CN109367653A - A kind of 4 wheel driven robot chassis of the floating type avoidance in interior - Google Patents
A kind of 4 wheel driven robot chassis of the floating type avoidance in interior Download PDFInfo
- Publication number
- CN109367653A CN109367653A CN201811294248.8A CN201811294248A CN109367653A CN 109367653 A CN109367653 A CN 109367653A CN 201811294248 A CN201811294248 A CN 201811294248A CN 109367653 A CN109367653 A CN 109367653A
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- China
- Prior art keywords
- wheel
- driven robot
- wheel driven
- chassis
- assembly
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- 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.)
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Classifications
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- 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
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
Abstract
The invention discloses a kind of 4 wheel driven robot chassis of floating type avoidance in interior, 4 wheel driven robot chassis includes top plate member, bottom deck assembly and bumper assembly.Wherein, in top plate member four driving wheels setting, improve the flexibility ratio on 4 wheel driven robot chassis, and provide more sufficient operation power；The setting of floating type bumper assembly makes 4 wheel driven robot chassis more coordinate beauty, and job stability is more preferable；Meanwhile 4 wheel driven robot chassis is equipped with sensing and control assembly, can contexture by self operation path, the basic automation and intelligence for realizing operation.As it can be seen that avoidance of the present invention, obstacle climbing ability and bearing capacity are strong, good operating stability, overall appearance coordinates beautiful, intelligence degree height.
Description
Technical field
The present invention relates to service robot fields, in particular to a kind of 4 wheel driven robot of floating type avoidance in interior
Chassis.
Background technique
Indoor wheeled mobile robot is the hot spot and trend of future robot research application, at present interior wheel type mobile machine
The chassis of device people is usually that double drive is taken turns and one or two follower.The mobile robots with a follower are taken turns using double drives,
It is easy to cause robot to roll, therefore is only applicable to height and all smaller robot of quality；Using double drives wheel and two quilts
The mobile robot of driving wheel, chassis turning radius is excessive, so robot flexibility ratio is not high, applicable scene is limited.
Meanwhile the anticollision device, collision-prevention device of most of wheeled mobile robots carryings generallys use stroke sensor, infrared ray at present
Sensor and ultrasonic sensor carry out anticollision.Stroke sensor is limited in scope with what infrared sensor acted on, it is difficult to meet each
The obstacle in direction and it is easily destroyed overall appearance；Ultrasonic sensor is influenced vulnerable to electromagnetism etc., it is difficult to guarantee job stability.
It is limited to above-mentioned two principal element, at present the generally existing avoidance of most of wheeled mobile robots, obstacle climbing ability
Weak, the defects of poor work stability and overall appearance are uncoordinated.
Summary of the invention
In order to overcome weak existing wheeled mobile robot avoidance, obstacle climbing ability, poor work stability and overall appearance not
The defects of coordination, the present invention provides a kind of 4 wheel driven robot chassis of floating type avoidance in interior, which is adopted
With 4 wheel driven wheel and floating type avoidance, avoidance, obstacle climbing ability and bearing capacity are strong, good operating stability and overall appearance coordination beauty
It sees.
Correspondingly, the embodiment of the invention provides a kind of 4 wheel driven robot chassis of floating type avoidance in interior, the 4 wheel driven
Robot chassis includes top plate member, bottom deck assembly and bumper assembly, and the bottom deck assembly is fastened on top by hexagonal prism
The surrounding of top plate member and bottom deck assembly is arranged in the underface of board group part, the bumper assembly；
The top plate member includes top plate and the front-wheel hub assembly, rear-wheel hub assembly, laser radar that side under the top plate is arranged
Component and charging unit seat；
The bottom deck assembly includes bottom plate and the lithium battery, servo-driver, control panel and the calculation that are arranged in above bottom plate
Method plate；
The bumper assembly is surrounded and is formed by front shroud, back cover, left cover and right cover.
Optional embodiment, the front-wheel hub assembly include front drive wheel assemblies and front driving wheel suspension dampening assembly；
The front driving wheel suspension dampening assembly is connected by front hub spring mechanism, front hub spring shaft, front hub connecting shaft, front hub
Plate and front hub fixed frame collectively constitute.
