CN108189929A - The ultra-thin omni-directional wheel group of parking robot - Google Patents
The ultra-thin omni-directional wheel group of parking robot Download PDFInfo
- Publication number
- CN108189929A CN108189929A CN201810157335.2A CN201810157335A CN108189929A CN 108189929 A CN108189929 A CN 108189929A CN 201810157335 A CN201810157335 A CN 201810157335A CN 108189929 A CN108189929 A CN 108189929A
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- CN
- China
- Prior art keywords
- steering
- parking robot
- hoofing part
- walker
- live axle
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- 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.)
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- 230000009184 walking Effects 0.000 claims description 20
- 230000005611 electricity Effects 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 4
- 230000009194 climbing Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of parking robot, specifically a kind of parking robot omni-directional wheel group belongs to parking robot technical field.It includes main traveling wheel, walker, steering mechanism, steering driving mechanism and hoofing part mechanism, and traveling wheel is connected to by flat key on live axle, and live axle is rotatably connected on by bearing in walker；Steering mechanism's output terminal, steering mechanism's output terminal connection steering driving mechanism are connected on walker, steering driving mechanism is fixed on worm bracket；Live axle one end connects hoofing part mechanism, and hoofing part mechanism is fixed on travel driving motor frame.The present invention can realize " flat remove flat " submersible car carrying in big plane, can adapt to the carrying of a variety of models automobile；Meanwhile in the handling process can forward-reverse, traversing and divertical motion, and can be according to the posture of the pose adjustment parking robot of automobile, so as to improve the labor aptitude of parking robot.
Description
Technical field
The present invention relates to a kind of parking robot, specifically a kind of parking robot omni-directional wheel group belongs to Apparatus for parking vehicles
Device people's technical field.
Background technology
In the prior art, the electric driving wheel of the driving wheel module You Fei omnidirectionals of the submersible parking robot of car carrying,
The electric driving wheel and Mecanum wheel turned to based on gear.The electric driving wheel of non-omnidirectional is without steering mechanism, simple in structure, Zhi Nengqian
Into retrogressing, the traversing and divertical motion of parking robot can not be realized.Electric driving wheel based on pinion steering mechanism utilizes two
Gear engaged transmission realizes that driving wheel turns to, but driving wheel and the driving motor of steering mechanism are vertical, and electric driving wheel is whole
Body height is bigger than normal, becomes larger so as to cause parking robot whole height.Mecanum wheel needs four groups with the use of before could realizing
Into retrogressing, traversing and divertical motion, obstacle climbing ability is weak, and linear motion power attenuation is big, requirement height of mating formation to walking surface.
Invention content
It is an object of the present invention to overcome the above deficiencies, total so as to provide a kind of parking robot omni-directional wheel group
Body height is less than the automobile chassis road clearance, and " put down remove flat " submersible car carrying can be realized in big plane；Meanwhile it is carrying
In the process can forward-reverse, traversing and divertical motion, have and certain cross the obstacle climbing ability that crosses a ridge of ditch.
According to technical solution provided by the invention, parking robot omni-directional wheel group includes main traveling wheel, walker, turning machine
Structure, steering driving mechanism and hoofing part mechanism, it is characterized in that：Main traveling wheel is connected to by flat key on live axle, walking
Wheel shaft is rotatably connected on by bearing in walker；Steering mechanism's output terminal, steering mechanism's output terminal connection are connected on walker
Steering driving mechanism, steering driving mechanism are fixed on worm bracket, and worm bracket is fixed on walker；Live axle one end connects
Hoofing part mechanism, hoofing part mechanism are fixed on travel driving motor frame, and travel driving motor frame is fixed on walker.
Further, steering driving mechanism includes steering motor, turns to driven sprocket, turns to driving chain and turn to driving
Sprocket wheel, steering motor drive end connection to turn to drive sprocket, and it is driven by turning to driving chain connection steering to turn to drive sprocket
Sprocket wheel turns to driven sprocket and is connected in steering mechanism.
