CN202115611U - Omnibearing wheel type mobile robot - Google Patents
Omnibearing wheel type mobile robot Download PDFInfo
- Publication number
- CN202115611U CN202115611U CN2011202242172U CN201120224217U CN202115611U CN 202115611 U CN202115611 U CN 202115611U CN 2011202242172 U CN2011202242172 U CN 2011202242172U CN 201120224217 U CN201120224217 U CN 201120224217U CN 202115611 U CN202115611 U CN 202115611U
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- wheel
- drive motor
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- compound vehicle
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Abstract
The utility model provides an omnibearing wheel type mobile robot, three composite wheels are arranged on a robot body, every two of the three composite wheels are uniformly distributed in 120 DEG, and the distance between each wheel core and the center of the robot is equal. Each composite wheel can realize axial rotation and zero radius revolving, and the rotation and the revolving are respectively and independently driven by a motor without interference mutually. The three wheels are all driving wheels, and walking in any direction in the plane can be realized by adjusting the rotation direction of the wheel. The omnibearing wheel type mobile robot has simple structure and high control accuracy, can be manufactured easily, can be popularized easily, can be suitable for occasions which have narrow space and have high mobility requirement to the robot, can be used as a mobile conveying device of factory production lines, can be used as life service and entertainment facilities and can replace people to be used in various dangerous sites.
Description
Technical field
The utility model relates to a kind of comprehensive wheeled mobile robot, relates to mechanical engineering field, especially relates to through radially turning round wheel, changes the hand of rotation of wheel, thereby realizes that the mobile robot is comprehensive mobile.
Background technology
The mobile robot can be divided into two kinds of non-all directionally movable robot and all directionally movable robots by mobility.The all directionally movable robot system can realize the 3DOF omnibearing movable in the plane; This omnidirectional moving characteristic makes omnibearing movable mechanism in every profession and trade, have a wide range of applications; Become an important branch in robot research field, obtained increasing concern.So-called all directionally movable robot just is meant if do not consider the restriction of drive motor rotating speed, robot can be at any time to plan where to motion.Usually, the wheeled robot major part is all used the drive system of differential driving train as robot, and such robot can move on the circular arc of different curvature radius or straight line, also can original place rotation self; But it can not move along the normal direction on wheel plane.This restriction does not exist concerning all directionally movable robot.
All directionally movable robot has other travel mechanism can't substituted uniqueness, can better service in human being's production, life.Orientation and positioning function that all directionally movable robot utilizes wheel to have; Realize need not changing the car body attitude from current location to any direction motion on the two dimensional surface, all directionally movable robot is zero can freely walking flexibly in narrower or crowded place because of its radius of turn.In accurate location of needs and high precision track following, all directionally movable robot can carry out trickle adjustment to the position of oneself simultaneously.
Mostly the mobile robot who at present is used to produce, live both at home and abroad is non-all directionally movable robot; And the most omnibearing ambulations that adopt Mecanum wheel to realize robot of existing all directionally movable robot; But there is defective Mecanum wheel in itself, and the profile of its wheel is not pure circle, and just one is similar to circular polygon; Unstable during walking, be easy to generate vibrations.
The utility model content
The purpose of the utility model is a kind of later-model comprehensive wheeled mobile robot of design, realizes that through the hand of rotation that changes wheel the mobile robot is comprehensive mobile.Be highly suitable for narrow space, the occasion high to the maneuverability requirement of robot, can be used for plant produced conveyor line conveying arrangement, human lives's service facility replaces humanly working in the high-risk location.
The utility model is realized through following technical scheme; A kind of all directionally movable robot comprises: disc shaped mobile apparatus human body 2; Three compound vehicle wheels 1; Carry out three axial drive motor 12 of axial Spin Control respectively for three compound vehicle wheels 1, respectively for three compound vehicle wheels 1 carry out wheel radially three of no-radius revolution control turn to drive motor 11; Below mobile apparatus human body 2, be 120 ° of angles and be uniformly distributed with installation compound vehicle wheel 1, and the distance of the core wheel of each compound vehicle wheel 1 from mobile apparatus human body 2 centers equates.
