CN206327459U - A kind of driven pedrail of omnidirectional moving - Google Patents
A kind of driven pedrail of omnidirectional moving Download PDFInfo
- Publication number
- CN206327459U CN206327459U CN201621332886.0U CN201621332886U CN206327459U CN 206327459 U CN206327459 U CN 206327459U CN 201621332886 U CN201621332886 U CN 201621332886U CN 206327459 U CN206327459 U CN 206327459U
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- China
- Prior art keywords
- roller
- plate
- omnidirectional moving
- driven pedrail
- inner plate
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- Withdrawn - After Issue
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Abstract
A kind of driven pedrail of omnidirectional moving, including multiple outer link components (1) and multiple roll wheel assemblies (2)；The outer link component (1) includes two outer plates (102) and two bearing pins (101)；The roll wheel assembly (2) includes two rollers (201), and the roller (201) is the elliposoidal of inner hollow；Each roller (201) is arranged on a roller shaft (204), and the roller (201) can rotate around the roller shaft (204) itself；The roller shaft is fixed on a roller fixed mount (203), and the roller fixed mount (203) is fixed on inner plate (206)；Two bearing pins (101) of any outer link component (1) are connected with the inner plate (206) of two neighboring roll wheel assembly (2) respectively.Omnidirectional moving can be realized by installing the mobile robot of the driven pedrail of omnidirectional moving of the present utility model；It can also be walked on the road surface of out-of-flatness, carry out obstacle detouring, can adapt to different orographic conditions.
Description
Technical field
The utility model is related to robot field, more particularly to a kind of transmission of omnidirectional moving applied in robot is carried out
Band.
Background technology
Existing mobile robot can adapt to different landform and flexibly be turned to improve obstacle climbing ability
Curved, many mobile robots all carry out walking transmission using crawler belt, but the speed of this caterpillar mobile robot can not be improved,
Noise in running is larger.Moreover, the radius of turn of existing caterpillar mobile robot is very big, underaction, it is impossible to
Disposably it can only many times be walked by narrow place, therefore during walking along crawler haulage direction, due to
Crawler belt can not carry out omni-directional movement, existing caterpillar mobile robot can not be realized the motion of multiple directions, Zhi Nengjin
The unidirectional motion of row.
In addition, the crawler haulage speed of existing caterpillar mobile robot can not be too fast, therefore the speed of travel is received
Limitation.And utilize the ecad of the mobile robot road pavement of common omni-directional wheel making poor, can only be on smooth clean road surface
Upper walking, it is impossible to carry out obstacle detouring, this is limited by very large the application of robot.
Utility model content
The purpose of this utility model is that there is provided a kind of driven pedrail of omnidirectional moving in order to solve the deficiencies in the prior art.
The purpose of this utility model is achieved through the following technical solutions：
A kind of driven pedrail of omnidirectional moving, including multiple outer link components and multiple roll wheel assemblies；
The outer link component includes two bearing pins that two outer plates, two ends are separately fixed on two outer plates；
The roll wheel assembly includes two rollers, and the roller is that the elliposoidal of inner hollow, its both ends of the surface are identical big
Small is round-shaped；
Each roller is arranged on a roller shaft, and the roller can rotate around the roller shaft itself；It is each described
The two ends of roller shaft are separately fixed on a roller fixed mount, and two roller fixed mounts of the same roller shaft of connection are fixed on
On same inner plate；
Inner plate of two bearing pins of any outer link component respectively with two neighboring roll wheel assembly is connected；The rolling
Wheel shaft (204) is mutually perpendicular to the bearing pin (101).
Further, the roller fixed mount include integrally formed upper mounted plate and bottom plate, fixed plate and
Bottom plate is mutually perpendicular to, and one first mounting hole is provided with fixed plate.
Further, a bearing is respectively installed at the two ends of each roller, each roller shaft through inside roller,
The two ends of the roller shaft, are fixed on by the first mounting hole on the bearing at roller two ends and two roller fixed mounts by jump ring
On the roller fixed mount.
