CN109911060A - A kind of universal chassis of mobile robot - Google Patents
A kind of universal chassis of mobile robot Download PDFInfo
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- CN109911060A CN109911060A CN201910319271.6A CN201910319271A CN109911060A CN 109911060 A CN109911060 A CN 109911060A CN 201910319271 A CN201910319271 A CN 201910319271A CN 109911060 A CN109911060 A CN 109911060A
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- bottom plate
- driving
- fixed bottom
- mobile robot
- universal chassis
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- 238000001514 detection method Methods 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 4
- 238000013519 translation Methods 0.000 abstract description 4
- 238000012423 maintenance Methods 0.000 abstract description 3
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- 230000003028 elevating effect Effects 0.000 description 1
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Abstract
The embodiment of the invention discloses a kind of universal chassis of mobile robot, are related to robotic technology field.Including fixed bottom plate, driving unit and lifting body, multiple driving units are uniformly arranged on fixed baseplate underside, and each driving unit is connected with the driving motor for driving its rotation, lifting body setting middle side part on fixed bottom plate；The driving unit includes omni-directional wheel, and for the support shaft of omni-directional wheel by driving bearing block and fixed bottom plate rotation connection, driving motor passes through shaft coupling and support axis connection.Driving unit uses omni-directional wheel, the movement such as the translations of all angles, movement in a curve may be implemented, rotate in place, the radius of gyration is smaller, can preferably adapt to the working environment under service scenarios.Fixed bottom plate links together lifting body and driving unit.Maintenance and replacement are easily facilitated, cost is lower.More versatility can be applied to service robot industry and AGV industry simultaneously.
Description
Technical field
The present embodiments relate to robotic technology fields, and in particular to a kind of universal chassis of mobile robot.
Background technique
Existing mobile robot chassis is mainly used in service robot industry and storage robot (AGV) industry.?
In service robot industry, most chassis uses and chassis is directly connected with robot body without lifting body
Mode.In AGV industry, using 2 driving wheels, the differential drive scheme of 4 castors and with the jacking of floating bearing
Scheme.
Current this robot chassis is primarily present following problems: (1) not having applied to the chassis of service robot industry
Standby elevating function is only capable of providing driving, and the function of realization is limited；(2) 2 driving wheels, 4 are used applied to the chassis of AGV industry
The differential drive scheme of a castor, the radius of gyration is big, control accuracy difference；(3) it uses applied to the chassis of AGV industry with revolution
The jacking scheme of bearing, the lifting body volume is big, weight is big and structure is complicated, and the size that will lead to car body increases, loads
Increase and cost is got higher.Lack a universal chassis that can be applied to service robot industry and AGV industry simultaneously at present.
Summary of the invention
For this purpose, the embodiment of the present invention provides a kind of universal chassis of mobile robot, service-delivery machine can be suitable for simultaneously
The universal chassis of people's industry and AGV industry.
To achieve the goals above, the embodiment of the present invention provides the following technical solutions:
According to a first aspect of the embodiments of the present invention, the universal chassis of the mobile robot includes fixed bottom plate, driving list
Member and lifting body, multiple driving units are uniformly arranged on fixed baseplate underside, and each driving unit is connected with
The driving motor for driving it to rotate, lifting body setting middle side part on fixed bottom plate, is equipped in the upper end of lifting body
For connecting the jacking top plate of robot；The driving unit includes omni-directional wheel, and the support shaft of omni-directional wheel passes through driving bearing
Seat passes through shaft coupling and support axis connection with fixed bottom plate rotation connection, driving motor.
Further, the omni-directional wheel is three, and adjacent omni-directional wheel angle is evenly arranged under fixed bottom plate in 120 degree
Side, the driving motor are fixed on fixed baseplate underside by fixed frame.
Further, the lifting body includes scissors rod and laterally urges mechanism, and scissors rod, which vertically stretches to be arranged, to exist
Between fixed bottom plate and jacking top plate, the lower end side for laterally urging mechanism and scissors rod is connected.
