WO2021143251A1 - 万向移动平台 - Google Patents

万向移动平台 Download PDF

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Publication number
WO2021143251A1
WO2021143251A1 PCT/CN2020/123484 CN2020123484W WO2021143251A1 WO 2021143251 A1 WO2021143251 A1 WO 2021143251A1 CN 2020123484 W CN2020123484 W CN 2020123484W WO 2021143251 A1 WO2021143251 A1 WO 2021143251A1
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WO
WIPO (PCT)
Prior art keywords
wheel
driving
flexible member
drive
annular
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PCT/CN2020/123484
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English (en)
French (fr)
Inventor
林晓甄
Original Assignee
林晓甄
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.)
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Publication date
Priority claimed from CN202010047820.1A external-priority patent/CN111120804A/zh
Priority claimed from CN202020116398.6U external-priority patent/CN211574601U/zh
Application filed by 林晓甄 filed Critical 林晓甄
Publication of WO2021143251A1 publication Critical patent/WO2021143251A1/zh

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand

Definitions

  • This patent relates to a mobile platform, specifically, a universal mobile platform that can move arbitrarily in X and Y directions.
  • a conventional flat platform can only move in one direction, such as a treadmill, where the belt on its running can only move in one direction and cannot move in multiple directions.
  • the driving part is a raised point, not a plane, and cannot be applied to occasions that require plane movement.
  • Others use passive sliding, which cannot meet the needs of active drive movement.
  • the purpose of this patent is to provide a universal mobile platform that can move arbitrarily in two mutually perpendicular directions.
  • the universal mobile platform described in this patent has a bracket.
  • the bracket is provided with a first driving mechanism for driving the first driving wheel to rotate and a second driving mechanism for driving the second driving wheel to rotate.
  • the second ring-shaped flexible member bypasses the second drive wheel that drives it to rotate,
  • the moving components include a third ring-shaped flexible member, a frame, an input wheel, an output wheel, and a transmission direction changing mechanism that transmits power from the input wheel to the output wheel; the transmission direction changing mechanism is arranged at On the rack
  • Each frame is fixed on the first ring-shaped flexible member, and each input wheel is engaged with the surface of the second ring-shaped flexible member;
  • the first driving mechanism acts, and the first ring-shaped flexible member and the moving components are driven to move within the ring surface of the first ring-shaped flexible member through the first driving wheel;
  • the second driving mechanism acts to drive the second annular flexible member to move in a plane parallel to the annular surface of the first annular flexible member through the second driving wheel;
  • each input wheel drives each output wheel to rotate through the transmission direction changing mechanism, and each output wheel drives the third annular flexible member to move within the annular surface of the third annular flexible member;
  • the annular surface of the third annular flexible member is perpendicular to the annular surface of the first annular flexible member.
  • the first driving mechanism acts, and the first ring-shaped flexible member and the moving components are driven to move within the ring surface of the first ring-shaped flexible member through the first driving wheel.
  • the first ring-shaped flexible member is a component of the moving components.
  • the three-ring-shaped flexible member moves in the annular surface of the first annular flexible member; at the same time, the input wheel, which is a component of the moving assembly, also moves (ie translates) in the annular surface of the first annular flexible member along with the moving assembly.
  • the input wheel does not necessarily rotate around the axis of the input wheel. Whether the input wheel rotates depends on the translation speed and direction of the input wheel relative to the second annular flexible member.
  • the speed and direction of the in-plane movement (ie translation) of the second annular flexible member parallel to the annular surface of the first annular flexible member is controlled by the second driving mechanism.
  • the second driving mechanism does not move, the second driving wheel does not rotate, and the second ring-shaped flexible member does not translate.
  • the second driving mechanism acts the second ring-shaped flexible member is driven to move (translate) in a plane parallel to the ring-shaped surface of the first ring-shaped flexible member through the second driving wheel.
  • the second ring-shaped flexible member is driven by the second drive mechanism in the same translation speed and direction as the input wheel, the input wheel will not rotate, the output wheel will not rotate, and the third ring-shaped flexible member will not be relative to the frame. move. If the second ring-shaped flexible member is driven by the second drive mechanism and the input wheel translates at a different speed or direction, the input wheel rotates, the output wheel rotates, and the output wheel drives the third ring-shaped flexible member relative to the frame The three-ring-shaped flexible member moves in the ring plane.
  • the first driving mechanism does not act and the second driving mechanism acts
  • the first driving wheel does not move
  • the first annular flexible member and the moving components will not move in the annular surface of the first annular flexible member
  • the third annular flexible member is absent
  • the first annular flexible member moves in the annular surface
  • the input wheel does not move in the annular surface of the first annular flexible member.
  • the second drive mechanism drives the second annular flexible member to translate through the second drive wheel
  • the input wheel engaged with the second annular flexible member rotates around the axis of the input wheel
  • the output wheel also drives the third annular flexible member in the first
  • the three-ring-shaped flexible member moves in the ring-shaped surface.
