CN101665068A - Even landing device of robot car body - Google Patents
Even landing device of robot car body Download PDFInfo
- Publication number
- CN101665068A CN101665068A CN200910153172A CN200910153172A CN101665068A CN 101665068 A CN101665068 A CN 101665068A CN 200910153172 A CN200910153172 A CN 200910153172A CN 200910153172 A CN200910153172 A CN 200910153172A CN 101665068 A CN101665068 A CN 101665068A
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- Prior art keywords
- equalizing bar
- bracket
- drive wheel
- car body
- bumper
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 16
- 239000006096 absorbing agent Substances 0.000 abstract 5
- 230000035939 shock Effects 0.000 abstract 5
- 230000036316 preload Effects 0.000 description 4
- 230000014759 maintenance of location Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002301 combined effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
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Abstract
The invention discloses an even landing device of a robot car body. The eudipleural driving wheel unit of the invention respectively comprises a driving wheel, a driving wheel bracket, a coder arranged on a motor, a reducer and a motor, wherein the reducer and the motor are installed together; a self-balancing follower wheel unit comprises an upper bracket and a lower bracket of a shock absorber,the eudipleural shock absorber, an eudipleural follower wheel, a balance beam, two balance beam brackets and a bearing assembly; the reducer is fixedly installed on the driving wheel bracket, the driving wheel is fixed on the output shaft of the reducer, and the driving wheel bracket is fixed on a bottom plate; two follower wheels are arranged on two ends of the balance beam, and two ends of the shock absorber are movably connected with the upper bracket and the lower bracket of the shock absorber, and the upper bracket and the lower bracket of the shock absorber are correspondingly fixed on the bottom plate and the end part of the balance beam; the bearing assembly is arranged in the middle of the balance beam; and two balance beam brackets are respectively connected with the bearing assembly and the balance beam fixed on the bottom plate. The invention solves the problems of poor load capacity and easy overturning of the traditional robot car body and ensures that wheels can evenly land.
Description
Technical field
The invention belongs to the robot field, relate to a kind of even landing device of robot car body.
Background technology
Adopt the wheeled mobile robot of two-wheeled differential drive mechanism generally to be made up of two drive wheels and a flower wheel, this three-wheel mode that lands is simple in structure, and owing to " 3 coplanes " principle, three wheels can both land uniformly; But the shortcoming that the robot car body that adopts this mechanism has the load-carrying ability difference and topples easily.If the flower wheel number is increased to two, the robot front part sides is installed two drive wheels, and two flower wheels are installed in the both sides, rear portion, and then load-carrying ability and stability can significantly improve; But must solve the problem that four wheels can't evenly land, otherwise because the unsettled phenomenons of factor generation wheel such as installation deviation and Uneven road can influence the stability of car body and the accuracy of control.Chinese patent CN101117086 discloses a kind of robot vehicle body suspension system that adopts layering, secondary damping, but it does not consider the vibration that spring causes, the car body load-carrying ability is limited.
Summary of the invention
The purpose of this invention is to provide a kind of even landing device of robot car body, traditional three-wheel land robot car body load-carrying ability difference of arranging and the problem of toppling have easily been solved, guarantee that simultaneously wheel evenly lands, improved the load-carrying ability and the stability of robot car body.
Be to realize the object of the invention, the technical solution used in the present invention is: this even landing device of robot car body mainly comprises base plate, two symmetrical drive wheel unit and self-balancing flower wheel unit; Described drive wheel unit comprises drive wheel, drive wheel bracket, retarder, motor, coder; Self-balancing flower wheel unit comprises bumper upper bracket, two symmetrical bumpers, bumper lower bracket, two symmetrical flower wheels, equalizing bar, the first equalizing bar support, the second equalizing bar support, bearing assembly; Described motor and retarder are installed together, and coder is installed on the motor, and retarder is fixedly mounted on the drive wheel bracket, and drive wheel is fixed on the reducer output shaft, and drive wheel bracket is fixed on the base plate; Described two flower wheels are installed on the two ends of equalizing bar respectively, one end of described bumper connects with the bumper upper bracket is movable, the other end of bumper connects with the bumper lower bracket is movable, the bumper upper bracket is fixed on the base plate, the bumper lower bracket is fixed in the end of equalizing bar, described bearing assembly places the middle part of equalizing bar, the first equalizing bar support and the second equalizing bar support connect with bearing assembly, the first equalizing bar support and the second equalizing bar support and equalizing bar are fixedly connected, and bearing assembly is fixed on the base plate.
Further, on the reducer output shaft of the present invention tapered roller bearing is installed.
Further, reducer output shaft of the present invention connects with the wheel hub of drive wheel by bulging joining sleeve.
Compared with prior art, beneficial effect of the present invention:
(1) car body is equipped with four wheels, compares with traditional three-wheel robot car body, has improved the load-carrying ability and the stability of robot car body.
(2) reducer output shaft connects with wheel hub by bulging joining sleeve in the drive wheel unit, and type of drive is simple, compact conformation, and mounting or dismounting are convenient.