Further, the mechanism that laterally urges includes jacking motor, trapezoidal screw, feed screw nut and pushing block, trapezoidal
One end connection jacking motor of lead screw, feed screw nut are threaded on trapezoidal screw, and pushing block is connected to feed screw nut and scissor
Between bar.
Further, the lower end of the scissors rod is arranged on a jacking bottom plate, and jacking bottom plate interval is fixed on
Determine on the upside of bottom plate.
Further, the chassis is equipped with position-detection sensor.
Further, the position-detection sensor includes laser radar and Inertial Measurement Unit.
Further, the fixation bottom plate is circle.
The embodiment of the present invention has the advantages that
Driving unit of the embodiment of the present invention uses omni-directional wheel, and translation, movement in a curve, the original place rotation of all angles may be implemented
Turn to wait movement, the differential drive scheme than 2 driving wheels, 4 castors that generally use now more easily controls, the radius of gyration
It is smaller, it is easier to realize the movement of the complicated tracks such as movement in a curve, can preferably adapt to the working environment under service scenarios.It is fixed
Bottom plate links together lifting body and driving unit.Lifting body, driving unit and fixed bottom plate realize modularization, mark
Standardization, easily facilitates maintenance and replacement, and cost is lower.More versatility can be applied to service robot industry and AGV simultaneously
Industry.
The lifting body of the embodiment of the present invention it is smaller, itself is lighter, structure is simple, jacking distance is bigger, can
Reduce the overall dimension and weight on chassis, adaptability is higher, and cost is lower.
Detailed description of the invention
It, below will be to embodiment party in order to illustrate more clearly of embodiments of the present invention or technical solution in the prior art
Formula or attached drawing needed to be used in the description of the prior art are briefly described.It should be evident that the accompanying drawings in the following description is only
It is merely exemplary, it for those of ordinary skill in the art, without creative efforts, can also basis
The attached drawing of offer, which is extended, obtains other implementation attached drawings.
Structure depicted in this specification, ratio, size etc., only to cooperate the revealed content of specification, for
Those skilled in the art understands and reads, and is not intended to limit the invention enforceable qualifications, therefore does not have technical
Essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size are not influencing the function of the invention that can be generated
Under effect and the purpose that can reach, should all still it fall in the range of disclosed technology contents obtain and can cover.
Fig. 1 is a kind of schematic diagram of the universal chassis for mobile robot that the embodiment of the present invention 1 provides；
In figure: 1- shaft coupling 2- fixed frame 3- driving motor 4- laser radar fixed frame 5- laser radar 6- jacking
Bearing block 7- feed screw nut 8- pushing block 9- jacks the fixed bottom plate 13- driving of top plate 10- scissors rod 11- jacking motor 12-
Bearing block 14- omni-directional wheel 15- jacking bottom plate.
Specific embodiment
Embodiments of the present invention are illustrated by particular specific embodiment below, those skilled in the art can be by this explanation
Content disclosed by book is understood other advantages and efficacy of the present invention easily, it is clear that described embodiment is the present invention one
Section Example, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.Institute in this specification
Such as "upper" of reference, "lower", "left", "right", " centre " term, be merely convenient to the clear of narration, rather than to limit
The enforceable range of the present invention, relativeness are altered or modified, under the content of no substantial changes in technology, when being also considered as this hair
Bright enforceable scope.
Referring to Fig. 1, the universal chassis of the mobile robot includes circular fixed bottom plate 12, driving unit and jack
Structure, multiple driving units are uniformly arranged on fixed 12 downside of bottom plate, and each driving unit is connected with the driving electricity for driving its rotation
Machine 3, lifting body setting middle side part on fixed bottom plate 12 are equipped with the jacking for connecting robot in the upper end of lifting body
Top plate 9；Driving unit includes omni-directional wheel 14, and the support shaft of omni-directional wheel 14 is connected by driving bearing block 13 and the fixed rotation of bottom plate 12
It connects, driving motor 3 passes through shaft coupling 1 and support axis connection.
