CN216374784U - Omnidirectional driving mechanism and mobile robot - Google Patents
Omnidirectional driving mechanism and mobile robot Download PDFInfo
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- CN216374784U CN216374784U CN202121810534.2U CN202121810534U CN216374784U CN 216374784 U CN216374784 U CN 216374784U CN 202121810534 U CN202121810534 U CN 202121810534U CN 216374784 U CN216374784 U CN 216374784U
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Abstract
The utility model provides an omnidirectional driving mechanism which comprises a bracket, a first driving device, a second driving device, a first driving wheel, a second driving wheel and a wheel frame, wherein the bracket is arranged on the bracket; the wheel frame is arranged at the lower part of the bracket in a horizontally rotatable manner, and the first driving wheel and the second driving wheel are oppositely arranged at two sides of the wheel frame; the first driving device is used for driving the first driving wheel to rotate, and the second driving device is used for driving the second driving wheel to rotate; the utility model provides a mobile robot applying the omnidirectional driving mechanism. The omnidirectional driving mechanism is provided with two driving wheels which independently operate, so that a double-wheel type driving steering wheel is formed, and multi-angle adjustment and movement can be performed according to different operation conditions and different terrains.
Description
Technical Field
The utility model relates to the field of AGV operation auxiliary equipment, in particular to an omnidirectional driving mechanism and a mobile robot.
Background
The intelligent mobile robot is a kind of intelligent equipment that can be widely used in industrial manufacturing industry, and the intelligent mobile robot moves in the production field through the driving wheel and the driven wheel that are installed at the bottom, wherein the driving wheel is a steering driving wheel that is provided with a power source, the existing steering driving wheel (such as chinese patent No. CN202010154411.1) includes a driving device and a single wheel body, and the steering driving wheel has the following defects: (1) when the steering driving wheel rotates to roll, the friction of the wheel body on the ground is mainly twisting sliding friction, so that the wheel body and the ground are both worn; (2) the steering resistance of the steering drive wheel is large, and in order to overcome the large steering resistance, the power consumption of the drive device is increased.
In order to overcome the technical problems, a steering driving wheel with two wheel bodies is provided on the market as disclosed in chinese patent No. CN202010188472.4, in which a rotating shaft and a rotation driving device are added in the middle of the steering driving wheel, the two wheel bodies are rotatably disposed on two sides of the rotating shaft, and when the steering driving wheel needs to steer and roll, the rotation driving device drives the rotating shaft to rotate, so that the two wheel bodies perform reverse motion around the rotating shaft, thereby realizing steering of the steering driving wheel, reducing loss to the ground, and reducing power consumption of the driving device due to reduction of steering resistance, but the steering driving wheel has the following defects: (1) the steering spaces of the two wheel bodies are mutually restricted, so that the range of the rotatable angle of the wheel bodies is small, and the application range of the steering driving wheel is limited; (2) the steering driving wheel is only suitable for a horizontal plane and cannot adapt to a production field with complex road surface conditions.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome the defects of the prior art and provides an omnidirectional driving mechanism which is provided with two driving wheels which independently operate, so that a double-wheel type driving steering wheel is formed, and multi-angle adjustment and movement can be performed according to different operation conditions and different terrains.
In order to achieve the purpose, the utility model adopts the following technical scheme:
the omnidirectional driving mechanism comprises a bracket, a first driving device, a second driving device, a first driving wheel, a second driving wheel and a wheel frame; the wheel frame is arranged at the lower part of the bracket in a horizontally rotatable manner, and the first driving wheel and the second driving wheel are oppositely arranged at two sides of the wheel frame; the first driving device is used for driving the first driving wheel to rotate, and the second driving device is used for driving the second driving wheel to rotate.
Compared with the prior art, the omnidirectional driving mechanism is provided with the two driving wheels which independently operate, the two driving wheels can coordinate to operate in multiple modes to complete multi-angle rotation of the omnidirectional driving mechanism, the range of the rotation angle is large, and the application range (robots with different specifications and production fields with different areas) of the omnidirectional driving mechanism is enlarged; in addition, two drive wheels can be adjusted and remove to the multi-angle of different operation condition and different topography through the coordinated rotation to the production place that the adaptation road surface condition is complicated.
