CN212706769U

CN212706769U - All-directional mobile robot transmission mechanism

Info

Publication number: CN212706769U
Application number: CN202021575067.5U
Authority: CN
Inventors: 唐越; 旷宇晨; 贾小东; 高凡
Original assignee: Chengdu Aeronautic Polytechnic
Current assignee: Chengdu Aeronautic Polytechnic
Priority date: 2020-07-31
Filing date: 2020-07-31
Publication date: 2021-03-16
Anticipated expiration: 2030-07-31

Abstract

The utility model belongs to the technical field of the robot, especially, all direction movement robot drive mechanism, including base plate and connecting block, the both sides of connecting block are provided with the fifth bearing, the top of base plate is provided with the second supporting box, the top of second supporting box is provided with the first supporting box, the quantity of first supporting box has two, and two the inside of first supporting box is provided with first motor and second motor respectively, the output shaft surface of first motor and second motor all is provided with first bevel gear; the utility model discloses, through the setting of first supporting box, second supporting box and motor, realize first supporting box and second supporting box to the support and the fixing of first motor and second motor, through the setting of connecting block and fifth bearing, realize playing the effect of support and connection to first pivot and second pivot, through the setting of first support frame, connecting cylinder and interior ratchet etc. realize the rotation of wheel that rolls under the reversal of first motor and second motor.

Description

All-directional mobile robot transmission mechanism

Technical Field

The utility model belongs to the technical field of the robot, concretely relates to all direction movement robot drive mechanism.

Background

Wheeled mobile robot has obtained extensive application because advantages such as its good stability, faster mobility, and the all direction movement robot is wheeled mobile robot's a special form, and the all direction movement robot can move along arbitrary direction under the unchangeable prerequisite of organism gesture, realizes all direction movement's function, and this kind of characteristic makes mobile robot's path planning, the relatively simple that track tracking scheduling problem becomes, but current robot drive mechanism can not make the wheel of robot carry out diversified steering, has reduced the practicality.

SUMMERY OF THE UTILITY MODEL

To solve the problems set forth in the background art described above. The utility model provides an all direction movement robot drive mechanism has simple structure and the efficient characteristics of transmission.

In order to achieve the above object, the utility model provides a following technical scheme: the all-directional mobile robot transmission mechanism comprises a base plate and a connecting block, wherein fifth bearings are arranged on two sides of the connecting block, a second supporting box is arranged on the top of the base plate, a first supporting box is arranged on the top of the second supporting box, the number of the first supporting boxes is two, a first motor and a second motor are respectively arranged in the two first supporting boxes, first bevel gears are respectively arranged on the outer surfaces of output shafts of the first motor and the second motor, the other ends of the output shafts of the first motor and the second motor are respectively fixedly connected on a first rotating shaft, a first bearing is arranged on the base plate, the number of the first bearings is multiple, inner ratchet wheels are respectively arranged on the outer surfaces of the two first rotating shafts, one side of each inner ratchet wheel is movably connected with a shifting block through a pin shaft, and an arc-shaped elastic sheet is fixedly connected to one side of each inner ratchet wheel, the outer side of the inner ratchet wheel is fixedly connected with a connecting cylinder, the bottom of the connecting cylinder is fixedly connected with a first supporting frame, the top of the first support frame is provided with a second bearing, one end of the first rotating shaft movably penetrates through the first bearing and the second bearing and movably penetrates through a fifth bearing, a third bearing is arranged at the other end of the first supporting frame in a penetrating way, a second rotating shaft is movably arranged in the third bearing in a penetrating way, one end of the second rotating shaft is movably arranged in the fifth bearing in a penetrating way, the top of the base plate is provided with a supporting block, the number of the supporting blocks is two, fourth bearings are arranged in the two supporting blocks, a third rotating shaft is movably arranged in the fourth bearings in a penetrating way, the outer surface of the third rotating shaft is provided with a worm, one end of the third rotating shaft is fixedly connected with a fourth bevel gear, and the first bevel gear is meshed with the fourth bevel gear.