Further, steering mechanism includes worm gear, worm screw and central shaft, and worm screw is rotatably connected on worm bracket, worm screw and
Worm gear engagement connection, worm gear are connected on center shaft by bearing, and central shaft is connected on walker.
Further, hoofing part mechanism includes travel driving motor, hoofing part sprocket wheel, walking driving chain and walking
Drive sprocket, travel driving motor output terminal connection hoofing part sprocket wheel, hoofing part sprocket wheel are connected by driving chain of walking
Walking drive sprocket, walking drive sprocket are connected to live axle one end.
Further, secondary row travelling wheels are connected by bearing on live axle, secondary row travelling wheels and main traveling wheel are symmetrically set
It puts at left and right sides of live axle.
Further, outer end cap is equipped on the outside of secondary row travelling wheels, live axle is bolted in outer end cap.
Compared with the prior art the present invention has the following advantages：
The invention has the advantages of simple structure, compactness and reasonable structure, and whole height is less than 92mm, and overall height is less than the automobile chassis road clearance,
" flat remove flat " submersible car carrying can be realized in big plane, can adapt to the carrying of a variety of models automobile；Meanwhile it is carrying
In the process can forward-reverse, traversing and divertical motion, and can according to the posture of the pose adjustment parking robot of automobile, from
And improve the labor aptitude of parking robot；It is supported using two-wheel, there is certain obstacle climbing ability crossed ditch and crossed a ridge.
Description of the drawings
Fig. 1 is stereogram of the present invention.
Fig. 2 is semi-cutaway of the present invention.
Fig. 3 is front view of the present invention.
Reference sign：The main traveling wheels of 1-, 2- live axles, 3- secondary row travelling wheels, 4- bearings, 5- outer end caps, 6- rows
It walks frame, 7- worm gears, 8- worm screws, 9- worm brackets, 10- steering motors, 11- steerings driven sprocket, 12- and turns to driving chain, 13- turn
To drive sprocket, 14- central shafts, 15- travel driving motors, 16- travel driving motors frame, 17- hoofing parts sprocket wheel, 18- rows
Walk driving chain, 19- walking drive sprockets.
Specific embodiment
The present invention will be further described with reference to the embodiment in attached drawing below：
As shown in Figure 1 and 2, the invention mainly comprises main traveling wheel 1, walker 6, steering mechanism, steering driving mechanism and walkings to drive
Motivation structure.
Main traveling wheel 1 is connected to by flat key on live axle 2, and live axle 2 is rotatably connected on walker 6 by bearing
It is interior.
Steering mechanism's output terminal is connected on walker 6, steering mechanism's output terminal connection steering driving mechanism turns to driving machine
Structure is fixed on worm bracket 9, and worm bracket 9 is fixed on walker 6.When steering driving mechanism works, driven by steering mechanism
Walker pivot stud.
The steering driving mechanism includes steering motor 10, turns to driven sprocket 11, turns to driving chain 12 and turn to and drive
Movable sprocket 13, steering motor 10 drive end connection to turn to drive sprocket 13, turn to drive sprocket 13 by turning to driving chain 12
Connection turns to driven sprocket 11, turns to driven sprocket 11 and is connected in steering mechanism.
The steering mechanism includes worm gear 7, worm screw 8 and central shaft 14, and worm screw 8 is rotatably connected on worm bracket 9, worm screw 8
It engages and connects with worm gear 7, worm gear 7 is connected on a central shaft 14 by bearing, and central shaft 14 is connected on walker 6.
2 one end of live axle connects hoofing part mechanism, and hoofing part mechanism is fixed on travel driving motor frame 16, row
Motor frame 16 is walked to be fixed on walker 6.When hoofing part mechanism works, live axle 2 is driven to rotate, so as to fulfill this
The walking of invention.
The hoofing part mechanism includes travel driving motor 15, hoofing part sprocket wheel 17, walking driving chain 18 and row
Drive sprocket 19 is walked, 15 output terminal of travel driving motor connection hoofing part sprocket wheel 17, hoofing part sprocket wheel 17 is passed by walking
The dynamic connection of chain 18 walking drive sprocket 19, walking drive sprocket 19 are connected to 2 one end of live axle.
