CN107972441A - adaptive mobile robot driving device - Google Patents
adaptive mobile robot driving device Download PDFInfo
- Publication number
- CN107972441A CN107972441A CN201711334818.7A CN201711334818A CN107972441A CN 107972441 A CN107972441 A CN 107972441A CN 201711334818 A CN201711334818 A CN 201711334818A CN 107972441 A CN107972441 A CN 107972441A
- Authority
- CN
- China
- Prior art keywords
- live axle
- driving
- mobile robot
- support bracket
- frame 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.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
- B60G17/021—Spring characteristics, e.g. mechanical springs and mechanical adjusting means the mechanical spring being a coil spring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/40—Indexing codes relating to the wheels in the suspensions
- B60G2200/422—Driving wheels or live axles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2206/00—Indexing codes related to the manufacturing of suspensions: constructional features, the materials used, procedures or tools
- B60G2206/01—Constructional features of suspension elements, e.g. arms, dampers, springs
- B60G2206/011—Modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/91—Suspension Control
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The present invention provides adaptive mobile robot driving device, it can solve the problems, such as existing mobile robot road pavement environment self-adaption poor-performing in moving process.It includes driving arm and live axle, frame support bracket is equipped with above driving arm, live axle, which extends transversely through, to be installed on driving arm, the both lateral sides external part of live axle is provided with a rotatable driving wheel by bearing respectively, and each driving wheel is sequentially connected by a transmission mechanism and a driving motor respectively；A suspension mainboard is equipped with driving arm and positioned at the top of live axle, hollow shaft is installed on suspension mainboard by flange in the bottom, hollow shaft, which runs through, to be installed in straight line rotary liner, straight line rotary liner is installed on the bottom plate of frame support bracket by sleeve, strength compression spring is arranged and runs through the endoporus of hollow shaft, the top surface of the center of live axle is equipped with groove, and the bottom of strength compression spring is flush-mounted in the top plate connection of interior groove, top and frame support bracket.
Description
Technical field
The present invention relates to industrial mobile robot field, is specially adaptive mobile robot driving device.
Background technology
Most of existing mobile robot driving suspension system is all employed from wheel differential speed type driving device, these devices
In use due to driving wheel and pivoting point using can not 90 degree of drift angle be fixedly connected, when mobile robot reaches in ground
Face out-of-flatness has and power is exported during a bumps causes larger power output to lose due to that cannot adapt to ground environment and lead
Cause moving direction that path offset or irremovable phenomenon occurs, therefore its adaptive performance is poor, can not meet that current industrial is given birth to
The requirement of the full-automatic transport movement of production.
The content of the invention
In view of the above-mentioned problems, the present invention provides adaptive mobile robot driving device, it can solve existing moving machine
Device people is in moving process the problem of road pavement environment self-adaption poor-performing.
Its technical solution is adaptive mobile robot driving device, it includes driving arm and live axle, the drive
The frame support bracket for being used for installing AGV trolleies is equipped with above dynamic stent, the frame support bracket includes affixed top plate and bottom plate, described
Live axle, which extends transversely through, to be installed on the driving arm, and the both lateral sides external part of the live axle passes through bearing respectively
One rotatable driving wheel is installed, each described driving wheel is connected by a transmission mechanism and a driving motor transmission respectively
Connect, it is characterised in that：It includes a straight line rotary liner, a hollow shaft and a strength compression spring, in the driving arm simultaneously
A suspension mainboard is equipped with positioned at the top of the live axle, the hollow shaft is installed in the suspension mainboard by flange in the bottom
On, the hollow shaft, which runs through, to be installed in straight line rotary liner and can slide vertically and rotate in the straight line rotary liner,
The straight line rotary liner is installed on by sleeve on the bottom plate of the frame support bracket and the straight line rotary liner and the set
Axial limiting is carried out by circlip for hole between cylinder, the strength compression spring is arranged and runs through the endoporus of hollow shaft, institute
The top surface for stating the center of live axle is equipped with groove, and the bottom of the strength compression spring is in the groove, top
End is connected with the top plate of the frame support bracket.
Further, the strength compression spring includes upper spring and the lower spring being set in the hollow shaft, institute
The top for stating spring is connected with the top plate of the frame support bracket, and the bottom of the lower spring is flush-mounted in the recessed of the live axle
In groove, the interval of the upper spring and lower spring is loaded on replaceable rubber septum.