  • the second driving mechanism drives the second driving mechanism through the second driving wheel.
  • the two annular flexible members move (translate) in a plane parallel to the annular surface of the first annular flexible member. If the second driving mechanism controls the translation speed and direction of the second annular flexible member to be the same as the translation speed and direction of the input wheel, the input wheel will not rotate and the third annular flexible member will not be in the annular surface of the third annular flexible member Movement, that is, at this time, the third annular flexible member only moves (translates) within the annular surface of the first annular flexible member.
  • the input wheel will rotate and the third annular flexible member will simultaneously align in the annular surface of the first annular flexible member.
  • the third annular flexible member moves in the annular plane.
  • each input wheel is engaged with the outer surface of the second annular flexible member.
  • the input wheel and the second annular flexible member are respectively an input gear and a second toothed belt that mesh with each other, and the input gear transmits power to the output wheel through a bevel gear transmission changing mechanism.
  • the change of the direction of motion is easily realized by the bevel gear transmission changing mechanism, so that the power between the input wheel and the output wheel whose axes are perpendicular to each other is transmitted, and the power direction is changed.
  • the moving assembly further includes at least one guide wheel rotatably arranged on the frame, and the third ring-shaped flexible member surrounds the guide wheel. This structure facilitates the engagement of the input wheel and the second annular flexible member.
  • the first drive wheel is fixed on the first drive wheel shaft, the first drive wheel shaft is rotatably arranged on the bracket, and the first drive wheel shaft and the first drive including the first drive motor
  • the output shaft of the first drive motor in the mechanism is connected.
  • the second drive wheel is sleeved on the first drive wheel shaft in the circumferential direction and is axially connected to the transition wheel; the transition wheel is connected to the output shaft of the second drive motor in the second drive mechanism including the second drive motor. In this way, the second drive motor can drive the transition wheel and the second drive wheel to rotate around the first drive wheel shaft.
  • the structure is simple and compact, and at the same time, the motor (first driving motor, second driving motor) that is convenient for controlling and adjusting the speed is used as the driving mechanism, and it is easier to control the direction and speed of the third ring-shaped flexible member in the vertical movement.
  • the second drive wheel is arranged on the second drive wheel shaft, the second drive wheel shaft is rotatably arranged on the bracket, and the second drive wheel shaft is connected to the second drive including the second drive motor.
  • the output shaft of the second driving motor in the mechanism is connected, and the second driving motor acts to drive the second driving wheel to rotate through the second driving wheel shaft.
  • the second drive mechanism and the first drive mechanism are independent of each other.
  • first drive wheels and first drive mechanisms that drive the first drive wheels to rotate, or, the second drive wheels and the second drive that drive the second drive wheels to rotate.
  • institutions there are multiple institutions.
  • Figure 1 is a front view of the universal mobile platform of embodiment 1;
  • Figure 2 is a left side view of Figure 1;
  • Figure 3 is a bottom view of the first driving wheel, moving components, etc. in Figure 2;
  • Figure 4 is a perspective view of the universal moving platform of Embodiment 1 (deleting the second drive wheel, the second toothed belt, belt, etc.);
  • Figure 5 is a perspective view of the moving assembly of Embodiment 1 (deleting the belt, the third guide wheel, etc.);
  • Figure 6 is a structural diagram of the input wheel (input gear), the first bevel gear, the second bevel gear, the output wheel shaft, the output wheel, the input wheel shaft, etc.;
  • Figure 7 is a structural diagram of an input wheel (input gear), a first guide wheel, an output wheel, etc.;
  • Embodiment 8 is a top view of the universal mobile platform of Embodiment 1 of Embodiment 2;
  • Figure 9 is a cross-sectional view of Figure 8 is A-A;
  • Fig. 10 is a cross-sectional view taken along the line B-B in Fig. 8.
  • Moving assembly 30 belt (third annular flexible member) 31, outer surface 311 of the belt, frame 32, input wheel (input gear) 33, first bevel gear 34, second bevel gear 35, output shaft 36, output wheel 37, input axle 38,
  • the first guide wheel 41, the second guide wheel 42, the third guide wheel 43, and the bracket 100 are provided.
  • Example 1 Universal mobile platform with the second drive wheel sleeved on the first drive wheel shaft
  • the two first driving wheels 1 are fixed on the first driving wheel shaft 2, and the first driving wheel shaft 2 is rotatably arranged on the bracket 100.
  • the first gear 3 is fixed at the end of the first driving wheel shaft, and the first gear 3 meshes with the gear on the output shaft of the first driving motor 4.
  • the second driving wheel 11 is hollow on the first driving wheel shaft 2 in the circumferential direction, and is integrally connected with the transition wheel 18 in the axial direction.