The top of base plate is provided with the turbine, turbine and worm meshing, one side fixedly connected with first pivot of turbine, the bottom fixedly connected with second support frame of base plate, the second bearing has been seted up on the second support frame, first bearing and second bearing and fixedly connected with second bevel gear are passed to the one end of first pivot, the third bearing has been seted up to the other end of second support frame, the second pivot is worn to be equipped with by the activity in the third bearing, the one end fixedly connected with third bevel gear of second pivot, second bevel gear and third bevel gear meshing.

Preferably, the other end of the third rotating shaft penetrates through the worm and is movably connected in the limiting block.

Preferably, the second bevel gear and the third bevel gear are meshed.

Preferably, one side of the arc-shaped elastic sheet is lapped on one side of the toggle block.

Preferably, the other end of the second rotating shaft is movably connected with a rolling wheel.

Preferably, the other end of the second rotating shaft is movably connected with a rotating wheel.

Compared with the prior art, the beneficial effects of the utility model are that:

the utility model realizes the support and fixation of the first motor and the second motor by the first support box and the second support box through the arrangement of the first support box, the second support box and the motor, the first rotating shaft and the second rotating shaft are supported and connected by the connecting block and the fifth bearing, the rotation of the rolling wheel is realized under the reverse rotation of the first motor and the second motor through the arrangement of the first support frame, the connecting cylinder, the inner ratchet wheel and the like, the turbine is driven to rotate by the first motor and the second motor through the arrangement of the first bevel gear, the fourth bevel gear, the third rotating shaft, the worm and the like, the third rotating shaft is limited and supported by the supporting block, the limiting block and the fourth bearing, through the arrangement of the turbine, the first rotating shaft, the second bevel gear, the second rotating shaft and the like, the rotating wheel at one end of the second rotating shaft is driven by the turbine to rotate.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a front sectional view of the present invention;

fig. 2 is a schematic top view of the present invention;

FIG. 3 is a schematic side view of the present invention;

FIG. 4 is an enlarged schematic structural view of the middle gear and the second support frame of the present invention;

FIG. 5 is an enlarged schematic view of the middle and inner ratchet wheels of the present invention;

in the figure: 1. a substrate; 2. a first motor; 3. a first support box; 4. a second support box; 5. a first bevel gear; 6. a first bearing; 7. an inner ratchet wheel; 8. a connecting cylinder; 9. a second bearing; 10. a first support frame; 11. a fifth bearing; 12. connecting blocks; 13. a second rotating shaft; 14. a third bearing; 15. a rolling wheel; 16. a fourth bevel gear; 17. a support block; 18. a fourth bearing; 19. a third rotating shaft; 20. a limiting block; 21. a worm; 22. a turbine; 23. a first rotating shaft; 24. a second motor; 25. a second support frame; 26. (ii) a A rotating wheel; 27. a shifting block; 28. an arc-shaped elastic sheet; 29. a pin shaft; 30. a second bevel gear; 31. and a third bevel gear.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Examples

