cause to skid and make an uproar in operation
Sound causes sport efficiency low.Since two wheels are alternately to contact ground to orthogonal wheel during the motion, this results in transporting
The pressure change that each wheel is born during dynamic is big, to influence the frictional force with ground face contact, influences wheel rotation speed
Degree, it cannot be guaranteed that the stationarity of body movement speed；Furthermore Mike receive female wheel roller between there are gaps, be easy to produce vibration
Or skid, cause energy loss serious, cause car body unstable, not can guarantee position precision, and this wheel is to processing
Design has high requirements, so as to cause use cost height.
(3) Universal wheel structure technical solution
In such scheme, generally uses and driving motor is directly installed on driving wheel hub to simplify structure.
Such as " a kind of omnidirectional turns to liftable agricultural remote control and moves application No. is the patent disclosure of 201310019276.X
Mobile robot platform " is related to omnidirectional and turns to liftable agricultural remote control mobile robot platform.The platform is by omnidirectional's turning machine
Structure, hydraulic lifting system, vehicle frame platform, vehicle electronic device, walking mechanism composition.Omnidirectional's transfer is driven by servo motor,
By pinion gear, gear wheel, power is transmitted to turning sleeve, is then passed to wheel stand and hub motor type wheel, is realized complete
To steering.Its advantage is that: driving motor and hydraulic lifting self-movement, it can be achieved that 360 degree of casts whiles adjust vehicle body
Height, to adapt to crops and the terrain environment of different height；Steering resisting moment is small when steering, turns to easy and flexible；Using
Hub motor wheel, motor and wheel one, simplify platform structure.
It is similar there are also application No. is 201510206463.8 patents " a kind of Omni-mobile platform ", application No. is
A kind of 201510299730.0 " transport vehicles with omnidirectional moving " announced are announced application No. is 201610300370.6
" Omni-mobile platform and its steering wheel and driving wheel ", there are also application No. is " a kind of electromechanicals that 201711141193.2 announce
Novel omnidirectional's structure wheel apparatus of formula " etc..
The mechanism general structure redundancy of Universal wheel type is complicated, can integrated level it is poor, be unfavorable for the speed-raising of train loss of weight, increase obstacle detouring
Performance, while also bringing along the drawbacks such as energy consumption increase.And carried out in the scheme of power transmission by chain or conveyer belt, there are dynamic
The excessive disadvantage in force delay, torque transmitting gap, the mobile response speed of robot is slow, precision is low, is unfavorable for improving robot fortune
Dynamic flexibility, high maneuverability and high precision.In a word omnidirectional's driving mechanism of current Universal wheel type due to self structure redundancy it is multiple
It is miscellaneous and can not efficiently be connect with platform, fixed and fast integration.
Generally speaking, omni-directional wheel control at present and driving mechanism are generally fixed on above ontology using by motor, system body
Product is big, integration is poor, there is not yet structure is simplified, dynamic response speed is fast, can be achieved quickly to connect sum aggregate with mobile platform ontology
At universal wheel drive associated mechanisms or scheme.
Summary of the invention
The purpose of this utility model is to provide a kind of platform-type omni-directional wheel driving assemblies of robot, solve current omnidirectional
Excessive occupy caused by actuation volume is big, integrated level is low fills ontology platform space and with upper dress mobile platform or originally
The problems such as body connection is difficult.
The technical scheme adopted by the utility model to solve the technical problem is as follows: a kind of robot is driven with platform-type omni-directional wheel
Dynamic component is made of body assembly, mobile driving assembly, steering driving assembly, feedback sense component, wheel module, mobile to drive
Dynamic component, steering driving assembly, feedback sense component are all set on body assembly, and wheel module and steering driving assembly connect
It connects.
Specifically, the body assembly is made of support plate, cover board, fixture nut, and fixed mobile drive is installed in support plate
Dynamic component turns to driving assembly, feedback sense component, and cover board is bolted in support plate, and fixation is provided on cover board
Nut.