Further, the inner plate include upper inner plate and lower inner plate, the upper inner plate and lower inner plate one into
Type and it is mutually perpendicular to；The lower inner plate is " ∞ " type, and two the second mounting holes are provided with the lower inner plate.
Further, the bottom plate for connecting two roller fixed mounts of same roller shaft is fixed on by conical head rivet
On the upper inner plate of same inner plate.
Further, the roll wheel assembly also includes two rollers and two sleeves, and the roller and sleeve are inner hollow
Cylindrical；Each sleeve is arranged on described in one inside roller, and the roller and the sleeve gap coordinate.
Further, the outer plate is " ∞ " type, and two the 3rd mounting holes are provided with each outer plate, described
The two ends of bearing pin are separately mounted in the 3rd mounting hole of an outer plate, and the bearing pin and the 3rd mounting hole are interference fitted；It is described
Two bearing pins in outer link component be arranged in parallel.
Further, the roller and sleeve are located in the middle of the lower inner plate of two inner plates；The one of the outer link component
Bearing pin is installed through being located at the second of the same side with above-mentioned sleeve on the sleeve inner of side of a roll wheel assembly, two inner plates
Hole；Another bearing pin of the outer link component through on the sleeve inner of side of adjacent roller assemblies, two inner plates with it is upper
State the second mounting hole that sleeve is located at the same side.
Further, bearing pin and the sleeve gap coordinates.
Further, the driven pedrail of the omnidirectional moving also includes being provided with taper on drive sprocket, the drive sprocket
Tooth, the space between conical tooth and the outer link component, roll wheel assembly cooperates.
A kind of driven pedrail for omnidirectional moving that the utility model is provided may be mounted on the chassis of mobile robot, this
Utility model devises a kind of roller of elliposoidal in roll wheel assembly, and the roller can be rotated around the axle of its own, pass through phase
The outer link component that connects, roll wheel assembly formation driven pedrail, driven pedrail can be integrally displaced sideways.
The driven pedrail for the omnidirectional moving that multiple the utility model are provided, transmission can be installed on the chassis of mobile robot
Crawler belt could be arranged to different directions, form the combination of a variety of different driven pedrails, and the roller 201 of elliposoidal can make transmission
Crawler belt is easily moved.The combination formed by multiple driven pedrails, installs the driven pedrail of omnidirectional moving of the present utility model
Mobile robot can realize forward, traversing, diagonal, rotation and combinations thereof etc. multi-motion mode, you can carry out omnidirectional moving.
Installing the mobile robot of the driven pedrail of omnidirectional moving of the present utility model can also walk on the road surface of out-of-flatness, carry out
Obstacle detouring, can adapt to different orographic conditions.Because the utility model employs crawler haulage, therefore without the concern for damping property
Can, than existing omnidirectional's wheel mobile robot good damping effect.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the driven pedrail of omnidirectional moving of the utility model；
Fig. 2 is a kind of explosive view of the roll wheel assembly of the driven pedrail of omnidirectional moving of the utility model；
Fig. 3 is a kind of structural representation of the outer link component of the driven pedrail of omnidirectional moving of the utility model；
Fig. 4 is a kind of structural representation of the roller fixed mount of the driven pedrail of omnidirectional moving of the utility model.
Fig. 5 is a kind of structural representation of the inner plate 206 of the driven pedrail of omnidirectional moving of the utility model.
Embodiment
It is understandable to enable above-mentioned purpose of the present utility model, feature and advantage to become apparent, below in conjunction with the accompanying drawings to this
The embodiment of utility model is described in detail.
The utility model provides a kind of driven pedrail of omnidirectional moving, refers to Fig. 1, including multiple outer link components 1,
Multiple roll wheel assemblies 2, drive sprocket 3.
Fig. 2 is referred to, each roll wheel assembly 2 includes roller 201, roller fixed mount 203, roller shaft 204, inner plate
206th, roller 207 and sleeve 208, the roller 201 have two, and the roller 201 is the elliposoidal of inner hollow, its both ends of the surface
For the round-shaped of formed objects.