Referring to fig. 1-5, the present invention provides the following technical solutions: the all-direction movement robot transmission mechanism comprises a base plate 1 and a connecting block 12, wherein fifth bearings 11 are arranged on two sides of the connecting block 12, a second supporting box 4 is arranged at the top of the base plate 1, a first supporting box 3 is arranged at the top of the second supporting box 4, the number of the first supporting boxes 3 is two, a first motor 2 and a second motor 24 are respectively arranged in the two first supporting boxes 3, the first supporting box 3 and the second supporting box 4 support and fix the first motor 2 and the second motor 24 through the arrangement of the first supporting box 3, the second supporting box 4 and the motors, a first bevel gear 5 is arranged on the outer surface of an output shaft of the first motor 2 and the outer surface of an output shaft of the second motor 24, the other ends of the output shafts of the first motor 2 and the second motor 24 are fixedly connected on a first rotating shaft 23, a first bearing 6 is arranged on the base plate 1, the number of the first bearings 6 is multiple, the outer surfaces of the two first rotating shafts 23 are respectively provided with an inner ratchet wheel 7, one side of the inner ratchet wheel 7 is movably connected with a shifting block 27 through a pin 29, one side of the inner ratchet wheel 7 is fixedly connected with an arc-shaped elastic sheet 28, the outer side of the inner ratchet wheel 7 is fixedly connected with a connecting cylinder 8, the bottom of the connecting cylinder 8 is fixedly connected with a first support frame 10, the top of the first support frame 10 is provided with a second bearing 9, the rotation of the rolling wheel 15 under the reverse rotation of the first motor 2 and the second motor 24 is realized through the arrangement of the first support frame 10, the connecting cylinder 8, the inner ratchet wheel 7 and the like, one end of the first rotating shaft 23 movably penetrates through the first bearing 6 and the second bearing 9 and is movably arranged in the first bearing 11, the other end of the first support frame 10 is penetrated with a third bearing 14, and a second rotating shaft 13 is movably arranged in the third bearing 14, one end of the second rotating shaft 13 is movably arranged in the fifth bearing 11 in a penetrating mode, the first rotating shaft 23 and the second rotating shaft 13 are supported and connected through the connecting block 12 and the fifth bearing 11, the top of the substrate 1 is provided with two supporting blocks 17, the number of the supporting blocks 17 is two, the fourth bearings 18 are arranged in the two supporting blocks 17, the third rotating shaft 19 is movably arranged in the fourth bearings 18 in a penetrating mode, the outer surface of the third rotating shaft 19 is provided with a worm 21, one end of the third rotating shaft 19 is fixedly connected with a fourth bevel gear 16, and the first bevel gear 5 is meshed with the fourth bevel gear 16.

The top of the substrate 1 is provided with a turbine 22, the turbine 22 is engaged with a worm 21, the turbine 22 is driven to rotate by a first motor 2 and a second motor 24 through the arrangement of a first bevel gear 5, a fourth bevel gear 16, a third rotating shaft 19, the worm 21 and the like, one side of the turbine 22 is fixedly connected with a first rotating shaft 23, the bottom of the substrate 1 is fixedly connected with a second supporting frame 25, the second supporting frame 25 is provided with a second bearing 9, one end of the first rotating shaft 23 penetrates through the first bearing 6 and the second bearing 9 and is fixedly connected with a second bevel gear 30, the other end of the second supporting frame 25 is provided with a third bearing 14, a second rotating shaft 13 movably penetrates through the third bearing 14, one end of the second rotating shaft 13 is fixedly connected with a third bevel gear 31, the second bevel gear 30 is engaged with the third bevel gear 31, and the turbine 22, The first rotating shaft 23, the second bevel gear 30, the second rotating shaft 13 and the like are arranged to realize the rotation of the rotating wheel 26 at one end of the second rotating shaft 13 under the driving of the gear 22.

Specifically, the other end of the third rotating shaft 19 penetrates through the worm 21 and is movably connected in the limiting block 20, so as to fix and limit the third rotating shaft 19.

Specifically, the second bevel gear 30 is engaged with the third bevel gear 31, and the third bevel gear 31 is driven by the second bevel gear 30 to rotate.

Specifically, one side of the arc-shaped elastic sheet 28 is overlapped on one side of the toggle block 27, so as to limit the toggle block 27.

Specifically, the other end of the second rotating shaft 13 is movably connected with a rolling wheel 15, and the rolling wheel 15 is driven by the rotating wheel 26 to rotate.

Specifically, the other end of the second rotating shaft 13 is movably connected with a rotating wheel 26, and the rotating wheel 26 is driven to rotate by the second bevel gear 23 and the third bevel gear 31.

