CN210455014U - Omnidirectional chassis structure based on universal wheels - Google Patents
Omnidirectional chassis structure based on universal wheels Download PDFInfo
- Publication number
- CN210455014U CN210455014U CN201920994187.XU CN201920994187U CN210455014U CN 210455014 U CN210455014 U CN 210455014U CN 201920994187 U CN201920994187 U CN 201920994187U CN 210455014 U CN210455014 U CN 210455014U
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- chassis
- universal wheels
- universal
- structure based
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- 239000000725 suspension Substances 0.000 claims abstract description 19
- 230000005540 biological transmission Effects 0.000 claims abstract description 15
- 230000035939 shock Effects 0.000 claims abstract description 5
- 239000006096 absorbing agent Substances 0.000 claims abstract description 4
- 230000033001 locomotion Effects 0.000 claims description 11
- 230000008878 coupling Effects 0.000 claims description 9
- 238000010168 coupling process Methods 0.000 claims description 9
- 238000005859 coupling reaction Methods 0.000 claims description 9
- 230000002457 bidirectional effect Effects 0.000 claims description 7
- 238000006243 chemical reaction Methods 0.000 abstract description 2
- 238000013016 damping Methods 0.000 abstract 1
- 239000000463 material Substances 0.000 abstract 1
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000008602 contraction Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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Abstract
The utility model provides an omnidirectional chassis structure based on universal wheel is applicable to mechanical technical field, both can be used to install the robot and control its walking, also can directly carry as article transportation. The device comprises a chassis, a driving device, universal wheels and a suspension device. The whole shape of the chassis is an equilateral triangle, and three sides of the chassis are respectively cut off a small regular triangle to form a space for mounting three universal wheels; the driving device comprises three driving motors which are arranged on a motor fixing support which is rigidly connected with the chassis, and the motors are symmetrically arranged at the center of a circle; the universal wheel is connected with the driving device through a spline shaft and a universal joint and receives torque transmission; the suspension device is a spring shock absorber connected with the chassis. Compare in traditional chassis structure, because the omniwheel is made by hard material, therefore the damping performance of omniwheel itself is relatively poor, the utility model provides an omniwheel chassis structure carries out the shock attenuation through adding the spring suspension, can effectually prevent the idle running phenomenon of omniwheel, and this omniwheel chassis structure transmission efficiency is high, and the reaction is fast, and is flexible, easily control.
Description
Technical Field
The utility model belongs to the technical field of mechanical structure and, especially, relate to an omnidirectional chassis structure.
Background
The omnidirectional chassis is a chassis capable of translating and rotating in all directions, so that the chassis can walk in all directions. The omnidirectional chassis comprises at least three independent driving universal wheels, and the chassis can move in all directions under the mutual constraint of the wheels by controlling the rotating speed of each motor for driving the omnidirectional wheels.
With the progress of the scientific and technological level, the requirements of people on quality of life and the industrial requirements are also obviously improved. The requirements of large and small enterprises and factories on the functions of the mobile carrying platform can not only meet basic movement no matter at home or abroad, but the traditional mobile carrying platform is limited by the structure of the traditional mobile carrying platform, has great defects in the maneuvering flexibility of the moving direction, and hinders the use of the traditional mobile carrying platform in some working occasions with higher precision. At present, three-wheel, four-wheel or multi-wheel mobile chassis on the market often have a plurality of problems of simple structure but poor motion stability and adaptability, or good stability but inflexible motion, heavy body type and the like. Therefore, the design of the omnidirectional chassis which is applicable to narrow space and has simple structure, flexible movement and strong stability and adaptability on different road surfaces and can realize omnidirectional steering and moving becomes the key point of research of people.
Disclosure of Invention
An object of the utility model is to overcome above-mentioned prior art not enough, provide a simple structure is convenient for make, and the motion is nimble, and transmission efficiency is high, and reaction rate is fast, and motion stationarity is good, the strong omnidirectional chassis structure of adaptability.
The utility model discloses a design as follows: an omnidirectional chassis structure based on universal wheels comprises universal wheels, connecting rods, a suspension device, a motor fixing support, a chassis, fixing strips, bearing seats, a flange coupling, a bidirectional universal joint, an elastic coupling, a driving device and a spline shaft part; the overall shape of the chassis is an equilateral triangle, and three sides of the chassis are respectively cut off a small regular triangle to form a space for mounting universal wheels; the driving device is three driving motors arranged on a motor fixing support of the chassis, and the driving motors are symmetrically arranged in a circle center manner; the universal wheel is connected with the driving device through shaft transmission and receives the output torque of the driving motor; the suspension device is a spring shock absorber connected with the chassis.
