CN207644520U - Robot of Liftable type omnidirectional - Google Patents
Robot of Liftable type omnidirectional Download PDFInfo
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- CN207644520U CN207644520U CN201721559427.0U CN201721559427U CN207644520U CN 207644520 U CN207644520 U CN 207644520U CN 201721559427 U CN201721559427 U CN 201721559427U CN 207644520 U CN207644520 U CN 207644520U
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- bevel gear
- omni
- cylinder
- wheel
- robot
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Abstract
The utility model is related to a kind of robots of Liftable type omnidirectional, the utility model is driven using motor, pass through first bevel gear, second bevel gear, the transition of third hand tap gear and the 4th bevel gear turns to the rotation of driving omni-directional wheel, by the way that distance of the range sensor detecting distance sensor mounting location apart from ground is arranged on omni-directional wheel, and send a signal to the reception controller being electrically connected with cylinder, receive the stretching or contraction of controller control cylinder, control rising or falling for omni-directional wheel, to make 4 omni-directional wheels of the utility model robot be contacted always with ground surface, avoid the generation of overturn accident；4 omni-directional wheels are controlled respectively by four cylinders, keep the sensitivity of the robot of the utility model stronger.
Description
Technical field
The present invention relates to robotic technology fields, more particularly, to a kind of robot of Liftable type omnidirectional.
Background technology
With the development of science and technology, robot of omnidirectional is more and more extensive using field, still, the wheel of robot of omnidirectional
Son can not achieve height and adjust, more difficult using robot of omnidirectional in places such as fire-fighting place, earthquake-stricken area and farmlands, can not
The robot of omnidirectional for adjusting height is bad to the adaptability of landform, especially in hilly upland, is easy to happen overturn accident.
Invention content
The technical problem to be solved by the present invention is to：In order to overcome the wheel of robot of omnidirectional in the prior art can not achieve
Height is adjusted, more difficult using robot of omnidirectional in places such as fire-fighting place, earthquake-stricken area and farmlands, can not adjust height
Robot of omnidirectional is bad to the adaptability of landform, especially in hilly upland, the problem of being easy to happen overturn accident, provides one kind
Robot of Liftable type omnidirectional.
The technical solution adopted by the present invention to solve the technical problems is：A kind of robot of Liftable type omnidirectional, including vehicle
Body, several wheel body rotary lifting mechanisms and omni-directional wheel, several uniform cloths of wheel body rotary lifting mechanism are in the car body
Surrounding, the omni-directional wheel are arranged on the wheel body rotary lifting mechanism, and several distances are evenly distributed on the omni-directional wheel and are passed
Sensor is provided with reception controller, the range sensor and receptions controller letter on the wheel body rotary lifting mechanism
Number connection；
The wheel body rotary lifting mechanism includes motor, and the motor is fixedly mounted on the vehicle body, the motor
Output end stretches out the car body, and the output end of the motor is installed with first bevel gear, is installed with outside the car body
Static housing, the first bevel gear is located at the fixed inside the box, cylinder is rotatablely equipped on the static housing, described to connect
Admission controller is fixedly mounted on the cylinder, and is electrically connected with the cylinder, and the second cone tooth is installed on the cylinder
Wheel, the second bevel gear are engaged with the first bevel gear, and the external part of the cylinder is installed with third hand tap gear, institute
The external part for stating cylinder is rotatablely equipped with supporting box, and the third hand tap gear is located in the supporting box, the support case
Be rotatablely equipped with omni-directional wheel on body, be installed with the 4th bevel gear on the wheel shaft of the omni-directional wheel, the 4th bevel gear with
The third hand tap gear engages, and several rotation stop guide rods, several rotation stop guide rods are installed on the supporting box
Wear the static housing.
The present invention is driven using motor, passes through first bevel gear, second bevel gear, third hand tap gear and the 4th bevel gear
Transition turn to driving omni-directional wheel rotation, by be arranged on omni-directional wheel range sensor detecting distance sensor mounting location away from
Distance from the ground, and the reception controller being electrically connected with cylinder is sent a signal to, receive the stretching of controller control cylinder
Or shrink, that is, rising or falling for omni-directional wheel is controlled, to make 4 omni-directional wheels of robot of the present invention be connect always with ground surface
It touches, avoids the generation of overturn accident；4 omni-directional wheels are controlled respectively by four cylinders, make the sensitivity of the robot of the present invention
It is stronger.
In order to which rotational cylinder to be mounted on static housing, the bottom of the cylinder is installed with connecting pole, described solid
Determine to be provided with first through hole on babinet, the connecting pole passes through the first through hole and is fixedly connected with the second bevel gear, institute
It states and is arranged with first bearing on connecting pole, the inner ring of the first bearing is fixedly connected with the connecting pole, the first bearing
Outer ring be fixedly connected with the first through hole inner wall.
In order to realize that cylinder external part can rotate on supporting box, the second through-hole, institute are provided on the supporting box
It states and is installed with second bearing in the second through-hole, the external part of the cylinder is bored after the second bearing with the third
Gear is fixedly connected.
In order to which preferably omni-directional wheel is mounted on supporting box, the omni-directional wheel is fixedly mounted on described by mounting base
On supporting box.
The beneficial effects of the invention are as follows:The present invention is driven using motor, passes through first bevel gear, second bevel gear, third
The transition of bevel gear and the 4th bevel gear turns to the rotation of driving omni-directional wheel, is detected by the way that range sensor is arranged on omni-directional wheel
Distance of the range sensor installation site apart from ground, and the reception controller being electrically connected with cylinder is sent a signal to, it receives
Controller controls the stretching or contraction of cylinder, that is, controls rising or falling for omni-directional wheel, and 4 to make robot of the present invention are complete
It is contacted always with ground surface to wheel, avoids the generation of overturn accident；4 omni-directional wheels are controlled respectively by four cylinders, make this
The sensitivity of the robot of invention is stronger.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the schematic three dimensional views of the present invention；
Fig. 2 is the internal structure chart of the present invention；
Fig. 3 is the schematic three dimensional views of wheel body rotary lifting mechanism in the present invention；
Fig. 4 is the front view of wheel body rotary lifting mechanism in the present invention；
Fig. 5 is the enlarged drawing at A in Fig. 4 of the present invention.
In figure：1. car body, 2. omni-directional wheels, 3. receive controller, 4. motors, 5. first bevel gears, 6. static housings, 7. gas
Cylinder, 8. second bevel gears, 9. third hand tap gears, 10. supporting box, 11. the 4th bevel gears, 12. rotation stop guide rods, 13. connections
Column, 14. first bearings, 15. second bearings, 16. mounting bases.
Specific implementation mode
Presently in connection with attached drawing, the present invention will be further described in detail.These attached drawings are simplified schematic diagram, only with
Illustration illustrates the basic structure of the present invention, therefore it only shows the composition relevant to the invention.
Robot of a kind of Liftable type omnidirectional as shown in Figure 1, including car body 1,4 group of wheel body rotary lifting mechanism and omnidirectional
2,4 groups of uniform cloths of wheel body rotary lifting mechanism are taken turns in the surrounding of car body 1, wheel body rotary lifting mechanism includes motor 4, motor 4
It is fixedly mounted on inside car body 1 by screw, as shown in Fig. 2, 4 output end of motor stretches out car body 1, the output end welding of motor 4
There is first bevel gear 5, as shown in figure 3,1 outside weld of car body is connected to static housing 6, first bevel gear 5 is located in static housing 6, Gu
Determine to be rotatablely equipped with cylinder 7 on babinet 6, which is air cylinder capable of preventing piston rod from rotating 7, is equipped on cylinder 7 and receives controller 3, connects
Admission controller 3 is electrically connected with cylinder 7, and the bottom of cylinder 7 is welded with connecting pole 13, as shown in Figure 4 and Figure 5, is opened on static housing 6
It is welded with second bevel gear 8 after thering is first through hole, connecting pole 13 to pass through first through hole, first bearing is arranged on connecting pole 13
14, the inner ring of first bearing 14 is fixedly connected with connecting pole 13, and the outer ring of first bearing 14 is fixedly connected with first through hole inner wall,
Second bevel gear 8 is engaged with first bevel gear 5, and the external part of cylinder 7 is welded with third hand tap gear 9, is provided on supporting box 10
Second through-hole, is installed with second bearing 15 in the second through-hole, and the external part of cylinder 7 is bored after passing through second bearing 15 with third
Gear 9 is fixedly connected, and third hand tap gear 9 is located in supporting box 10, and omni-directional wheel 2, omnidirectional are rotatablely equipped on supporting box 10
It is installed with the 4th bevel gear 11 on the wheel shaft of wheel 2, the 4th bevel gear 11 engages with third hand tap gear 9, on supporting box 10
4 rotation stop guide rods, 12,4 rotation stop guide rods 12 are installed with to be respectively welded in four angles of 10 upper surface of supporting box
On, 4 rotation stop guide rods 12 wear static housing 6, and omni-directional wheel 2 is fixedly mounted on by mounting base 16 on supporting box 10,
At least five range sensor is evenly distributed on omni-directional wheel 2, range sensor is connect with 3 signal of controller is received.
The robot of Liftable type omnidirectional of the present invention is before use, 4 omni-directional wheels 2 are on sustained height, driving electricity
Machine 4, motor 4 drive first bevel gear 5 to rotate, and first bevel gear 5 is engaged with second bevel gear 8, to drive second bevel gear 8
Rotation, second bevel gear 8 are fixedly mounted on cylinder 7, and to drive cylinder 7 to rotate, the rotation of cylinder 7, which drives, is welded in cylinder 7
The third hand tap gear 9 of external part rotates, and third hand tap gear 9 is engaged with the 4th bevel gear 11, to drive 11 turns of the 4th bevel gear
Dynamic, the 4th bevel gear 11 is fixedly welded on the wheel shaft of omni-directional wheel 2, to drive the rotation of omni-directional wheel 2, robot to move, entirely
Range sensor on wheel 2 is started to work, when robot walks on rugged ground, on four omni-directional wheels 2
Range sensor distinguishes distance of the detecting distance sensor mounting location apart from ground, if the distance that range sensor detects is big
In setting distance (when i.e. robot is located in plane, range sensor installation site distance ground that range sensor detects
The distance in face), after reception controller 3 receives signal, control cylinder 7 stretches out, and supporting box 10 is driven to move downward, and supports case
Body 10 drives omni-directional wheel 2 to move downward, until the distance that detects of range sensor be equal to setting apart from when, cylinder 7 stops
Work；If the distance that range sensor detects is less than the distance set, (when i.e. robot is located in plane, range sensor is examined
Distance of the range sensor installation site measured apart from ground), after reception controller 3 receives signal, control cylinder 7 is received
Contracting drives supporting box 10 to move upwards, and supporting box 10 drives omni-directional wheel 2 to move upwards, until range sensor detects
Distance be equal to setting apart from when, cylinder 7 is stopped；The present invention is driven using motor 4, passes through first bevel gear 5, second
The transition of bevel gear 8, third hand tap gear 9 and the 4th bevel gear 11 turns to the rotation of driving omni-directional wheel 2, by being arranged in omni-directional wheel
Distance of the range sensor detecting distance sensor mounting location apart from ground on 2, and send a signal to and be electrically connected with cylinder 7
Reception controller 3, receive stretching or contraction that controller 3 controls cylinder 7, that is, control omni-directional wheel 2 and rise or fall, to
So that 4 omni-directional wheels 2 of robot of the present invention is contacted always with ground surface, avoids the generation of overturn accident；4 omni-directional wheels 2
It is controlled respectively by four cylinders 7, keeps the sensitivity of the robot of the present invention stronger.
It is enlightenment with above-mentioned desirable embodiment according to the present invention, through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property range is not limited to the contents of the specification, it is necessary to determine its technical scope according to right.
