CN201257874Y - Motion platform with oblique sphere type omnidirectional moving wheel - Google Patents
Motion platform with oblique sphere type omnidirectional moving wheel Download PDFInfo
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- CN201257874Y CN201257874Y CNU2008200134487U CN200820013448U CN201257874Y CN 201257874 Y CN201257874 Y CN 201257874Y CN U2008200134487 U CNU2008200134487 U CN U2008200134487U CN 200820013448 U CN200820013448 U CN 200820013448U CN 201257874 Y CN201257874 Y CN 201257874Y
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Abstract
The utility model provides a motion platform with an oblique ball-type comprehensive movable wheel, which solves the deficiencies of the prior omnidirectional wheel of a complex structure, weak obstacle-climbing capability and bearing capability, poor flexibility and stability and the like, three omnidirectional movable wheels are mutually distributed and fixed under a platform disc at the angle of 120 degrees along a disc contour through a bearing bracket, the movable wheels are in transmitted connection with each DC servomotor through a synchronous belt and a synchronous pulley respectively, and the servomotor is fixed on the platform disc through a pressure plate; the movable wheel consists of a ball-type wheel a and a ball-type wheel b which are fixed on a driving shaft through a driven shaft a and a driven shaft b respectively, and two driven shafts adopt a skew angle of 45 degrees on the perpendicular plate of the driving shaft so as to form a two-ball oblique fission structure. The utility model has the advantages of simple structure and flexible motion. By adopting the two-ball oblique fission structure, the utility model realizes continuous contact with the ground and realizes driving motion and passive motion of the wheel body. Therefore, the structure is suitable for the messy and dirty occasion, and the structure has the characteristics of less possibility of occurring the phenomenon of stirring the wheels, strong bearing capacity, being easy to control and being suitable to serve as the omnidirectional wheel of the motion platform of the robot.
Description
Technical field:
The utility model relates to a kind of motion platform that moves wheel that has, and relates in particular to a kind of motion platform that has oblique sphere type all-directional mobile wheel.Main universal mobile wheel, service robot and application similar with it as robot.
Background technology:
At present, all directionally movable robot roughly is divided into two kinds: a kind of is to adopt special wheel construction, and another kind is to use traditional wheel construction.The design concept of most special wheel constructions is: have constraint to obtain propulsive effort on a direction of wheel, retrain to realize passive movement and remove on another direction.As being designed to of special classics of taking turns: a series of follower is installed on the circumference of a traditional wheel construction, and the S. A. of these passive rollers is vertical or favour the S. A. of tradition wheel.For example: the design of Mecanum wheel, the design of other special wheel construction comprise quadrature wheel construction and ball wheel construction.The universal mobile robot of special wheel construction has very strong kinematic dexterity and stability, and can very accurately realize track following.But such universal mobile robot is except mechanism's more complicated, and it is poor also to exist obstacle climbing ability, and load-carrying capacity is low, and passive roller causes shortcomings such as body oscillating easily.This wheel structure is not suitable for dirty and messy occasion, because the foul body is easy to stir on the S. A. of passive roller, influences the motion of robot.Ball wheel construction driver train and motion control are complicated, use less.Mainly adopt to turn to and rotate based on all directionally movable robot of traditional wheel construction and all have individual drive caster wheel structure, though this mechanism load-carrying capacity is strong, lower to the requirement of movement environment simultaneously, can cross over little obstacle, but kinematic dexterity and less stable.
Summary of the invention:
For solve above-mentioned existing several cardan wheels in various degree have a structure more complicated, obstacle climbing ability is poor, load-carrying capacity is low, deficiency such as alerting ability and less stable, a kind of motion platform that has oblique sphere type all-directional mobile wheel is provided, it comprises platform disk (5), three universal mobile wheels (1) are 120 degree distributions by moving shaft bolster (3) mutually along the disk contour and are fixed under the described platform disk (5), three are moved wheel (1) by being with synchronously and synchronous pulley (2), be in transmission connection with separately DC servo motor (4) respectively, three DC servo motor (4) are fixed on the platform disk (5) by motor pressing plate (6); Described three universal mobile wheels are oblique sphere type all-directional mobile wheel, and it takes turns a (8) by ball and ball wheel b (9) constitutes.And be fixed on the imput shaft (7) by driven axle a (10) and driven axle b (11) respectively, two driven axles are 45 ° of bias angles on the vertical plane of imput shaft (7), constitute heterotropic two spherical body structures that divide.