Preferably, the fixed support of the driving motor is rigidly connected with the chassis without relative movement.
Preferably, the number of the universal wheels is three, the universal wheels are respectively arranged in one-to-one correspondence with the driving motors, and torque transmission is performed through connecting shafts; the connecting shaft is a common transmission shaft and a spline shaft, and a bidirectional universal joint is arranged in the middle of the connecting shaft so as to realize torque transmission under the condition that shaft axes are not collinear.
Preferably, the suspension device is installed between the chassis and the bearing seat, is fixedly connected with the chassis through four bolts, forms a revolute pair with the bearing seat, and is installed in parallel with the motor fixing support.
Preferably, a through hole is formed in the middle of the bearing seat and used for allowing a connecting shaft to penetrate through, the bearing seat is connected with the suspension rear baffle through two connecting rods, the two connecting rods are connected with the bearing seat and the suspension rear baffle through bolts to form a rotating pair capable of rotating relatively, and two fixing battens are fixed between the two connecting rods through bolts to ensure movement consistency.
Preferably, the chassis has a shape corresponding to a layout of the motors, the universal wheels, the suspension, and the bearing housing.
The utility model provides an omnidirectional chassis simple structure is convenient for make, and the motion is nimble, and transmission efficiency is high, and the stationarity is good. The whole driving device is arranged in a circle center symmetry manner, the mass distribution is uniform, the size of the omnidirectional wheel is proper, and the bearing capacity of the omnidirectional wheel can be effectively exerted. In addition, the device can well adapt to jolting caused by uneven road surfaces, can effectively prevent the phenomenon of idle rotation of the omnidirectional wheel caused by the jolting, and simultaneously plays a certain role in protecting the driving motor.
Drawings
Fig. 1 is the utility model discloses a structural schematic of omnidirectional chassis structure based on universal wheel.
Fig. 2 is a front view of the omnidirectional chassis structure based on the universal wheels.
Fig. 3 is a bottom view of the omnidirectional chassis structure based on universal wheels of the present invention.
Fig. 4 is a cross-sectional view of the omnidirectional chassis structure based on the universal wheel of the utility model.
Detailed Description
In order to make the objects, design solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail with reference to the accompanying drawings and embodiments. The specific embodiments described herein are merely illustrative of the invention and are not intended to be limiting of the invention.
As shown in fig. 1-4, the utility model provides an omnidirectional chassis structure based on universal wheels, which comprises universal wheels (1), a connecting rod (2), a suspension device (3), a motor fixing support (4), a chassis (5), a fixing plate strip (6), a bearing seat (7), a flange coupling (8), a bidirectional universal joint (9), an elastic coupling (10), a driving device (11) and a spline shaft (12); the overall shape of the chassis (5) is an equilateral triangle, and three sides of the chassis are respectively cut off a small regular triangle to form a space for mounting universal wheels; the driving devices (11) are three driving motors which are arranged on a motor fixing support of the chassis, and the driving motors are symmetrically arranged at the center of a circle; the universal wheel (1) is connected with the driving device through shaft transmission and receives the output torque of the driving motor; the suspension device is a spring shock absorber connected with the chassis.
The utility model discloses the working process:
after the installation of above-mentioned structure, the omnidirectional chassis is opened driving motor and is made omnidirectional chassis work, and the omnidirectional movement process on chassis is realized to output power size again according to the required direction control each driving motor's of marcing on omnidirectional chassis on-off state. During operation, the suspension device 3 can ensure that all the wheels of all the universal wheels are in contact with the ground when the universal wheels move forward respectively through the contraction and the extension of the spring, so that the omnidirectional chassis can well adapt to jolting caused by uneven road surfaces, the idle rotation phenomenon of the universal wheels caused by the omnidirectional chassis can be effectively prevented, and meanwhile, a certain protection effect is also exerted on the driving motor. The torque transmission of the driving device is started from the output shaft of the driving motor 11, the output shaft of the driving motor is protected from being damaged through the elastic coupling 10, and then the torque is transmitted to the bidirectional universal joint 9 and the flange coupling 8 through the transmission shaft to be transmitted to the universal wheel 1, and the two-way universal joint and the flange coupling are connected through the spline shaft 12. The bidirectional universal joint 9 and the spline shaft 12 are used for preventing the transmission part of the omnidirectional chassis from being damaged due to the fact that the universal wheels cling to the ground and generate relative displacement in height with the ground when the spring suspension 3 works, and are used for transmitting torque under the condition that the shaft axes are not collinear, so that the omnidirectional chassis is higher in adaptability and can move under the condition of uneven road surfaces.