Specifically, the mobile driving assembly is by moving driving motor, the first synchronous pulley, the second synchronous pulley, first
Synchronous belt, the first spur gear wheel, the second roller gear, the first transmission shaft, second driving shaft, the first angular wheel, the second cone
Shape gear composition；
The mobile driving motor is mounted at lower end face of support plate, and the shaft of mobile driving motor is upward through support plate
And connect with the first synchronous pulley, the first synchronous pulley is connect by the first synchronous belt with the second synchronous pulley, the second synchronous belt
Wheel is mounted on the first transmission shaft upper end, and the first spur gear wheel is mounted on the first transmission shaft lower end and nibbles with the second roller gear
It closes, the second roller gear is mounted on the upper end of second driving shaft, and second driving shaft is fixed on the supporting plate by bearing, and second passes
The lower end of moving axis is connected and fixed the first angular wheel, and the first angular wheel is engaged with the second angular wheel；
The shaft of mobile driving motor drives the rotation of the first synchronous pulley, drives the second synchronous pulley by the first synchronous belt
Rotation, the second synchronous pulley drive the rotation of the first transmission shaft, and then drive the rotation of the first spur gear wheel, the first spur gear wheel
It is engaged with the second roller gear and drives the rotation of the second roller gear, and second driving shaft is driven to rotate, under second driving shaft drives
Fixed the first angular wheel rotation in end, the first angular wheel is engaged with the second angular wheel drives the rotation of the second angular wheel.
Specifically, driving assembly is turned to be synchronized by steering driving motor, third synchronous pulley, the 4th synchronous pulley, second
Band turns to reduction gear box, the 5th synchronous pulley, the 6th synchronous pulley, third synchronous belt, tumbler disc composition；
The steering driving motor is mounted at the lower end surface of support plate, and is turned to driving motor shaft downward and connected the
Three synchronous pulleys, the 4th synchronous pulley are connect by the second synchronous belt with third synchronous pulley, and the 4th synchronous pulley, which is mounted on, to be turned
To on the input shaft of reduction gear box, the output shaft for turning to reduction gear box passes through support plate and connects the 5th synchronous pulley, the
Five synchronous pulleys are connect by third synchronous belt with the 6th synchronous pulley, and the 6th synchronous pulley is mounted on tumbler disc；
It turns to driving motor and drives the rotation of third synchronous pulley, the rotation of the 4th synchronous pulley is driven by the second synchronous belt,
4th synchronous pulley drives the rotation of the 5th synchronous pulley by turning to reduction gear box, and the 5th synchronous pulley passes through third synchronous belt
Drive the 6th synchronous pulley rotation being fixed on tumbler disc.
Specifically, the tumbler disc includes inner ring and outer rings, is connected between inner ring and outer rings by ball bearing, outer ring is solid
It is scheduled on lower end face of support plate, inner ring upper surface is equipped with the 6th synchronous pulley, and the 6th synchronous pulley is installed on mobile driving assembly
The first transmission shaft on.
Specifically, the feedback sense component is by position feedback master gear, position feedback pinion, position sensor, side
Position feedback master gear, orientation feedback pinion, angular transducer composition；
Position feedback master gear is mounted on the lower section in the shaft of mobile driving motor and being located at the first synchronous pulley, position
Feedback pinion is engaged with position feedback master gear, and position feedback pinion is mounted in the shaft of position sensor, and position passes
Sensor is mounted at the lower end surface of support plate, and the shaft of position sensor passes through support plate, and close to mobile driving motor, orientation
Feedback master gear is mounted on the lower end on the output revolving shaft for turning to reduction gear box and being located at the 5th synchronous pulley, and orientation feedback is secondary
Gear is engaged with orientation feedback master gear, and orientation feedback pinion is mounted in the shaft of angular transducer, angular transducer peace
At the lower end surface of support plate.
Specifically, the wheel module is made of universal wheel, universal wheel rotating shaft, universal wheel bearing, support base, universal rotation
Axis is mounted on the axle center of the second angular wheel, and universal wheel is mounted on universal wheel bearing by universal wheel rotating shaft, universal wheel
Bearing is fixed on support base, and support base is connected and fixed with the inner ring on tumbler disc.
The utility model has the following beneficial effects:
1) by designing unique mobile driving assembly, the effects such as cooperation synchronous belt, synchronous pulley, gear engagement are realized
Underlying, the valuable installation space on saving device top of mobile driving motor.It is engaged, is realized dynamic by using synchronous belt and gear
The straight defeated and direct-connected function of power, it is higher that omnidirectional driving wheel dynamic response is faster, mechanical transfer loses smaller and drive wheel precision.
