CN106627837A - Wheeled mobile robot - Google Patents
Wheeled mobile robot Download PDFInfo
- Publication number
- CN106627837A CN106627837A CN201611081675.9A CN201611081675A CN106627837A CN 106627837 A CN106627837 A CN 106627837A CN 201611081675 A CN201611081675 A CN 201611081675A CN 106627837 A CN106627837 A CN 106627837A
- Authority
- CN
- China
- Prior art keywords
- ring
- mobile robot
- block
- wheeled mobile
- support
- 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
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
Abstract
The invention discloses a wheeled mobile robot. The robot comprises a frame, suspension support devices, annular wheel bodies, drive motors and gears. The inner annular wall of an annular wheel body is provided with an inner gear ring. The drive motors are placed on the suspension support devices. The gears are connected with the output ends of the drive motors. The suspension support devices are suspended at the inner ring of the annular wheel bodies, and the gears are meshed with the inner gear ring. The suspension support devices are installed on two side portions of the front and rear ends of the frame. The wheeled mobile robot possesses the bidirectional suspension function, and has the advantages of being high in operation efficiency, strong in obstacle crossing capability, and convenient to assemble, dissemble and maintain.
Description
Technical field
The invention mainly relates to ground mobile robot field, more particularly to wheeled mobile robot.
Background technology
At present the ground mobile robot in world wide research and development be concentrated mainly on wheeled, leg formula, caterpillar type robot with
And some have the field work robot of specific function.In general, wheeled traveling is applied to the preferable situation of road conditions, speed
Hurry up, but obstacle climbing ability is relatively low.Existing wheeled ground mobile robot, such as rocker-type, though possess certain obstacle climbing ability,
It is the stationarity and shock resistance deficiency of vehicle body, it is impossible to meet to the stable special duty occasion advanced and require.Existing wheel
Formula robot, such as flip-over type robot, obstacle climbing ability is projected, but it is not steady enough to be equally limited by vehicle body in traveling process, and
And complex structure, fault-tolerance is poor.Existing wheeled robot, such as multi link formula independent suspension type, although with preferably subtracting
Shake function, but complex structure, and obstacle climbing ability is not high, and once overturning, robot will lose and continue on execution times
The ability of business.
The content of the invention
The technical problem to be solved in the present invention is to overcome the deficiencies in the prior art, there is provided one kind have Bidirectional suspension function,
Operating efficiency is high, obstacle climbing ability is strong, be easy to the wheeled mobile robot that dismounts and safeguard.
To solve above-mentioned technical problem, the present invention is employed the following technical solutions：
A kind of wheeled mobile robot, including vehicle frame, holder suspension supporting device, ring-type wheel body, motor and gear, the ring-type
Wheel body is provided with a circle ring gear in internal ring wall, and the motor is installed on holder suspension supporting device, the gear with drive
The output end connection of motor, the holder suspension supporting device is supported in the inner ring of ring-type wheel body and the gear is engaged with ring gear,
The holder suspension supporting device is divided in the both sides of vehicle frame rear and front end.
As the further improvement of above-mentioned technical proposal：
The holder suspension supporting device includes suspender, support spring and support arm, the suspender and frame side clamping, described
Support spring is divided in the top and the bottom of suspender, the support arm be respectively installed in the support spring of top and the bottom and with ring-type wheel
The inner ring of body forms rolling support, and the motor is installed on one of support arm.
Be provided with the axis of guide in the support spring, the axis of guide and suspender pivot bush unit, axis of guide two ends respectively with
Upper lower support arm is affixed.
The suspender is respectively equipped with fairlead in top and the bottom, and the axis of guide is extended in fairlead, the support spring
It is placed on fairlead periphery.
The suspender sidepiece is provided with fixture block, and the frame side is equiped with the Access Division for being adapted to fixture block clamping
Part.