Optional embodiment, the rear-wheel hub assembly include rear drive sprocket component and rear drive sprocket suspension dampening assembly；
The rear drive sprocket suspension dampening assembly is collectively constituted by rear-wheel hub upper holder block, rear-wheel hub spring mechanism and rear-wheel hub lower lock block.
Optional embodiment, front driving wheel wheel hub, front driving wheel wheel shaft, front driving wheel are straight in the front drive wheel assemblies
Flow servo motor and the installation of front driving wheel photoelectric encoder integrated form are integrated.
Optional embodiment, rear drive sprocket wheel hub, rear drive sprocket wheel shaft, rear drive sprocket are straight in the rear drive sprocket component
Flow servo motor and the installation of rear drive sprocket photoelectric encoder integrated form are integrated.
Optional embodiment, the lithium battery provide 24V DC power supply for 4 wheel driven robot chassis.
Optional embodiment, the laser radar component include laser radar and laser radar fixing seat, the laser
Radar is fastened in laser radar fixing seat, and the sweep test of the laser radar is from the round hole that the top plate is reserved
It passes through and exposes.
Optional embodiment is provided with obstacle avoidance sensor component on the front shroud and back cover；The obstacle avoidance sensor group
Part includes anticollision spring mechanism, linear bearing, bearing block, anchor ear, photoelectric sensor and tablet.
Optional embodiment, the front shroud, back cover, it is left cover and right cover material be aluminium alloy.
In addition, the present invention also provides a kind of service robot, including 4 wheel driven robot chassis described in above-mentioned any one
Service robot.
The embodiment of the invention provides a kind of 4 wheel driven robot chassis of floating type avoidance in interior, the 4 wheel driven robot chassis
Two front, two rear four driving wheels are provided with, turning radius is small, or even can realize pivot stud, and flexibility ratio is higher, and operation power is more
Foot, bearing capacity is stronger, and scene applicatory is wider；In addition, the 4 wheel driven robot chassis utilizes front shroud, back cover, left cover, right cover
Setting realize floating type bumper assembly, overall appearance more coordinates beauty and job stability is more preferable；Meanwhile the 4 wheel driven machine
People chassis equipped with sensing and control assembly, can contexture by self obstacle detouring, avoidance path, the basic automation and intelligence for realizing operation
Energyization.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it is clear that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the three-dimensional structure view on 4 wheel driven robot chassis during the present invention is implemented；
Fig. 2 is the three-dimensional structure explosive view on 4 wheel driven robot chassis in the embodiment of the present invention；
Fig. 3 is the three-dimensional structure view of 4 wheel driven robot chassis top plate member in the embodiment of the present invention；
Fig. 4 is the three-dimensional structure view of 4 wheel driven robot chassis base plate component in the embodiment of the present invention；
Fig. 5 is the three-dimensional structure view of 4 wheel driven robot chassis bumper assembly in the embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts all other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1 is the three-dimensional structure view on 4 wheel driven robot chassis in the embodiment of the present invention, and Fig. 2 is four in the embodiment of the present invention
Drive the three-dimensional structure explosive view on robot chassis.
As depicted in figs. 1 and 2, the embodiment of the invention provides a kind of 4 wheel driven robot chassis of floating type avoidance in interior,
4 wheel driven robot chassis includes top plate member 1, bottom deck assembly 2 and bumper assembly 3, the top plate member 1 and bottom deck assembly 2
It is connected by hexagonal prism, the bumper assembly 3 is arranged in the surrounding of top plate member 1 and bottom deck assembly 2 and by bolt, screw
It is connected with top plate member 1.
Fig. 3 is the three-dimensional structure view of 4 wheel driven robot chassis top plate member in the embodiment of the present invention, the top plate member 1
Including top plate 11, front-wheel hub assembly 12, rear-wheel hub assembly 13, laser radar component 14 and charging unit seat 15.
The front-wheel hub assembly 12 and rear-wheel hub assembly 13 it is two front, two rear the lower section of top plate 11 is set.Wherein, described
Front-wheel hub assembly 12 includes front hub spring mechanism 121, front hub spring shaft 122, front hub connecting shaft 123, front hub connection
Plate 124, front hub fixed frame 125 and front drive wheel assemblies 126.Specifically, the front hub spring mechanism 121 passes through under it
The circular mounting hole and the front hub spring shaft 122 of side are cooperatively connected, the front hub spring shaft 122 and front hub connecting plate
124 front hole location is cooperatively connected；The intermediate hole location and front hub connecting shaft 123 of the front hub connecting plate 124 are cooperatively connected,
The front hub connecting shaft 123 and the hole location of 125 lower section of front hub fixed frame are cooperatively connected, and the front hub connecting shaft 123 will
Front hub connecting plate 124 and front hub fixed frame 125 are connected as one；The top of the front hub fixed frame 125 passes through bolt
Structure is connected and fixed with the top plate 11, and the intermediate hole location and front hub spring mechanism 121 of fixed frame 125 are cooperatively connected；It is described
The front driving wheel axis of the rear hole location of front hub connecting plate 124 and the front drive wheel assemblies 126 is cooperatively connected；Particularly, institute
It is solid to state front hub spring mechanism 121, front hub spring shaft 122, front hub connecting shaft 123, front hub connecting plate 124 and front hub
Determine frame 125 and collectively constitute front driving wheel suspension dampening assembly, in motion process, the vibration that front drive wheel assemblies 126 are subject to is passed through
It is transmitted on top plate 11 again after 121 damping of spring mechanism.
Wherein, the rear-wheel hub assembly 13 includes rear-wheel hub upper holder block 131, rear-wheel hub spring mechanism 132, rear-wheel hub pushing
Block 133 and rear drive sprocket component 134.Specifically, the rear-wheel hub upper holder block 131 is fastened on top plate by bolt arrangement
11 lower section, the rear-wheel hub lower lock block 133 are cooperatively connected with rear-wheel hub upper holder block 131 by spring mechanism 132, the rear-guard
The rear drive wheel shaft of drive wheel assemblies 134 and the installation hole location of rear-wheel hub lower lock block are cooperatively connected.Particularly, it is pressed on the rear-wheel hub
Block 131, rear-wheel hub spring mechanism 132, rear-wheel hub lower lock block 133 collectively constitute rear drive sprocket suspension dampening assembly, motion process
In, the vibration that rear drive sprocket component 134 is subject to is transmitted on rear-wheel hub lower lock block 133, and bullet is passed through in the vibration of rear-wheel hub lower lock block
It is transmitted on rear-wheel hub upper holder block 131 and top plate 11 after 132 damping of spring mechanism.
The laser radar component 14 includes laser radar 141 and laser radar fixing seat 142, and the laser radar is fixed
Seat 142 is connected by screw to the lower section for being fixed on 11 anterior locations of top plate, and the laser radar 141 is connected solid by bolt arrangement
It is scheduled in laser radar fixing seat 142, the sweep test of the laser radar 141 passes through simultaneously from the round hole that top plate 11 is reserved
Expose, laser radar 141 can pass through laser scanning inspection to the inside for arriving robot the case where moving front without scanning.
The lower section of 11 back location of top plate is arranged in the charging unit seat 15, and charging unit seat 15 is charging unit (figure
In be not shown) provide the fixed position of installation.
It should be noted that the front drive wheel assemblies 126 and rear drive sprocket component 134 are integrated assemblies, before described
Front driving wheel wheel hub, front driving wheel wheel shaft, front driving wheel DC servo motor and front driving wheel photoelectricity are compiled in drive wheel assemblies 126
Code device integrated form installation is integrated, rear drive sprocket wheel hub, rear drive sprocket wheel shaft, rear drive sprocket in the rear drive sprocket component 134
DC servo motor and the installation of rear drive sprocket photoelectric encoder integrated form are integrated.
Fig. 4 is the three-dimensional structure view of 4 wheel driven robot chassis base plate component in the embodiment of the present invention, the bottom deck assembly 2
Including bottom plate 21, lithium battery 22, servo-driver 23, control panel 24, algorithm plate 25 and hexagonal prism 26.Specifically, the bottom plate
21 and top plate 11 be connected and fixed by hexagonal prism 26；Specifically, the lithium battery 22, servo-driver 23, control panel 24 and calculation
The top of bottom plate 21 is all arranged in method plate 25.The lithium battery 22 provides 24V DC power supply for 4 wheel driven robot chassis；The servo
Driver 23 is connected with the front driving wheel DC servo motor and rear drive sprocket DC servo motor.It should be noted that watching
It takes driver to control servo motor generally by three kinds of position, speed and torque modes, to realize high-precision biography
Dynamic system positioning；The control panel 24 is connected with servo-driver 23, the control panel 24, laser radar 141 and algorithm plate 25
It is connected.
Fig. 5 is the three-dimensional structure view of 4 wheel driven robot chassis bumper assembly in the embodiment of the present invention, the bumper assembly 3
Including front shroud 31, back cover 32, left cover 33 and right cover 34, the front shroud 31, back cover 32, left cover 33 and right cover 34 are around composition anticollision
Component 3.Specifically, front shroud 31 and back cover 32 are both provided with two symmetrical obstacle avoidance sensor components close to the side of bottom plate 21
35.Wherein, the obstacle avoidance sensor component 35 includes anticollision spring mechanism 351, linear bearing 352, bearing block 353, anchor ear
354, photoelectric sensor 355 and tablet 356；Described 351 one end of anticollision spring mechanism is fastened on front shroud 31 or back cover 32
On, the other end is connected with linear bearing 352；The linear bearing 352 is cooperatively connected with bearing block 353, the bearing block 353
It is connected by screw to and is fixed on top plate 11；Described 352 one end of linear bearing is connected with anticollision spring mechanism 351, the other end with
Tablet 356 is connected；The anchor ear 354 is fastened on linear bearing 352 close to 356 one end of tablet, the photoelectric sensing
Device 355, which is connected by screw to, to be fixed on anchor ear 354.When encountering barrier, front shroud 31 or back cover 32 are squeezed, and are squeezed
Be transmitted on tablet 356 by anticollision spring mechanism 351 and linear bearing 352, tablet 356 be squeezed generation it is mobile from
And the induction region of photoelectric sensor 355 is left, photoelectric sensor 355 understands trigger signal and feeds back information to the calculation at this time
Method plate 25；When obstacle is eliminated, anticollision spring mechanism 351 restores to the original state, and tablet 356 is driven to reenter photoelectric sensor
355 induction region, photoelectric sensor 355 equally feed back signal to algorithm plate 25.Specifically, the left cover 32 and right cover 33
The two sides of top plate 11 are arranged in rightly and are connected by screw to for one the first from left is fixed on top plate 11.Particularly, the front shroud 31, after
The material of cover 32, left cover 33 and right cover 34 is aluminium alloy, there is that high light weight, intensity, corrosion resisting property and processing performance are good.
In motion process, control panel 24 is arrived in the transmission instruction of algorithm plate 25, so that servo-driver 23 drives preceding driving
Wheel assembly 126 and rear drive sprocket component 134 move；Meanwhile the external environment data feedback that will test of laser radar 141 is to calculating
Method plate 25, algorithm plate 25 carry out map structuring and navigation by analysis data, make the autonomous steady safety fortune in 4 wheel driven robot chassis
Row.When 4 wheel driven robot chassis encounters obstacle, the obstacle avoidance sensor component 35 being arranged on front shroud 31 or back cover 32 can be triggered
Simultaneously for feedback information to algorithm plate 25,4 wheel driven robot chassis is by automatic planned trajectory and runs for signal.
In addition, the service robot is implemented comprising foregoing invention the embodiment of the invention also provides a kind of service robot
Any one on Li Zhong 4 wheel driven robot chassis, the other assemblies of the service robot are not construed as limiting.
The embodiment of the invention provides a kind of 4 wheel driven robot chassis of floating type avoidance in interior, the 4 wheel driven robot chassis
Two front, two rear four driving wheels are provided with, turning radius is small, or even can realize pivot stud, and flexibility ratio is higher, and operation power is more
Foot, bearing capacity is stronger, and scene applicatory is wider；In addition, the 4 wheel driven robot chassis utilizes front shroud, back cover, left cover, right cover
Setting realize floating type bumper assembly, overall appearance more coordinates beauty and job stability is more preferable；Meanwhile the 4 wheel driven machine
People chassis equipped with sensing and control assembly, can contexture by self obstacle detouring, avoidance path, the basic automation and intelligence for realizing operation
Energyization.
