DE2907272A1 - Wheeled undercarriage for self propelled robot - has several curved profile wheels set tangential to main wheel - Google Patents

Wheeled undercarriage for self propelled robot - has several curved profile wheels set tangential to main wheel

Info

Publication number
DE2907272A1
DE2907272A1 DE19792907272 DE2907272A DE2907272A1 DE 2907272 A1 DE2907272 A1 DE 2907272A1 DE 19792907272 DE19792907272 DE 19792907272 DE 2907272 A DE2907272 A DE 2907272A DE 2907272 A1 DE2907272 A1 DE 2907272A1
Authority
DE
Germany
Prior art keywords
wheel
rollers
wheels
rotation
self propelled
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
DE19792907272
Other languages
German (de)
Inventor
Hans Richter
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
HA Schlatter AG
Original Assignee
HA Schlatter AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by HA Schlatter AG filed Critical HA Schlatter AG
Priority to DE19792907272 priority Critical patent/DE2907272A1/en
Publication of DE2907272A1 publication Critical patent/DE2907272A1/en
Ceased legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60BVEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B19/00Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
    • B60B19/003Multidirectional wheels
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/007Manipulators mounted on wheels or on carriages mounted on wheels
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60YINDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00Type of vehicle
    • B60Y2200/10Road Vehicles
    • B60Y2200/15Fork lift trucks, Industrial trucks

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)

Abstract

A support wheel for a self propelled robot has the wheel (3) fitted with a series of rollers (5) set tangentially to form the wheel shape, and the rollers have curved sides to fit into the wheel circumference. The axes of the rollers are radial to the wheel, and set at right angles to the wheel axis. The robot has three or more large wheels each with its own servo motor, set around the frame and the roller construction of each wheel allows it to spin on its tread without drag. The robot is able to position itself accurately, with a min amount of control.

Description

Fahrgestell für ein Handhabungsgerät Chassis for a handling device

Die Erfindung betrifft ein Fahrgestell für ein Handhabungsgerät, welches auf einem mindestens drei Räder mit horizontalen Drehachsen aufweisenden Rahmen angeordnet ist.The invention relates to a chassis for a handling device, which on a frame having at least three wheels with horizontal axes of rotation is arranged.

Zum Verfahren von Handhabungsgeräten, wie beispielsweise Industrierobotern ist es bekannt, das Handhabungsgerät auf einem Rahmen anzuordnen, welcher vier Räder aufweist. Diese vier Räder sind paarweise über ein oder zwei Achsen lenkbar. Daneben ist es bekannt, anstelle der vie Räder zwei Ketten vorzusehen, wobei der Antrieb und die Steuerung entsprechend einem Kettenfahrzeug erfolgt.For moving handling devices such as industrial robots it is known to arrange the handling device on a frame which has four wheels having. These four wheels can be steered in pairs via one or two axles. Besides it is known to provide two chains instead of the four wheels, with the drive and the control is carried out in accordance with a tracked vehicle.

Hierbei ist nachteilig, daß das Fahrgestell einen zu großen Wendekreis und/oder zu große Reibungsverluste auf der Fahrfläche aufweist.The disadvantage here is that the chassis has too large a turning circle and / or has excessive friction losses on the driving surface.

Es besteht daher die Aufgabe, ein Fahrgestell so auszubilden, daß es leicht manövrierfähig ist, Gelöst wird diese Aufgabe mit den Merkmalen des Anspruches 1. Vorteilhafte Ausgestaltungen sind den Unteransprüchen entnehmuar.The task is therefore to design a chassis in such a way that that it is easy to maneuver. This task is solved with the features of the claim 1. Advantageous refinements can be found in the subclaims.

Ein Ausführungsbeispiel wird nachfolgend anhand der Zeichnung näher erläutert. Es zeigen: Fig. 1 eine Seitenansicht des Fahrgestells mit einem auf einem Rahmen angeordneten Handhabungsgerät; Fig. 2 eine Draufsicht auf das Fahrgestell, Fig. 3 eine Seitenansicht eines bei dem Fqhrgestell nach den Fig. 1 und 2 verwendeten Rads und Fig. 4 eine Draufsicht auf das Rad nach Fig.3.An exemplary embodiment is described in greater detail below with reference to the drawing explained. 1 shows a side view of the chassis with one on one Frame arranged handling device; Fig. 2 is a plan view of the chassis, FIG. 3 is a side view of one used in the chassis according to FIGS. 1 and 2. FIG Wheel and FIG. 4 is a plan view of the wheel according to FIG.

Gemäß Fig. 1 ist auf einem Rahmen 1 ein Handhabungsgerät 2 angeordnet. Am rechteckigen Rahmen 1 befindet sich am Ende jeder Rahmenseite ein Rad 3, deren Drehachsen jeweils horizontal verlaufen. Jedes Rad 3 kann von einem Antriebsmechanismus 4 um seine horizontale Drehachse in Drehung versetzt werden.According to FIG. 1, a handling device 2 is arranged on a frame 1. On the rectangular frame 1 is at the end of each frame side a wheel 3, whose Axes of rotation each run horizontally. Each wheel 3 can be driven by a drive mechanism 4 can be set in rotation about its horizontal axis of rotation.