  • the transition wheel 18 meshes with a gear on the output shaft of the second drive motor 14.
  • the bases of the first driving motor 4 and the second driving motor 14 are both fixed on the bracket 100.
  • the two first toothed belts 5 respectively bypass the first driving wheel 1 and the first driven wheel 6 that drive them to rotate.
  • the first driving wheel 1 and the first driven wheel 6 are in contact with the inner surface of the first toothed belt 5 Intermeshing external gears.
  • the inner and outer surfaces of the second toothed belt 15 have teeth, and they bypass the second driving wheel 11 and the second driven wheel 16 that drive it to rotate.
  • the second driving wheel 11 and the second driven wheel 16 are connected with the second tooth.
  • the inner surface of the belt 15 meshes with an external gear.
  • the driven shaft 7 is fixed on the bracket 100, and the first driven wheel 6 and the second driven wheel 16 are hollowed on the driven shaft 7.
  • the moving assembly 30 includes a belt (third annular flexible member) 31, a frame 32, an input wheel (input gear) 33, an input wheel shaft 38, a first bevel gear 34, two second bevel gears 35, an output wheel shaft 36, and two The output wheel 37, the first guide wheel 41, the second guide wheel 42, and the third guide wheel 43.
  • the ring surface of the third ring-shaped flexible member (belt) 31 is perpendicular to the ring surface of the first ring-shaped flexible member (the first toothed belt) 5, and the second ring-shaped flexible member (the second toothed belt) 15 is in the ring surface of the first ring-shaped flexible member (the second toothed belt).
  • the annular surfaces of the flexible member (first toothed belt) 5 are parallel.
  • the direction perpendicular to the axis of the first driving wheel 1 in the plane where the axis of the first driving wheel 1 and the axis of the first driven wheel 6 are located is taken as the X direction
  • the direction parallel to the axis of the first driving wheel 1 is taken as the Y direction
  • the flexible member can move simultaneously in the vertical X-direction and Y-direction.
  • the two first toothed belts 5 are fixedly connected to the two first toothed belts 5 at both ends of each frame 32 in each moving component facing the inner side of the first toothed belt 5.
  • the input wheel shaft 38 is rotatably arranged on the frame 32 through a bearing seat.
  • the input wheel (input gear) 33 and the first bevel gear 34 are fixed at both ends, and the two second bevel gears 35 meshing with the first bevel gear 34 are fixed on the output
  • the output axle 36 is rotatably arranged on the frame 32 through a bearing seat, and two output wheels 37 are arranged on the output axle 36.
  • the belt 31 revolves around two first guide wheels 41 and second guide wheels 42 arranged at both ends of the frame.
  • the output wheel 37 is close to the first guide wheel 41
  • the third guide wheel 43 is close to the second guide wheel 42.
  • the bevel gear transmission mechanism composed of the input wheel 33, the output wheel 37 and the input wheel shaft 38, the first bevel gear 34, the two second bevel gears 35, the output wheel shaft 36, etc. is located on the side of the belt 31 facing the second toothed belt 15 .
  • the first guide wheel 41 and the second guide wheel 42 tension the belt from the inner circumference of the belt 31, and the output wheel 37 and the third guide wheel 43 tension the belt 31 from the outer circumference of the belt 31.
  • the belt 31 between the first guide wheel 41 and the second guide wheel 42 away from the outer surface 311 of the second toothed belt 15 (or the first toothed belt 5) forms a moving surface.
  • Each input wheel 33 is an external gear to mesh with the outer surface of the second toothed belt 15.
  • the first driving motor 4 operates, and the first toothed belt 5 and the moving components including the belt 31 are driven to move in the X direction through the first driving wheel 1;
  • the second driving motor 14 operates, and the second toothed belt 15 is driven to move in the X direction through the second driving wheel 11;
  • each input wheel 33 translates relative to the second toothed belt 15
  • each input wheel rotates, and each output wheel is driven to rotate through the bevel gear transmission direction changing mechanism, and each output wheel drives the belt 31 to move in the Y direction.
  • the upper plane of the platform (the outer surface 311 of the belt 31) moves along the X direction, but does not move in the Y direction:
  • the first drive motor 4 drives the first drive wheel 1 to rotate
  • the first toothed belt 5 drives the moving assembly to move, so that the upper plane of the platform (the outer surface 311 of the belt 31) moves in the X direction
  • the second drive motor 14 drives the second drive wheel 11 to also move the second toothed belt 15 in the same direction at the same linear speed as the first toothed belt 5.