Preferably, the wheel frame is provided with a first rotating shaft and a second rotating shaft; the first driving device is in transmission connection with the first driving wheel through a first rotating shaft, and the second driving device is in transmission connection with the second driving wheel through a second rotating shaft.
The arrangement mode is simple in structure, efficient and fast, power loss of the two driving devices in the operation process of the two driving wheels can be reduced, and movement precision of the driving wheels is improved.
Preferably, the second rotating shaft is sleeved outside the first rotating shaft; or the first rotating shaft is sleeved outside the second rotating shaft.
The two rotating shafts are arranged in a sleeved mode, so that the structure of the robot is more compact, the limited space can be more reasonably utilized, and the robot is convenient to design to be suitable for a small robot.
Preferably, the first driving device is in transmission connection with the first rotating shaft through a first transmission piece, and the second driving device is in transmission connection with the second rotating shaft through a second transmission piece.
According to the utility model, the first driving device and the second driving device are respectively in transmission connection with the two driving wheels through the first transmission piece and the second transmission piece, so that the first driving device and the second driving device are separately arranged relative to the two driving wheels, and therefore, production personnel can more reasonably arrange the circuit components of the first driving device and the second driving device at positions far away from the driving wheels, the circuit components are prevented from being dragged and abraded when the two driving wheels rotate, and the probability of electrical faults of the utility model is reduced.
Preferably, the first driving device and the second driving device are arranged on the bracket; the support is provided with a first linkage assembly and a second linkage assembly, the first driving device is in transmission connection with the first rotating shaft through the first linkage assembly, and the second driving device is in transmission connection with the second rotating shaft through the second linkage assembly.
Supply first drive arrangement, second drive arrangement to be connected with first axis of rotation, second axis of rotation transmission respectively through setting up first linkage subassembly and second linkage subassembly to be convenient for through the specification of adjusting first linkage subassembly and second linkage subassembly, can realize variable speed transmission or geometric transmission, thereby the rotation speed and the direction of rotation of easily adjusting first axis of rotation, second axis of rotation.
Preferably, the first driving device and the second driving device are arranged at one end of the bracket, and the wheel frame is arranged at the other end of the bracket opposite to the first driving device and the second driving device.
The driving device and the driving wheel are separately arranged at the two ends of the bracket, so that the whole robot tends to be flattened, on one hand, the center of gravity of the robot applying the robot is reduced, and the stability of the robot in moving is improved, on the other hand, the parts of the robot are more reasonably arranged, and proper distances are kept among the parts, so that maintenance personnel can replace and maintain certain parts without affecting other parts.
Preferably, the wheel frame is connected with the bracket through a rotating mechanism, the rotating mechanism comprises a rotating bearing and a cover body, the cover body is rotatably arranged at the lower part of the bracket through the rotating bearing, and the cover body is connected with the wheel frame.
The wheel frame can rotate relative to the bracket along a vertical axis by arranging a rotating mechanism between the wheel frame and the bracket, so that the driving wheel can rotate relative to the bracket according to actual conditions to adapt to the current ground.
Preferably, two ends of the wheel frame are respectively connected with the cover body through rotating shafts.
By adopting the arrangement mode, the wheel frame can swing towards two sides relative to the support, so that when the robot is positioned on a complex terrain with a certain inclination, the wheel frame can keep at least one driving wheel to be tightly attached to the ground through swinging, the change of the terrain is adapted, and the phenomenon that the driving wheel slips on a high and low road section to influence the normal movement of the robot applying the robot is avoided.
Preferably, a walking encoder is arranged on the support and used for measuring the rotation angle of the rotary bearing.
The utility model also aims to provide a mobile robot applying the omnidirectional driving mechanism, which comprises a vehicle body, wherein a plurality of omnidirectional driving mechanisms and driven wheels are arranged on the vehicle body.