Further, the both lateral sides wall of the driving arm offers symmetrical U-lag, the driving wheel respectively
The transverse ends of axis connect the driving wheel after being each passed through the U-lag.
Further, drive shaft supporting plate is installed, the front and back ends difference on the drive shaft supporting plate on the driving arm
Drive shaft backplate is installed, the drive shaft backplate of the drive shaft supporting plate and front and back ends forms a baltimore groove, the driving wheel
It is located in the baltimore groove.
Further, it further includes the hoisting mechanism for departing from the state of ground for driving device to be overall increased to, described
Hoisting mechanism includes lifting wheel disc and lifting motor, and the lifting wheel disc is installed on the top of the hollow shaft and passes through locking screw
Female axial locking, the lifting motor are installed on the bottom plate of the frame support bracket, the output shaft end installation of the lifting motor
There is shifting disc, the end face of the shifting disc is provided with the eccentric cam of a lower section for being located at the lifting wheel disc, the shifting disc
The eccentric cam can stir wheel disc described in upward top pressure during rotation.
Further, the transmission mechanism includes motor gear, drive gear and chain, described to drive the defeated of motor
The motor gear is installed, the corresponding side external part of the live axle is equipped with the drive gear, institute on shaft
State and be sequentially connected between motor gear and drive gear by the chain.
Further, the forward and backward side of the driving arm is provided with navigation element by stent respectively.
Further, the top plate of the frame support bracket is convex tip, and bottom plate is concave bottom plate, the convex top plate with it is recessed
Shape bottom plate is oppositely arranged and affixed.
The beneficial effects of the present invention are：
(1) its strength set compression spring all the time applies live axle downward thrust, so as to drive live axle
The driving wheel of both sides produces certain pressure to ground all the time and is adjacent to ground, and strength compression spring is in itself with flexible
Property, therefore driving wheel can produce up and down under the action of strength compresses spring when driving device is travelled to rough road surface
Elasticity bounce can guarantee that driving wheel effectively contacts all the time again and ground and produce certain pressure, so as to effectively avoid driving wheel
Skidding offset or irremovable problem, improve its adaptive performance；
(2) its by by strength compression spring be arranged to the segmentation stepped construction that is made of upper spring and lower spring and on
The interval of spring and upper spring is equipped with replaceable rubber septum, so as to according to the flat conditions on different road surfaces come adaptability
Ground adjusts strength compression spring integrally to the precompression of live axle, to improve the versatility of whole driving device；
(3) the both lateral sides wall of its driving arm offers horizontal the two of symmetrical U-lag and live axle respectively
End reconnects driving wheel after being each passed through U-lag, i.e., which employs the support of U-shaped V shape, so as to can effectively prevent driving wheel on way
It is that deflection occurs through concave-convex road surface, further ensures the pavement self-adaptive performance of driving device；
(4) by the way that live axle is installed on the spill formed by the drive shaft backplate of drive shaft supporting plate and front and back ends
In groove, effective supporting role can be played to live axle, it is ensured that live axle can stably transmit driving wheel and be pressed with strength
Active force between contracting spring, further ensures the pavement self-adaptive performance of driving device.
(5) it is realized by hoisting mechanism is integrally up-shifted to driving device the function of departing from ground, it is by carrying
Lifting motor rotates driving shifting disc and drives the upward top pressure of eccentric cam to be fixedly arranged on carrying for hollow shaft top by locking nut
Wheel disc is risen, and can be erected since hollow shaft is through being installed in straight line rotary liner and can be rotated in straight line rotary liner
To slip, therefore hollow shaft can drive whole driving arm, live axle and the lifting of driving wheel upward sliding, so as to meet
The debugger routine of AGV trolleies and manually promotion require.
Brief description of the drawings
Fig. 1 is the overall schematic perspective view of the adaptive mobile robot driving device of the present invention；
Fig. 2 be the adaptive mobile robot driving device of the present invention main view to diagrammatic cross-section；
Fig. 3 be Fig. 2 look up to partial cutaway schematic；
Fig. 4 is the A-A of Fig. 2 to schematic cross-sectional view；
Fig. 5 is adaptive schematic diagram of the mobile robot driving device under driving arm biopsy cavity marker devices state of the present invention；
Fig. 6 is the signal under the adaptive unassembled driving wheel of mobile robot driving device of the present invention and transmission mechanism state
Figure.
