CN110143244A - A kind of wheeled mobile robot - Google Patents
A kind of wheeled mobile robot Download PDFInfo
- Publication number
- CN110143244A CN110143244A CN201910558452.4A CN201910558452A CN110143244A CN 110143244 A CN110143244 A CN 110143244A CN 201910558452 A CN201910558452 A CN 201910558452A CN 110143244 A CN110143244 A CN 110143244A
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- China
- Prior art keywords
- fixed frame
- robot
- fixed
- gear
- robot base
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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
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
Abstract
The invention patent discloses a kind of wheeled mobile robot, including robot base, the bottom middle position of the robot base is provided with support plate, the bottom of the support plate is provided with steering wheel, the steering wheel is equipped with the symmetrical idler wheel one of several uniform centres, the top two sides of the support plate are provided with several groups hydraulic stem, and the top of the hydraulic stem is equipped with the electric hydraulic controller connecting with the robot base bottom, the two sides of the bottom of the robot base are provided with several groups mobile mechanism.The utility model has the advantages that the present invention being used cooperatively by multiple driving motors, electric putter, connecting rod, fixed frame one, fixed frame two, gear one, gear two and chain, so that wheeled robot can guarantee movement speed on a flat ground, again with the ability of extraordinary leaping over obstacles, so that its use demand for having better met people.
Description
Technical field
The present invention relates to robotic technology fields, it particularly relates to a kind of wheeled mobile robot.
Background technique
Mobile robot as research and development robot ー earlier, mainly include crawler type, snake formula, leg formula, great-jump-forward,
The mobile mechanisms such as wheeled and combined type, during actual production and living, since wheeled mobile robot has, carrying is big, drives
It is dynamic and control it is more convenient, from a variety of advantages such as heavy and light, the speed of travel is fast, mechanism is simple, work efficiency is high, maneuverability, therefore
It is widely used and agricultural, industry, family, space exploration, anti-terrorism are explosion-proof etc. leads.
However, existing wheeled robot, such as multi link formula independent suspension type, although having preferable shock-absorbing function,
It is that structure is complicated, and obstacle climbing ability is not high, the use demand of people can not be satisfied with well so as to cause it.For phase
The problems in pass technology, currently no effective solution has been proposed.
Summary of the invention
For the problems in the relevant technologies, the present invention proposes a kind of wheeled mobile robot, to overcome existing the relevant technologies
Existing above-mentioned technical problem.
For this purpose, the specific technical solution that the present invention uses is as follows:
The bottom middle position of a kind of wheeled mobile robot, including robot base, the robot base is provided with support
Plate, the bottom of the support plate are provided with steering wheel, and the steering wheel is equipped with the symmetrical idler wheel one of several uniform centres,
The top two sides of the support plate are provided with several groups hydraulic stem, and the top of the hydraulic stem is equipped with and the robot
The electric hydraulic controller of base bottom connection, the two sides of the bottom of the robot base are provided with several groups mobile mechanism.
Further, in order to enable robot can play recognition reaction, the robot bottom to the Environmental Geomorphology of surrounding
The top two sides of seat are provided with photographic device.
Further, in order to enable wheeled robot can guarantee that movement speed on a flat ground has very again
The ability of good leaping over obstacles, the mobile mechanism includes fixed plate one, and the top of the fixed plate one and the robot
Base bottom is fixedly connected, and the bottom of the fixed plate one is provided with fixed frame one, is provided with phase therewith on the fixed frame one
The gear one of cooperation, and to be fixedly connected between the gear one and the fixed frame one, the outside of the fixed frame one is all provided with
Be equipped with connecting rod, be provided with fixed frame two between the bottom of the connecting rod, and the fixed frame two and the fixed frame one with
It is to be flexibly connected between the connecting rod, the inside of the fixed frame two is fixed with gear two with matching, described
Chain is provided between gear two and the gear one, the bottom of the fixed frame two is provided with mobile wheel assembly, the fixation
The bottom of plate one and the side for being located at the fixed frame one are provided with two groups of fixed frames three, and the bottom activity of the fixed frame three connects
It is connected to electric putter, the bottom end of the electric putter is flexibly connected with the middle part of the connecting rod.
Further, the fixed frame one, the fixed frame two and the fixed frame three are U-shaped fixed frame.
Further, for the ease of the connection of realization electric putter and connecting rod, the bottom of the electric putter is provided with U-shaped
Block, and described U-shaped piece is flexibly connected by rotation axis one with the middle part of the connecting rod.