Compared with the prior art, the mobile robot is provided with the omnidirectional driving mechanism which can be used for multi-angle adjustment and movement in different terrains, so that the mobile robot can complete related operations on a production site with complex terrains, and the production efficiency is improved.
Drawings
FIG. 1 is a schematic view of a first angle of the present invention;
FIG. 2 is a schematic view of a second angle of the present invention;
FIG. 3 is a schematic view of a third angle of the present invention;
FIG. 4 is a cross-sectional view at a first angle of the present invention;
FIG. 5 is a cross-sectional view of the present invention at a second angle;
FIG. 6 is a third angle cross-sectional view of the present invention;
FIG. 7 is a schematic representation of a first operational state of the present invention;
FIG. 8 is a schematic representation of a second operational state of the present invention;
FIG. 9 is a schematic illustration of a third operational state of the present invention;
FIG. 10 is a schematic representation of a fourth operational state of the present invention;
fig. 11 is a schematic view of a fifth operating state of the present invention.
Description of reference numerals:
the device comprises a support 1, a first driving device 21, a second driving device 22, a first driving wheel 31, a second driving wheel 32, a wheel frame 4, a first rotating shaft 51, a first transmission piece 52, a first linkage component 53, a second rotating shaft 54, a second transmission piece 55, a second linkage component 56, a gear 6, a linkage shaft 61, a synchronizing wheel 62, a rotating mechanism 7, a rotating bearing 71, a supporting plate 72, a rotating shaft 73 and a walking encoder 8.
Detailed Description
Embodiments of the present invention are described below with reference to the accompanying drawings:
example one
Referring to fig. 1 to 6, the omnidirectional driving mechanism of the present embodiment includes a bracket 1, a first driving device 21, a second driving device 22, a first driving wheel 31, a second driving wheel 32, and a wheel frame 4; the wheel frame 4 is horizontally and rotatably arranged at the lower part of the bracket 1, and the first driving wheel 31 and the second driving wheel 32 are oppositely arranged at two sides of the wheel frame 4; the first driving device 21 is used for driving the first driving wheel 31 to rotate, and the second driving device 22 is used for driving the second driving wheel 32 to rotate.
Referring to fig. 4 to 5, the wheel frame 4 is provided with a first rotating shaft 51 and a second rotating shaft 54; the first driving device 21 is in transmission connection with the first driving wheel 31 through a first rotating shaft 51, and the second driving device 22 is in transmission connection with the second driving wheel 32 through a second rotating shaft 54.
Referring to fig. 4 to 5, in particular, the first rotating shaft 51 is in transmission connection with the first driving wheel 31 through a plurality of gears 6, and the second rotating shaft 54 is in transmission connection with the second driving wheel 32 through a plurality of gears 6.
The arrangement mode is simple in structure, efficient and fast, power loss of the two driving devices in the operation process of the two driving wheels can be reduced, and movement precision of the driving wheels is improved.
Referring to fig. 4 to 5, the first rotating shaft 51 is sleeved outside the second rotating shaft 54.
As a foreseeable arrangement, it is also possible to provide: the second rotating shaft 54 is sleeved outside the first rotating shaft 51.
The two rotating shafts are arranged in a sleeved mode, so that the structure of the robot is more compact, the limited space can be more reasonably utilized, and the robot is convenient to design to be suitable for a small robot.
Referring to fig. 1, 3, 5 and 6, the first driving device 21 is in transmission connection with the first rotating shaft 51 through a first transmission piece 52, and the second driving device 22 is in transmission connection with the second rotating shaft 54 through a second transmission piece 55.
Specifically, the first transmission member 52 and the second transmission member 55 may be a chain, a toothed belt, a gear, or the like.
According to the utility model, the first driving device 21 and the second driving device 22 are respectively in transmission connection with the two driving wheels through the first transmission piece 52 and the second transmission piece 55, so that the first driving device 21 and the second driving device 22 are separately arranged relative to the two driving wheels, and therefore, production personnel can conveniently arrange the circuit components of the first driving device 21 and the second driving device 22 at positions far away from the driving wheels more reasonably, dragging and abrasion of the circuit components when the two driving wheels rotate are avoided, and the probability of electrical faults of the utility model is reduced.
Referring to fig. 5, a first driving device 21 and a second driving device 22 are arranged on the bracket 1; the support 1 is provided with a first linkage assembly 53 and a second linkage assembly 56, the first driving device 21 is in transmission connection with the first rotating shaft 51 through the first linkage assembly 53, and the second driving device 22 is in transmission connection with the second rotating shaft 54 through the second linkage assembly 56.
Referring to fig. 5, in particular, the first linkage assembly 53 and the second linkage assembly 56 include a gear 6, a linkage shaft 61 and a synchronizing wheel 62, the linkage shaft 61 is disposed on the bracket 1, the first driving device 21 (the second driving device 22) is in transmission connection with the linkage shaft 61 through the gear 6, the synchronizing wheel 62 is disposed on the linkage shaft 61, and the synchronizing wheel 62 is in transmission connection with the first rotating shaft 51 (the second rotating shaft 54) through the first transmission piece 52 (the second transmission piece 55).
The first linkage assembly 53 and the second linkage assembly 56 are arranged to allow the first driving device 21 and the second driving device 22 to be in transmission connection with the first rotating shaft 51 and the second rotating shaft 54 respectively, so that variable transmission or equal ratio transmission can be realized by adjusting the specifications of the first linkage assembly 53 and the second linkage assembly 56, and the rotating speed and the rotating direction of the first rotating shaft 51 and the second rotating shaft 54 can be adjusted easily.
Referring to fig. 1 to 3, 5 and 6, the first driving device 21 and the second driving device 22 are disposed at one end of the bracket 1, and the wheel frame 4 is disposed at the other end of the bracket 1 opposite to the first driving device 21 and the second driving device 22.
The driving device and the driving wheel are separately arranged at the two ends of the bracket 1, so that the whole robot tends to be flat, on one hand, the center of gravity of the robot applying the robot can be reduced, and the stability of the robot during moving is improved, on the other hand, the parts of the robot are more reasonably arranged, and proper distance is kept between the parts, so that maintenance personnel can replace and maintain certain parts without influencing other parts.
Referring to fig. 1, 2 and 5, the wheel frame 4 and the frame 1 are connected through a rotating mechanism 7, the rotating mechanism 7 includes a rotating bearing 71 and a cover 72, the cover 72 is rotatably disposed at the lower portion of the frame 1 through the rotating bearing 71, and the cover 72 is connected to the wheel frame 4.
By arranging a rotating mechanism 7 between the wheel frame 4 and the bracket 1, the wheel frame 4 can rotate along a vertical axis relative to the bracket 1, so that the driving wheel can rotate relative to the bracket 1 according to actual conditions to adapt to the current ground.
Referring to fig. 4, specifically, a walking encoder 8 is arranged on the bracket 1, and the walking encoder 8 is used for measuring the rotation angle of the rotating bearing 71.
Referring to fig. 1, 2 and 5, the wheel frame 4 is connected to the housing 72 at two ends via a rotating shaft 73.
Specifically, the cover body 72 includes two support plates 72, the two support plates 72 are oppositely disposed at the front and rear ends of the wheel frame 4, the upper portions of the two support plates 72 are connected to the rotary bearing 71, and the two ends of the wheel frame 4 are respectively connected to the two support plates 72 through a rotating shaft 73.
By adopting the arrangement mode, the wheel frame 4 can swing towards two sides relative to the support 1, and when the robot is positioned on a complex terrain with a certain inclination, the wheel frame 4 can keep at least one driving wheel tightly attached to the ground through swinging, so that the robot adapts to terrain change, and the driving wheel is prevented from slipping on a high and low road section to influence the normal movement of the robot applying the robot.