Omni-directional wheel 14 is three, and adjacent 14 angle of omni-directional wheel is evenly arranged in fixed 12 downside of bottom plate, driving electricity in 120 degree
Machine 3 is fixed on fixed 12 downside of bottom plate by fixed frame 2.Power is passed to omni-directional wheel 14 by shaft coupling 1 by driving motor 3, then
Three omni-directional wheels 14 are controlled by controller and do corresponding movement, are rotated in place by the synthesis realization of movement, the translation of all directions
Deng movement.
Lifting body includes scissors rod 10 and laterally urges mechanism, scissors rod 10 vertically flexible setting fixed bottom plate 12 with
It jacks between top plate 9, laterally urges mechanism and connect with the lower end side of scissors rod 10.Laterally urging mechanism includes jacking motor
11, fixed bottom plate is arranged in by jacking bearing block 6 in trapezoidal screw, feed screw nut 7 and pushing block 8, trapezoidal screw with horizontally rotating
On 1212.One end of trapezoidal screw connects jacking motor 11 with retarder by shaft coupling, and feed screw nut 7 is threaded in trapezoidal
On lead screw, pushing block 8 is connected between feed screw nut 7 and scissors rod 10.Jack the retarder phase that motor 11 is 10:1 with reduction ratio
Even realize the function of increasing torque, power is passed to trapezoidal screw by shaft coupling 1 by jacking motor 11, and trapezoidal screw rotation drives
Feed screw nut 7 is done to move linearly along lead screw direction, and feed screw nut 7 transmits the force to pushing block 8, and pushing block 8 passes through bolt and scissor
Bar 10, which is connected, is converted into the transverse shifting of pushing block 8 vertical motion of scissors rod 10, then realizes jacking.
The lower end of scissors rod 10 is arranged on a jacking bottom plate 15, and the interval of jacking bottom plate 15 is fixed on fixed bottom plate 12
Side.Chassis is equipped with position-detection sensor.Specifically, position-detection sensor includes laser radar 5 and Inertial Measurement Unit
(IMU), laser radar 5 is fixed on the upside of fixed bottom plate 12 by laser radar fixed frame 4.Compare other sensors in control
It is sensitiveer, accurate, the function of independent navigation and pose adjustment may be implemented.
Driving unit of the embodiment of the present invention uses omni-directional wheel 14, and the translation, movement in a curve, original place of all angles may be implemented
The movement such as rotation, the differential drive scheme than 2 driving wheels, 4 castors that generally use now more easily control, revolution half
Diameter is smaller, is easier to realize the movement of the complicated tracks such as movement in a curve, can preferably adapt to the working environment under service scenarios.Gu
Determine bottom plate 12 lifting body and driving unit link together.Lifting body, driving unit and fixed bottom plate 12 realize mould
Block, standardization, easily facilitate maintenance and replacement, and cost is lower.More versatility can be applied to service robot row simultaneously
Industry and AGV industry.
The lifting body of the embodiment of the present invention it is smaller, itself is lighter, structure is simple, jacking distance is bigger, can
Reduce the overall dimension and weight on chassis, adaptability is higher, and cost is lower.
Although above having used general explanation and specific embodiment, the present invention is described in detail, at this
On the basis of invention, it can be made some modifications or improvements, this will be apparent to those skilled in the art.Therefore,
These modifications or improvements without departing from theon the basis of the spirit of the present invention are fallen within the scope of the claimed invention.