Further, in order to reduce the vibration of wheeled robot when moving, the mobile wheel assembly includes fixed plate two,
And two top of fixed plate is fixedly connected with the bottom of the fixed frame two, the two sides of the bottom of the fixed plate two are provided with
Vertical plate, the middle part of the vertical plate offer sliding groove, and the inside of the sliding groove is provided with sliding block with matching, institute
It states and is provided with spring between the top and bottom of sliding block and the sliding groove, the middle part of the sliding block is arranged with bearing, and
Rotation axis two is provided between the bearing, one end of the rotation axis two connects with the driving motor for being located at the sliding block side
It connects, is provided with idler wheel two in the rotation axis two.
The invention has the benefit that
1, the present invention enables wheeled robot to realize under the action of multiple driving motors fastly by the use of mobile mechanism
Speed is mobile, but also can matching by electric putter, connecting rod, fixed frame one, fixed frame two, gear one, gear two and chain
It closes and uses, so that wheeled robot has the ability of preferable across obstacle, so that the present invention can guarantee flat
Movement speed on smooth ground, and the ability with extraordinary leaping over obstacles, so that it has better met people's
Use demand.
2, the present invention allows robot while mobile by the effect of spring by the use of mobile wheel assembly
Good buffering effect is played, to effectively improve the moving stability of robot.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is a kind of structural schematic diagram of wheeled mobile robot according to an embodiment of the present invention.
Fig. 2 is the bottom view of steering wheel in a kind of wheeled mobile robot according to an embodiment of the present invention.
Fig. 3 is the structural schematic diagram of mobile mechanism in a kind of wheeled mobile robot according to an embodiment of the present invention.
Fig. 4 is that the installation of fixed frame one and fixed frame three in a kind of wheeled mobile robot according to an embodiment of the present invention is shown
It is intended to.
Fig. 5 is mobile wheel assembly main view in a kind of wheeled mobile robot according to an embodiment of the present invention.
Fig. 6 is perspective view (the removal rolling of mobile wheel assembly in a kind of wheeled mobile robot according to an embodiment of the present invention
Wheel is two).
In figure:
1, robot base；2, support plate；3, steering wheel；4, idler wheel one；5, hydraulic stem；6, electric hydraulic controller；7, mobile
Mechanism；701, fixed plate one；702, fixed frame one；703, gear one；704, connecting rod；705, fixed frame two；706, gear two；
707, chain；708, mobile wheel assembly；7080, fixed plate two；7081, vertical plate；7082, sliding groove；7083, sliding block；7084, bullet
Spring；7085, rotation axis two；7086, driving motor；7087, idler wheel two；709, fixed frame three；710, electric putter；711, U-shaped piece；
8, photographic device.
Specific embodiment
To further illustrate that each embodiment, the present invention are provided with attached drawing, these attached drawings are that the invention discloses one of content
Point, mainly to illustrate embodiment, and the associated description of specification can be cooperated to explain the operation principles of embodiment, cooperation ginseng
Examine these contents, those of ordinary skill in the art will be understood that other possible embodiments and advantages of the present invention, in figure
Component be not necessarily to scale, and similar component symbol is conventionally used to indicate similar component.
According to an embodiment of the invention, providing a kind of wheeled mobile robot.
Now in conjunction with the drawings and specific embodiments, the present invention is further described, as shown in figures 1 to 6, implements according to the present invention
A kind of wheeled mobile robot of example, including robot base 1, the bottom middle position of the robot base 1 are provided with branch
Fagging 2, the bottom of the support plate 2 are provided with steering wheel 3, and it is symmetrical that the steering wheel 3 is equipped with several uniform centres
Idler wheel 1, the top two sides of the support plate 2 are provided with several groups hydraulic stem 5, and the top of the hydraulic stem 5 is equipped with
The electric hydraulic controller 6 connecting with 1 bottom of robot base, the two sides of the bottom of the robot base 1 are provided with
Several groups mobile mechanism 7.
With the aid of the technical scheme, by the use of mobile mechanism 7, so that wheeled robot can guarantee flat
Movement speed on ground has the ability of extraordinary leaping over obstacles again.In addition, being made by the use of mobile wheel assembly 708
Good buffering effect can be played by the effect of spring 7084 while mobile by obtaining robot, to effectively improve
The moving stability of robot.
In one embodiment, the top two sides of the robot base 1 are provided with photographic device 8.It is filled by camera shooting
8 use is set, so that robot can play recognition reaction to the Environmental Geomorphology of surrounding.