The outer layers of the first driving wheel 31 and the second driving wheel 32 are made of rubber, polyurethane or the like, and the first driving wheel 31 and the second driving wheel 32 are also made of all-solid rubber tires or all-solid polyurethane tires, so that the driving wheels are ensured to have good ground catching force.
Compared with the prior art, the omnidirectional driving mechanism is provided with the two driving wheels which independently operate, the two driving wheels can coordinate to operate in multiple modes to complete multi-angle rotation of the omnidirectional driving mechanism, the range of the rotation angle is large, and the application range (robots with different specifications and production fields with different areas) of the omnidirectional driving mechanism is enlarged; in addition, two drive wheels can be adjusted and remove to the multi-angle of different operation condition and different topography through the coordinated rotation to the production place that the adaptation road surface condition is complicated.
Example two
The utility model also aims to provide a mobile robot applying the omnidirectional driving mechanism, which comprises a vehicle body, wherein a plurality of omnidirectional driving mechanisms and driven wheels are arranged on the vehicle body.
Compared with the prior art, the mobile robot is provided with the omnidirectional driving mechanism which can be used for multi-angle adjustment and movement in different terrains, so that the mobile robot can complete related operations on a production site with complex terrains, and the production efficiency is improved.
The present description does not show the drawings of the present embodiment, but the present embodiment falls within the scope of the claims of the present invention.
EXAMPLE III
Another object of the present invention is to provide a working method of the above omnidirectional driving mechanism, which includes the following five conditions:
(1) referring to fig. 7, when the intelligent mobile robot is driven to move forward in a straight line, the working process of the omnidirectional driving mechanism includes the following steps:
the first driving device 21 drives the first driving wheel 31 to rotate forwards, the rotating speed of the first driving wheel 31 is v1, the second driving device 22 drives the second driving wheel 32 to rotate forwards, the rotating speed of the second driving wheel 32 is v2, and v1 is v2 ≠ 0.
The two drive wheels rotate forward at the same speed.
(2) Referring to fig. 8, when the intelligent mobile robot is driven to move backward in a straight line, the operation process of the omnidirectional driving mechanism includes the following steps:
the first driving device 21 drives the first driving wheel 31 to rotate backwards, the rotating speed of the first driving wheel 31 is v1, the second driving device 22 drives the second driving wheel 32 to rotate backwards, the rotating speed of the second driving wheel 32 is v2, and v1 is v2 ≠ 0.
The two drive wheels rotate backward at the same speed.
(3) Referring to fig. 9, when the intelligent mobile robot is driven to move to the side, the operation process of the omnidirectional driving mechanism includes the following steps:
the first driving device 21 drives the first driving wheel 31 to rotate forwards or backwards, the rotating speed of the first driving wheel 31 is v1, the second driving device 22 drives the second driving wheel 32 to rotate in the same direction as the rotating direction of the first driving wheel 31, the rotating speed of the second driving wheel 32 is v2, v1 is not equal to 0, v2 is not equal to 0, and v1 is not equal to v 2.
The two driving wheels rotate towards the set direction in a differential speed way and rotate relative to the frame.
(4) Referring to fig. 10, when the intelligent mobile robot is driven to move transversely, the working process of the omnidirectional driving mechanism includes the following steps:
the first driving device 21 drives the first driving wheel 31 to rotate forwards or backwards, the rotating speed of the first driving wheel 31 is v1, the second driving device 22 drives the second driving wheel 32 to rotate in the same direction as the rotating direction of the first driving wheel 31, the rotating speed of the second driving wheel 32 is v2, v1 is not equal to 0, v2 is not equal to 0, and v1 is not equal to v 2.
The two driving wheels rotate towards the set direction in a differential speed way and rotate 90 degrees relative to the frame.
(5) Referring to fig. 11, when the intelligent mobile robot is driven to move transversely, the working process of the omnidirectional driving mechanism includes the following steps:
the first driving device 21 drives the first driving wheel 31 to rotate forwards or backwards, the rotating speed of the first driving wheel 31 is v1, the second driving device 22 drives the second driving wheel 32 to rotate in the direction opposite to the rotating direction of the first driving wheel 31, the rotating speed of the second driving wheel 32 is v2, v1 is not equal to 0, v2 is not equal to 0, and v1 is not equal to v 2.