The clamping part includes installing plate, U-type strip and flexible block, and the installing plate is installed in frame side, the U
U-shaped card slot is installed on a mounting board and formed between installing plate to type bar, and the flexible block installing is on a mounting board and positioned at U
At the opening of type bar, the fixture block extrudes flexible block and slides after U-shaped card slot, and the flexible block stretches out and keep out the card
Block.
The flexible block includes block and adjustable spring, and installing plate is provided with support bar, and the block is arranged in installation
On plate and have on support bar, the adjustable spring is installed between support bar and block.
The end of the block is provided with the taper guide part for being easy to fixture block to pass in and out.
The support arm is being equiped with roller with the contact position of ring-type wheel body inner ring.
Compared with prior art, it is an advantage of the current invention that：
1st, wheeled mobile robot of the invention, using the driving mating reaction of motor, gear and ring gear, to drive
Ring-type wheeling thereof, forms straight drive, and step of reduction is few, transmission efficiency so that the gait of march of robot is fast, operating efficiency
It is high；
2nd, wheeled mobile robot of the invention, because the transmission using gear and ring gear coordinates so that the wheel of ring-type wheel body
Footpath is able to do big, and obstacle performance is projected；Ring-type wheel makes hollow ring-type can mitigate weight, and robot only has ring-type wheel when advancing
Rotation, rotary inertia is little, is easy to improve acceleration and deceleration performance and running efficiency；
3rd, wheeled mobile robot of the invention, ring-type wheel body is installed on vehicle frame by holder suspension supporting device, i.e. ring-type
Wheel body and holder suspension supporting device can form modularization overall structure, convenient fast assembling-disassembling and maintenance with vehicle frame.
4th, wheeled mobile robot of the invention, support spring and support arm are symmetrically disposed in the top and the bottom of suspender, i.e.,
Both direction is all connected by support spring, forms two-way independent suspension supporting mechanism, realizes shock-absorbing function and further improve to get over
Barrier performance, compared with independent suspension compare, be not only simple in structure reliability, and can be to the impact from upper and lower both direction
Cushioning effect is formed, if that is, car body generation upset causes " bottom is towards day " also can continue on.
Description of the drawings
Fig. 1 is the dimensional structure diagram of the present invention.
Fig. 2 is the main structure diagram of the present invention.
Fig. 3 is the assembling schematic diagram of ring-type wheel body and holder suspension supporting device in the present invention.
Fig. 4 is the assembling schematic diagram of suspender and clamping part in the present invention.
Fig. 5 is the dimensional structure diagram of suspender in the present invention.
Fig. 6 is the dimensional structure diagram of clamping part in the present invention.
Each label is represented in figure：
1st, vehicle frame；11st, clamping part；111st, installing plate；1111st, support bar；112nd, U-type strip；113rd, stretch block；1131st, keep off
Block；11311st, taper guide part；1132nd, adjustable spring；114th, U-shaped card slot；2nd, holder suspension supporting device；21st, suspender；211st, lead
To set；212nd, fixture block；22nd, support spring；23rd, support arm；231st, roller；24th, the axis of guide；3rd, ring-type wheel body；31st, ring gear；
4th, motor；5th, gear.
Specific embodiment
The present invention is described in further details below with reference to Figure of description and specific embodiment.
Fig. 1 to Fig. 6 shows a kind of embodiment of wheeled mobile robot of the present invention, and the robot includes vehicle frame 1, hangs
Support meanss 2, ring-type wheel body 3, motor 4 and gear 5, ring-type wheel body 3 is provided with a circle ring gear 31 in internal ring wall, drives
Motor 4 is installed on holder suspension supporting device 2, and gear 5 is connected with the output end of motor 4, and holder suspension supporting device 2 is supported in ring
The inner ring and gear 5 of shape wheel body 3 is engaged with ring gear 31, and holder suspension supporting device 2 is divided in the both sides of the rear and front end of vehicle frame 1.
