CN205310240U - All direction movement robot - Google Patents
All direction movement robot Download PDFInfo
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- CN205310240U CN205310240U CN201620052049.6U CN201620052049U CN205310240U CN 205310240 U CN205310240 U CN 205310240U CN 201620052049 U CN201620052049 U CN 201620052049U CN 205310240 U CN205310240 U CN 205310240U
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- wheels
- control module
- wheel
- motors
- mobile platform
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- 230000015572 biosynthetic process Effects 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 description 5
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model belongs to the technical field of the mobile robot engineering, concretely relates to all direction movement robot. It includes moving platform and sets up the three double round owner dynamic wheel group down in moving platform, is equipped with control module and power in the moving platform, and double round owner dynamic wheel group includes two coaxial wheels and two motors, and two motors, two wheels of individual drive respectively rotate, two motors and control module electric connection, and the power is control module and the motor is supplied power. The utility model provides an all direction movement robot can be applied to every field such as traffic, transportation, family.
Description
Technical field
The utility model belongs to mobile apparatus people's field of engineering technology, is specifically related to a kind of all directionally movable robot.
Background technology
Along with developing rapidly of science and technology, all-around mobile technology gets more and more people's extensive concerning. All-around mobile refers to the motion realizing all around in the plane and rotating three degree of freedom around self, and the automobile in daily life, owing to not having around self rotating this degree of freedom, is not therefore all-around mobile, and automobile lateral parking is just cumbersome.
All-around mobile technology is widely used in fields such as mobile apparatus people, fork truck, carrying car and wheelchairs. The omni-directional moving mechanism having had in existing market mainly realizes all-around mobile by improving the structure of wheel, and main products has: Mecanum wheel, autumn wheel, switches wheel continuously, orthogonal take turns.
Referenced patent document CN201534471U discloses a kind of land, water and air omni-directional moving mechanism, comprises casing and four Mecanum wheels, can control, by the direction of motion and speed controlling four Mecanum wheels, direction of motion and the speed that this moves mechanism. Referenced patent document CN201494532U discloses a kind of Mecanum wheel all-directional moving vehicle, comprises vehicle frame, is provided with first, second, third, fourth Mecanum wheel at vehicle frame, and this practicality is novel is also realize all-around mobile with the use of Mecanum wheel.
Diagonally distribute on the wheel rim of Mecanum wheel many little rollers, therefore wheel can horizontal sliding. The bus of little roller is very special, and when wheel is around fixing wheel central axis, the envelope curve of each little roller is cylindrical surface, thus this take turns can rolls forward continuously. Mecanum wheel cost is very high, and weight-carrying capacity is limited, it is difficult to actual use. And Mecanum wheel is in steering procedure, owing to roller contacts discontinuous with ground, it is easy to produce vibration and skid, especially uneven on ground or when having a slope, all-around mobile effect and control accuracy are difficult to ensure.
Practical novel content
Special wheel is adopted to go the weak point realizing all-around mobile existence for existing omni-directional moving mechanism, the utility model proposes a kind of all directionally movable robot, this robot adopts common wheel to realize all-around mobile, not only save cost, weight-carrying capacity height, all-around mobile is effective, control accuracy height.
The utility model adopts following technical scheme:
A kind of all directionally movable robot, three two-wheels that it comprises mobile platform and is arranged under mobile platform initiatively wheels, control module and power supply it is provided with in mobile platform, two-wheel active wheels comprise two coaxial wheels and two motors, two motors independently drive two wheel turns, two motors and control module are electrically connected, and power supply is that control module and motor are powered.
Further, three two-wheel initiatively distance formation isosceles triangles between wheels.
Further, two-wheel active wheels are also provided with angular coding device, angular coding device and control module are electrically connected.
Further, control module is arm processor pilot circuit.
Further, power supply is store battery.
The utility model adopts three two-wheels active wheels to realize all-around mobile, and two-wheel active wheels adopt common wheel, by controlling velocity of rotation and the direction of each wheel respectively, it is achieved the all-around mobile of mobile platform. The all directionally movable robot that the utility model proposes can be applicable to the every field such as traffic, transport, family.
Accompanying drawing explanation
Fig. 1 is the general view of all directionally movable robot;
Fig. 2 is the vertical view of all directionally movable robot;
Fig. 3 is the two-wheel initiatively wheels structure iron of all directionally movable robot.
Embodiment
For each embodiment is described further, the utility model provides accompanying drawing. These accompanying drawings are a part for the utility model disclosure, and it is mainly in order to illustrate embodiment, and the associated description of specification sheets can be coordinated to explain the operation principles of embodiment. Coordinating with reference to these contents, those of ordinary skill in the art will be understood that other possible enforcement modes and advantage of the present utility model. Assembly in figure not drawn on scale, and similar element numbers is commonly used to represent similar assembly.
Now with embodiment, the utility model is illustrated further by reference to the accompanying drawings.