In one embodiment, the mobile mechanism 7 include fixed plate 1, and the top of the fixed plate 1 with
1 bottom of robot base is fixedly connected, and the bottom of the fixed plate 1 is provided with fixed frame 1, the fixed frame
It is provided with gear 1 with matching on one 702, and is fixed between the gear 1 and the fixed frame 1
Connection, the outside of the fixed frame 1 is provided with connecting rod 704, is provided with fixation between the bottom of the connecting rod 704
Frame 2 705, and be to be flexibly connected between the fixed frame 2 705 and the fixed frame 1 and the connecting rod 704, institute
The inside for stating fixed frame 2 705 is fixed with gear 2 706 with matching, the gear 2 706 and the gear 1
Between be provided with chain 707, the bottom of the fixed frame 2 705 is provided with mobile wheel assembly 708, the fixed plate 1
Bottom and the side for being located at the fixed frame 1 are provided with two groups of fixed frames 3 709, and the bottom of the fixed frame 3 709 is living
Dynamic to be connected with electric putter 710, the bottom end of the electric putter 710 is flexibly connected with the middle part of the connecting rod 704.Pass through movement
The use of mechanism 7 enables wheeled robot to realize under the action of multiple driving motor 7086 and fast moves, but also can
To pass through electric putter 710, connecting rod 704, fixed frame 1, fixed frame 2 705, gear 1, gear 2 706 and chain
707 are used cooperatively, so that wheeled robot has the ability of preferable across obstacle, so that the present invention can protect
The movement speed of card on a flat ground, and the ability with extraordinary leaping over obstacles, so that it better meets
The use demand of people.
In one embodiment, the fixed frame 1, the fixed frame 2 705 and the fixed frame 3 709 are U
Shape fixed frame.
In one embodiment, the bottom of the electric putter 710 is provided with U-shaped piece 711, and described U-shaped piece 711 logical
Rotation axis one is crossed to be flexibly connected with the middle part of the connecting rod 704.By U-shaped piece 711 of use, consequently facilitating realizing electric putter
Connection between more than 710 connecting rods 704.
In one embodiment, the mobile wheel assembly 708 includes fixed plate 2 7080, and the fixed plate 2 7080 is pushed up
Portion is fixedly connected with the bottom of the fixed frame 2 705, and the two sides of the bottom of the fixed plate 2 7080 are provided with vertical plate 7081,
The middle part of the vertical plate 7081 offers sliding groove 7082, and the inside of the sliding groove 7082 is provided with matching
Sliding block 7083 is provided with spring 7084, the cunning between the top and bottom and the sliding groove 7082 of the sliding block 7083
The middle part of block 7083 is arranged with bearing, and rotation axis 2 7085 is provided between the bearing, the rotation axis 2 7085
One end is connect with the driving motor 7086 for being located at 7083 side of sliding block, is provided with idler wheel two in the rotation axis 2 7085
7087.By the use of mobile wheel assembly 708, robot is played while mobile by the effect of spring 7084
Good buffering effect, to effectively improve the moving stability of robot.When concrete application, in order to guarantee sliding block 7083
Can be carried out in sliding groove 7082 it is stable move up and down, the inside two sides of the sliding groove 7082 offer limiting slot,
And the two sides of the sliding block 7083 are provided with the positive stop strip matched with the limiting slot.
Working principle: it when robot is located at flat ground, is rotated by driving motor 7086, to drive rotation axis two
7085 rotations, so that the band mobile robot of idler wheel 2 7087 is mobile, by being used cooperatively for steering wheel 3 and idler wheel 1, so that
Its steering that robot may be implemented, when robot is located at rugged ground or encounters obstacle, by controlling driving motor 7086
It stops working, so that it locks idler wheel 2 7087, meanwhile, hydraulic stem 5 is controlled by electric hydraulic controller 6 and is shunk,
So that support plate 2 drives steering wheel 3 to move upwards, so that idler wheel 1 is detached from ground, by controlling four groups of electric putters
710 stretching and contraction, so that connecting rod 704 drives fixed frame 2 705 to carry out swing, so that movable pulley group
Part 708 moves back and forth movement, and then is swung by the cooperation of four groups of mobile wheel assemblies 708 to realize robot on rugged ground
Movement.
In conclusion by means of above-mentioned technical proposal of the invention, by the use of mobile mechanism 7, so that wheel type machine
People can realize under the action of multiple driving motor 7086 and fast move, but also can pass through electric putter 710, connecting rod
704, fixed frame 1, fixed frame 2 705, gear 1, gear 2 706 and chain 707 are used cooperatively, so that wheeled machine
Device people has the ability of preferable across obstacle, so that the present invention can guarantee mobile speed on a flat ground
Degree, and the ability with extraordinary leaping over obstacles, so that its use demand for having better met people.
In addition, the present invention passes through the use of mobile wheel assembly 708, robot is allowed to pass through spring while mobile
Good buffering effect is played in 7084 effect, to effectively improve the moving stability of robot.