  • the translation speed and direction of the input wheel 33 in the moving assembly are related to The translation speed and direction of the second toothed belt 15 are the same, so the input wheel 33 is in a non-rotating state. Therefore, the belt 31 on the moving assembly is in a non-rotating state, and the plane on the platform only moves in the X direction;
  • the first drive motor 4 drives the second drive wheel 11 to move the second toothed belt 15 in the X direction, At this time, the input wheel in the moving assembly engaged with the second toothed belt 15 rotates to drive the belt 31 on the moving assembly to move its upper plane in the Y direction;
  • Embodiment 2 Universal mobile platform with independent second driving mechanism and first driving mechanism
  • Embodiment 1 Referring to the universal mobile platform shown in Figures 8-10 (and refer to Figures 4-7), the main differences from Embodiment 1 are:
  • the second driving wheel 11 is fixed on the second driving wheel shaft 12 (in the first embodiment, the second driving wheel 11 is sleeved on the first driving wheel shaft 2 in the circumferential direction, and is integrated with the transition wheel 18 in the axial direction.
  • the transition wheel 18 meshes with the gear on the output shaft of the second drive motor 14
  • the second drive wheel shaft 12 is rotatably arranged on the bracket 100
  • the end of the second drive wheel shaft is fixed with the second gear 13 (in embodiment 1, no In the second embodiment, the second driving wheel shaft 12 and the second gear 13)
  • the second gear 13 meshes with the gear on the output shaft of the second driving motor 14.
  • the first driven wheel 6 is directly sleeved on the second driving wheel shaft 12 or is arranged on the second driving wheel shaft 12 through a bearing rotation.
  • the wheel 16 is directly hollowed on the first driving wheel shaft 2 or is arranged on the first driving wheel shaft 2 through a bearing rotation (in Embodiment 1, the first driven wheel 6 and the second driven wheel 16 are both hollowed on the driven shaft 7 on).
  • the other structure is similar to that of Embodiment 1, and will not be described again.
  • the structural form of the ring-shaped flexible member (the first ring-shaped flexible member, the second ring-shaped flexible member, and the third ring-shaped flexible member) does not affect the protection scope of the present invention
