CN209290557U - A kind of wheel group structure of omnidirectional moving - Google Patents
A kind of wheel group structure of omnidirectional moving Download PDFInfo
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- CN209290557U CN209290557U CN201822163560.5U CN201822163560U CN209290557U CN 209290557 U CN209290557 U CN 209290557U CN 201822163560 U CN201822163560 U CN 201822163560U CN 209290557 U CN209290557 U CN 209290557U
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- wheel
- car body
- fixed
- steering
- driven sprocket
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Abstract
A kind of wheel group structure of omnidirectional moving, the utility model relates to wheel group structure technical fields；Universal wheel is screwed with by adjusting bolt in groove on front side of the car body below left end, the lower end dew of the universal wheel is located at the downside of car body, the inside of left end is equipped with steering wheel mechanism on rear side of the car body, servo motor is equipped on the right side of universal wheel and steering wheel, after the output shaft of servo motor passes through fixed plate, it plugs and is fixed in the center of drive sprocket, the drive sprocket is connect by chain with driven sprocket, driven sprocket is embedded in fixed disk, carrying roller is connected in rotation axis on the downside of driven sprocket, it can be achieved freely to control steering entirely, and surface wear is smaller over the ground, it is preferable with ground compactness, realize the control requirement of omnidirectional moving, than the existing scheme using Mecanum wheel, with more economy, the ground of traveling is required low, with universal practicability, the utility model has structure simple, setting is reasonable, it is fabricated to This low advantage.
Description
Technical field
The utility model relates to wheel group structure technical fields, and in particular to a kind of wheel group structure of omnidirectional moving.
Background technique
Automatic guided vehicle requires to realize free movement in small space, and to meet real requirement, omnidirectional's vehicle is
It is badly in need of at present, omnidirectional's vehicle of existing comparative maturity is largely the structure using Mecanum wheel, because of Mecanum wheel itself
Design feature, lead to existing omnidirectional's vehicle manufactures that cost is very high, and requirement of the Mecanum wheel to ground
It is relatively high, industrially it is difficult to universal use, it would be highly desirable to improve.
Utility model content
The purpose of this utility model is that in view of the drawbacks of the prior art and insufficient, provide that a kind of structure is simple, and design is closed
Reason, omnidirectional moving easy to use wheel group structure, it can be achieved that freely control steering entirely, and surface wear is smaller over the ground and ground
Compactness is preferable, realizes the control requirement of omnidirectional moving, than the existing scheme using Mecanum wheel, has more economy,
It is low for the ground requirement of traveling, there is universal practicability.
In order to achieve the above purposes, the technical solution adopted by the utility model is:, and it includes car body, steering wheel mechanism, servo electricity
Machine, drive sprocket, chain, driven sprocket, carrying roller and universal wheel pass through adjusting in the groove on front side of the car body below left end
Bolt is screwed with universal wheel, and the lower end dew of the universal wheel is located at the downside of car body, and the inside of left end is equipped with steering wheel on rear side of the car body
Mechanism, steering motor, driving motor and tooth sector above the steering wheel mechanism are embedded in car body, on the downside of steering wheel dew
It is located at the lower section of car body, and it is arranged with universal wheel in same level, is equipped with servo motor on the right side of universal wheel and steering wheel,
The servo motor passes through fixed plate respectively and is fixed in the groove of car body front and rear sides left end, and the output shaft of servo motor passes through solid
After fixed board, plug and be fixed in the center of drive sprocket, which is hung on the lower section of fixed plate, and its by chain with
Driven sprocket connection, driven sprocket are embedded in fixed disk, and the fixed disk is separately fixed at below the right end of car body front and rear sides
Groove in, be connected with carrying roller in the rotation axis on the downside of driven sprocket, which is hung on the lower section of fixed disk, and respectively
It is arranged with universal wheel and steering wheel in same level, the servo motor and steering wheel steering motor within the organization and driving motor
It is connect with the main power source of carrier.
Further, the carrying roller is made of worm decelerating machine and wheel, the input shaft of the worm decelerating machine with from
Rotation axis on the downside of movable sprocket is fixedly connected, and worm decelerating machine is fixed on the lower surface of fixed disk, and the output shaft of its two sides
Upper be arranged respectively is fixed with wheel.
Further, it is equipped with annulus between the worm decelerating machine and fixed disk, the upper surface of the annulus and fixed disk
Lower surface is fixedly connected, and lower surface is fixedly connected with the upper surface of worm decelerating machine, which is set in worm decelerating machine
Input shaft on.