The beneficial effects of the utility model: simple in structure, motion flexibly.Rely on heterotropic two spherical body structures that divide to realize and ground-surface uninterrupted contact, realize the driving and the passive movement of wheel body simultaneously.Based on this wheel body constructional feature, designed comprehensive mobile platform.This kind wheel structure is suitable for more dirty and messy occasion, the difficult wheel phenomenon of stirring, and load-carrying capacity is strong, is easy to control, is particularly suitable as robot motion's flat-bed cardan wheel.
In motion process, ball is taken turns a and is alternately contacted the continuity that realizes whole driving process with ground with ball wheel b, and two driven axles are 45 degree obliques layouts and have realized continuous transmission on the vertical plane of imput shaft.This design has increased the intensity of imput shaft and driven axle when realizing motion continuity, the cardan wheel load-carrying capacity is strengthened.Because each that constitutes mobile platform taken turns and is cardan wheel, thus three cardan wheels just can drive platform finish the three degree of freedom on plane move realize universal mobile.The alerting ability and the stability of motion have been strengthened.
Description of drawings:
Fig. 1 structural representation of the present utility model
Fig. 2 construction profile scheme drawing of the present utility model
Fig. 3 is the structure scheme drawing of Fig. 1
Fig. 4 and Fig. 5 are the oblique sphere type all-directional mobile wheel structural representations
Fig. 6 is the right TV structure scheme drawing of Fig. 4
Fig. 7 is the left TV structure scheme drawing of Fig. 4
The specific embodiment:
Referring to Fig. 1-Fig. 7, the motion platform that has oblique sphere type all-directional mobile wheel, it comprises platform disk 5, three oblique sphere type all-directional mobile wheels 1 are 120 degree distributions by moving shaft bolster 6 mutually along the disk contour and are fixed on described platform disk 5 times, three are moved wheel 1 by being with synchronously and synchronous pulley 2, be in transmission connection with separately DC servo motor 4 respectively, three DC servo motor 4 are fixed on the platform disk 5 by motor pressing plate 6; Described oblique sphere type all-directional mobile wheel 1 is made of ball wheel a8 and ball wheel b9.Be fixed on the imput shaft 1 by driven axle a10 and driven axle b11 respectively, two driven axles are 45 ° of bias angles on the vertical plane of imput shaft 7.
Two hemisphere that described ball wheel a2 and ball wheel b3 all remove part spherical crown and part spheroid constitute, and connect into spheroid by driven axle a10 and driven axle b11 respectively, and are fixed on the imput shaft 1.
Principle of work: three oblique sphere type all-directional mobile wheels 1 are 120 degree to be arranged by bearing frame 73 and is connected to below the terraced garden dish 5, and oblique sphere type all-directional mobile wheel 8 drives by three DC servo motor 4 is with 2 to drive and realize moving wheel 8 motions synchronously.Three motor 4 usefulness motor pressing plates 6 are fixed on above the terraced garden dish.Imput shaft 7 realizes the driving action of vertical paper in rotary course, and the motion of other direction, promptly along the imput shaft axis direction move by ball wheel a around driven axle a rotate freely or ball wheel b uninstalls around rotating freely of driven axle b.In motion process, ball is taken turns a and is alternately contacted the continuity that realizes whole driving process with ground with ball wheel b, and two driven axles are 45 degree obliques layouts and have realized continuous transmission on the vertical plane of imput shaft 7.This design has increased the intensity of imput shaft and driven axle when realizing motion continuity, the load-carrying capacity of cardan wheel is obviously increased.Because each that constitutes mobile platform taken turns and is cardan wheel, thus three cardan wheels just can drive platform finish the three degree of freedom on plane move realize universal mobile.
The utility model can be applied on the mobile chassis of family's sweeping robot, also can be applied on the comprehensive wheelchair, can be applied in the assembling and transportation device on the automated assembly line.