(3) reducer output shaft partly is equipped with a pair of tapered roller bearing in the drive wheel unit, can bear very big diametral load and axial force, has improved the load-carrying ability of robot car body.
(4) being installed on the equalizing bar of two flower wheel symmetries in the flower wheel unit, equalizing bar mechanism utilizes the self-balancing principle to guarantee that four wheels evenly lands, guaranteed the accuracy of control, the vibration that bumper can cause in the face of car body with absorbing, entire mechanism is simple in structure, implementation cost is low.
Description of drawings
Fig. 1 is the even landing device of robot car body structural representation;
Fig. 2 is a drive wheel block construction scheme drawing;
Fig. 3 is a self-balancing flower wheel block construction scheme drawing;
Fig. 4 is that the equalizing bar support connects scheme drawing;
Among the figure, 1. drive wheel, 2. drive wheel bracket, 3. retarder, 4. motor, 5. coder, 6. bumper upper bracket, 7. bearing pin, 8. bumper, 9. bumper lower bracket, 10. flower wheel, 11. equalizing bars, 12. the first equalizing bar support, 13. bearing assemblies, 14. base plates, 15. second equalizing bar supports, 16. outer rim, 17. tires, 18. interior wheel rims, 19. wheel hub, 20. bulging joining sleeves, 21. reducer output shafts, 22. bearing, 23. dampers, 24. springs, 25. link pin, 26. bearing seats, 27. second angular contact ball bearings, 28. adjustable ring, 29. spring shims, 30. flat shims, 31. preload ring, 32. nuts, 33. first angular contact ball bearings.
The specific embodiment
Further specify the present invention below in conjunction with accompanying drawing.
With reference to Fig. 1-4, even landing device of robot car body of the present invention mainly comprises drive wheel unit and self-balancing flower wheel unit.Motor 4 connects with retarder 3 in the drive wheel unit, and coder 5 is installed on the motor 4, is used to feed back rotating speed of motor, realizes closed loop control, retarder 3 by screw retention on drive wheel bracket 2.Tire 17 in the drive wheel 1 is by outer rim 16, interior wheel rim 18, by screws clamp and be fixed in wheel hub 19; The wheel hub 19 of drive wheel 1 connects with reducer output shaft 21 by bulging joining sleeve 20, tightens or the mounting screw unscrewed on the bulging joining sleeve 20 is detachable drive wheel 1, is convenient to assemble and keep in repair; A pair of tapered roller bearing 22 is housed on the reducer output shaft 21, makes reducer output shaft 21 can bear very big diametral load and axial force, improved the load-carrying ability of robot car body; Two symmetrical drive wheel unit are fixed on the base plate 14 by drive wheel bracket 2, realize the differential driving of two-wheeled, have to turn to advantage flexible, accurate positioning.Two symmetrical flower wheels 10 are a kind of cardan wheels in the self-balancing flower wheel unit, be installed on the two ends of equalizing bar 11 by screw, one end of two symmetrical bumpers 8 connects with bumper upper bracket 6 by bearing pin 7, the other end of bumper 8 connects with bumper lower bracket 9 by bearing pin 7, bumper 8 two ends can be rotated around bearing pin 7, bumper upper bracket 6 by screw retention in base plate 14, bumper lower bracket 9 is welded in equalizing bar 11 two ends, bumper 8 is made up of damper 23 and spring 24, the vibration that both combineds action can cause in the face of car body with absorbing; The first equalizing bar support 12, the second equalizing bar support 15 is fixed together by screw and equalizing bar 11, the first equalizing bar support 12, the second equalizing bar support 15 connects with bearing assembly 13 by link pin 25, between the head of link pin 25 and the second equalizing bar support 15 spring shim 29 is housed, flat shim 30, the second equalizing bar support 15 contacts with the inner ring of second angular contact ball bearing 27 by an adjustable ring 28, the first equalizing bar support 12 contacts with the inner ring of first angular contact ball bearing 33 by an adjustable ring 28, between the nut 32 and the first equalizing bar support 12 flat shim 30 is housed, first angular contact ball bearing 33, the outer ring of second angular contact ball bearing 27 and bearing seat 26 adopt free-running fit, preload ring 31 two ends respectively with first angular contact ball bearing 33, the inner ring contact of second angular contact ball bearing 27, the outer ring of preload ring 31 and bearing seat 26 free-running fits, endoporus does not contact with link pin 25, using the purpose of preload ring 31 is to make two angular contact ball bearings bear axial force jointly, behind the fastening nut 32, the first equalizing bar support 12, the second equalizing bar support 15 is fixing with link pin 25, the first equalizing bar support 12, the second equalizing bar support 15 can be around the rotational of bearing assembly 13, bearing assembly 13 places the middle part of equalizing bar 11, makes the two ends of equalizing bar 11 to carry out the position adjustment automatically according to the ground height.Bearing assembly 13 by screw retention on base plate 14; Base plate 14 has improved the stability of robot car body by drive wheel 1 and two flower wheel 10 together support of two.