Reference numeral in figure：10- driving arms, 11- suspension mainboards, 12-U shape grooves, 13- drive shaft supporting plates, 14- drivings
Axis backplate, 15- baltimore grooves, 16- chain baffles, 20- live axles, 21- grooves, 22- drive gears, 23- chains, 30-
Frame support bracket, 31- convex top plates, 32- concave bottom plates, 40- driving wheels, 50- driving motors, 51- motor gears, 52- motor shafts,
60- straight line rotary liners, 70- hollow shafts, 80- strength compression springs, the upper springs of 81-, spring under 82-, 83- rubber septums, 90-
Sleeve, 91- circlip for holes, 100- hoisting mechanisms, 101- lifting wheel discs, 102- lifting motors, 103- locking nuts, 104-
Shifting disc, 105- eccentric cams, 200- navigation elements, 201- stents.
Embodiment
See Fig. 1~Fig. 4, the adaptive mobile robot driving device of the present invention, it includes driving arm 10 and live axle
20, the top of driving arm 10 is equipped with the frame support bracket 30 for being used for installing AGV trolleies, and frame support bracket 30 includes affixed convex top plate
31 with concave bottom plate 32, live axle 20, which extends transversely through, to be installed on driving arm 10, and the both lateral sides of live axle 20 are stretched out
End is provided with a rotatable driving wheel 40 by bearing respectively, each driving wheel 40 is driven by a transmission mechanism and one respectively
Dynamic motor 50 is sequentially connected；It further includes a straight line rotary liner 60, a hollow shaft 70 and a strength compression spring 80, driving branch
A suspension mainboard 11 is equipped with frame 10 and positioned at the top of live axle 20, hollow shaft leads to 70 and is installed in suspension by flange in the bottom
On mainboard 11, hollow shaft 70, which runs through, to be installed in straight line rotary liner 60 and can rotate in straight line rotary liner 60 and vertically slide
Dynamic, straight line rotary liner 60 is installed on by sleeve 90 on the concave bottom plate 32 of frame support bracket and straight line rotary liner 60 and sleeve
Axial limiting is carried out by circlip for hole 91 between 90, strength compresses the endoporus that spring 80 is arranged and runs through hollow shaft 70,
The top surface of the center of live axle 20 is equipped with groove 21, and strength compresses the bottom of spring 80 in groove 21, top
It is connected with the convex top plate 31 of frame support bracket.
Wherein, strength compression spring 80 includes upper spring 81 and the lower spring 82 being set in hollow shaft 70, upper spring
81 top and the convex top plate 31 of frame support bracket connect, and the bottom of lower spring 82 is flush-mounted in the groove 21 of live axle 20,
The interval of upper spring 81 and lower spring 82 is loaded on replaceable rubber septum 83；By 83 energy of rubber septum for replacing different-thickness
Enough meet the driving requirements on different flatness road surfaces, the less rubber septum of thickness is used when track is more smooth, and
When the flatness of track is poor using the rubber septum that thickness is larger, to improve whole driving device for different road surfaces
The applicability of situation.
See Fig. 6, the both lateral sides wall of driving arm 10 offers symmetrical U-lag 12 respectively, live axle 20
Transverse ends connect driving wheel 40 after being each passed through U-lag 12.
See Fig. 4, drive shaft supporting plate 13 is installed on driving arm 10, the front and back ends on drive shaft supporting plate 13 are installed respectively
There are one baltimore groove 15 of formation of drive shaft backplate 14 of drive shaft backplate 14, drive shaft supporting plate 16 and front and back ends, live axle 20
In baltimore groove 15.
Apparatus of the present invention further include the hoisting mechanism 100 for departing from the state of ground for driving device to be overall increased to, and carry
Rising mechanism 100 includes lifting wheel disc 101 and lifting motor 102, and lifting wheel disc 101 is installed on the top of hollow shaft 70 and passes through lock
103 axial locking of tight nut, lifting motor 102 are installed on the concave bottom plate 32 of frame support bracket, lift the output shaft of motor 102
End is provided with shifting disc 104, and the end face of shifting disc 104 is provided with the eccentric cam 105 of a lower section for being located at lifting wheel disc 101,
Eccentric cam 105 top pressure can stir wheel disc 101 upwards when shifting disc 104 rotates, so that hollow shaft can be driven by stirring wheel disc 101
70th, whole driving arm 10 and it is installed on the device of driving arm 10 and integrally moves up, realizes overall lifting until driving wheel 40
Leave ground.