  • the transmission direction changing mechanism refers to any device that can produce a transmission axis from parallel shaft transmission to non-parallel shaft transmission, and the specific structure does not affect the protection scope of the present invention
  • the driving wheels can be various belt wheels, sprockets, and other circular members that can form a transmission mechanism with an annular flexible member.
  • the specific form does not affect the protection of the claims of the present invention. scope;
  • Each moving assembly includes at least one transmission direction changing mechanism, or more than one, and the specific number does not affect the protection scope of the present invention
  • the X and Y directions are assumed directions for the convenience of explaining the structure and principle, and the corresponding relationship and names of the directions to the specific moving directions do not affect the protection scope of the claims of the present invention
  • the auxiliary structure used to support the first toothed belt 5 and the second toothed belt 15 does not affect the protection scope of the present invention
  • the structure of this patent can be used to make a universal treadmill, a universal object transport platform, etc. It can be used alone or in combination of multiples, and its use does not affect the protection scope of the present invention.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)

Abstract

一种万向移动平台，其能够相互垂直的两个方向上任意移动。它具有支架(100)，支架(100)上设置有，第一、二环形柔性构件(5,15)分别绕过带动其转动的第一、二驱动机构中的第一、二驱动轮(2,11)，多个平行排列的移动组件(30)包括第三环形柔性构件(31)、机架(32)、输入轮(33)、输出轮(37)、传动变向机构；各机架(32)固定在第一环形柔性构件(5)上，各输入轮(33)均与第二环形柔性构件(15)的表面啮合；第一、二驱动机构动作，带动第一、二环形柔性构件(5,15)运动；如果各输入轮(33)相对于第二环形柔性构件(15)运动，则各输入轮(33)通过传动变向机构带动各输出轮(37)转动，各输出轮(37)带动第三环形柔性构件(31)运动在第三环形柔性构件环形面内运动；第三环形柔性构件环形面与第一环形柔性构件环形面垂直。

Description

万向移动平台 技术领域
本专利涉及移动平台，具体地说，一种能够在X、Y向任意移动的万向移动平台。
背景技术
常规的平面平台只能向一个方向移动，例如跑步机，其跑步上的皮带只能向一个方向移动，无法实现多个方向移动。万向轮之类的传动装置，其驱动部位是凸起的点，不是平面，不能适用于需要平面移动的场合。另外一些则使用被动滑动，不能满足需要主动驱动的移动。
发明内容
本专利的目的是提供一种万向移动平台，其能够在相互垂直的两个方向上任意移动。
本专利所述的万向移动平台，具有支架，支架上设置有用于带动第一驱动轮转动的第一驱动机构和用于带动第二驱动轮转动的第二驱动机构，第一环形柔性构件绕过带动其转动的第一驱动轮，第二环形柔性构件绕过带动其转动的第二驱动轮，
它还包括多个平行排列的移动组件，移动组件包括第三环形柔性构件、机架、输入轮、输出轮、将动力从输入轮传递到输出轮的传动变向机构；传动变向机构设置在机架上；
各机架固定在第一环形柔性构件上，各输入轮均与第二环形柔性构件的表面啮合；
第一驱动机构动作，通过第一驱动轮带动第一环形柔性构件及各移动组件在第一环形柔性构件环形面内运动；
第二驱动机构动作，通过第二驱动轮带动第二环形柔性构件在平行于第一环形柔性构件环形面的面内运动；