After adopting the above structure, the utility model has the beneficial effect that a kind of wheel of omnidirectional moving described in the utility model
Group structure is, it can be achieved that freely control steering entirely, and surface wear is smaller, preferable with ground compactness over the ground, realizes omnidirectional moving
Control requirement have more economy than the existing scheme using Mecanum wheel, the ground of traveling is required low, had
The advantages that universal practicability, the utility model have structure simple, and setting is reasonable, low manufacture cost.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the side view of the utility model.
Fig. 2 is the top view of the utility model.
Fig. 3 is the structural schematic diagram of the utility model centered rudder wheel mechanism and servo motor.
Fig. 4 is the structural schematic diagram of universal wheel and servo motor in the utility model.
Fig. 5 is the portion A enlarged drawing in Fig. 3.
Description of symbols:
Car body 1, steering wheel mechanism 2, steering motor 2-1, driving motor 2-2, tooth sector 2-3, steering wheel 2-4, servo motor
3, drive sprocket 4, chain 5, driven sprocket 6, carrying roller 7, worm decelerating machine 7-1, wheel 7-2, universal wheel 8, fixed plate 9, solid
Price fixing 10, annulus 11.
Specific embodiment
The utility model will be further described below with reference to the accompanying drawings.
Referring to as Figure 1-Figure 5, present embodiment the technical solution adopted is that: it includes car body 1, steering wheel mechanism
2, servo motor 3, drive sprocket 4, chain 5, driven sprocket 6, carrying roller 7 and universal wheel 8,1 front side left end of the car body lower section
Groove in by adjusting bolt be screwed with universal wheel 8, which connect, this is fixed after the fixed block with universal wheel 8
Block is bolted on the inner sidewall of 1 front side left end lower grooves of car body, and the lower end dew of the universal wheel 8 is located at car body 1
The inside of downside, the 1 rear side left end of car body is equipped with steering wheel mechanism 2, steering motor 2-1, the driving motor of 2 top of steering wheel mechanism
2-2 and tooth sector 2-3 are embedded in car body 1, and are fixed in car body 1 by fixed disc, which passes through spiral shell
Bolt is fixed in the groove of car body 1, which is set on the lateral wall of driving motor 2-2, and is bolted, rudder
The steering wheel 2-4 dew of wheel mechanism 2 downside is located at the lower section of car body 1, and it is arranged with universal wheel 8 in same level, universal wheel 8 and
Servo motor 3 is equipped on the right side of steering wheel 2-4, which is fixed on 1 front and rear sides of a car body left side by fixed plate 9 respectively
In the groove at end, after the output shaft of servo motor 3 passes through fixed plate 9, it is plugged in the center of drive sprocket 4, and be welded and fixed,
The drive sprocket 4 is hung on the lower section of fixed plate 9, and it is connect by chain 5 with driven sprocket 6, and driven sprocket 6 is embedded solid
In price fixing 10, and the fixed disk 10 is bolted on respectively in the groove below 1 front and rear sides right end of car body, driven sprocket
6 downside rotation axis on be connected with carrying roller 7, which is hung on the lower section of fixed disk 10, and respectively with universal wheel 8 and
Steering wheel 2-4 is arranged in same level, the steering motor 2-1 and driving motor 2- in the servo motor 3 and steering wheel mechanism 2
2 connect with the main power source of carrier.
Further, the carrying roller 7 is made of worm decelerating machine 7-1 and wheel 7-2, worm decelerating machine 7-1's
Input shaft and the rotation axis of 6 downside of driven sprocket are welded and fixed, and worm decelerating machine 7-1 is bolted under fixed disk 10
On surface, and it is arranged respectively on the output shaft of its two sides and is fixed with wheel 7-2.
Further, between the worm decelerating machine 7-1 and fixed disk 10 be equipped with annulus 11, the upper surface of the annulus 11 with
The lower surface of fixed disk 10 is welded and fixed, and lower surface and the upper surface of worm decelerating machine 7-1 are welded and fixed, 10 sets of the fixed disk
It is located on the input shaft of worm decelerating machine 7-1.
The working principle of this specific embodiment:: the driving motor 2-2 in steering wheel mechanism 2 provides dynamic to steering motor 2-1
Power, steering motor 2-1 control tooth sector 2-3 are turned to, and servo motor 3 drives drive sprocket 4 to rotate, and 4 tins of drive sprocket
Crossing chain 5 drives driven sprocket 6 to rotate, and driven sprocket 6 drives the input shaft rotation of scroll bar speed reducer, worm decelerating machine 7-1's
Output shaft drives the wheel 7-2 rotation of two sides, and servo motor 3 accurately controls its rotational angle, and universal wheel 8 can be by adjusting spiral shell
Bolt adjusts its mounting height, so as to be kept for 7 moment of carrying roller and ground face contact.