Transmission mechanism includes motor gear 51, drive gear 22 and chain 23, drives and pacifies on the output shaft of motor 50
Equipped with motor gear 51, the corresponding side external part of live axle 20 is equipped with drive gear 22, motor gear 51 and driving
It is sequentially connected between gear 22 by chain 23；When driving device traveling on smooth-riding surface under normal circumstances, driving
Take turns corresponding driving and move motor and be in same horizontal line, 2 points it is closest when chain tensioning dynamics it is lighter, when
There is elastic telescopic in live axle in the case of there is ground out-of-flatness, and linear range is elongated between driving wheel and driving motor, then
So that tensile force slowly becomes larger so that driving force will not lose because of Flexible change.
The forward and backward side of driving arm is provided with navigation element 200 by stent 201 respectively.
In inventive drive means, two driving wheels 40 connect a corresponding driving motor 50 respectively, so as to pass through
The different rotating speeds of two side drive wheels 40 are controlled to realize left and right turn, since straight line rotary liner 60 is provided simultaneously with realizing rotational work
Can, therefore hollow shaft 70 drives driving arm 10 to do overall divertical motion when turning to.
The specific implementation to the present invention is described in detail above, but content is only the preferable embodiment party of the invention
Case, it is impossible to be construed as limiting the practical range of the invention.All impartial changes made according to the invention application range
Change and improvement etc., should all still belong within the patent covering scope of the present invention.
Claims (8)
1. adaptive mobile robot driving device, it includes driving arm (10) and live axle (20), the driving arm
(10) top is equipped with the frame support bracket (30) for being used for installing AGV trolleies, and the frame support bracket (30) includes affixed top plate (31)
With bottom plate (32), the live axle (20), which extends transversely through, to be installed on the driving arm (10), the live axle (20)
Both lateral sides external part a rotatable driving wheel (40) is provided with by bearing respectively, each described driving wheel (40) point
It is not sequentially connected by a transmission mechanism and a driving motor (50), it is characterised in that：It include a straight line rotary liner (60),
One hollow shaft (70) and a strength compression spring (80), the driving arm (10) are interior and positioned at the upper of the live axle (20)
Side is equipped with a suspension mainboard (11), and the hollow shaft (70) is installed on the suspension mainboard (11) by flange in the bottom, described
Hollow shaft (70) through be installed in straight line rotary liner (60) and can the straight line rotary liner (60) it is interior slide vertically and
Rotation, the straight line rotary liner (60) is installed on the bottom plate (32) of the frame support bracket (30) and described by sleeve (90)
Axial limiting, the strength pressure are carried out by circlip for hole (91) between straight line rotary liner (60) and the sleeve (90)
Contracting spring (80) is arranged and is equipped with groove through the endoporus of hollow shaft (70), the top surface of the center of the live axle (20)
(21), the bottom of the strength compression spring (80) is flush-mounted in the interior groove (21), top and the frame support bracket (30)
Top plate (31) connects.
2. adaptive mobile robot driving device according to claim 1, it is characterised in that：The strength compresses spring
(80) the upper spring (81) and lower spring (82) being set in the hollow shaft (70), the top of the upper spring (81) are included
It is connected with the top plate (31) of the frame support bracket (30), the bottom of the lower spring (82) is flush-mounted in the live axle (20)
In groove (21), the interval of the upper spring (81) and lower spring (82) is loaded on replaceable rubber septum (83).
3. adaptive mobile robot driving device according to claim 2, it is characterised in that：Described driving branch (10) frame
Both lateral sides wall offer symmetrical U-lag (12) respectively, the transverse ends of the live axle (20) are each passed through
The U-lag (12) connects the corresponding driving wheel (40) afterwards.
4. according to any adaptive mobile robot driving device in claims 1 to 3, it is characterised in that：The drive
Move and drive shaft supporting plate (13) is installed on stent (10), the front and back ends on the drive shaft supporting plate (13) are separately installed with driving
The drive shaft backplate (14) of axis backplate (14), the drive shaft supporting plate (13) and front and back ends forms a baltimore groove (15), described
Live axle (20) is arranged in the baltimore groove (15).