The two driving wheels rotate in opposite directions to make the two driving wheels rotate 90 degrees relative to the frame after rotating in situ.
Compared with the prior art, the working method of the omnidirectional driving mechanism has the advantages that the two driving wheels are independently driven by the two driving devices, and the two driving wheels are coordinated and operated in multiple modes, so that the robot applying the omnidirectional driving mechanism can perform actions such as in-situ rotation, linear movement, transverse movement, curvilinear movement and the like on the complex terrain, the moving speed of the robot applying the omnidirectional driving mechanism on the complex terrain is effectively improved, and the production efficiency is improved.
Variations and modifications to the above-described embodiments may occur to those skilled in the art, which fall within the scope and spirit of the above description. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and variations of the present invention should fall within the scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.
Claims (10)
1. The omnidirectional driving mechanism is characterized by comprising a bracket, a first driving device, a second driving device, a first driving wheel, a second driving wheel and a wheel frame;
the wheel frame is arranged at the lower part of the bracket in a horizontally rotatable manner, and the first driving wheel and the second driving wheel are oppositely arranged at two sides of the wheel frame;
the first driving device is used for driving the first driving wheel to rotate, and the second driving device is used for driving the second driving wheel to rotate.
2. The omni directional drive mechanism according to claim 1, wherein the wheel frame has a first rotational axis and a second rotational axis;
the first driving device is in transmission connection with the first driving wheel through a first rotating shaft, and the second driving device is in transmission connection with the second driving wheel through a second rotating shaft.
3. The omni directional drive mechanism according to claim 2, wherein the second rotational shaft is sleeved outside the first rotational shaft;
or the first rotating shaft is sleeved outside the second rotating shaft.
4. An omnidirectional drive mechanism according to claim 2, wherein the first drive means is drivingly connected to the first rotatable shaft by a first transmission member and the second drive means is drivingly connected to the second rotatable shaft by a second transmission member.
5. The omnidirectional drive mechanism of claim 2, wherein the first drive device and the second drive device are disposed on the bracket;
the support is provided with a first linkage assembly and a second linkage assembly, the first driving device is in transmission connection with the first rotating shaft through the first linkage assembly, and the second driving device is in transmission connection with the second rotating shaft through the second linkage assembly.
6. An omnidirectional drive mechanism according to claim 1, wherein the first drive means and the second drive means are disposed at one end of the frame, and the wheel carrier is disposed at the other end of the frame opposite the first drive means and the second drive means.
7. The omni directional drive mechanism according to claim 1, wherein the wheel frame is coupled to the frame via a rotation mechanism, the rotation mechanism comprising a rotational bearing and a cover rotatably disposed below the frame via the rotational bearing, the cover being coupled to the wheel frame.
8. The omni directional drive mechanism according to claim 7, wherein both ends of the wheel frame are respectively connected to the housing through a rotating shaft.
9. The omni directional drive mechanism according to claim 7, wherein a travel encoder is provided on the support for measuring the rotation angle of the rotational bearing.
10. A mobile robot, comprising a vehicle body, wherein a plurality of driving mechanisms and driven wheels are arranged on the vehicle body, and the driving mechanism is an omnidirectional driving mechanism as claimed in any one of claims 1 to 9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202121810534.2U CN216374784U (en) | 2021-08-04 | 2021-08-04 | Omnidirectional driving mechanism and mobile robot |
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| CN202121810534.2U CN216374784U (en) | 2021-08-04 | 2021-08-04 | Omnidirectional driving mechanism and mobile robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113650700A (en) * | 2021-08-04 | 2021-11-16 | 广东嘉腾机器人自动化有限公司 | Omnidirectional driving mechanism, mobile robot and working method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113650700A (en) * | 2021-08-04 | 2021-11-16 | 广东嘉腾机器人自动化有限公司 | Omnidirectional driving mechanism, mobile robot and working method |
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