After adopting the above structure, present embodiment has the beneficial effect that a kind of omnidirectional described in present embodiment
The wheel group structure of movement is, it can be achieved that freely control steering entirely, and surface wear is smaller, preferable with ground compactness over the ground, realizes
The control requirement of omnidirectional moving has more economy than the existing scheme using Mecanum wheel, and the ground of traveling is required
It is low, there is the advantages that universal practicability, the utility model is simple with structure, and setting is reasonable, low manufacture cost.
The above is merely intended for describing the technical solutions of the present application, but not for limiting the present application, those of ordinary skill in the art couple
The other modifications or equivalent replacement that the technical solution of the utility model is made, without departing from technical solutions of the utility model
Spirit and scope should all cover in the scope of the claims of the utility model.
Claims (3)
1. a kind of wheel group structure of omnidirectional moving, it is characterised in that: it includes car body (1), steering wheel mechanism (2), servo motor
(3), drive sprocket (4), chain (5), driven sprocket (6), carrying roller (7) and universal wheel (8), car body (1) front side left end
Universal wheel (8) are screwed with by adjusting bolt in the groove of lower section, the lower end dew of the universal wheel (8) is located at the downside of car body (1),
The inside of left end is equipped with steering wheel mechanism (2) on rear side of the car body (1), steering motor (2-1), driving above the steering wheel mechanism (2)
Motor (2-2) and tooth sector (2-3) are embedded in the car body (1), on the downside of steering wheel (2-4) dew be located under car body (1)
Side, and it is arranged with universal wheel (8) in same level, is equipped with servo motor on the right side of universal wheel (8) and steering wheel (2-4)
(3), which is fixed in the groove of car body (1) front and rear sides left end by fixed plate (9) respectively, servo motor
(3) it after output shaft passes through fixed plate (9), plugs and is fixed in the center of drive sprocket (4), which is hung on
The lower section of fixed plate (9), and it is connect by chain (5) with driven sprocket (6), driven sprocket (6) is embedded in fixed disk (10)
It is interior, and the fixed disk (10) is separately fixed in the groove below the right end of car body (1) front and rear sides, on the downside of driven sprocket (6)
Carrying roller (7) are connected in rotation axis, which is hung on the lower section of fixed disk (10), and respectively with universal wheel (8) and
Steering wheel (2-4) is arranged in same level, steering motor (2-1) and drive in the servo motor (3) and steering wheel mechanism (2)
Dynamic motor (2-2) is connect with the main power source of carrier.
2. a kind of wheel group structure of omnidirectional moving according to claim 1, it is characterised in that: the carrying roller (7) by
Worm decelerating machine (7-1) and wheel (7-2) are constituted, the input shaft of the worm decelerating machine (7-1) and turn on the downside of driven sprocket (6)
Moving axis is fixedly connected, and worm decelerating machine (7-1) is fixed on the lower surface of fixed disk (10), and on the output shaft of its two sides respectively
It is arranged and is fixed with wheel (7-2).
3. a kind of wheel group structure of omnidirectional moving according to claim 2, it is characterised in that: the worm decelerating machine (7-
1) annulus (11) are equipped between fixed disk (10), the fixed company in the upper surface of the annulus (11) and the lower surface of fixed disk (10)
It connects, lower surface is fixedly connected with the upper surface of worm decelerating machine (7-1), which is set in worm decelerating machine (7-
1) on input shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822163560.5U CN209290557U (en) | 2018-12-20 | 2018-12-20 | A kind of wheel group structure of omnidirectional moving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822163560.5U CN209290557U (en) | 2018-12-20 | 2018-12-20 | A kind of wheel group structure of omnidirectional moving |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209290557U true CN209290557U (en) | 2019-08-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822163560.5U Active CN209290557U (en) | 2018-12-20 | 2018-12-20 | A kind of wheel group structure of omnidirectional moving |
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| Country | Link |
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| CN (1) | CN209290557U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111775131A (en) * | 2020-07-09 | 2020-10-16 | 合肥井松智能科技股份有限公司 | AGV vehicle-mounted manipulator |
-
2018
- 2018-12-20 CN CN201822163560.5U patent/CN209290557U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111775131A (en) * | 2020-07-09 | 2020-10-16 | 合肥井松智能科技股份有限公司 | AGV vehicle-mounted manipulator |
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Address after: 230000 No.88, Bisheng Road, north of Sishui Road, Xinzhan District, Hefei City, Anhui Province Patentee after: Hefei Jingsong Intelligent Technology Co., Ltd Address before: 230000 Yaohai Hefei Industrial Park Anhui three road 2 factory room Patentee before: HEFEI GEN-SONG AUTOMATION TECHNOLOGY Co.,Ltd. |