5. adaptive mobile robot driving device according to claim 4, it is characterised in that：It is further included for that will drive
Dynamic device overall increases to the hoisting mechanism (100) for departing from the state of ground, and the hoisting mechanism (100) includes lifting wheel disc
(101) it is installed on the top of the hollow shaft (70) with lifting motor (102), the lifting wheel disc (101) and passes through locking screw
Female (103) axial locking, the lifting motor (102) are installed on the bottom plate (32) of the frame support bracket (30), the lifting
The output shaft end of motor (102) is provided with shifting disc (104), and the end face of the shifting disc (104) is provided with one and is carried positioned at described
The eccentric cam (105) of the lower section of wheel disc (101) is risen, the eccentric cam (105) can be upwards when rotating for the shifting disc (104)
Wheel disc (105) is stirred described in top pressure.
6. adaptive mobile robot driving device according to claim 5, it is characterised in that：The transmission mechanism includes
Motor gear (51), drive gear (22) and chain (23), are provided with the output shaft of the driving motor (50) described
Motor gear (51), the corresponding side external part of the live axle (20) are equipped with the drive gear (22), the electricity
It is sequentially connected between machine gear (51) and drive gear (22) by the chain (23).
7. adaptive mobile robot driving device according to claim 6, it is characterised in that：The driving arm (10)
Forward and backward side navigation element (200) is provided with by stent respectively.
8. adaptive mobile robot driving device according to claim 6, it is characterised in that：The frame support bracket (30)
Top plate (31) be convex tip, bottom plate (32) is concave bottom plate, and the convex top plate is oppositely arranged and affixed with concave bottom plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711334818.7A CN107972441A (en) | 2017-12-14 | 2017-12-14 | adaptive mobile robot driving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711334818.7A CN107972441A (en) | 2017-12-14 | 2017-12-14 | adaptive mobile robot driving device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107972441A true CN107972441A (en) | 2018-05-01 |
Family
ID=62006308
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711334818.7A Pending CN107972441A (en) | 2017-12-14 | 2017-12-14 | adaptive mobile robot driving device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107972441A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109484498A (en) * | 2018-12-03 | 2019-03-19 | 浙江大华技术股份有限公司 | A kind of robotically-driven method and apparatus |
| CN115180049A (en) * | 2022-08-11 | 2022-10-14 | 法睿兰达科技(武汉)有限公司 | Differential-driven heavy-load AGV and using method thereof |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203391590U (en) * | 2013-08-21 | 2014-01-15 | 广州动进精密机械科技有限公司 | Automatic lifting device for AGV (automatic guided vehicle) drive unit |
| CN104118292A (en) * | 2014-08-13 | 2014-10-29 | 成都四威高科技产业园有限公司 | Integrated AGV driving and lifting mechanism |
| CN106080086A (en) * | 2016-06-02 | 2016-11-09 | 芜湖智久机器人有限公司 | A kind of pressure-regulating device of AGV |
| CN207859884U (en) * | 2017-12-14 | 2018-09-14 | 昆山巨航智能化设备有限公司 | A kind of adaptive mobile robot driving device |
-
2017
- 2017-12-14 CN CN201711334818.7A patent/CN107972441A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203391590U (en) * | 2013-08-21 | 2014-01-15 | 广州动进精密机械科技有限公司 | Automatic lifting device for AGV (automatic guided vehicle) drive unit |
| CN104118292A (en) * | 2014-08-13 | 2014-10-29 | 成都四威高科技产业园有限公司 | Integrated AGV driving and lifting mechanism |
| CN106080086A (en) * | 2016-06-02 | 2016-11-09 | 芜湖智久机器人有限公司 | A kind of pressure-regulating device of AGV |
| CN207859884U (en) * | 2017-12-14 | 2018-09-14 | 昆山巨航智能化设备有限公司 | A kind of adaptive mobile robot driving device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109484498A (en) * | 2018-12-03 | 2019-03-19 | 浙江大华技术股份有限公司 | A kind of robotically-driven method and apparatus |
| CN115180049A (en) * | 2022-08-11 | 2022-10-14 | 法睿兰达科技(武汉)有限公司 | Differential-driven heavy-load AGV and using method thereof |
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Inventor after: Fei Yajun Inventor after: Lin Wei Inventor after: Jiang Fangyi Inventor after: Zhou Jian Inventor before: Fei Yajun Inventor before: Zhang Guozhong Inventor before: Jiang Fangyi |
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