The utility model discloses a theory of operation and use flow: the utility model discloses, when using, realize moving and turning to through the rotation of control first motor 2 and second motor 24, first pivot 23 and first bevel gear 5 rotate under the drive of first motor 2 and second motor 24, first bevel gear 5 and fourth bevel gear 16 mesh, fourth bevel gear 16 drives the activity and wears to establish the third pivot 19 in supporting shoe 17 and rotates, the worm 21 that the drive surface of third pivot 19 set up rotates, because worm 21 and turbine 22 mesh, worm 21 drives turbine 22 and rotates, make second bevel gear 30 drive third bevel gear 31 and rotate under the rotation of turbine 22, make the runner 26 of second pivot 13 one end rotate, provide the power that gos forward under the rotation of runner 26, promote rolling wheel 15 and rotate, make the robot move, when the direction that needs to change the robot and move, can realize that inner ratchet 7 moves the shifting block 27 and stir through first motor 2 and second motor 24 reversal, the outer side of the inner ratchet wheel 7 is enabled to rotate reversely, the inner ratchet wheel 7 drives the first support frame 10 connected to the bottom of the connecting cylinder 8 to rotate, the first support frame 10 drives the second rotating shaft 13 to enable the rolling wheel 15 to do circular motion around the first rotating shaft 23, and the purpose of changing the direction is achieved.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. All direction movement robot drive mechanism, including base plate (1) and connecting block (12), its characterized in that: fifth bearings (11) are arranged on two sides of the connecting block (12), two second supporting boxes (4) are arranged on the top of the base plate (1), first supporting boxes (3) are arranged on the top of the second supporting boxes (4), the number of the first supporting boxes (3) is two, a first motor (2) and a second motor (24) are respectively arranged inside the two first supporting boxes (3), first bevel gears (5) are respectively arranged on the outer surfaces of output shafts of the first motor (2) and the second motor (24), the other ends of the output shafts of the first motor (2) and the second motor (24) are respectively and fixedly connected to a first rotating shaft (23), a first bearing (6) is arranged on the base plate (1), the number of the first bearings (6) is multiple, and inner ratchet wheels (7) are respectively arranged on the outer surfaces of the two first rotating shafts (23), one side of the inner ratchet wheel (7) is movably connected with a toggle block (27) through a pin shaft (29), one side of the inner ratchet wheel (7) is fixedly connected with an arc-shaped elastic sheet (28), the outer side of the inner ratchet wheel (7) is fixedly connected with a connecting cylinder (8), the bottom of the connecting cylinder (8) is fixedly connected with a first support frame (10), the top of the first support frame (10) is provided with a second bearing (9), one end of a first rotating shaft (23) movably penetrates through a first bearing (6) and a second bearing (9) and movably penetrates through a fifth bearing (11), the other end of the first support frame (10) penetrates through a third bearing (14), a second rotating shaft (13) is movably penetrated through the third bearing (14), one end of the second rotating shaft (13) is movably penetrated through the fifth bearing (11), the top of the substrate (1) is provided with a support block (17), the number of the supporting blocks (17) is two, fourth bearings (18) are arranged in the two supporting blocks (17), a third rotating shaft (19) is movably arranged in the fourth bearings (18) in a penetrating mode, a worm (21) is arranged on the outer surface of the third rotating shaft (19), one end of the third rotating shaft (19) is fixedly connected with a fourth bevel gear (16), and the first bevel gear (5) is meshed with the fourth bevel gear (16);

the top of base plate (1) is provided with turbine (22), turbine (22) and worm (21) meshing, the first pivot (23) of one side fixedly connected with of turbine (22), the bottom fixedly connected with second support frame (25) of base plate (1), second bearing (9) have been seted up on second support frame (25), first bearing (6) and second bearing (9) and fixedly connected with second bevel gear (30) are passed to the one end of first pivot (23), third bearing (14) have been seted up to the other end of second support frame (25), second pivot (13) are worn to be equipped with in third bearing (14) internalization, the one end fixedly connected with third bevel gear (31) of second pivot (13).

2. The omni directional mobile robot transmission mechanism according to claim 1, wherein: the other end of the third rotating shaft (19) penetrates through the worm (21) and is movably connected into the limiting block (20).

3. The omni directional mobile robot transmission mechanism according to claim 1, wherein: the second bevel gear (30) is meshed with the third bevel gear (31).

4. The omni directional mobile robot transmission mechanism according to claim 1, wherein: one side of the arc-shaped elastic sheet (28) is lapped on one side of the toggle block (27).

5. The omni directional mobile robot transmission mechanism according to claim 1, wherein: the other end of the second rotating shaft (13) is movably connected with a rolling wheel (15).

6. The omni directional mobile robot transmission mechanism according to claim 1, wherein: the other end of the second rotating shaft (13) is movably connected with a rotating wheel (26).