Claims (2)
1, the motion platform that has oblique sphere type all-directional mobile wheel, it comprises platform disk (5), three universal mobile wheels (1) are 120 degree distributions by moving shaft bolster (3) mutually along the disk contour and are fixed under the described platform disk (5), three are moved wheel (1) by being with synchronously and synchronous pulley (2), be in transmission connection with separately DC servo motor (4) respectively, three DC servo motor (4) are fixed on the platform disk (5) by motor pressing plate (6); It is characterized in that: described three universal mobile wheels are oblique sphere type all-directional mobile wheel, and it takes turns a (8) by ball and ball wheel b (9) constitutes; And be fixed on the imput shaft (7) by driven axle a (10) and driven axle b (11) respectively, two driven axles are 45 ° of bias angles on the vertical plane of imput shaft (7), constitute heterotropic two spherical body structures that divide.
2, according to the described motion platform that has oblique sphere type all-directional mobile wheel of claim 1, it is characterized in that: described ball wheel a (8) and ball wheel b (9) constitute by two spheroids of removing the part of spherical crown and spheroid, connect into the part-structure of spheroid by driven axle a (10) and driven axle b (11) respectively, and be fixed on the imput shaft (7); The spheroid part of two ball wheels has constituted whole spheroid wheel construction jointly, has formed a complete circular projection in the vertical plane projection of imput shaft (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200134487U CN201257874Y (en) | 2008-06-13 | 2008-06-13 | Motion platform with oblique sphere type omnidirectional moving wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200134487U CN201257874Y (en) | 2008-06-13 | 2008-06-13 | Motion platform with oblique sphere type omnidirectional moving wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201257874Y true CN201257874Y (en) | 2009-06-17 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2008200134487U Expired - Fee Related CN201257874Y (en) | 2008-06-13 | 2008-06-13 | Motion platform with oblique sphere type omnidirectional moving wheel |
Country Status (1)
| Country | Link |
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| CN (1) | CN201257874Y (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102152767A (en) * | 2011-04-11 | 2011-08-17 | 浙江美科斯叉车有限公司 | Omni-directional moving platform |
| CN102180064A (en) * | 2011-04-14 | 2011-09-14 | 沈阳航空航天大学 | Differential type omnibearing wheel |
| CN104354525A (en) * | 2014-10-17 | 2015-02-18 | 沈阳航空航天大学 | Parallel double-spherical-crown differential type all-directional wheel |
| CN104714549A (en) * | 2015-03-09 | 2015-06-17 | 曹人天 | Omni-directional wheel and omni-directional mobile platform |
| CN107310329A (en) * | 2017-06-09 | 2017-11-03 | 孙绍华 | A kind of spherical omnidirectional's wheel of multicompartment and the vehicle using the wheel |
| CN112739606A (en) * | 2018-11-28 | 2021-04-30 | 国立大学法人九州工业大学 | Ball driving type moving device |
-
2008
- 2008-06-13 CN CNU2008200134487U patent/CN201257874Y/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102152767A (en) * | 2011-04-11 | 2011-08-17 | 浙江美科斯叉车有限公司 | Omni-directional moving platform |
| CN102152767B (en) * | 2011-04-11 | 2014-07-30 | 浙江美科斯叉车有限公司 | Omni-directional moving platform |
| CN102180064A (en) * | 2011-04-14 | 2011-09-14 | 沈阳航空航天大学 | Differential type omnibearing wheel |
| CN104354525A (en) * | 2014-10-17 | 2015-02-18 | 沈阳航空航天大学 | Parallel double-spherical-crown differential type all-directional wheel |
| CN104354525B (en) * | 2014-10-17 | 2016-06-29 | 沈阳航空航天大学 | Double; two spherical crown differential type all-round wheel in parallel |
| CN104714549A (en) * | 2015-03-09 | 2015-06-17 | 曹人天 | Omni-directional wheel and omni-directional mobile platform |
| CN107310329A (en) * | 2017-06-09 | 2017-11-03 | 孙绍华 | A kind of spherical omnidirectional's wheel of multicompartment and the vehicle using the wheel |
| CN112739606A (en) * | 2018-11-28 | 2021-04-30 | 国立大学法人九州工业大学 | Ball driving type moving device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090617 Termination date: 20120613 |