2) power is transferred on driving wheel system using steering driving assembly, realizes the power transmitting under displacement is set, solution
In addition to the coupling problem of moving drive mechanism and steering driving mechanism, the mobile driving of omni-directional wheel and the independence turned to ensure that；
It is engaged simultaneously using synchronous belt and gear, realizes the underlying of steering motor, it is same to save driving space, guarantee the installation of system top
Space.
3) the accurate monitoring to mobile driving and rotate driving is realized using position sensor and angular transducer, realized complete
It to the operating range of wheel and the adjustment in orientation, realizes that system closed loop is precisely controlled, improves device and control precision；Simultaneously using feedback
Gear mechanism effectively reduces or even sensor is avoided to be influenced by mechanical oscillation, lowers system electrical and mechanical white noise.
Detailed description of the invention
Fig. 1 is the entirety perspective view of the utility model omni-directional wheel driving assembly.
Fig. 2 is the whole schematic view of the front view of the utility model omni-directional wheel driving assembly.
Fig. 3 is the whole left view structural representation of the utility model omni-directional wheel driving assembly.
Fig. 4 is the whole right side structural representation of the utility model omni-directional wheel driving assembly.
Fig. 5 is the whole overlooking structure diagram of the utility model omni-directional wheel driving assembly.
Fig. 6 is the whole present invention looks up structural representation of the utility model omni-directional wheel driving assembly.
Fig. 7 is the schematic perspective view after the utility model omni-directional wheel driving assembly removal cover board.
Fig. 8 is the left view structural representation after the utility model omni-directional wheel driving assembly removal cover board.
Fig. 9 is the overlooking structure diagram after the utility model omni-directional wheel driving assembly removal cover board.
Figure 10 is the schematic perspective view after the utility model omni-directional wheel driving assembly removal cover board and support base.
Figure 11 is the overlooking structure diagram after the utility model omni-directional wheel driving assembly removal cover board and support base.
Figure 12 is the present invention looks up structural representation after the utility model omni-directional wheel driving assembly removal cover board and support base.
Figure 13 is the left view structural representation after the utility model omni-directional wheel driving assembly removal cover board and support base.
Figure 14 is the right side structural representation after the utility model omni-directional wheel driving assembly removal cover board and support base.
Specific embodiment
The utility model is described in further detail presently in connection with attached drawing.
As shown in Fig. 1,2,4,9, the platform-type omni-directional wheel driving assembly of a kind of robot, by body assembly 1, mobile driving
Component 2 turns to driving assembly 3, feedback sense component 4, wheel module 5 and forms, mobile driving assembly 2, turn to driving assembly 3,
Feedback sense component 4 is all set on body assembly 1, and wheel module 5 is connect with driving assembly 3 is turned to.
As shown in Fig. 3,5,6, body assembly 1 is made of support plate 11, cover board 12, fixture nut 13, and support plate 11 is to close
Certain amount open-work is arranged to install each mechanical component in golden material or carbon fibre material, square appearance.Cover board 12 is to have one
The single side open slot of depthkeeping degree, inner hollow are bolted on support plate 11 to hold each driving assembly, cover board 12
On.A certain number of open-works are arranged in 12 top of cover board, and fixture nut 13 is arranged in open-work, to the fixed knot such as mobile platform or bracket
Structure realizes the quick connection of the mechanisms such as the present apparatus and external mobile platform.Since square body knot is integrally presented in 1 shape of body assembly
Structure can play the effect for saving installation space.
Body assembly 1 is the support carrier of system, and support plate 11 plays carrying, and cover board 12 can protect internal drive machine
The components such as tool, can also make driving assembly that globality be presented, and fixture nut 13 can play the role of quickly connecting.
As shown in Fig. 7,12,13, mobile driving assembly 2 is synchronous by mobile driving motor 21, the first synchronous pulley 22, second
Belt wheel 23, the first synchronous belt 24, the first spur gear wheel 25, the second roller gear 26, the first transmission shaft 27, second driving shaft
28, the first angular wheel 29, the second angular wheel 210 composition.
Mobile driving motor 21 is direct current or servo motor, is mounted at 11 lower end surface of support plate, mobile driving motor 21
Shaft be upward through support plate 11 and connect with the first synchronous pulley 22, while also pass through position feedback master gear 41.