Consult shown in Fig. 1 to Fig. 3, all directionally movable robot of the preferred embodiment of the utility model, it comprise mobile platform 1 and be arranged at mobile platform 1 under three two-wheels initiatively wheels 2, be provided with control module and power supply in mobile platform 1. Initiatively wheels 2 are for support movable platform 1 for three two-wheels, and the distance between three two-wheels active wheels 2 of this embodiment forms isosceles triangle. When this mobile platform 1 does translational motion, the direction of three two-wheel active wheels 2 is all the same with speed.
Again consulting shown in Fig. 3, two-wheel active wheels 2 comprise two coaxial wheels 21 and two motors 24, be installed with the first gear 23, motor 24 is equipped with the 2nd gear 22 on wheel 21. First gear 23 and the 2nd gear 22 match. First gear 23 and the 2nd gear 22 of this embodiment directly coordinate, and the technician of this area it will be seen that also can adopt synchronous cog belt, makes the first gear 23 and the 2nd gear 22 routing motion. Motor 24 drives the 2nd gear 22 to rotate, and is driven the rotation of wheel 21 by the first gear 23.
Control module respectively motor 24 with three two-wheels initiatively wheels 2 be electrically connected, control direction and the speed of the rotation of all motors 24. The power acquisition store battery of this embodiment, it may also be useful to store battery is that control module and motor are powered.
In addition, each two-wheel active wheels 2 being also equipped with angular coding device, angular coding device and control module are electrically connected, and angular coding device is for calculating each two-wheel angle that initiatively wheels 2 rotate, and will record result feedback to control module.
When the velocity of rotation that control module controls all motors 24 is all the same with turning direction, mobile platform 1 does translational motion, and motor 24 is just to rotation, and mobile platform 1 moves forward, motor 24 reversing motion, mobile platform 1 rearward movement. When mobile platform 1 needs transverse movement, wheel 24 turning direction is contrary, velocity of rotation is identical for two of control module control two-wheel active wheels 2, does not change the state of mobile platform 1, only changes the direction of two-wheel active wheels 2.When the rotation angle that angular coding device feeds back two-wheel active wheels 2 reaches 90 °, then control mobile platform 1 and do horizontal translational motion.
The control module of this embodiment adopts arm processor pilot circuit, and those skilled in the art are it will be seen that also can adopt industrial computer to realize the control to mobile platform 1.
Not installing any equipment on the mobile platform 1 of this embodiment, those skilled in the art are it will be seen that this mobile platform can be wheelchair, it is possible to install shooting equipment etc. on mobile platform 1.
Although specifically showing in conjunction with preferred embodiment and describing the utility model; but the technician of art should be understood that; not departing from the spirit and scope of the present utility model that appended claims limits; the utility model can be made a variety of changes in the form and details, be protection domain of the present utility model.
Claims (5)
1. an all directionally movable robot, three two-wheels that it comprises mobile platform and is arranged under mobile platform initiatively wheels, control module and power supply it is provided with in described mobile platform, it is characterized in that: described two-wheel active wheels comprise two coaxial wheels and two motors, two motors independently drive two wheel turns, described two motors and control module are electrically connected, and described power supply is that control module and motor are powered.
2. all directionally movable robot as claimed in claim 1, it is characterised in that: described three two-wheels are distance formation isosceles triangle between wheels initiatively.
3. all directionally movable robot as claimed in claim 1, it is characterised in that: being also provided with angular coding device on described two-wheel active wheels, described angular coding device and control module are electrically connected.
4. all directionally movable robot as claimed in claim 1, it is characterised in that: described control module is arm processor pilot circuit.
5. all directionally movable robot as claimed in claim 1, it is characterised in that: described power supply is store battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620052049.6U CN205310240U (en) | 2016-01-19 | 2016-01-19 | All direction movement robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620052049.6U CN205310240U (en) | 2016-01-19 | 2016-01-19 | All direction movement robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205310240U true CN205310240U (en) | 2016-06-15 |
Family
ID=56206142
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620052049.6U Expired - Fee Related CN205310240U (en) | 2016-01-19 | 2016-01-19 | All direction movement robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205310240U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112623056A (en) * | 2021-01-08 | 2021-04-09 | 北京工业大学 | Omni-directional moving device based on non-universal wheel is realized |
-
2016
- 2016-01-19 CN CN201620052049.6U patent/CN205310240U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112623056A (en) * | 2021-01-08 | 2021-04-09 | 北京工业大学 | Omni-directional moving device based on non-universal wheel is realized |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information |
Inventor after: Lu Sihui Inventor before: Chen Caifeng |
|
| CB03 | Change of inventor or designer information | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170420 Address after: 523430 Guangdong city of Dongguan province Liaobu three Road Town Hengkeng cross East Baoding Science Park building A Patentee after: Dongguan United robot equipment Co., Ltd. Address before: 233500 Mengcheng County, Anhui Province, Ji Kang Road, No. 102 Mengcheng County Civil Affairs Bureau of Mengcheng County glorious home for the elderly Patentee before: Chen Caifeng |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160615 Termination date: 20180119 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |