CN108312131A - A kind of intellect service robot chassis structure - Google Patents
A kind of intellect service robot chassis structure Download PDFInfo
- Publication number
- CN108312131A CN108312131A CN201810312130.7A CN201810312130A CN108312131A CN 108312131 A CN108312131 A CN 108312131A CN 201810312130 A CN201810312130 A CN 201810312130A CN 108312131 A CN108312131 A CN 108312131A
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- China
- Prior art keywords
- chassis
- hub motor
- wheel hub
- metal
- base plate
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- Pending
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- 239000002184 metal Substances 0.000 claims abstract description 30
- 206010043183 Teething Diseases 0.000 abstract 1
- 230000036346 tooth eruption Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 7
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 230000009194 climbing Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The present invention proposes a kind of intellect service robot chassis structure, including：Wheel hub motor, spring, universal wheel, chassis base plate, wheel hub motor holder, wheel hub motor fixed seat, metal guide rod, movable metallic guide sleeve, metal fix guide sleeve, chassis cover board, upper and lower plates connecting shaft and teething ring；Wherein, wheel hub motor fixed seat is locked together on chassis base plate；The axis of wheel hub motor is fixed on wheel hub motor holder；Wheel hub motor holder is connected together by movable metallic guide sleeve and metal guide rod and wheel hub motor fixed seat；Spring is set on metal guide rod, top connecting base plate cover board, and bottom connects wheel hub electric machine support by plastic hoop；Between chassis base plate and bottom plate cover board axis connection is connected by upper and lower plates；Wheel hub motor fixed seat and metal guide rod are locked together in by movable metallic guide sleeve between chassis base plate and chassis cover board；Universal wheel is arranged in chassis base plate bottom.
Description
Technical Field
The invention relates to the technical field of robot chassis, in particular to an intelligent service robot chassis structure.
Background
The robot chassis is an important component of a robot structure, and the whole movement walking and control of the robot are realized by the mechanical movement of the robot chassis.
At present, the wheel-type chassis of the existing robot generally vibrates in the motion of the robot, and the robot can have the following phenomena in the operation process:
(1) the robot can cross a small obstacle only due to insufficient obstacle crossing power.
(2) The chassis has poor obstacle avoidance performance.
(3) The chassis stationarity is poor, and during start-up and scram, the robot shakes and sways badly.
(4) The robot steering system is not flexible.
Disclosure of Invention
The invention aims to solve the problems that: the chassis has insufficient power, poor obstacle crossing capability and poor stability.
In order to solve the problems, the invention provides a robot chassis with a hub motor structure and spring shock absorption, which specifically comprises the following components: the device comprises a hub motor, a spring, a universal wheel, a chassis base plate, a hub motor bracket, a hub motor fixing seat, a metal guide rod, a metal movable guide sleeve, a metal fixed guide sleeve, a chassis cover plate, an upper plate connecting shaft, a lower plate connecting shaft and a plastic ring.
In the invention, the hub motor fixing seat is locked on the chassis bottom plate; the shaft of the hub motor is fixed on the hub motor bracket; the hub motor bracket is connected with the metal guide rod and the hub motor fixing seat through the metal fixing guide sleeve.
In the invention, the spring is sleeved on the metal guide rod, the top of the spring is connected with the chassis cover plate, and the bottom of the spring is connected with the hub motor bracket through the plastic ring.
In the invention, the chassis bottom plate and the bottom plate cover plate are connected through the upper plate connecting shaft and the lower plate connecting shaft.
In the invention, the hub motor fixing seat and the metal guide rod are locked between the chassis base plate and the chassis cover plate through the metal movable guide sleeve.
In the invention, the bottom of the chassis bottom plate is provided with the universal wheels.
In the present invention, the method further comprises: a laser radar; the laser radar is fixed on the chassis bottom plate.
In the present invention, the method further comprises: a battery case; the battery box is fixed at the bottom of the chassis cover plate, and a battery is arranged in the battery box.
The hub motor has wider wheels, more contact surfaces between the tires and the ground, and good overall obstacle-crossing and emergency braking effects. The wheel structure adopts the spring shock absorption mechanism, so that the phenomenon that when the wheel of the hub motor runs, the hub motor and the related part fixing piece directly collide with the structure, vibration is generated and the sound is generated is avoided. The specific characteristic of the structure of the in-wheel motor is that the motor and the wheel are installed together, and the motor is fused in the wheel, so that the connection between the wheel and the motor is avoided.
According to the invention, the stability and the precision of the product are improved. The invention is used on the robot chassis, which improves the stability and the load-carrying performance of the chassis.
According to the chassis steering system, the spring is fixed on the guide post, the stable structure is realized by utilizing the metal movable guide sleeve structure, generally, the structure similar to the structure is that a high-speed die or a high-speed punch operates in the mode, the matching precision of the whole parts of the chassis is improved by using the structure, and the chassis adopts the four universal wheel structure, so that the whole chassis steering system is very flexible.
The chassis structure provided by the invention is low in production cost and stable and reliable in structure. The robot is combined with an artificial intelligence system, so that the existing repeated work which is complicated by a plurality of people can be replaced, and if the existing robot is used in an unmanned bank, the functions of unmanned navigation, automatic welcoming, and the like are realized. The chassis is used on a chassis of a hotel robot to help a hotel guest haul goods, bring the guest to a room, help service personnel to send daily supplies required by the guest, and can quickly enter thousands of households when the chassis is built on the robot or enters an industry without the robot along with the continuous progress of artificial intelligence.
The speed difference can appear in two motor drive easily appearing in the wheel hub motor when walking, leads to the robot to appear deviating the straight line orbit walking when walking. In order to solve the problem, the invention adopts a structure of a guide post and a guide sleeve on a chassis connection mode to correct the dissonance of the motor speed, and the structure can guide the running track of the robot to be always on the same straight line.
The chassis of the invention adopts a spring damping mechanism, the performance of the chassis is good, and the robot is stable and reliable in walking. The chassis has good carrying, and has good improvement effect on the stability and the mobility of the whole robot and the balance.
Compared with the prior art, the robot chassis has the following advantages:
1: the obstacle crossing capability of the robot chassis is improved, and the climbing capability of the robot is strong.
2: the robot load has a lift.
3: the chassis of the robot is stable in walking, the whole robot is stable when the robot is started and suddenly stopped, and the phenomenon that the robot swings back and forth in the industry can be avoided.
4: the robot can not generate noise when walking.
5: the cost of the robot chassis can be reduced, and the robot chassis mainly shows two aspects, namely less processing parts and low assembly working hours.
Drawings
Fig. 1 is a schematic structural diagram of a chassis structure of an intelligent service robot according to the present invention.
Fig. 2 is a schematic structural diagram of a chassis structure of the intelligent service robot of the present invention.
Detailed Description
The invention is further described in detail with reference to the following specific examples and the accompanying drawings. The procedures, conditions, experimental methods and the like for carrying out the present invention are general knowledge and common general knowledge in the art except for the contents specifically mentioned below, and the present invention is not particularly limited.
The invention provides an intelligent service robot chassis structure, which comprises: the device comprises a hub motor 1, a spring 2, a universal wheel 3, a chassis base plate 4, a hub motor bracket 5, a hub motor fixing seat 6, a metal guide rod 7, a metal movable guide sleeve 8, a metal fixed guide sleeve 9, a chassis cover plate 10, an upper plate connecting shaft 11, a lower plate connecting shaft 11 and a plastic ring 14.
The hub motor fixing seat 6 is locked on the chassis bottom plate 4; the shaft of the hub motor 1 is fixed on the hub motor bracket 5; the hub motor bracket 5 is connected with the metal guide rod 7 and the hub motor fixing seat 6 through the metal fixing guide sleeve 9.
The spring 2 is sleeved on the metal guide rod 7, the top of the spring is connected with the chassis cover plate 10, and the bottom of the spring is connected with the hub motor bracket 5 through the plastic ring 14.
The chassis bottom plate 4 is connected with the bottom plate cover plate 10 through an upper plate connecting shaft 11 and a lower plate connecting shaft 11; the hub motor fixing seat 6 and the metal guide rod 7 are locked between the chassis bottom plate 4 and the chassis cover plate 10 through the metal movable guide sleeve 8; the bottom of the chassis bottom plate 4 is provided with universal wheels 3.
In the present invention, the method further comprises: a laser radar 13; the laser radar 13 is fixed on the chassis base plate 4,
in the present invention, the method further comprises: a battery case 15; the battery case 15 is fixed to the bottom of the chassis cover 10, and the battery 12 is provided therein.
According to the invention, the hub motor and the spring have certain pressure when the chassis moves, and the hub motor and the ground have certain friction force when the robot runs, so that the friction force drives the robot to move. The hub motor and the spring have certain pressure in the movement process, and the pressure of the hub motor and the spring can automatically adjust the elastic parameters of the spring when the ground is uneven, so that the phenomenon of jolt of the chassis in movement is reduced.
The protection of the present invention is not limited to the above embodiments. Variations and advantages that may occur to those skilled in the art may be incorporated into the invention without departing from the spirit and scope of the inventive concept, and the scope of the appended claims is intended to be protected.
Claims (3)
1. An intelligent service robot chassis structure, comprising: the device comprises a hub motor (1), a spring (2), a universal wheel (3), a chassis base plate (4), a hub motor bracket (5), a hub motor fixing seat (6), a metal guide rod (7), a metal movable guide sleeve (8), a metal fixed guide sleeve (9), a chassis cover plate (10), an upper plate connecting shaft (11) and a lower plate connecting shaft (11) and a plastic ring (14); wherein,
the shaft of the hub motor (1) is fixed on the hub motor bracket (5); the hub motor fixing seat (6) is locked on the chassis bottom plate (4); the hub motor bracket (5) is connected with the metal guide rod (7) and the hub motor fixing seat (6) through the metal fixing guide sleeve (9); the hub motor fixing seat (6) and the metal guide rod (7) are locked between the chassis base plate (4) and the chassis cover plate (10) through the metal movable guide sleeve (8);
the spring (2) is sleeved on the metal guide rod (7), the top of the spring is connected with the chassis cover plate (10), and the bottom of the spring is connected with the hub motor support (5) through the plastic ring (14);
the chassis bottom plate (4) is connected with the bottom plate cover plate (10) through the upper plate connecting shaft and the lower plate connecting shaft (11);
the universal wheels (3) are arranged at the bottom of the chassis bottom plate (4).
2. The intelligent service robot chassis structure of claim 1, further comprising: a laser radar (13); the laser radar (13) is fixed on the chassis bottom plate (4).
3. The intelligent service robot chassis structure of claim 1, further comprising: a battery case (15); the battery box (15) is fixed at the bottom of the chassis cover plate (10), and a battery (12) is arranged in the battery box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810312130.7A CN108312131A (en) | 2018-04-09 | 2018-04-09 | A kind of intellect service robot chassis structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810312130.7A CN108312131A (en) | 2018-04-09 | 2018-04-09 | A kind of intellect service robot chassis structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108312131A true CN108312131A (en) | 2018-07-24 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810312130.7A Pending CN108312131A (en) | 2018-04-09 | 2018-04-09 | A kind of intellect service robot chassis structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108312131A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109176465A (en) * | 2018-08-31 | 2019-01-11 | 上海与德通讯技术有限公司 | Robot braking chassis |
| CN112606012A (en) * | 2020-12-10 | 2021-04-06 | 广州仿真机器人有限公司 | Intelligent simulation automatic meal delivery robot |
| CN112743553A (en) * | 2020-12-18 | 2021-05-04 | 江苏集萃智能制造技术研究所有限公司 | Intelligent food delivery robot |
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| CN204955960U (en) * | 2015-09-25 | 2016-01-13 | 北京云迹科技有限公司 | A pressure spring extension spring formula suspension and vehicle and wheeled robot for drive wheel |
| CN205600705U (en) * | 2016-03-04 | 2016-09-28 | 广州今甲智能科技有限公司 | Business machine people's removal chassis |
| CN106004312A (en) * | 2016-06-28 | 2016-10-12 | 苏州斯锐奇机器人有限公司 | Stable mobile platform of indoor service robot |
| CN205969064U (en) * | 2016-08-03 | 2017-02-22 | 杭州欢乐飞机器人科技股份有限公司 | High stable base plate assembly of intelligence usher robot |
| CN106564047A (en) * | 2016-10-20 | 2017-04-19 | 上海思岚科技有限公司 | Universal mobile robot chassis capable of avoiding shock |
| CN206154283U (en) * | 2016-10-13 | 2017-05-10 | 西安萨默尔机器人科技有限公司 | Motion chassis system of intelligence food delivery robot |
| CN107323194A (en) * | 2017-08-16 | 2017-11-07 | 苏州索亚机器人技术有限公司 | A kind of mobile robot for installing suspended shock absorbing mechanism additional |
| CN208483836U (en) * | 2018-04-09 | 2019-02-12 | 上海方立数码科技有限公司 | A kind of intellect service robot chassis structure |
-
2018
- 2018-04-09 CN CN201810312130.7A patent/CN108312131A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204955960U (en) * | 2015-09-25 | 2016-01-13 | 北京云迹科技有限公司 | A pressure spring extension spring formula suspension and vehicle and wheeled robot for drive wheel |
| CN205600705U (en) * | 2016-03-04 | 2016-09-28 | 广州今甲智能科技有限公司 | Business machine people's removal chassis |
| CN106004312A (en) * | 2016-06-28 | 2016-10-12 | 苏州斯锐奇机器人有限公司 | Stable mobile platform of indoor service robot |
| CN205969064U (en) * | 2016-08-03 | 2017-02-22 | 杭州欢乐飞机器人科技股份有限公司 | High stable base plate assembly of intelligence usher robot |
| CN206154283U (en) * | 2016-10-13 | 2017-05-10 | 西安萨默尔机器人科技有限公司 | Motion chassis system of intelligence food delivery robot |
| CN106564047A (en) * | 2016-10-20 | 2017-04-19 | 上海思岚科技有限公司 | Universal mobile robot chassis capable of avoiding shock |
| CN107323194A (en) * | 2017-08-16 | 2017-11-07 | 苏州索亚机器人技术有限公司 | A kind of mobile robot for installing suspended shock absorbing mechanism additional |
| CN208483836U (en) * | 2018-04-09 | 2019-02-12 | 上海方立数码科技有限公司 | A kind of intellect service robot chassis structure |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109176465A (en) * | 2018-08-31 | 2019-01-11 | 上海与德通讯技术有限公司 | Robot braking chassis |
| CN112606012A (en) * | 2020-12-10 | 2021-04-06 | 广州仿真机器人有限公司 | Intelligent simulation automatic meal delivery robot |
| CN112743553A (en) * | 2020-12-18 | 2021-05-04 | 江苏集萃智能制造技术研究所有限公司 | Intelligent food delivery robot |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180724 |