First synchronous pulley 22 is connect by the first synchronous belt 24 with the second synchronous pulley 23, the first synchronous pulley 22 and the
Two synchronous pulleys 23 are belt sheave structure, and the first synchronous belt 24 realizes power from first the 22 to the second synchronous pulley of synchronous pulley
23 transmitting.
Second synchronous pulley 23 is mounted on 27 upper end of the first transmission shaft, and the first transmission shaft 27 is circular shaft, is fixed by bearing
In 37 the center point of the 6th synchronous pulley, the first spur gear wheel 25 be mounted on 27 lower end of the first transmission shaft and with the second roller gear
26 engagements, the second roller gear 26 are mounted on the upper end of second driving shaft 28, and second driving shaft 28 is fixed on support by bearing
On plate 11, the lower end of second driving shaft 28 is connected and fixed the first angular wheel 29, the first angular wheel 29 and the second angular wheel
210 the first angular wheels 29 of engagement and the second angular wheel 210 are bevel gear, and 210 diameter of the second angular wheel is greater than the
The axle center of one angular wheel 29, the second angular wheel 210 passes through universal wheel rotating shaft 52.First angular wheel 29 and the second conical tooth
Power transmitting and deflecting are realized in 210 intermeshing of wheel.
The step of mobile driving assembly 2 drives universal wheel 51 is as follows: controller drives mobile driving by drive module
Motor 21 rotates, and mobile 21 shaft of driving motor drives the rotation of the first synchronous pulley 22, drives second by the first synchronous belt 24
Synchronous pulley 23 rotates, and the second synchronous pulley 23 drives the rotation of the first transmission shaft 27, and then drives 25 turns of the first spur gear wheel
It is dynamic, due to the engagement of the first spur gear wheel 25 and the second roller gear 26, the rotation of the second roller gear 26, and drive the
The rotation of two transmission shafts 28, due to being fixed with the first angular wheel 29 below second driving shaft 28, therefore the first angular wheel 29 rotates,
And passing through the engagement of the first angular wheel 29 and the second angular wheel 210, the rotation of the second angular wheel 210 is final to drive
Universal wheel rotating shaft 52 and connected universal wheel 51 rotate, to realize the driving effect to universal wheel.When changing, mobile driving is electric
When the rotation direction of machine 21, the driving that moves forward and backward to universal wheel 51 is realized.
As illustrated in figs. 11-14, driving assembly 3 is by steering driving motor 31, third synchronous pulley 32, the 4th synchronous pulley
33, the second synchronous belt 34, turn to reduction gear box 35, the 5th synchronous pulley 36, the 6th synchronous pulley 37, third synchronous belt 38,
Tumbler disc 39 forms.
Turning to driving motor 31 is direct current, servo or stepper motor, is mounted at the lower end surface of support plate 11, and turns to and drive
It moves 31 shaft of motor downward and connects third synchronous pulley 32.4th synchronous pulley 33 is synchronous with third by the second synchronous belt 34
Belt wheel 32 connects, and third synchronous pulley 32 and the 4th synchronous pulley 33 are belt sheave structure, and the 4th synchronous pulley 33 is mounted on
On the input shaft for turning to reduction gear box 35.
The reduction gearbox that reduction gear box 35 is N:1 is turned to, wherein parameter N can be set according to actual needs.Turn to reducing gear
35 upper surface of roller box is fixed at the lower end surface of support plate 11, against steering driving motor 31.Turn to the defeated of reduction gear box 35
Shaft passes through support plate 11 and connects the 5th synchronous pulley 36.5th synchronous pulley 36 is located above the upper surface of support plate 11,
It is connect by third synchronous belt 38 with the 6th synchronous pulley 37, the 6th synchronous pulley 37 is mounted on 39 inner ring 39a of tumbler disc
End face, above the upper surface in support plate 11, the 5th synchronous pulley 36 and the 6th synchronous pulley 37 are belt sheave structure.The
Six synchronous pulleys 37 can realize the rotation of the outer ring 39b on tumbler disc 39, to realize that the 6th synchronous pulley 37 can be realized
The rotation of relative support plate 11.