Each roller 201 is arranged on a roller shaft 204, and the roller 201 can revolve around the roller shaft 204 itself
Turn；The two ends of each roller shaft 204 are separately fixed on a roller fixed mount 203, the same roller shaft 204 of connection
Two roller fixed mounts 203 are fixed on same inner plate 206.
Fig. 4 is referred to, the roller fixed mount 203 includes integrally formed upper mounted plate 401 and bottom plate 402, institute
State upper mounted plate 401 and bottom plate 402 is mutually perpendicular to, one first mounting hole 403 is provided with fixed plate 401.
One bearing 202 is respectively installed at the two ends of each roller 201, each roller shaft 204 passes through roller 201
The first mounting hole 403 on the internal, bearing 202 at the two ends of roller 201 and two roller fixed mounts 203, by jump ring 209 by institute
The two ends for stating roller shaft 204 are fixed on the roller fixed mount 203.In the presence of bearings at both ends 202, the roller 201
Around the roller shaft 204 itself rotation.
Fig. 5 is referred to, the inner plate 206 includes upper inner plate 404 and lower inner plate 405, the upper He of inner plate 404
Lower inner plate 405 is integrally formed and is mutually perpendicular to；One second installation is respectively arranged with the both sides of the lower inner plate 405
Hole 406.The lower inner plate 405 is preferably shaped to " ∞ " type, and the lower inner plate 405 may be designed as in addition to " ∞ " type
Other shapes.
The bottom plate 402 for connecting two roller fixed mounts 203 of same roller shaft 204 passes through conical head rivet 205
On the upper inner plate 404 for being fixed on same inner plate 206.
The roller 207 and sleeve 208 are the cylindrical of inner hollow；Each sleeve 208 is arranged on described in one
Inside roller 207, roller 207 and the sleeve 208 gap coordinates.The roller 207 and sleeve 208 are located at two interior chains
In the middle of the lower inner plate 405 of plate 206, and it is relative with the second mounting hole 406 on the lower both sides of inner plate 405 respectively.
Fig. 3 is referred to, each outer link component 1 is separately fixed at two outer plates including two outer plates 102, two ends
Two bearing pins 101 on 102.
The 3rd mounting hole, the two ends of the bearing pin 101 are respectively arranged with the both sides of each outer plate 102
In the 3rd mounting hole for being separately mounted to an outer plate 102, the mounting hole of bearing pin 101 and the 3rd interference fit；The exterior chain
Two bearing pins 101 in section component 1 be arranged in parallel.The outer plate 102 is preferably shaped to " ∞ " type, the outer plate 102
It may be designed as the other shapes in addition to " ∞ " type.
Inner plate 206 of two bearing pins 101 of any outer link component 1 respectively with two neighboring roll wheel assembly 2 connects
Connect, form driven pedrail.Specifically connected mode is：One of bearing pin 101 of the outer link component 1 passes through a roll wheel assembly
It is located at second mounting hole 406 of the same side inside the sleeve 208 of 2 side, on two inner plates 206 with above-mentioned sleeve 208, should
The two ends of bearing pin 101 are separately fixed on the same side of two outer plates 102；Another bearing pin 101 of the outer link component 1 is worn
It is located at the of the same side inside the sleeve 208 for the side for crossing adjacent roller assemblies 2, on two inner plates 206 with above-mentioned sleeve 208
Two mounting holes 406, the two ends of the bearing pin 101 are separately fixed on the opposite side of two outer plates 102.
Above-mentioned connected mode, wherein, bearing pin 101 and sleeve 208 gap coordinates.
Fig. 1 is referred to, the roller shaft 204 is mutually perpendicular to the bearing pin 101.
The respective quantity of the outer link component 1 and roll wheel assembly 2 can be changed according to actual conditions, form different
The driven pedrail of length.
Refer to and conical tooth is provided with Fig. 1, the drive sprocket 3, the conical tooth and outer link component 1, roller group
Space between part 2 cooperates.Drive sprocket 3 is connected with motor, and the power of the motor passes through drive chain
Wheel 3 is delivered on driven pedrail, so as to drive mobile robot to walk.