Claims (4)
1. a kind of robot of Liftable type omnidirectional, it is characterised in that：Including car body (1), several wheel body rotary lifting mechanisms and complete
To wheel (2), several uniform cloths of wheel body rotary lifting mechanism are in the surrounding of the car body (1), omni-directional wheel (2) setting
On the wheel body rotary lifting mechanism, several range sensors, the wheel body rotation are evenly distributed on the omni-directional wheel (2)
It is provided on elevating mechanism and receives controller (3), the range sensor is connect with reception controller (3) signal；
The wheel body rotary lifting mechanism includes motor (4), and the motor (4) is fixedly mounted on the car body (1) inside, described
Motor (4) output end stretches out the car body (1), and the output end of the motor (4) is installed with first bevel gear (5), described
Static housing (6) is installed with outside car body (1), the first bevel gear (5) is located in the static housing (6), described solid
Determine to be rotatablely equipped with cylinder (7) on babinet (6), the reception controller (3) is fixedly mounted on the cylinder (7), and with institute
State cylinder (7) electrical connection, be installed with second bevel gear (8) on the cylinder (7), the second bevel gear (8) with it is described
First bevel gear (5) engages, and the external part of the cylinder (7) is installed with third hand tap gear (9), and cylinder (7) are stretched
Outlet is rotatablely equipped with supporting box (10), and the third hand tap gear (9) is located in the supporting box (10), the support case
It is rotatablely equipped with omni-directional wheel (2) on body (10), the 4th bevel gear (11), institute are installed on the wheel shaft of the omni-directional wheel (2)
It states the 4th bevel gear (11) to engage with the third hand tap gear (9), several rotation stops is installed on the supporting box (10)
Guide rod (12), several rotation stop guide rods (12) wear the static housing (6).
2. robot of Liftable type omnidirectional as described in claim 1, it is characterised in that：Peace is fixed in the bottom of the cylinder (7)
Equipped with connecting pole (13), first through hole is provided on the static housing (6), the connecting pole (13) passes through the first through hole simultaneously
It is fixedly connected with the second bevel gear (8), first bearing (14), the first bearing is arranged on the connecting pole (13)
(14) inner ring is fixedly connected with the connecting pole (13), and the outer ring of the first bearing (14) and the first through hole inner wall are solid
Fixed connection.
3. robot of Liftable type omnidirectional as described in claim 1, it is characterised in that：Is provided on the supporting box (10)
Two through-holes, second bearing (15) is installed in second through-hole, and the external part of the cylinder (7) passes through second axis
(15) are held to be fixedly connected with the third hand tap gear (9) afterwards.
4. robot of Liftable type omnidirectional as described in claim 1, it is characterised in that：The omni-directional wheel (2) passes through mounting base
(16) it is fixedly mounted on the supporting box (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721559427.0U CN207644520U (en) | 2017-11-20 | 2017-11-20 | Robot of Liftable type omnidirectional |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721559427.0U CN207644520U (en) | 2017-11-20 | 2017-11-20 | Robot of Liftable type omnidirectional |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207644520U true CN207644520U (en) | 2018-07-24 |
Family
ID=62888977
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721559427.0U Expired - Fee Related CN207644520U (en) | 2017-11-20 | 2017-11-20 | Robot of Liftable type omnidirectional |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207644520U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111110358A (en) * | 2018-10-31 | 2020-05-08 | 杭州术创机器人有限公司 | Universal wheel for robot operation cart |
| CN111320102A (en) * | 2019-12-29 | 2020-06-23 | 宏光空降装备有限公司 | Hydraulic lifting platform |
| CN111552174A (en) * | 2020-05-13 | 2020-08-18 | 浙江工业大学 | Control method of terrain adaptive mobile robot lifting frame |
-
2017
- 2017-11-20 CN CN201721559427.0U patent/CN207644520U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111110358A (en) * | 2018-10-31 | 2020-05-08 | 杭州术创机器人有限公司 | Universal wheel for robot operation cart |
| TWI743582B (en) * | 2018-10-31 | 2021-10-21 | 大陸商杭州術創機器人有限公司 | Omni-directional wheels for a robotic surgical cart |
| CN111320102A (en) * | 2019-12-29 | 2020-06-23 | 宏光空降装备有限公司 | Hydraulic lifting platform |
| CN111552174A (en) * | 2020-05-13 | 2020-08-18 | 浙江工业大学 | Control method of terrain adaptive mobile robot lifting frame |
| CN111552174B (en) * | 2020-05-13 | 2022-11-04 | 浙江工业大学 | Control method of terrain adaptive mobile robot lifting frame |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180724 Termination date: 20211120 |