In the present invention unless specifically defined or limited otherwise, term " installation ", " setting ", " connection ", " fixation ",
Terms such as " being screwed on " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be with
It is mechanical connection, is also possible to be electrically connected；It can be directly connected, two can also be can be indirectly connected through an intermediary
The interaction relationship of connection or two elements inside a element, unless otherwise restricted clearly, for the common of this field
For technical staff, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (6)
1. a kind of wheeled mobile robot, which is characterized in that including robot base (1), the bottom of the robot base (1)
Middle position is provided with support plate (2), and the bottom of the support plate (2) is provided with steering wheel (3), is set on the steering wheel (3)
There is the idler wheel one (4) that several uniform centres are symmetrical, the top two sides of the support plate (2) are provided with several groups hydraulic stem
(5), and the top of the hydraulic stem (5) is equipped with the electric hydraulic controller connecting with the robot base (1) bottom
(6), the two sides of the bottom of the robot base (1) are provided with several groups mobile mechanism (7).
2. a kind of wheeled mobile robot according to claim 1, which is characterized in that the top of the robot base (1)
Portion two sides are provided with photographic device (8).
3. a kind of wheeled mobile robot according to claim 1, which is characterized in that the mobile mechanism (7) includes solid
Fixed board one (701), and the top of the fixed plate one (701) is fixedly connected with the robot base (1) bottom, the fixation
The bottom of plate one (701) is provided with fixed frame one (702), is provided with gear with matching on the fixed frame one (702)
One (703), and to be fixedly connected between the gear one (703) and the fixed frame one (702), the fixed frame one (702)
Outside be provided with connecting rod (704), be provided with fixed frame two (705) between the bottom of the connecting rod (704), and described
It is to be flexibly connected between fixed frame two (705) and the fixed frame one (702) and the connecting rod (704), the fixed frame
The inside of two (705) is fixed with gear two (706) with matching, the gear two (706) and the gear one (703)
Between be provided with chain (707), the bottom of the fixed frame two (705) is provided with mobile wheel assembly (708), the fixed plate one
(701) the bottom and side for being located at the fixed frame one (702) is provided with two groups of fixed frames three (709), the fixed frame three
(709) bottom is connected with electric putter (710), and the bottom end of the electric putter (710) is and in the connecting rod (704)
Portion is flexibly connected.
4. a kind of wheeled mobile robot according to claim 3, which is characterized in that the fixed frame one (702), described
Fixed frame two (705) and the fixed frame three (709) are U-shaped fixed frame.
5. a kind of wheeled mobile robot according to claim 3, which is characterized in that the bottom of the electric putter (710)
It is provided with U-shaped piece (711), and U-shaped piece (711) pass through the activity of the middle part of rotation axis one and the connecting rod (704)
Connection.
6. a kind of wheeled mobile robot according to claim 3, which is characterized in that mobile wheel assembly (708) packet
Fixed plate two (7080) is included, and is fixedly connected at the top of the fixed plate two (7080) with the bottom of the fixed frame two (705), institute
The two sides of the bottom for stating fixed plate two (7080) are provided with vertical plate (7081), and the middle part of the vertical plate (7081) offers sliding
The inside of slot (7082), the sliding groove (7082) is provided with sliding block with matching (7083), the sliding block (7083)
Top and bottom and the sliding groove (7082) between be provided with spring (7084), the middle part of the sliding block (7083) is blocked
Equipped with bearing, and rotation axis two (7085) is provided between the bearing, one end of the rotation axis two (7085) be located at institute
Driving motor (7086) connection of sliding block (7083) side is stated, is provided with idler wheel two (7087) on the rotation axis two (7085).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910558452.4A CN110143244A (en) | 2019-06-26 | 2019-06-26 | A kind of wheeled mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910558452.4A CN110143244A (en) | 2019-06-26 | 2019-06-26 | A kind of wheeled mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110143244A true CN110143244A (en) | 2019-08-20 |
Family
ID=67596384
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910558452.4A Pending CN110143244A (en) | 2019-06-26 | 2019-06-26 | A kind of wheeled mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110143244A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112220402A (en) * | 2020-10-20 | 2021-01-15 | 淮北暴风工业设计有限公司 | Walking mechanism of floor sweeping robot |
-
2019
- 2019-06-26 CN CN201910558452.4A patent/CN110143244A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112220402A (en) * | 2020-10-20 | 2021-01-15 | 淮北暴风工业设计有限公司 | Walking mechanism of floor sweeping robot |
| CN112220402B (en) * | 2020-10-20 | 2021-08-06 | 淮北暴风工业设计有限公司 | Walking mechanism of floor sweeping robot |
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