U-shaped clamp plate 4 links to each other with the external part of motor sleeve 5; Through U-shaped clamp plate 4 with motor sleeve 5 and wheel radially S. A. 3 link to each other; Wheel radially S. A. 3 is connected with turning to drive motor 11 through coupler 9, and turns to drive motor 11 to link to each other with mobile apparatus human body 2 through flange 10; Wheel radially the centre of gration of S. A. 3 be positioned at wheel wheel body center directly over.
The utility model can be obtained following beneficial effect:
Each combined wheels can both realize the 3DOF omnibearing movable in the plane, can realize that axletree to rotation and radially no-radius revolution of wheel, by two different motor individual drive, does not disturb each other mutually.The axial motor rotating of drive wheels is embedded in inside wheel, so both dwindles wheel and takes up room, and has alleviated the wheel total quality again; Motor output shaft and wheel nave direct connection had so not only been simplified car wheel structure but also had been reduced the intermediate link watt loss.Drive wheels radially motor rotating is fixed among the mobile apparatus human body through flange; Motor output shaft is connected with the wheel radial axle through coupler; The direct drive wheel radially turns round, because the wheel steering S. A. is positioned at wheel center, and distance without acceptance of persons; So can realize the no-radius revolution of wheel, and can realize the original place rotation of mobile robot's no-radius.
During mobile robot's straight line moving, the radial motor self-locking, three wheel axially parallels make wheel revolutions advance through the axial direction electric machine driving, adjust mobile robot's speed through changing motor speed; When the mobile robot will turn to, radial motor rotated required angle by steering direction, made wheel arrive assigned direction, thereby realized turning to.Because axletree does not disturb to drive motor and radial drive motor mutually; The mobile robot still can move on when the mobile robot turns to; Through the adjustment of the coordination between axial drive motor and the radial drive motor and three wheel directions, thereby the comprehensive of realization mobile robot moved.
Description of drawings
Fig. 1 the utility model integral structure scheme drawing;
Fig. 2 the utility model compound vehicle wheel structural representation;
Fig. 3 the utility model compound vehicle wheel cutaway view.
Among the figure: 1, compound vehicle wheel, 2, the mobile apparatus human body, 3, wheel S. A. radially, 4, the U-shaped clamp plate; 5, motor sleeve, 6, the wheel wheel body, 7, wheel nave, 8, protective case; 9, coupler, 10, flange, 11, turn to drive motor, 12, axial drive motor; 13, antifriction-bearing box, 14 motor sleeve end caps, 15, axle sleeve, 16, angular contact ball bearing.
The specific embodiment
Below in conjunction with the description of drawings specific embodiment:
As shown in Figure 1, the utility model comprises the two large divisions altogether: three compound vehicle wheel units 1 and mobile apparatus human body 2; Three wheels are 120 ° of angles between any two and are uniformly distributed with and are installed on the mobile robot, and every core wheel equates from mobile robot's centre distance.
Like Fig. 2, shown in Figure 3, axletree is fixed on the motor sleeve end cap 14 to drive motor 12; Motor sleeve end cap 14 is fixing through screw and motor sleeve 5, and motor sleeve 5 is connected through antifriction-bearing box 13 with wheel wheel body 6, and two roller bearing shops rely on axle sleeve 15 location; Axially the output shaft of drive motor 12 directly links to each other with wheel nave 7 through key; When rotating speed of motor output, because the effect of bearing, order about the mobile robot and advance thereby will drive wheel revolutions.
Through U-shaped clamp plate 4 with motor sleeve 5 and wheel radially S. A. 3 link to each other; Wheel radially S. A. 3 is connected with protective case 8 through angular contact ball bearing 16, and protective case 8 passes through screw retention on mobile apparatus human body 2, acts on the effect through bearing of power that wheel directly makes progress like this and is delivered on the protective case 8; Finally act on the mobile apparatus human body; The while wheel radially mouth of S. A. 3 is connected with turning to drive motor 11 through coupler 9, and turns to drive motor 11 to link to each other with mobile apparatus human body 2 through flange 10, when turning to drive motor work; Driving the wheel radial axle through coupler rotates; Thereby wheel integral body is turned to, again since wheel radially the centre of gration of S. A. 3 be positioned at wheel wheel body center directly over, turn round so can realize the no-radius of wheel.Through the co-ordination of axial drive motor and radial drive motor and the adjustment of three compound vehicle wheel poses, thereby reach the omnibearing mobile purpose of mobile robot.
Claims (1)
1. an all directionally movable robot comprises: disc shaped mobile apparatus human body (2); Three compound vehicle wheels (1); Carry out three axial drive motor (12) of axial Spin Control respectively for three compound vehicle wheels (1), respectively for three compound vehicle wheels (1) carry out wheel radially three of no-radius revolution control turn to drive motor (11); Be 120 ° of angles in mobile apparatus human body's (2) below and be uniformly distributed with installation compound vehicle wheel (1), and the distance of the core wheel of each compound vehicle wheel (1) from mobile apparatus human body (2) center equates;
Compound vehicle wheel (1) includes wheel wheel body (6) and the wheel nave of captiveing joint with it (7); Wherein wheel wheel body (6) inside is hollow structure; Its boring structure is connected with motor sleeve (5) through antifriction-bearing box (13); Motor sleeve (a 5) part is positioned at wheel wheel body (6), and it is external that a part is positioned at vehicle wheel; Axial drive motor (12) is housed in the motor sleeve (5), and the output shaft of axial drive motor (12) is connected to wheel nave (7) driving compound vehicle wheel and axially rotates;
U-shaped clamp plate (4) links to each other with the external part of motor sleeve (5); Through U-shaped clamp plate (4) with motor sleeve (5) and wheel radially S. A. (3) link to each other; Wheel radially S. A. (3) is connected with turning to drive motor (11) through coupler (9), and turns to drive motor (11) to link to each other with mobile apparatus human body (2) through flange (10); Wheel radially the centre of gration of S. A. (3) be positioned at wheel wheel body center directly over.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011202242172U CN202115611U (en) | 2011-06-29 | 2011-06-29 | Omnibearing wheel type mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011202242172U CN202115611U (en) | 2011-06-29 | 2011-06-29 | Omnibearing wheel type mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202115611U true CN202115611U (en) | 2012-01-18 |
Family
ID=45456697
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011202242172U Expired - Fee Related CN202115611U (en) | 2011-06-29 | 2011-06-29 | Omnibearing wheel type mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202115611U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102267504A (en) * | 2011-06-29 | 2011-12-07 | 北京工业大学 | Omnidirectional wheel type mobile robot |
| CN107985364A (en) * | 2017-12-26 | 2018-05-04 | 上海制驰智能科技有限公司 | A kind of steer-drive of omnidirectional running mobile platform |
| CN113075931A (en) * | 2021-03-30 | 2021-07-06 | 西南科技大学 | Three-wheel omnidirectional mobile robot and motion control method thereof |
-
2011
- 2011-06-29 CN CN2011202242172U patent/CN202115611U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102267504A (en) * | 2011-06-29 | 2011-12-07 | 北京工业大学 | Omnidirectional wheel type mobile robot |
| CN107985364A (en) * | 2017-12-26 | 2018-05-04 | 上海制驰智能科技有限公司 | A kind of steer-drive of omnidirectional running mobile platform |
| CN113075931A (en) * | 2021-03-30 | 2021-07-06 | 西南科技大学 | Three-wheel omnidirectional mobile robot and motion control method thereof |
| CN113075931B (en) * | 2021-03-30 | 2022-04-08 | 西南科技大学 | Three-wheel omnidirectional mobile robot and motion control method thereof |
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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: 20120118 Termination date: 20120629 |