In order to ensure the stability walked of the present invention, secondary row travelling wheels 3 are connected by bearing 4 on the live axle 2, it is auxiliary
Traveling wheel 3 and main traveling wheel 1 is helped to be symmetricly set on 2 left and right sides of live axle.
3 outside of secondary row travelling wheels is equipped with outer end cap 5, and live axle 2 is bolted in outer end cap 5.
The present invention operation principle be：At work, hoofing part mechanism drives traveling wheel walking, and secondary row travelling wheels exist
It is servo-actuated under the action of driving wheel.When needing to turn to, steering driving mechanism work drives walker to turn by steering mechanism
To so as to fulfill the steering of wheel group.Realize the forward-reverse of omni-directional wheel group, steering mechanism needs wheel group being adjusted to preceding line direction
Posture and keep posture；Steering mechanism in forward posture is rotated by 90 ° and keeps posture again, then wheel group is adjusted to traversing appearance
State realizes the transverse motion of wheel group；It is complete to use the omni-directional wheel group, then coordinate auxiliary universal wheel, the steering of multiple omni-directional wheel groups
Mechanism adjusts posture simultaneously, it can be achieved that the divertical motion of parking robot.
The invention has the advantages of simple structure, compactness and reasonable structure, and whole height is less than 92mm, and overall height is liftoff less than automobile chassis
Gap can realize " flat remove flat " submersible car carrying in big plane, can adapt to the carrying of a variety of models automobile；Meanwhile
In the handling process can forward-reverse, traversing and divertical motion, and can be according to the pose adjustment parking robot of automobile
Posture, so as to improve the labor aptitude of parking robot；It is supported using two-wheel, there is certain obstacle climbing ability crossed ditch and crossed a ridge.
Claims (6)
1. a kind of ultra-thin omni-directional wheel group of parking robot, including main traveling wheel（1）, walker（6）, steering mechanism, turn to driving
Mechanism and hoofing part mechanism, it is characterized in that：Main traveling wheel（1）Live axle is connected to by flat key（2）On, live axle
（2）Walker is rotatably connected on by bearing（6）It is interior；Walker（6）Upper connection steering mechanism output terminal, steering mechanism's output terminal
Steering driving mechanism is connected, steering driving mechanism is fixed on worm bracket（9）On, worm bracket（9）It is fixed in walker（6）On；Row
Walk wheel shaft（2）One end connects hoofing part mechanism, and hoofing part mechanism is fixed on travel driving motor frame（16）On, hoofing part
Motor rack（16）It is fixed in walker（6）On.
2. the ultra-thin omni-directional wheel group of parking robot as described in claim 1, it is characterized in that：The steering driving mechanism includes turning
To motor（10）, turn to driven sprocket（11）, turn to driving chain（12）With steering drive sprocket（13）, steering motor（10）It drives
Moved end connection turns to drive sprocket（13）, turn to drive sprocket（13）By turning to driving chain（12）Connection turns to driven sprocket
（11）, turn to driven sprocket（11）It is connected in steering mechanism.
3. the ultra-thin omni-directional wheel group of parking robot as described in claim 1, it is characterized in that：The steering mechanism includes worm gear
（7）, worm screw（8）And central shaft（14）, worm screw（8）It is rotatably connected on worm bracket（9）On, worm screw（8）And worm gear（7）Engagement connects
It connects, worm gear（7）Central shaft is connected to by bearing（14）On, central shaft（14）It is connected to walker（6）On.
4. the ultra-thin omni-directional wheel group of parking robot as described in claim 1, it is characterized in that：The hoofing part mechanism includes row
Walk driving motor（15）, hoofing part sprocket wheel（17）, walking driving chain（18）With walking drive sprocket（19）, hoofing part electricity
Machine（15）Output terminal connects hoofing part sprocket wheel（17）, hoofing part sprocket wheel（17）Pass through driving chain of walking（18）Connection walking
Drive sprocket（19）, drive sprocket of walking（19）It is connected to live axle（2）One end.