如果各输入轮相对于第二环形柔性构件运动，则各输入轮通过传动变向机构带动各输出轮转动，各输出轮带动第三环形柔性构件运动在第三环形柔性构件环形面内运动；
第三环形柔性构件环形面与第一环形柔性构件环形面垂直。
本专利的有益效果：第一驱动机构动作，通过第一驱动轮带动第一环形柔性构件及各移动组件在第一环形柔性构件环形面内运动，当然，作为移动组件中的一个组成部分的第三环形柔性构件就在第一环形柔性构件环形面内运动；同时，作为移动组件中的一个组成部分的输入轮也随着移动组件一起在第一环形柔性构件环形面内运动(即平移)，但是，输入轮不一定绕输入轮的轴线转动。输入轮是否转动取决于输入轮相对于第二环形柔性构件的平移速度和方向。第二环形柔性构件在平行于第一环形柔性构件环形面的面内运动(即平移)速度和方向是由第二驱动机构控制的。第二驱动机构不动作，第二驱动轮不转动，第二环形柔性构件不平移。第二驱动机构动作时通过第二驱动轮驱动第二环形柔性构件在平行于第一环形柔性构件环形面的面内运动(平移)。
如果第二环形柔性构件在第二驱动机构的带动下与输入轮平移的速度和方向相同，则输入轮不转动，输出轮也不会转动，第三环形柔性构件也就不会相对于机架移动。如果第二环形柔性构件在第二驱动机构的带 动下与输入轮平移的速度不同或者方向不同，则输入轮转动，输出轮即转动，输出轮就驱动第三环形柔性构件相对于机架在第三环形柔性构件环形面内运动。
因此，当第一驱动机构动作，第二驱动机构不动作时，由于输入轮随着移动组件一起在第一环形柔性构件环形面内运动(即平移)，但第二环形柔性构件不动，所以，输入轮就绕输入轮的轴线转动，输出轮就转动，驱动第三环形柔性构件相对于机架在第三环形柔性构件环形面内运动，也就是说，第三环形柔性构件随移动组件一起在第一环形柔性构件环形面内运动的同时，第三环形柔性构件也在第三环形柔性构件环形面内运动。因第三环形柔性构件环形面与第一环形柔性构件环形面垂直，故第三环形柔性构件即在相垂直的方向同时运动。
当第一驱动机构不动作，第二驱动机构动作时，第一驱动轮不动，第一环形柔性构件及各移动组件不会在第一环形柔性构件环形面内运动，第三环形柔性构件不在第一环形柔性构件环形面内运动，输入轮也不在第一环形柔性构件环形面内运动。但是，由于第二驱动机构通过第二驱动轮驱动第二环形柔性构件平移，所以与第二环形柔性构件啮合的输入轮就绕输入轮轴线转动，输出轮也就驱动第三环形柔性构件在第三环形柔性构件环形面内运动。
当第一驱动机构动作，第二驱动机构也动作时，由于输入轮随着移动组件一起在第一环形柔性构件环形面内运动(即平移)，同时第二驱动机构通过第二驱动轮驱动第二环形柔性构件在平行于第一环形柔性构件环形面的面内运动(平移)。如果通过第二驱动机构控制第二环形柔性构件平移速度和方向与输入轮平移速度和方向均相同，则输入轮不会转动，第三环形柔性构件就不会在第三环形柔性构件环形面内运动，也就是说，此时，第三环形柔性构件只在第一环形柔性构件环形面内运动(平移)。如果通过第二驱动机构控制第二环形柔性构件平移速度或方向与输入轮平移速度或方向不同，则输入轮就会转动，第三环形柔性构件就会同时在第一环形柔性构件环形面内和第三环形柔性构件环形面内运动。
作为对上述的万向移动平台的进一步改进，各输入轮均与第二环形柔性构件的外表面啮合。
作为对上述的万向移动平台的进一步改进，输入轮和第二环形柔性构件分别是相啮合的输入齿轮和第二齿形带，输入齿轮通过锥齿轮传动变向机构将动力传递到输出轮。通过锥齿轮传动变向机构很方便地实现了运动方向的改变，使得轴线互相垂直的输入轮和输出轮之间动力得到传递，并且实现了转变动力方向。
作为对上述的万向移动平台的进一步改进，移动组件还包括转动设置在机架上至少一个导向轮，第三环形柔性构件环绕导向轮。这种结构，方便输入轮与第二环形柔性构件的啮合。
作为对上述的万向移动平台的进一步改进，第一驱动轮固定在第一驱动轮轴上，第一驱动轮轴转动设置在支架上，第一驱动轮轴与包括第一驱动电机在内的第一驱动机构中的第一驱动电机输出轴连接。优选，第二驱动轮在周向空套在第一驱动轮轴上，并与过渡轮在轴向相连；过渡轮与包括第二驱动电机在内的第二驱动机构中的第二驱动电机输出轴连接。这样，第二驱动电机能够带动过渡轮和第二驱动轮绕第一驱动轮轴转动。该结构简单小巧，同时以方便控制和调节转速的电机(第一驱动电机、第二驱动电机)作为驱动机构，控制第三环形柔性构件在相垂直的运动上的方向、速度更加容易。
作为对上述的万向移动平台的进一步改进，第二驱动轮设置在第二驱动轮轴上，第二驱动轮轴转动设置 在支架上，第二驱动轮轴与包括第二驱动电机在内的第二驱动机构中的第二驱动电机输出轴连接，第二驱动电机动作，通过第二驱动轮轴带动第二驱动轮转动。这时第二驱动机构与第一驱动机构是相互独立的机构。
作为对上述的万向移动平台的进一步改进，第一驱动轮及带动第一驱动轮转动的第一驱动机构均有多个，或者，第二驱动轮及带动第二驱动轮转动的第二驱动机构均有多个。
附图说明
图1是实施例1的万向移动平台的主视图；
图2是图1的左视图；
图3是图2中的第一驱动轮、移动组件等仰视图；
图4是实施例1的万向移动平台的立体图(删除第二驱动轮、第二齿形带、皮带等)；
图5是实施例1的移动组件的立体图(删除皮带、第三导向轮等)；
图6是输入轮(输入齿轮)、第一锥齿轮、第二锥齿轮、输出轮轴、输出轮、输入轮轴等的结构图；
图7是输入轮(输入齿轮)、第一导向轮、输出轮等的结构图；
图8是实施例2的实施例1的万向移动平台的俯视图；
图9是图8是A-A剖视图；
图10是图8的B-B剖视图。
图中，
第一驱动轮1、第一驱动轮轴2、第一齿轮3、第一驱动电机4、第一齿形带5、第一被驱动轮6、从动轴7、
第二驱动轮11、第二驱动轮轴12、第二齿轮13、第二驱动电机14、第二齿形带15、第二被驱动轮16、过渡轮18、