Die Ausgestaltung der Räder 3 zeigen die Figuren 3 und 4. Jedes Rad 3 weist an seinem Umfang drehbare Rollen 5 auf, deren Drehachsen 6 tangential zum Radumfang und rechtwinkelig zur Raddrehachse 7 angeordnet sind. Hierbei sind pro Rad zwei Rollenreihen 8 ,9 vorgesehen, welche hintereinander auf Lücke versetzt zueinander angeordnet sind.The configuration of the wheels 3 is shown in FIGS. 3 and 4. Each wheel 3 has rotatable rollers 5 on its circumference, the axes of rotation 6 tangential to the Wheel circumference and are arranged at right angles to the wheel axis of rotation 7. Here are pro Wheel two rows of rollers 8, 9 provided, which are offset one behind the other on a gap are arranged to each other.

Die Rollen sind ballig ausgebildet, wobei der Krümmungsradius dem Radradius R entspricht. Wie am besten der Fig. 3 zu entnehmen ist, überlappen sich die Rollen 5 der beiden Rollenreihen 8, 9 derart, daß sie sich zu einem Rad 3 mit dem Radius R ergänzen. Jede Rolle 5 ist mit ihrer Welle an Lagervorsprüngen 10 des Radkörpers 11 gelagert. Dargestellt sind diese Lagervorsprünge 10 der besseren Übersichtlichkeit halber nur für die obere Rolle 5.The rollers are convex, the radius of curvature being the Radius R corresponds to. As can best be seen in FIG. 3, they overlap the rollers 5 of the two rows of rollers 8, 9 such that they become a wheel 3 with add to the radius R. Each roller 5 is with its shaft on bearing projections 10 of the Wheel body 11 stored. These bearing projections 10 are shown for better clarity sake only for the top roll 5.

Soll gemäß Fig. 2 das Fahrgestell von links nach rechts oder von rechts nach links verfahren, dann werden die Antriebsvorrichtungen 4 des oberen und unteren Rades 3 betätigt. Die jeweils mit dem Boden in Berührung stehenden Rollen 5 des linken und rechten Rades 3 drehen sich bei dieser Fahrbewegung, d.h. sie wälzen sich auf dem Boden ab.If according to Fig. 2, the chassis from left to right or from the right move to the left, then the drive devices 4 of the upper and lower Wheel 3 operated. The rollers 5 des each in contact with the ground The left and right wheels 3 rotate during this travel movement, i.e. they roll down on the floor.

Soll das Fahrgestell eine hierzu rechtwinkelige Fahrbewegung ausführen, dann werden die Antriebsvorrichtungen 4 des linken und des rechten Rads betätigt und die mit dem Boden in Berührung stehenden Rollen 5 des oberen und des unteren Rades 3 wälzen sich auf dem Boden ab.If the chassis is to perform a right-angled travel movement, then the driving devices 4 of the left and right wheels are operated and the ground-contacting rollers 5 of the upper and lower ones Wheel 3 roll on the ground.

Beliebige Zwischenbewegungen können ausgeführt werden durch gemischten Antrieb der Räder 3.Any intermediate movements can be carried out by mixed Drive the wheels 3.

Die Antriebsvorrichtungen 4 bestehen in üblicher Weise aus Motor, Getriebe, sowie ggf. einem Tachometer.The drive devices 4 consist in the usual manner of a motor, Gearbox, and possibly a speedometer.

LeerseiteBlank page

Claims (6)