5. the ultra-thin omni-directional wheel group of parking robot as described in claim 1, it is characterized in that：The live axle（2）On pass through
Bearing（4）Connect secondary row travelling wheels（3）, secondary row travelling wheels（3）With main traveling wheel（1）It is symmetricly set on live axle（2）Left and right
Both sides.
6. the ultra-thin omni-directional wheel group of parking robot as claimed in claim 5, it is characterized in that：The secondary row travelling wheels（3）Outside
Equipped with outer end cap（5）, outer end cap（5）Live axle is bolted（2）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810157335.2A CN108189929A (en) | 2018-02-24 | 2018-02-24 | The ultra-thin omni-directional wheel group of parking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810157335.2A CN108189929A (en) | 2018-02-24 | 2018-02-24 | The ultra-thin omni-directional wheel group of parking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108189929A true CN108189929A (en) | 2018-06-22 |
Family
ID=62594170
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810157335.2A Pending CN108189929A (en) | 2018-02-24 | 2018-02-24 | The ultra-thin omni-directional wheel group of parking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108189929A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109435678A (en) * | 2018-12-10 | 2019-03-08 | 宁波华运智能科技有限公司 | Driving wheel group and its operating method, transfer robot |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101061367B1 (en) * | 2011-02-07 | 2011-09-01 | 한국생산기술연구원 | Omnidirectional mobile robot base |
| CN202686562U (en) * | 2012-04-13 | 2013-01-23 | 机科发展科技股份有限公司 | Multi-gear heavy-load mobile robot automatic guided vehicle (AGV) |
| CN205524574U (en) * | 2016-03-08 | 2016-08-31 | 深圳先进技术研究院 | Electric platform |
| CN205601962U (en) * | 2016-04-12 | 2016-09-28 | 徐州工业职业技术学院 | Handling device is removed in remote control |
| CN106672114A (en) * | 2017-02-28 | 2017-05-17 | 武汉慧能机器人科技有限公司 | Omni-directional driving wheel device and AGV (automatic guided vehicle) |
| CN107035188A (en) * | 2017-06-21 | 2017-08-11 | 山东大学 | Ultrathin AGV vehicle carriers |
| CN107444362A (en) * | 2017-07-24 | 2017-12-08 | 湖北工业大学 | A kind of family expenses move car device |
| CN208264373U (en) * | 2018-02-24 | 2018-12-21 | 国信机器人无锡股份有限公司 | The ultra-thin omni-directional wheel group of parking robot |
-
2018
- 2018-02-24 CN CN201810157335.2A patent/CN108189929A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101061367B1 (en) * | 2011-02-07 | 2011-09-01 | 한국생산기술연구원 | Omnidirectional mobile robot base |
| CN202686562U (en) * | 2012-04-13 | 2013-01-23 | 机科发展科技股份有限公司 | Multi-gear heavy-load mobile robot automatic guided vehicle (AGV) |
| CN205524574U (en) * | 2016-03-08 | 2016-08-31 | 深圳先进技术研究院 | Electric platform |
| CN205601962U (en) * | 2016-04-12 | 2016-09-28 | 徐州工业职业技术学院 | Handling device is removed in remote control |
| CN106672114A (en) * | 2017-02-28 | 2017-05-17 | 武汉慧能机器人科技有限公司 | Omni-directional driving wheel device and AGV (automatic guided vehicle) |
| CN107035188A (en) * | 2017-06-21 | 2017-08-11 | 山东大学 | Ultrathin AGV vehicle carriers |
| CN107444362A (en) * | 2017-07-24 | 2017-12-08 | 湖北工业大学 | A kind of family expenses move car device |
| CN208264373U (en) * | 2018-02-24 | 2018-12-21 | 国信机器人无锡股份有限公司 | The ultra-thin omni-directional wheel group of parking robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109435678A (en) * | 2018-12-10 | 2019-03-08 | 宁波华运智能科技有限公司 | Driving wheel group and its operating method, transfer robot |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180622 |