In addition, the 4 wheel driven robot chassis for being provided for the embodiments of the invention a kind of floating type avoidance in interior above carries out
It is discussed in detail, should use that a specific example illustrates the principle and implementation of the invention herein, above implementation
The explanation of example is merely used to help understand method and its core concept of the invention；Meanwhile for the general technology people of this field
Member, according to the thought of the present invention, there will be changes in the specific implementation manner and application range, in conclusion this explanation
Book content should not be construed as limiting the invention.
Claims (10)
1. a kind of 4 wheel driven robot chassis of the floating type avoidance in interior, which is characterized in that 4 wheel driven robot chassis includes top
Board group part, bottom deck assembly and bumper assembly, the bottom deck assembly are fastened on the underface of top plate member, institute by hexagonal prism
State the surrounding that top plate member and bottom deck assembly is arranged in bumper assembly；
The top plate member includes top plate and the front-wheel hub assembly, rear-wheel hub assembly, laser radar component that side under the top plate is arranged
And charging unit seat；
The bottom deck assembly includes bottom plate and the lithium battery, servo-driver, control panel and the algorithm plate that are arranged in above bottom plate；
The bumper assembly is surrounded and is formed by front shroud, back cover, left cover and right cover.
2. 4 wheel driven robot according to claim 1 chassis, which is characterized in that the front-wheel hub assembly includes front driving wheel
Component and front driving wheel hang dampening assembly；The front driving wheel suspension dampening assembly is by front hub spring mechanism, front hub bullet
Spring axis, front hub connecting shaft, front hub connecting plate and front hub fixed frame collectively constitute.
3. 4 wheel driven robot according to claim 1 chassis, which is characterized in that the rear-wheel hub assembly includes rear drive sprocket
Component and rear drive sprocket hang dampening assembly；The rear drive sprocket suspension dampening assembly is by rear-wheel hub upper holder block, rear-wheel hub spring
Mechanism and rear-wheel hub lower lock block collectively constitute.
4. 4 wheel driven robot according to claim 2 chassis, which is characterized in that front driving wheel in the front drive wheel assemblies
Wheel hub, front driving wheel wheel shaft, front driving wheel DC servo motor and the installation of front driving wheel photoelectric encoder integrated form are integrated.
5. 4 wheel driven robot according to claim 3 chassis, which is characterized in that rear drive sprocket in the rear drive sprocket component
Wheel hub, rear drive sprocket wheel shaft, rear drive sprocket DC servo motor and the installation of rear drive sprocket photoelectric encoder integrated form are integrated.
6. 4 wheel driven robot according to claim 1 chassis, which is characterized in that the lithium battery is 4 wheel driven robot chassis
24V DC power supply is provided.
7. 4 wheel driven robot according to claim 1 chassis, which is characterized in that the laser radar component includes laser thunder
Up to laser radar fixing seat, the laser radar is fastened in laser radar fixing seat, the scanning of the laser radar
Part passes through and exposes from the round hole that the top plate is reserved.
8. 4 wheel driven robot according to claim 1 chassis, which is characterized in that be provided with anticollision on the front shroud and back cover
Sensor module；The obstacle avoidance sensor component includes anticollision spring mechanism, linear bearing, bearing block, anchor ear, photoelectric sensor
And tablet.
9. 4 wheel driven robot according to claim 1 chassis, which is characterized in that the front shroud, back cover, left cover and right cover
Material is aluminium alloy.
10. a kind of service robot, which is characterized in that including 4 wheel driven robot chassis described in claim 1 to 9 any one
Service robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811294248.8A CN109367653A (en) | 2018-11-01 | 2018-11-01 | A kind of 4 wheel driven robot chassis of the floating type avoidance in interior |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811294248.8A CN109367653A (en) | 2018-11-01 | 2018-11-01 | A kind of 4 wheel driven robot chassis of the floating type avoidance in interior |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109367653A true CN109367653A (en) | 2019-02-22 |
Family
ID=65396854
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811294248.8A Pending CN109367653A (en) | 2018-11-01 | 2018-11-01 | A kind of 4 wheel driven robot chassis of the floating type avoidance in interior |
Country Status (1)
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| CN (1) | CN109367653A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110701701A (en) * | 2019-10-29 | 2020-01-17 | 嵊州亚坎空气净化设备有限公司 | Air purification robot |
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