As shown in Figure 6, Figure 7, tumbler disc 39 is the bearing arrangement being relatively large in diameter, including inner ring 39a and outer ring 39b.Turn
It is connected between the inner ring 39a and outer ring 39b of disk 39 by ball bearing, to realize that inner ring 39a rubs with respect to the low of outer ring 39b
Wipe rotation.Outer ring 39b is fixed on 11 lower end surface of support plate, and the lower end surface of inner ring 39a is connected with support base 54.The upper end inner ring 39a
Face is equipped with the 6th synchronous pulley 37, and the 6th synchronous pulley 37 is installed on the first transmission shaft 27 of mobile driving assembly 2.Inner ring
It is hollow structure in 39a, corresponding support plate 11 is also equipped with open-work to pass through the structures such as the first transmission shaft 27.
It turns to 3 pairs of wheel modules 5 of driving assembly and carries out the step of traveling orientation is adjusted are as follows: controller controls drive module and drives
Turn is rotated to driving motor 31, turns to driving motor 31 and third synchronous pulley 32 is driven to rotate, pass through the second synchronous belt 34
Power to drive the rotation of the 4th synchronous pulley 33, and then is transferred to steering by the 4th synchronous pulley 33 and subtracted by connection function
In fast gear-box 35, revolving speed will have been converted with the power of torque to be transferred to the 5th by output shaft synchronous by turning to reduction gear box 35
Power is then transferred to the 6th synchronous pulley 37 by third synchronous belt 38 by belt wheel 36, since the 6th synchronous pulley 37 is also solid
It is scheduled on the inner ring 39a of tumbler disc 39, therefore realizes inner ring 39a relative to the rotation of outer ring 39b, since the lower end surface inner ring 39a is also solid
Surely there are the structures such as support base 54 and the universal wheel being connected with support base 54 51, therefore pass through the rotation for turning to driving motor 31,
It is final to realize the angular transformation for driving universal wheel 51, to realize the commutation in traveling process or angle regulation function.
As shown in figs9-12, feedback sense component 4 is passed by position feedback master gear 41, position feedback pinion 42, position
Sensor 43, orientation feedback master gear 44, orientation feedback pinion 45, angular transducer 46 form.
Position feedback master gear 41 is roller gear, and position feedback master gear 41 is mounted on the shaft of mobile driving motor 21
Lower section that is upper and being located at the first synchronous pulley 22.Position feedback pinion 42 is similarly roller gear, with position feedback master gear
41 engagements, position feedback pinion 42 are mounted in the shaft of position sensor 43, and position feedback pinion 42 is similarly positioned in branch
The upper end surface of fagging 11.
Position sensor 43 is mounted at the lower end surface of support plate 11, and the shaft of position sensor 43 passes through support plate 11,
And close to mobile driving motor 21.The working principle of position sensor 43 are as follows: mobile driving motor 21 rotates, and is driven by shaft
Position feedback master gear 41 rotates, and engages effect by gear, position feedback pinion 42 is driven to rotate, and then position is driven to pass
Sensor 43 rotates, and sensor internal can be measured shaft rotational angle, to push away according to the parameters such as the transmission ratio of system are counter
The angle that final universal wheel 51 turns over out can finally calculate the distance that universal wheel 51 turns over or advances.
It is roller gear that master gear 44 is fed back in orientation, is mounted on the output revolving shaft for turning to reduction gear box 35 and is located at the
The lower end of five synchronous pulleys 36.Orientation feedback pinion 45 is similarly roller gear, engages with orientation feedback master gear 44, orientation
Feedback pinion 45 is mounted in the shaft of angular transducer 46, and orientation feedback pinion 45 is similarly positioned in the upper end of support plate 11
At face.
Angular transducer 46 is mounted at the lower end surface of support plate 11, and the shaft of angular transducer 46 passes through support plate 11 simultaneously
Close to steering reduction gear box 35.The working principle of angular transducer 46 are as follows: it turns to driving motor 31 and rotates, it is synchronous by third
Belt wheel 32, the 4th synchronous pulley 33, the second synchronous belt 34 realize the driving to reduction gear box 35 is turned to, with steering reduction gearing
The orientation feedback master gear 44 that case 35 exports axis connection realizes rotation, engages effect by gear, to drive orientation feedback secondary
Gear 45 is actively, final to drive the generation angle of angular transducer 46 or the variation of shaft circle number, sensor internal that rotate to shaft
Angle is measured, to instead be released according to parameters such as the transmission ratio of system, steering 35 transmission ratios of reduction gear box final universal
Angle after 51 steering of wheel, can finally calculate the orientation or travel angle of universal wheel 51.