移动组件30、皮带(第三环形柔性构件)31、皮带的外侧表面311、机架32、输入轮(输入齿轮)33、第一锥齿轮34、第二锥齿轮35、输出轮轴36、输出轮37、输入轮轴38、
第一导向轮41、第二导向轮42、第三导向轮43、支架100。
具体实施方式
实施例1(第二驱动轮空套在第一驱动轮轴上的万向移动平台)
参见图1、2所示的万向移动平台，两个第一驱动轮1固定在第一驱动轮轴2上，第一驱动轮轴2转动设置在支架100上。第一驱动轮轴的端部固定第一齿轮3，第一齿轮3与第一驱动电机4输出轴上的齿轮啮合。
第二驱动轮11在周向空套在第一驱动轮轴2上，并与过渡轮18在轴向一体相连。过渡轮18与第二驱动电机14输出轴上的齿轮啮合。第一驱动电机4和第二驱动电机14的机座均固定在支架100上。
两个第一齿形带5分别绕过带动其转动的第一驱动轮1和第一被驱动轮6，第一驱动轮1和第一被驱动轮6是与第一齿形带5内表面相啮合的外齿轮。
第二齿形带15内外表面均有带齿，并绕过带动其转动的第二驱动轮11和第二被驱动轮16，第二驱动轮11和第二被驱动轮16是与第二齿形带15内表面相啮合的外齿轮。
从动轴7固定在支架100上，第一被驱动轮6、第二被驱动轮16空套在从动轴7上。移动组件30包括皮带(第 三环形柔性构件)31、机架32、输入轮(输入齿轮)33、输入轮轴38、第一锥齿轮34、两个第二锥齿轮35、输出轮轴36、两个输出轮37、第一导向轮41、第二导向轮42、第三导向轮43。
第三环形柔性构件(皮带)31环形面与第一环形柔性构件(第一齿形带)5环形面垂直，第二环形柔性构件(第二齿形带)15环形面内与在第一环形柔性构件(第一齿形带)5环形面平行。以第一驱动轮1轴线和第一被驱动轮6轴线所在的平面内与第一驱动轮1轴线垂直的方向作为X向，与第一驱动轮1轴线平行的方向作为Y向，第三环形柔性构件能够在相垂直的X向、Y向同时运动。
环绕第一齿形带5平行排列的多个移动组件30中，各移动组件中各机架32朝向第一齿形带5的内侧两端与两个第一齿形带5固定相连。输入轮轴38通过轴承座转动设置在机架32上，其两端固定输入轮(输入齿轮)33和第一锥齿轮34，与第一锥齿轮34啮合的两个第二锥齿轮35固定在输出轮轴36上，输出轮轴36通过轴承座转动设置在机架32上，两个输出轮37设置在输出轮轴36上。皮带31环绕两个转动设置在机架两端的第一导向轮41、第二导向轮42。输出轮37靠近第一导向轮41，第三导向轮43靠近第二导向轮42。
输入轮33、输出轮37及输入轮轴38、第一锥齿轮34、两个第二锥齿轮35、输出轮轴36等构成的锥齿轮传动机构位于皮带31外周朝向第二齿形带15的一侧。第一导向轮41、第二导向轮42从皮带31内周对皮带张紧，输出轮37、第三导向轮43从皮带31外周对皮带31张紧。
第一导向轮41、第二导向轮42之间的皮带31远离第二齿形带15(或者第一齿形带5)的外侧表面311形成一个移动面。
各输入轮33均为外齿轮，以与第二齿形带15的外表面啮合。
第一驱动电机4动作，通过第一驱动轮1带动第一齿形带5及各移动组件包括皮带31沿X向移动；
第二驱动电机14动作，通过第二驱动轮11带动第二齿形带15沿X向移动；
如果各输入轮33相对于第二齿形带15平移，则各输入轮转动，并通过锥齿轮传动变向机构带动各输出轮转动，各输出轮带动皮带31沿Y向移动。
工作原理：
A：平台的上平面(皮带31的外侧表面311)沿着X方向移动，Y向不动：
当第一驱动电机4驱动第一驱动轮1转动，第一齿形带5带动着移动组件移动，使平台的上平面(皮带31的外侧表面311)向X方向移动；同时，第二驱动电机14驱动第二驱动轮11同样按照相同的方向使第二齿形带15，以与第一齿形带5相同的线速度移动，此时，移动组件中的输入轮33平移速度、方向因与第二齿形带15的平移速度、方向相同，所以输入轮33处于不转动状态，因此，移动组件上的皮带31处于不转动状态，平台上平面仅向X方向移动；
B：平台的上平面沿着Y方向移动，X向不动：
当第一驱动电机4不动，第一驱动轮1静止，第一齿形带5不动；同时，第二驱动电机14驱动第二驱动轮11使第二齿形带15向X方向移动，此时，与第二齿形带15啮合的移动组件中的输入轮转动，带动移动组件上的皮带31，使其上平面向Y方向移动；
C：任意角度移动：通过控制两个驱动电机即第一驱动电机4和第二驱动电机14的相对速度，从而控制第 一驱动轮1和第二驱动轮11的相对速度，可实现平台上平面向任意方向移动，控制两个驱动电机的绝对速度，则可控制平台平面的移动速度。
实施例2(第二驱动机构与第一驱动机构相互独立的万向移动平台)
参见图8-10(并参考图4-7)所示的万向移动平台，其与实施例1的主要不同在于：
本实施例2中，第二驱动轮11固定在第二驱动轮轴12上(实施例1中，第二驱动轮11在周向空套在第一驱动轮轴2上，并与过渡轮18在轴向一体相连，过渡轮18与第二驱动电机14输出轴上的齿轮啮合)，第二驱动轮轴12转动设置在支架100上，第二驱动轮轴的端部固定第二齿轮13(实施例1中，无本实施例2中的第二驱动轮轴12和第二齿轮13)，第二齿轮13与第二驱动电机14输出轴上的齿轮啮合。
本实施例2中，无实施例1中的从动轴7，第一被驱动轮6直接空套在第二驱动轮轴12上或者通过轴承转动设置在第二驱动轮轴12上，第二被驱动轮16直接空套在第一驱动轮轴2上或者通过轴承转动设置在第一驱动轮轴2上(实施例1中，第一被驱动轮6、第二被驱动轮16均空套在从动轴7上)。
其它结构与实施例1类同，不再描述。
移动组件的数量，不影响本发明的权利要求保护范围；
环形柔性构件(第一环形柔性构件、第二环形柔性构件、第三环形柔性构件)的结构形式，不影响本发明的权利要求保护范围；