During field work, the complex that robot runs into is changeable.Under smooth road conditions, it is desirable to which robot can be quickly propelled, the structure
In, using the driving mating reaction of motor 4, gear 5 and ring gear 31, to drive ring-type wheel body 3 to rotate, form straight
Drive, on the one hand, step of reduction is few, transmission efficiency so that the gait of march of robot is fast, operating efficiency is high；On the other hand, make
The wheel footpath for obtaining ring-type wheel body 3 is able to do big, and obstacle performance is projected.And, ring-type wheel body 3 is filled by holder suspension supporting device 2
It is located on vehicle frame 1, i.e., ring-type wheel body 3 and holder suspension supporting device 2 can form modularization overall structure, convenient quick with vehicle frame 1
Dismounting and maintenance.
In the present embodiment, holder suspension supporting device 2 include suspender 21, support spring 22 and support arm 23, suspender 21 with
The sidepiece clamping of vehicle frame 1, support spring 22 is divided in the top and the bottom of suspender 21, and support arm 23 is respectively installed in the support of top and the bottom
Rolling support is formed on spring 22 and with the inner ring of ring-type wheel body 3, motor 4 is installed on one of support arm 23.The knot
In structure, suspender 21 forms clamping with the sidepiece of vehicle frame 1, that is, formed and be detachably connected, and is easy to form fast-detachable modular structure,
And support spring 22 and support arm 23 set up separately in the top and the bottom of suspender 21, Bidirectional suspension supporting mechanism, i.e. both direction are formed
All connected by support spring 22, realize shock-absorbing function and further improve obstacle performance, if while car body generation upset also can
Continue on.
In the present embodiment, the axis of guide 24, the axis of guide 24 and the pivot bush unit of suspender 21, the axis of guide are provided with support spring 22
24 two ends are affixed with upper lower support arm 23 respectively.Motion of the axis of guide 24 to support spring 22 forms and is oriented to and positions, and prevents
Support spring 22 shifts and bends, and improves stability during traveling.
In the present embodiment, suspender 21 is respectively equipped with fairlead 211 in top and the bottom, and the axis of guide 24 is extended in fairlead 211,
It is peripheral that support spring 22 is placed on fairlead 211.In the structure, the axis of guide 24 can make certain displacement along the axis of guide 24, and support
It is peripheral that spring 22 is placed on fairlead 211 so that support spring 22 has deformation space, it is ensured that shock-absorbing function.
In the present embodiment, the sidepiece of suspender 21 is provided with fixture block 212, and the sidepiece of vehicle frame 1 is equiped with for suitable with the clamping of fixture block 212
The clamping part 11 matched somebody with somebody.Clamping is adapted to by fixture block 212 and clamping part 11, fast-detachable modular structure is realized.
In the present embodiment, clamping part 11 includes installing plate 111, U-type strip 112 and flexible block 113, and installing plate 111 is filled
The sidepiece of vehicle frame 1 is located at, U-type strip 112 is installed on installing plate 111 and is formed between installing plate 111 U-shaped card slot 114, and stretch gear
Block 113 is installed on installing plate 111 and is located at the opening of U-type strip 112, and the flexible block 113 of the extruding of fixture block 212 is simultaneously sliding in U-shaped
After draw-in groove 114, flexible block 113 stretches out and keeps out fixture block 212.In the structure, when ring-type wheel body 3 is installed, then by suspender
21 fixture block 212 is slipped in U-shaped card slot 114 along the opening of U-type strip 112, and during this, the first pressurized contraction of block 113 of stretching is treated
After fixture block 212 is completely into U-shaped card slot 114, flexible block 113 loses and is stressed and resets and stretch out and keep out fixture block 212, so as to
Realize the locking to fixture block 212, its simple and ingenious structure.