Further, by setting position feedback master gear 41, position feedback pinion 42, orientation feed back master gear 44,
Pinion 45 is fed back in orientation, is engaged indirect power transmission using gear and is acted on, and can be lowered from mobile driving motor 21 and be turned to drive
The vibration that dynamic motor 31 passes over causes, and effectively improves position sensor 43,46 measurement accuracy of angular transducer.
As is seen in figs 7-10, wheel module 5 is by universal wheel 51, universal wheel rotating shaft 52, universal wheel bearing 53,54 groups of support base
At universal wheel rotating shaft 52 is mounted on the axle center of the second angular wheel 210, and universal wheel 51 is mounted on by universal wheel rotating shaft 52
On universal wheel bearing 53, universal wheel bearing 53 is fixed on support base 54, and support base 54 is U-shaped structure, 54 upper surface of support base
Be connected and fixed with the lower end surface inner ring 39a on tumbler disc 39, it can be achieved that relative to outer ring 39b rotation.
The utility model is not limited to above embodiment, anyone, which should learn, makes under the enlightenment of the utility model
Structure change, it is all that there is same or similar technical solution with the utility model, each fall within the protection scope of the utility model
Within.
Technology that the utility model is not described in detail, shape, construction portion are well-known technique.
Claims (10)
1. a kind of platform-type omni-directional wheel driving assembly of robot, which is characterized in that by body assembly, mobile driving assembly, turn
To driving assembly, feedback sense component, wheel module composition, mobile driving assembly, steering driving assembly, feedback sense component are equal
It is set on body assembly, wheel module is connect with driving assembly is turned to.
2. the platform-type omni-directional wheel driving assembly of robot as described in claim 1, which is characterized in that the body assembly by
Support plate, cover board, fixture nut form, the fixed mobile driving assembly of installation, steering driving assembly, feedback sense group in support plate
Part, cover board are bolted in support plate, and fixture nut is provided on cover board.
3. the platform-type omni-directional wheel driving assembly of robot as claimed in claim 2, which is characterized in that the mobile driving group
Part is by moving driving motor, the first synchronous pulley, the second synchronous pulley, the first synchronous belt, the first spur gear wheel, the second cylinder
Gear, the first transmission shaft, second driving shaft, the first angular wheel, the second angular wheel composition；
The shaft of mobile driving motor drives the rotation of the first synchronous pulley, drives the second synchronous belt rotation by the first synchronous belt
Dynamic, the second synchronous pulley drives the rotation of the first transmission shaft, and then drives the rotation of the first spur gear wheel, the first spur gear wheel with
The engagement of second roller gear drives the rotation of the second roller gear, and second driving shaft is driven to rotate, and second driving shaft drives lower end
Fixed the first angular wheel rotation, the first angular wheel is engaged with the second angular wheel drives the rotation of the second angular wheel.
4. the platform-type omni-directional wheel driving assembly of robot as claimed in claim 3, which is characterized in that the mobile driving electricity
Machine is mounted at lower end face of support plate, and the shaft of mobile driving motor is upward through support plate and connect with the first synchronous pulley,
First synchronous pulley is connect by the first synchronous belt with the second synchronous pulley, and the second synchronous pulley is mounted on the first transmission shaft
End, the first spur gear wheel are mounted on the first transmission shaft lower end and engage with the second roller gear, and the second roller gear is mounted on
The upper end of second driving shaft, second driving shaft is fixed on the supporting plate by bearing, and the lower end of second driving shaft is connected and fixed the
One angular wheel, the first angular wheel are engaged with the second angular wheel.
5. the platform-type omni-directional wheel driving assembly of robot as described in claim 1-4 is any, which is characterized in that turn to driving
Component by steering driving motor, third synchronous pulley, the 4th synchronous pulley, the second synchronous belt, turn to reduction gear box, the 5th same
Walk belt wheel, the 6th synchronous pulley, third synchronous belt, tumbler disc composition；
It turns to driving motor and drives the rotation of third synchronous pulley, drive the 4th synchronous pulley to rotate by the second synchronous belt, the 4th
Synchronous pulley drives the rotation of the 5th synchronous pulley by turning to reduction gear box, and the 5th synchronous pulley is driven by third synchronous belt
The 6th synchronous pulley rotation being fixed on tumbler disc.