The quantity of the drive sprocket 3 can be two or more, according to the length scale of driven pedrail to driving
The quantity of sprocket wheel 3 is adjusted.When the length of driven pedrail is larger, two drive sprockets 3 effectively can not drive driven pedrail,
Driven pedrail is then driven using the drive sprocket 3 of three or more than three.
A kind of driven pedrail for omnidirectional moving that the utility model is provided may be mounted on the chassis of mobile robot, this
Utility model devises a kind of roller 201 of elliposoidal in roll wheel assembly 2, and roller 201 can be rotated around the axle of its own, passed through
The outer link component 1 of interconnection, the formation driven pedrail of roll wheel assembly 2, driven pedrail can be integrally displaced sideways.
The driven pedrail for the omnidirectional moving that multiple the utility model are provided, transmission can be installed on the chassis of mobile robot
Crawler belt could be arranged to different directions, form the combination of a variety of different driven pedrails, and the roller 201 of elliposoidal can make transmission
Crawler belt is easily moved.The combination formed by multiple driven pedrails, installs the driven pedrail of omnidirectional moving of the present utility model
Mobile robot can realize forward, traversing, diagonal, rotation and combinations thereof etc. multi-motion mode, you can carry out omnidirectional moving.
Installing the mobile robot of the driven pedrail of omnidirectional moving of the present utility model can also walk on the road surface of out-of-flatness, carry out
Obstacle detouring, can adapt to different orographic conditions.Because the utility model employs crawler haulage, therefore without the concern for damping property
Can, than existing omnidirectional's wheel mobile robot good damping effect.
Embodiment described above is merely to illustrate technological thought of the present utility model and feature, and its object is to make ability
Technical staff in domain can understand content of the present utility model and implement according to this, it is impossible to only limit this practicality with the present embodiment
New the scope of the claims, i.e., equal change or modification that all spirit according to disclosed in the utility model is made, still falls in this practicality
In new the scope of the claims.
Claims (10)
1. a kind of driven pedrail of omnidirectional moving, it is characterised in that including multiple outer link components (1) and multiple roll wheel assemblies
(2)；
The outer link component (1) includes two that two outer plates (102), two ends are separately fixed on two outer plates (102)
Individual bearing pin (101)；
The roll wheel assembly (2) includes two rollers (201), and the roller (201) is the elliposoidal of inner hollow, its both ends of the surface
For the round-shaped of formed objects；
Each roller (201) is arranged on a roller shaft (204), and the roller (201) can be around the roller shaft (204) certainly
Body rotates；The two ends of each roller shaft (204) are separately fixed on a roller fixed mount (203), the same rolling of connection
Two roller fixed mounts (203) of wheel shaft (204) are fixed on same inner plate (206)；
The inner plate of two bearing pins (101) of any outer link component (1) respectively with two neighboring roll wheel assembly (2)
(206) connect；The roller shaft (204) is mutually perpendicular to the bearing pin (101).
2. a kind of driven pedrail of omnidirectional moving according to claim 1, it is characterised in that the roller fixed mount
(203) integrally formed upper mounted plate (401) and bottom plate (402), fixed plate (401) and bottom plate are included
(402) it is mutually perpendicular to, one first mounting hole (403) is provided with fixed plate (401).
3. the driven pedrail of a kind of omnidirectional moving according to claim 2, it is characterised in that in each roller
(201) bearing (202) is respectively installed at two ends, and each roller shaft (204) passes through roller (201) inside, roller (201)
The first mounting hole (403) on the bearing (202) at two ends and two roller fixed mounts (203), by jump ring (209) by the rolling
The two ends of wheel shaft (204) are fixed on the roller fixed mount (203).
4. a kind of driven pedrail of omnidirectional moving according to claim 2, it is characterised in that inner plate (206) bag
Include inner plate (404) and lower inner plate (405), the upper inner plate (404) and lower inner plate (405) are integrally formed and mutually
Vertically；The lower inner plate (405) is " ∞ " type, and two the second mounting holes are provided with the lower inner plate (405)
(406)。
5. a kind of driven pedrail of omnidirectional moving according to claim 4, it is characterised in that the same roller shaft of connection
(204) bottom plate (402) of two roller fixed mounts (203) is fixed on same interior chain by conical head rivet (205)
On the upper inner plate (404) of plate (206).