所述的传动变向机构，是指任何能够产生传动轴线从平行轴传动变为非平行轴传动的装置，具体结构不影响本发明的权利要求保护范围；
所述的驱动轮(第一驱动轮、第二驱动轮)，可以是各种皮带轮、链轮等能够与环形柔性构件组成传动机构的圆形构件，其具体形式不影响本发明的权利要求保护范围；
所述的驱动轮的数量，不影响本发明的权利要求保护范围；
所述的驱动电机，X、Y方向至少各有一个，也可以是相同功能的多个，具体数量不影响本发明的权利要求保护范围；
每个移动组件中，至少包括一个传动变向机构，也可以是一个以上，其具体数量不影响本发明的权利要求保护范围；
各个驱动电机与驱动轮之间的连接形式，以及电机的形式等，都不影响本发明的权利要求保护范围；
与环形柔性构件相配合的被驱动轮、导向轮等的数量，不影响本发明的权利要求保护范围；
被驱动轮、导向轮等滚轮数量、结构形式、安装位置等不影响本发明的权利要求保护范围；
所述的X、Y方向，是为便于说明结构和原理所假设的方向，其与具体移动方向的对应关系和名称，不影响本发明的权利要求保护范围；
用于支撑第一齿形带5和第二齿形带15的辅助结构，不影响本发明的权利要求保护范围；
所述的移动组件以外的支架形式、连接结构等不影响本发明的权利要求保护范围；
本专利的结构，可用于制作万向跑步机、万向物体运送平台等，既可以单独使用，也可以是多个组合使用，其用途不影响本发明的权利要求保护范围。

Claims (9)

  1. 万向移动平台，具有支架，支架上设置有用于带动第一驱动轮转动的第一驱动机构和用于带动第二驱动轮转动的第二驱动机构，第一环形柔性构件绕过带动其转动的第一驱动轮，第二环形柔性构件绕过带动其转动的第二驱动轮，其特征是：
    它还包括多个平行排列的移动组件，移动组件包括第三环形柔性构件、机架、输入轮、输出轮、将动力从输入轮传递到输出轮的传动变向机构；传动变向机构设置在机架上；
    各移动组件的机架固定在第一环形柔性构件上，各输入轮均与第二环形柔性构件的表面啮合；
    第一驱动机构动作，通过第一驱动轮带动第一环形柔性构件及各移动组件在第一环形柔性构件环形面内运动；
    第二驱动机构动作，通过第二驱动轮带动第二环形柔性构件在平行于第一环形柔性构件环形面的面内运动；
    如果各输入轮相对于第二环形柔性构件运动，则各输入轮通过传动变向机构带动各输出轮转动，各输出轮带动第三环形柔性构件在第三环形柔性构件环形面内运动；
    第三环形柔性构件环形面与第一环形柔性构件环形面垂直。
  2. 如权利要求1所述的万向移动平台，其特征是：各输入轮均与第二环形柔性构件的外表面啮合。
  3. 如权利要求1或2所述的万向移动平台，其特征是：输入轮和第二环形柔性构件分别是相啮合的输入齿轮和第二齿形带，输入齿轮通过锥齿轮传动变向机构将动力传递到输出轮。
  4. 如权利要求1或2所述的万向移动平台，其特征是：移动组件还包括转动设置在机架上至少一个导向轮，第三环形柔性构件环绕导向轮。
  5. 如权利要求1或2所述的万向移动平台，其特征是：第一驱动轮设置在第一驱动轮轴上，第一驱动轮轴转动设置在支架上，第一驱动轮轴与包括第一驱动电机在内的第一驱动机构中的第一驱动电机输出轴连接，第一驱动电机动作，通过第一驱动轮轴带动第一驱动轮转动。
  6. 如权利要求5所述的万向移动平台，其特征是：第二驱动轮在周向空套在第一驱动轮轴上，并与过渡轮在轴向相连；过渡轮与包括第二驱动电机在内的第二驱动机构中的第二驱动电机输出轴连接。
  7. 如权利要求1或2所述的万向移动平台，其特征是：第二驱动轮设置在第二驱动轮轴上，第二驱动轮轴转动设置在支架上，第二驱动轮轴与包括第二驱动电机在内的第二驱动机构中的第二驱动电机输出轴连接，第二驱动电机动作，通过第二驱动轮轴带动第二驱动轮转动。
  8. 如权利要求1或2所述的万向移动平台，其特征是：第一驱动轮及带动第一驱动轮转动的第一驱动机构均有多个。
  9. 如权利要求1或2所述的万向移动平台，其特征是：第二驱动轮及带动第二驱动轮转动的第二驱动机构均有多个。
PCT/CN2020/123484 2020-01-16 2020-10-25 万向移动平台 WO2021143251A1 (zh)

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CN103991491A (zh) * 2013-02-19 2014-08-20 北京机械工业自动化研究所 一种轮式全向移动装置、全向移动方法及运输装置
KR101670718B1 (ko) * 2015-05-29 2016-10-31 경상대학교산학협력단 전 방향 트레드밀 장치
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CN206391434U (zh) * 2017-01-10 2017-08-11 肖峰 一种全向跑步机
CN111120804A (zh) * 2020-01-16 2020-05-08 林晓甄 万向移动平台
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WO2007139672A2 (en) * 2006-05-22 2007-12-06 Reel Efx, Inc. Omni-directional treadmill
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CN211574601U (zh) * 2020-01-16 2020-09-25 林晓甄 万向移动平台

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