6. the platform-type omni-directional wheel driving assembly of robot as claimed in claim 5, which is characterized in that the steering driving electricity
Machine is mounted at the lower end surface of support plate, and is turned to driving motor shaft downward and connected third synchronous pulley, the 4th synchronous belt
Wheel is connect by the second synchronous belt with third synchronous pulley, and the 4th synchronous pulley is mounted on the input shaft for turning to reduction gear box
On, the output shaft for turning to reduction gear box passes through support plate and connects the 5th synchronous pulley, and the 5th synchronous pulley is same by third
Step band is connect with the 6th synchronous pulley, and the 6th synchronous pulley is mounted on tumbler disc.
7. the platform-type omni-directional wheel driving assembly of robot as claimed in claim 6, which is characterized in that the tumbler disc packet
Inner ring and outer rings are included, are connected between inner ring and outer rings by ball bearing, outer ring is fixed on lower end face of support plate, inner ring upper surface peace
Equipped with the 6th synchronous pulley.
8. the platform-type omni-directional wheel driving assembly of robot as claimed in claim 7, which is characterized in that the 6th synchronous belt
Wheel is installed on the first transmission shaft of mobile driving assembly.
9. the platform-type omni-directional wheel driving assembly of robot as claimed in claim 1 or 2, which is characterized in that the feedback passes
Feel component and secondary tooth is fed back by position feedback master gear, position feedback pinion, position sensor, orientation feedback master gear, orientation
Wheel, angular transducer composition；
Position feedback master gear is mounted on the lower section in the shaft of mobile driving motor and being located at the first synchronous pulley, position feedback
Pinion is engaged with position feedback master gear, and position feedback pinion is mounted in the shaft of position sensor, position sensor
It is mounted at the lower end surface of support plate, the shaft of position sensor passes through support plate, and close to mobile driving motor, orientation feedback
Master gear is mounted on the lower end on the output revolving shaft for turning to reduction gear box and being located at the 5th synchronous pulley, and pinion is fed back in orientation
It is engaged with orientation feedback master gear, orientation feedback pinion is mounted in the shaft of angular transducer, and angular transducer is mounted on
At the lower end surface of support plate.
10. the platform-type omni-directional wheel driving assembly of robot as claimed in claim 7, which is characterized in that the wheel module
It is made of universal wheel, universal wheel rotating shaft, universal wheel bearing, support base, universal wheel rotating shaft is mounted on the second angular wheel
Axle center, universal wheel are mounted on universal wheel bearing by universal wheel rotating shaft, and universal wheel bearing is fixed on support base, support base with
Inner ring on tumbler disc is connected and fixed.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822127565.2U CN209241198U (en) | 2018-12-18 | 2018-12-18 | A kind of platform-type omni-directional wheel driving assembly of robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201822127565.2U CN209241198U (en) | 2018-12-18 | 2018-12-18 | A kind of platform-type omni-directional wheel driving assembly of robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110588332A (en) * | 2019-09-29 | 2019-12-20 | 中科创源(天津)科技有限公司 | Omnidirectional wheel |
| CN111717300A (en) * | 2020-06-17 | 2020-09-29 | 柳州职业技术学院 | Be used for pesticide to spout medicine weeding robot |
| CN112092940A (en) * | 2020-09-11 | 2020-12-18 | 六安科亚信息科技有限公司 | Crawling software robot |
| CN113459064A (en) * | 2021-07-07 | 2021-10-01 | 重庆七腾科技有限公司 | Pipeline robot |
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2018
- 2018-12-18 CN CN201822127565.2U patent/CN209241198U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110588332A (en) * | 2019-09-29 | 2019-12-20 | 中科创源(天津)科技有限公司 | Omnidirectional wheel |
| CN110588332B (en) * | 2019-09-29 | 2024-03-26 | 中科创源(天津)科技有限公司 | Omnidirectional wheel |
| CN111717300A (en) * | 2020-06-17 | 2020-09-29 | 柳州职业技术学院 | Be used for pesticide to spout medicine weeding robot |
| CN112092940A (en) * | 2020-09-11 | 2020-12-18 | 六安科亚信息科技有限公司 | Crawling software robot |
| CN113459064A (en) * | 2021-07-07 | 2021-10-01 | 重庆七腾科技有限公司 | Pipeline robot |
| CN113459064B (en) * | 2021-07-07 | 2023-01-03 | 七腾机器人有限公司 | Pipeline robot |
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