Claims (3)
1, a kind of even landing device of robot car body is characterized in that comprising base plate (14), two symmetrical drive wheel unit and self-balancing flower wheel unit; Described drive wheel unit comprises drive wheel (1), drive wheel bracket (2), retarder (3), motor (4), coder (5); Self-balancing flower wheel unit comprises bumper upper bracket (6), two symmetrical bumpers (8), bumper lower bracket (9), two symmetrical flower wheels (10), equalizing bar (11), the first equalizing bar support (12), the second equalizing bar support (15), bearing assembly (13); Described motor (4) is installed together with retarder (3), coder (5) is installed on the motor (4), retarder (3) is fixedly mounted on the drive wheel bracket (2), and drive wheel (1) is fixed on the reducer output shaft (21), and drive wheel bracket (2) is fixed on the base plate (14); Described two flower wheels (10) are installed on the two ends of equalizing bar (11) respectively, one end of described bumper (8) connects with bumper upper bracket (6) is movable, the other end of bumper (8) connects with bumper lower bracket (9) is movable, bumper upper bracket (6) is fixed on the base plate (14), bumper lower bracket (9) is fixed in the end of equalizing bar (11), described bearing assembly (13) places the middle part of equalizing bar (11), the first equalizing bar support (12) and the second equalizing bar support (15) connect with bearing assembly (13), the first equalizing bar support (12) and the second equalizing bar support (15) are fixedly connected with equalizing bar (11), and bearing assembly (13) is fixed on the base plate (14).
2, a kind of even landing device of robot car body according to claim 1 is characterized in that: tapered roller bearing (22) is installed on the described reducer output shaft (21).
3, a kind of robot car body drive wheel according to claim 1 and 2 unit is characterized in that: described reducer output shaft (21) connects with the wheel hub (19) of drive wheel (1) by bulging joining sleeve (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101531721A CN101665068B (en) | 2009-09-24 | 2009-09-24 | Even landing device of robot car body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101531721A CN101665068B (en) | 2009-09-24 | 2009-09-24 | Even landing device of robot car body |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101665068A true CN101665068A (en) | 2010-03-10 |
| CN101665068B CN101665068B (en) | 2011-01-05 |
Family
ID=41801906
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009101531721A Expired - Fee Related CN101665068B (en) | 2009-09-24 | 2009-09-24 | Even landing device of robot car body |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101665068B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102637035A (en) * | 2012-05-03 | 2012-08-15 | 慈溪思达电子科技有限公司 | Local positioning system of automatic mobile platform |
| CN103631274A (en) * | 2013-11-20 | 2014-03-12 | 北京航空航天大学 | Three-wheel planar position finder |
| CN106217108A (en) * | 2016-08-23 | 2016-12-14 | 朱林辉 | A kind of bearing machining is with from steady mobile foundation |
| CN106585311A (en) * | 2015-10-19 | 2017-04-26 | 沈阳新松机器人自动化股份有限公司 | Low-gravity-center travelling mechanism with shock-absorption four wheels and shock-absorption chassis |
| CN107672398A (en) * | 2017-08-17 | 2018-02-09 | 宁波市智能制造产业研究院 | One kind six takes turns AGV shock-absorbings chassis |
| CN108683103A (en) * | 2018-05-29 | 2018-10-19 | 徐盼盼 | A kind of intelligent electric cabinet for one-shot job |
-
2009
- 2009-09-24 CN CN2009101531721A patent/CN101665068B/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102637035A (en) * | 2012-05-03 | 2012-08-15 | 慈溪思达电子科技有限公司 | Local positioning system of automatic mobile platform |
| CN103631274A (en) * | 2013-11-20 | 2014-03-12 | 北京航空航天大学 | Three-wheel planar position finder |
| CN103631274B (en) * | 2013-11-20 | 2016-03-30 | 北京航空航天大学 | A kind of Three-wheel planar position finder |
| CN106585311A (en) * | 2015-10-19 | 2017-04-26 | 沈阳新松机器人自动化股份有限公司 | Low-gravity-center travelling mechanism with shock-absorption four wheels and shock-absorption chassis |
| CN106217108A (en) * | 2016-08-23 | 2016-12-14 | 朱林辉 | A kind of bearing machining is with from steady mobile foundation |
| CN107672398A (en) * | 2017-08-17 | 2018-02-09 | 宁波市智能制造产业研究院 | One kind six takes turns AGV shock-absorbings chassis |
| CN107672398B (en) * | 2017-08-17 | 2024-01-05 | 宁波市智能制造产业研究院 | Six-wheel AGV shock-absorbing chassis |
| CN108683103A (en) * | 2018-05-29 | 2018-10-19 | 徐盼盼 | A kind of intelligent electric cabinet for one-shot job |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101665068B (en) | 2011-01-05 |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20100310 Assignee: ZHEJIANG GUOZI ROBOT TECHNOLOGY Co.,Ltd. Assignor: Zhejiang University Contract record no.: 2013330000081 Denomination of invention: Even landing device of robot car body Granted publication date: 20110105 License type: Exclusive License Record date: 20130422 |
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| LICC | Enforcement, change and cancellation of record of contracts on the licence for exploitation of a patent or utility model | ||
| 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: 20110105 Termination date: 20210924 |