6. the driven pedrail of a kind of omnidirectional moving according to claim 4, it is characterised in that the roll wheel assembly (2) is also
Including two rollers (207) and two sleeves (208), the roller (207) and the cylinder that sleeve (208) is inner hollow
Shape；Each sleeve (208) is arranged on roller described in one (207) inside, between the roller (207) and the sleeve (208)
Gap coordinates.
7. a kind of driven pedrail of omnidirectional moving according to claim 6, it is characterised in that the outer plate (102) is
" ∞ " type, is provided with two the 3rd mounting holes on each outer plate (102), and the two ends of the bearing pin (101) are pacified respectively
In the 3rd mounting hole of an outer plate (102), the bearing pin (101) is interference fitted with the 3rd mounting hole；The outer link
Two bearing pins (101) in component (1) be arranged in parallel.
8. the driven pedrail of a kind of omnidirectional moving according to claim 7, it is characterised in that the roller (207) and set
Cylinder (208) is located in the middle of the lower inner plate (405) of two inner plates (206)；A bearing pin (101) for the outer link component (1)
It is located on sleeve (208) inside, two inner plates (206) through the side of a roll wheel assembly (2) with above-mentioned sleeve (208) same
The second mounting hole (406) of side；Another bearing pin (101) of the outer link component (1) passes through the one of adjacent roller assemblies (2)
It is located at second mounting hole of the same side inside the sleeve (208) of side, on two inner plates (206) with above-mentioned sleeve (208)
(406)。
9. the driven pedrail of a kind of omnidirectional moving according to claim 8, it is characterised in that the bearing pin (101) and set
Cylinder (208) gap coordinates.
10. the driven pedrail of a kind of omnidirectional moving according to claim 1, it is characterised in that also including drive sprocket
(3) conical tooth, is provided with the drive sprocket (3), between conical tooth and the outer link component (1), roll wheel assembly (2)
Space cooperates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621332886.0U CN206327459U (en) | 2016-12-06 | 2016-12-06 | A kind of driven pedrail of omnidirectional moving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621332886.0U CN206327459U (en) | 2016-12-06 | 2016-12-06 | A kind of driven pedrail of omnidirectional moving |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206327459U true CN206327459U (en) | 2017-07-14 |
Family
ID=59288799
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621332886.0U Withdrawn - After Issue CN206327459U (en) | 2016-12-06 | 2016-12-06 | A kind of driven pedrail of omnidirectional moving |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206327459U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106515886A (en) * | 2016-12-06 | 2017-03-22 | 哈工大机器人集团上海有限公司 | Omni-directional moving transmission continuous track |
| CN108583704A (en) * | 2018-04-19 | 2018-09-28 | 张晋嘉 | Omnidirectional's creeper truck |
| CN113200096A (en) * | 2021-04-06 | 2021-08-03 | 贵州省质安交通工程监控检测中心有限责任公司 | Crawler walking device between narrow walls |
-
2016
- 2016-12-06 CN CN201621332886.0U patent/CN206327459U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106515886A (en) * | 2016-12-06 | 2017-03-22 | 哈工大机器人集团上海有限公司 | Omni-directional moving transmission continuous track |
| CN106515886B (en) * | 2016-12-06 | 2019-05-03 | 哈工大机器人集团上海有限公司 | A kind of driven pedrail of omnidirectional moving |
| CN108583704A (en) * | 2018-04-19 | 2018-09-28 | 张晋嘉 | Omnidirectional's creeper truck |
| CN113200096A (en) * | 2021-04-06 | 2021-08-03 | 贵州省质安交通工程监控检测中心有限责任公司 | Crawler walking device between narrow walls |
| CN113200096B (en) * | 2021-04-06 | 2023-02-21 | 贵州省质安交通工程监控检测中心有限责任公司 | Crawler walking device between narrow walls |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170714 Effective date of abandoning: 20190503 |
|
| AV01 | Patent right actively abandoned |