Claims (8)
1. a kind of universal chassis of mobile robot, it is characterised in that: the universal chassis includes fixed bottom plate (12), driving
Unit and lifting body, multiple driving units are uniformly arranged on the downside of fixed bottom plate (12), each driving unit
It is connected with the driving motor (3) for driving its rotation, lifting body setting middle side part on fixed bottom plate (12), in jack
The upper end of structure is equipped with the jacking top plate (9) for connecting robot；The driving unit includes omni-directional wheel (14), omni-directional wheel
(14) support shaft passes through shaft coupling (1) by driving bearing block (13) and fixed bottom plate (12) rotation connection, driving motor (3)
With support axis connection.
2. the universal chassis of mobile robot according to claim 1, it is characterised in that: the omni-directional wheel (14) is three
A, adjacent omni-directional wheel (14) angle is evenly arranged on the downside of fixed bottom plate (12) in 120 degree, and the driving motor (3) passes through solid
Determine frame (2) to be fixed on the downside of fixed bottom plate (12).
3. the universal chassis of mobile robot according to claim 1, it is characterised in that: the lifting body includes cutting
Fork arm (10) and laterally urge mechanism, the scissors rod (10) vertically flexible setting in fixed bottom plate (12) and jacking top plate (9)
Between, the mechanism that laterally urges is connect with the lower end side of scissors rod (10).
4. the universal chassis of mobile robot according to claim 3, it is characterised in that: described laterally urges mechanism packet
Include jacking motor (11), trapezoidal screw, feed screw nut (7) and pushing block (8), one end connection jacking motor of the trapezoidal screw
(11), the feed screw nut (7) is threaded on trapezoidal screw, and the pushing block (8) is connected to feed screw nut (7) and scissors rod
(10) between.
5. the universal chassis of mobile robot according to claim 3 or 4, it is characterised in that: the scissors rod (10)
Lower end be arranged on a jacking bottom plate (15), the jacking bottom plate (15) interval is fixed on the upside of fixed bottom plate (12).
6. the universal chassis of mobile robot according to claim 1, it is characterised in that: on the fixation bottom plate (12)
Equipped with position-detection sensor.
7. the universal chassis of mobile robot according to claim 6, it is characterised in that: the position-detection sensor
Including laser radar (5) and Inertial Measurement Unit.
8. the universal chassis of mobile robot according to claim 1 or 6, it is characterised in that: the fixation bottom plate
It (12) is circle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910319271.6A CN109911060A (en) | 2019-04-19 | 2019-04-19 | A kind of universal chassis of mobile robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910319271.6A CN109911060A (en) | 2019-04-19 | 2019-04-19 | A kind of universal chassis of mobile robot |
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| Publication Number | Publication Date |
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| CN109911060A true CN109911060A (en) | 2019-06-21 |
Family
ID=66977907
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910319271.6A Pending CN109911060A (en) | 2019-04-19 | 2019-04-19 | A kind of universal chassis of mobile robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110790184A (en) * | 2019-10-25 | 2020-02-14 | 北京星航机电装备有限公司 | AGV lifting system and lifting type AGV |
| CN111840952A (en) * | 2020-08-24 | 2020-10-30 | 福建工程学院 | Wheeled football robot |
| CN111924752A (en) * | 2020-08-12 | 2020-11-13 | 深圳市佳顺智能机器人股份有限公司 | Fork truck formula automated guided transporting vehicle |
| CN112978289A (en) * | 2019-12-18 | 2021-06-18 | 沈阳新松机器人自动化股份有限公司 | Automatic dinner plate collection robot system and collection method |
| CN113182997A (en) * | 2021-03-30 | 2021-07-30 | 武汉数字化设计与制造创新中心有限公司 | Wall-climbing robot for polishing |
| CN113929020A (en) * | 2021-09-17 | 2022-01-14 | 上海交通大学 | High-precision multifunctional operation mobile robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110790184A (en) * | 2019-10-25 | 2020-02-14 | 北京星航机电装备有限公司 | AGV lifting system and lifting type AGV |
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| CN113929020A (en) * | 2021-09-17 | 2022-01-14 | 上海交通大学 | High-precision multifunctional operation mobile robot |
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