Patentansprüche 1. Fahrgestell für ein Handhabungsgerät, welches auf einem mindestens drei Räder mit horizontalen Drehachsen aufweisenden Rahmen angeordnet ist, dadurch g e k e n n z e i c h n e t , daß die Räder (3) jeweils an ihrem Umfang drehbare Rollen (5) aufweisen, deren Drehachsen (6) tangential zum Radumfang und rechtwinkelig zur Raddrehachse (7) verlaufen. Claims 1. Chassis for a handling device, which on a frame having at least three wheels with horizontal axes of rotation is arranged, thereby g e k e n n n z e i c h n e t that the wheels (3) each have rotatable rollers (5) on their periphery, the axes of rotation (6) tangential to the Wheel circumference and run at right angles to the wheel axis of rotation (7). 2. Fahrgestell nach Anspruch 1, dadurch g e k e n n -z e i c h n e t , daß die Rollen (5) ballig ausgebildet sind, wobei der Krümmungsradius dem Radradius (R) entspricht.2. Chassis according to claim 1, characterized in that g e k e n n -z e i c h n e t that the rollers (5) are convex, the radius of curvature being the radius of the wheel (R) corresponds to. 3. Fahrgestell nach Anspruch 1 oder 2, dadurch g e -k e n n z e i c h n e t , daß jedes Rad (3) zwei Rollenreihen (8,9) hintereinander angeordnet aufweist, bei denen die Rollen (5) auf Lücke versetzt zueinander angeordnet sind.3. Chassis according to claim 1 or 2, characterized in that g e -k e n n z e i c h n e t that each wheel (3) has two rows of rollers (8,9) arranged one behind the other has, in which the rollers (5) are arranged offset to one another with a gap. 4. Fahrgestell nach einem der Ansprüche 1 bis 3, dadurch g e k e n n z e i c h n e t , daß vier Räder (3) am Rahmen (1) angeordnet sind.4. Chassis according to one of claims 1 to 3, characterized g e k e n n z e i c h n e t that four wheels (3) are arranged on the frame (1). 5. Fahrgestell nach Anspruch 4, dadurch g e k e n n -z e i c h n e t , daß die Räder (3) am Ende jeder Rahmenseite angeordnet sind.5. Chassis according to claim 4, characterized in that g e k e n n -z e i c h n e t that the wheels (3) are arranged at the end of each frame side. 6. Fahrgestell nach einem der Ansprüche 1 bis 5, dadurch g e k e n n z e i c h n e t , daß jedes Rad (3) von einem Antrieb 4) um seine Drehachse (7) in Drehung versetzt wird.6. Chassis according to one of claims 1 to 5, characterized g e k e n n z e i c h n e t that each wheel (3) by a drive 4) around its axis of rotation (7) is set in rotation.
DE19792907272 1979-02-24 1979-02-24 Wheeled undercarriage for self propelled robot - has several curved profile wheels set tangential to main wheel Ceased DE2907272A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE19792907272 DE2907272A1 (en) 1979-02-24 1979-02-24 Wheeled undercarriage for self propelled robot - has several curved profile wheels set tangential to main wheel

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE19792907272 DE2907272A1 (en) 1979-02-24 1979-02-24 Wheeled undercarriage for self propelled robot - has several curved profile wheels set tangential to main wheel

Publications (1)

Publication Number Publication Date
DE2907272A1 true DE2907272A1 (en) 1980-08-28

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Family Applications (1)

Application Number Title Priority Date Filing Date
DE19792907272 Ceased DE2907272A1 (en) 1979-02-24 1979-02-24 Wheeled undercarriage for self propelled robot - has several curved profile wheels set tangential to main wheel

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DE (1) DE2907272A1 (en)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1986003132A1 (en) * 1984-11-20 1986-06-05 International Texas Industries, Inc. Omnidirectional vehicle base
US5497529A (en) * 1993-07-20 1996-03-12 Boesi; Anna M. Electrical apparatus for cleaning surfaces by suction in dwelling premises
DE102007016662A1 (en) * 2007-04-04 2008-10-09 Kuka Roboter Gmbh Omnidirectional vehicle, driving module and mobile industrial robot
WO2011148017A1 (en) * 2010-05-25 2011-12-01 Automatismos Y Sistemas De Transporte Interno, S.A.U. Support structure for omni-directional vehicle with automatic control of the movement thereof.
CN104825286A (en) * 2015-05-19 2015-08-12 南京信息工程大学 Universal wheel
CN105666501A (en) * 2016-04-07 2016-06-15 羊丁 Rescue robot
CN106378764A (en) * 2016-10-12 2017-02-08 盐城工学院 Driving device and mobile robot

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1986003132A1 (en) * 1984-11-20 1986-06-05 International Texas Industries, Inc. Omnidirectional vehicle base
US4715460A (en) * 1984-11-20 1987-12-29 International Texas Industries, Inc. Omnidirectional vehicle base
US5497529A (en) * 1993-07-20 1996-03-12 Boesi; Anna M. Electrical apparatus for cleaning surfaces by suction in dwelling premises
DE102007016662A1 (en) * 2007-04-04 2008-10-09 Kuka Roboter Gmbh Omnidirectional vehicle, driving module and mobile industrial robot
DE102007016662B4 (en) * 2007-04-04 2017-03-23 Kuka Roboter Gmbh Omnidirectional vehicle and mobile industrial robot
DE102007016662C5 (en) 2007-04-04 2022-09-15 Kuka Deutschland Gmbh Omnidirectional vehicle and mobile industrial robot
WO2011148017A1 (en) * 2010-05-25 2011-12-01 Automatismos Y Sistemas De Transporte Interno, S.A.U. Support structure for omni-directional vehicle with automatic control of the movement thereof.
CN104825286A (en) * 2015-05-19 2015-08-12 南京信息工程大学 Universal wheel
CN105666501A (en) * 2016-04-07 2016-06-15 羊丁 Rescue robot
CN105666501B (en) * 2016-04-07 2017-09-29 宁波市智能制造产业研究院 A kind of rescue robot
CN106378764A (en) * 2016-10-12 2017-02-08 盐城工学院 Driving device and mobile robot

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