In the present embodiment, the block 113 that stretches includes block 1131 and adjustable spring 1132, and installing plate 111 is provided with support
Bar 1111, block 1131 is arranged on installing plate 111 and has on support bar 1111, and adjustable spring 1132 is installed in support bar
Between 1111 and block 1131.In the structure, the middle part of block 1131 is provided with cavity, and block 1131 has support bar 1111
On, installing adjustable spring 1132 in cavity between support bar 1111 and block 1131, when fixture block 212 is slided along the opening of U-type strip 112
When entering in U-shaped card slot 114, the stress of block 1131, adjustable spring 1132 shrinks, after fixture block 212 is completely into U-shaped card slot 114,
Adjustable spring 1132 is compound and the release of block 1131 is kept out into fixture block 212.
In the present embodiment, the end of block 1131 is provided with the taper guide part 11311 for being easy to fixture block 212 to pass in and out.The taper
Guide effect is played in turnover of the guide part 11311 to block 1131, on the one hand beneficial to dismounting, on the other hand will not damage fixture block
212。
In the present embodiment, support arm 23 is being equiped with roller 231 with the contact position of the inner ring of ring-type wheel body 3.Support arm 23
Rolling support is formed by roller 231 and the inner ring of ring-type wheel body 3, that is, defines planet gear type structure, further increase efficiency.
Although the present invention is disclosed as above with preferred embodiment, but is not limited to the present invention.It is any to be familiar with ability
The technical staff in domain, in the case of without departing from technical solution of the present invention scope, all using the technology contents pair of the disclosure above
Technical solution of the present invention makes many possible variations and modification, or the Equivalent embodiments for being revised as equivalent variations.Therefore, it is every
Without departing from the content of technical solution of the present invention, according to the technology of the present invention essence to any simple modification made for any of the above embodiments,
Equivalent variations and modification, all should fall in the range of technical solution of the present invention protection.
Claims (9)
1. a kind of wheeled mobile robot, it is characterised in that：Including vehicle frame（1）, holder suspension supporting device（2）, ring-type wheel body（3）、
Motor（4）And gear（5）, the ring-type wheel body（3）A circle ring gear is provided with internal ring wall（31）, the motor
（4）It is installed in holder suspension supporting device（2）On, the gear（5）With motor（4）Output end connection, the suspension strut
Device（2）It is supported in ring-type wheel body（3）Inner ring and the gear（5）With ring gear（31）Engagement, the holder suspension supporting device
（2）It is divided in vehicle frame（1）The both sides of rear and front end.
2. wheeled mobile robot according to claim 1, it is characterised in that：The holder suspension supporting device（2）Including outstanding
Suspension member（21）, support spring（22）And support arm（23）, the suspender（21）With vehicle frame（1）Sidepiece clamping, the support bullet
Spring（22）It is divided in suspender（21）Top and the bottom, the support arm（23）It is respectively installed in the support spring of top and the bottom（22）On
And with ring-type wheel body（3）Inner ring formed rolling support, the motor（4）Install one of support arm（23）On.
3. wheeled mobile robot according to claim 2, it is characterised in that：The support spring（22）Inside it is provided with guiding
Axle（24）, the axis of guide（24）With suspender（21）Pivot bush unit, the axis of guide（24）Two ends respectively with upper lower support arm（23）
It is affixed.
4. wheeled mobile robot according to claim 3, it is characterised in that：The suspender（21）In top and the bottom difference
It is provided with fairlead（211）, the axis of guide（24）Extend fairlead（211）It is interior, the support spring（22）It is placed on fairlead
（211）Periphery.
5. wheeled mobile robot according to claim 4, it is characterised in that：The suspender（21）Sidepiece is provided with fixture block
（212）, the vehicle frame（1）Sidepiece be equiped with for and fixture block（212）The clamping part of clamping adaptation（11）.