The present invention has been described in detail with reference to the embodiments, but equivalent modifications, improvements and substitutions can be made to the above embodiments according to the concept of the present invention. Such equivalent modifications, improvements and substitutions are intended to be within the scope of the present invention.
Claims (6)
1. The utility model provides an omnidirectional chassis structure based on universal wheel which characterized in that: the universal wheel type motor fixing device comprises universal wheels (1), connecting rods (2), a suspension device (3), a motor fixing support (4), a chassis (5), a fixing plate strip (6), a bearing seat (7), a flange coupling (8), a bidirectional universal joint (9), an elastic coupling (10), a driving device (11) and a spline shaft (12); the overall shape of the chassis (5) is an equilateral triangle, and three sides of the chassis are respectively cut off a small regular triangle to form a space for mounting universal wheels; the driving devices (11) are three driving motors which are arranged on a motor fixing support of the chassis, and the driving motors are symmetrically arranged at the center of a circle; the universal wheel (1) is connected with the driving device through shaft transmission and receives the output torque of the driving motor; the suspension device is a spring shock absorber connected with the chassis.
2. The omni-directional chassis structure based on the universal wheels according to claim 1, wherein: and a fixed support of the driving motor is rigidly connected with the chassis and does not move relatively.
3. The omni-directional chassis structure based on the universal wheels according to claim 1, wherein: the three universal wheels are respectively arranged in one-to-one correspondence with the driving motors and used for transmitting torque through connecting shafts; the connecting shaft is a common transmission shaft and a spline shaft, and a bidirectional universal joint is arranged in the middle of the connecting shaft so as to realize torque transmission under the condition that shaft axes are not collinear.
4. The omni-directional chassis structure based on the universal wheels according to claim 1, wherein: the suspension device is arranged between the chassis and the bearing seat, is fixedly connected with the chassis through four bolts, forms a revolute pair with the bearing seat, and is arranged in parallel with the motor fixing support.
5. The omni-directional chassis structure based on universal wheels according to claim 1, wherein: the middle of the bearing seat is provided with a through hole for a connecting shaft to pass through, the bearing seat is connected with the suspension rear baffle through two connecting rods, the two connecting rods are connected with the bearing seat and the suspension rear baffle through bolts to form a rotating pair capable of rotating relatively, and two fixing battens are fixed between the two connecting rods through bolts to ensure the movement consistency.
6. The omni-directional chassis structure based on the universal wheels according to claim 1, wherein: the shape of the chassis corresponds to the layout formed by the motors, the universal wheels, the suspension and the bearing seats.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920994187.XU CN210455014U (en) | 2019-06-28 | 2019-06-28 | Omnidirectional chassis structure based on universal wheels |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920994187.XU CN210455014U (en) | 2019-06-28 | 2019-06-28 | Omnidirectional chassis structure based on universal wheels |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210455014U true CN210455014U (en) | 2020-05-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920994187.XU Expired - Fee Related CN210455014U (en) | 2019-06-28 | 2019-06-28 | Omnidirectional chassis structure based on universal wheels |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210455014U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112124023A (en) * | 2020-08-31 | 2020-12-25 | 深圳市优必选科技股份有限公司 | Chassis suspension mechanism and walking motion system |
| CN112208673A (en) * | 2020-08-31 | 2021-01-12 | 深圳市优必选科技股份有限公司 | Omnidirectional movement robot |
-
2019
- 2019-06-28 CN CN201920994187.XU patent/CN210455014U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112124023A (en) * | 2020-08-31 | 2020-12-25 | 深圳市优必选科技股份有限公司 | Chassis suspension mechanism and walking motion system |
| CN112208673A (en) * | 2020-08-31 | 2021-01-12 | 深圳市优必选科技股份有限公司 | Omnidirectional movement robot |
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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: 20200505 Termination date: 20210628 |