6. wheeled mobile robot according to claim 5, it is characterised in that：The clamping part（11）Including installing plate
（111）, U-type strip（112）With flexible block（113）, the installing plate（111）It is installed in vehicle frame（1）Sidepiece, the U-type strip
（112）It is installed in installing plate（111）Upper and and installing plate（111）Between form U-shaped card slot（114）, the flexible block（113）
It is installed in installing plate（111）Above and positioned at U-type strip（112）Opening at, the fixture block（212）The flexible block of extruding（113）And
Slide in U-shaped card slot（114）Afterwards, the flexible block（113）Stretch out and keep out the fixture block（212）.
7. wheeled mobile robot according to claim 6, it is characterised in that：The flexible block（113）Including block
（1131）And adjustable spring（1132）, installing plate（111）It is provided with support bar（1111）, the block（1131）It is arranged in installation
Plate（111）Go up and have support bar（1111）On, the adjustable spring（1132）It is installed in support bar（1111）With block
（1131）Between.
8. wheeled mobile robot according to claim 7, it is characterised in that：The block（1131）End be provided with just
In fixture block（212）The taper guide part of turnover（11311）.
9. the wheeled mobile robot according to any one of claim 2 to 8, it is characterised in that：The support arm（23）
With ring-type wheel body（3）The contact position of inner ring is equiped with roller（231）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611081675.9A CN106627837B (en) | 2016-11-30 | 2016-11-30 | wheeled mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611081675.9A CN106627837B (en) | 2016-11-30 | 2016-11-30 | wheeled mobile robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106627837A true CN106627837A (en) | 2017-05-10 |
| CN106627837B CN106627837B (en) | 2018-08-31 |
Family
ID=58814510
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611081675.9A Active CN106627837B (en) | 2016-11-30 | 2016-11-30 | wheeled mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106627837B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107380289A (en) * | 2017-07-21 | 2017-11-24 | 哈尔滨雷掣科技有限责任公司 | One kind follows barrier-exceeding vehicle automatically |
| CN107414783A (en) * | 2017-09-11 | 2017-12-01 | 中国安全生产科学研究院 | A kind of modularization wheeled pipe robot |
| CN113599748A (en) * | 2021-08-11 | 2021-11-05 | 南京润云网络科技有限公司 | Multifunctional portable fire-fighting mobile terminal and system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1712236A1 (en) * | 1990-04-16 | 1992-02-15 | Ташкентский Автомобильно-Дорожный Институт | Trailed vehicle |
| CN101875284A (en) * | 2009-12-07 | 2010-11-03 | 中国北方车辆研究所 | Deformable wheel device |
| CN104828122A (en) * | 2015-05-21 | 2015-08-12 | 重庆大学 | Traveling wheel walking mechanism |
| CN106137570A (en) * | 2016-08-08 | 2016-11-23 | 李霞林 | A kind of obstacle-surmounting rescue vehicle based on parallel institution |
-
2016
- 2016-11-30 CN CN201611081675.9A patent/CN106627837B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1712236A1 (en) * | 1990-04-16 | 1992-02-15 | Ташкентский Автомобильно-Дорожный Институт | Trailed vehicle |
| CN101875284A (en) * | 2009-12-07 | 2010-11-03 | 中国北方车辆研究所 | Deformable wheel device |
| CN104828122A (en) * | 2015-05-21 | 2015-08-12 | 重庆大学 | Traveling wheel walking mechanism |
| CN106137570A (en) * | 2016-08-08 | 2016-11-23 | 李霞林 | A kind of obstacle-surmounting rescue vehicle based on parallel institution |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107380289A (en) * | 2017-07-21 | 2017-11-24 | 哈尔滨雷掣科技有限责任公司 | One kind follows barrier-exceeding vehicle automatically |
| CN107414783A (en) * | 2017-09-11 | 2017-12-01 | 中国安全生产科学研究院 | A kind of modularization wheeled pipe robot |
| CN113599748A (en) * | 2021-08-11 | 2021-11-05 | 南京润云网络科技有限公司 | Multifunctional portable fire-fighting mobile terminal and system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106627837B (en) | 2018-08-31 |
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