CN111252156A - Four-wheel drive type chassis structure for robot - Google Patents

Four-wheel drive type chassis structure for robot Download PDF

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Publication number
CN111252156A
CN111252156A CN201911401563.0A CN201911401563A CN111252156A CN 111252156 A CN111252156 A CN 111252156A CN 201911401563 A CN201911401563 A CN 201911401563A CN 111252156 A CN111252156 A CN 111252156A
Authority
CN
China
Prior art keywords
chassis
mounting plate
speed reducer
wheel drive
drive type
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.)
Withdrawn
Application number
CN201911401563.0A
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Chinese (zh)
Inventor
张梅
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Anhui Yanda Intelligent Technology Co ltd
Original Assignee
Anhui Yanda Intelligent Technology Co ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Anhui Yanda Intelligent Technology Co ltd filed Critical Anhui Yanda Intelligent Technology Co ltd
Priority to CN201911401563.0A priority Critical patent/CN111252156A/en
Publication of CN111252156A publication Critical patent/CN111252156A/en
Withdrawn legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60KARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00Arrangement or mounting of electrical propulsion units
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60KARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00Arrangement or mounting of transmissions in vehicles
    • B60K17/04Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
    • B60K17/043Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel
    • B60K17/046Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel with planetary gearing having orbital motion

Abstract

The invention discloses a four-wheel drive type chassis structure for a robot, which comprises a chassis mounting plate, wherein independent drive mechanisms for driving the chassis mounting plate to move are respectively arranged at four corners of the outer surface of the top end of the chassis mounting plate. The four-wheel drive type chassis structure for the robot is characterized in that four independent driving mechanisms are mounted at the top end of a chassis mounting frame, the same action of a double-structure system can be realized by utilizing the integral control of a master control system, the independent control of four transmission systems can be realized, a speed reducer is arranged at the front end of a motor, a gear box is arranged between the speed reducer and a transmission shaft, the output of a large load can be realized by bipolar speed reduction, the first stage is a standard planetary gear speed reducer to realize the speed reduction and torque increase of the initial stage, the second stage is a cylindrical gear speed reducer to realize the speed reduction and torque increase of the second stage, and the two speed reduction ratios are multiplied to form the final output speed reduction ratio.

Description

Four-wheel drive type chassis structure for robot
Technical Field
The invention relates to the technical field of robots, in particular to a four-wheel drive type chassis structure for a robot.
Background
The robot chassis is an important component of a mobile robot, the power, the precision and the control mode of the robot chassis are important parts for researching the mobile robot, the existing market has three modes of driving chassis, one mode is wheel type, one mode is crawler type, the other mode is heterozygosis of the wheel type and the crawler type, most chassis adopt a double-motor driving mode, the forward movement, the backward movement, the in-situ rotation and other actions are realized through the kinematic control of two motors, the layout is compact by adopting a mode of directly connecting the motors and a speed reducer, but the existing robot chassis has the following defects:
firstly, two motors are driven, the power of the motors is higher than that of a vehicle body such as a load, the driving requirement of each motor is higher on average, the size of the motor is larger, and the size of the speed reducer is larger, so that the installation layout cannot be realized on a robot with size limitation;
secondly, the power of the motor is large on average, so that under a certain voltage level, a large current can be generated, a control circuit and a control model can be influenced to a certain extent, and meanwhile, the circuit safety of the whole machine is improved correspondingly;
thirdly, the current intensity of a high-power motor needs stronger heat dissipation to ensure that electrical components and the motor stably operate in a specified temperature environment, and therefore the four-wheel drive type chassis structure for the robot is provided.
Disclosure of Invention
The invention mainly aims to provide a four-wheel drive type chassis structure for a robot, which can effectively solve the problems in the background technology.
In order to achieve the purpose, the invention adopts the technical scheme that:
a four-wheel drive type chassis structure for a robot comprises a chassis mounting plate, wherein independent drive mechanisms for driving the chassis mounting plate to move are respectively mounted at four corners of the outer surface of the top end of the chassis mounting plate,
the independent driving mechanism comprises motors which are respectively arranged at four corners of the outer surface of the top end of the chassis mounting plate and used for outputting torsion, a speed reducer which is arranged at the front end of the motor and used for transmitting the torsion of the motor, and a gear box which is arranged at the top end of the chassis mounting plate, wherein a transmission shaft is movably arranged on the outer surface of the front end of the gear box.
Preferably, motor drivers for controlling the rotation of the motor are symmetrically arranged at two sides of the center of the top end of the chassis mounting plate.
Preferably, a rotary encoder is installed at a position, close to the speed reducer, of the outer surface of the top end of the chassis installation plate, a coupler is arranged at the center of the outer surface of the front end of the rotary encoder, and the coupler is connected with the center of the outer surface of the rear end of the transmission shaft.
Preferably, the speed reducer and the rotary encoder are respectively installed at two sides of the outer surface of the rear end of the gear box.
Preferably, the motors on the two sides of the top end of the chassis mounting plate are symmetrical with respect to the center of the vertical line where the center point of the chassis mounting plate is located.
Preferably, the outer surfaces of the output shaft at the front end of the speed reducer and the transmission shaft are respectively provided with a connecting gear, and the connecting gear outside the transmission shaft is meshed with the connecting gear outside the output shaft of the speed reducer.
Compared with the prior art, the invention has the following beneficial effects:
firstly, the four independent driving mechanisms are arranged at the top end of the chassis mounting frame, an original double-structure system can be designed into four transmission systems, the same action of the double-structure system is realized by utilizing the integral control of a master control system, and the independent control of the four transmission systems can be realized;
secondly, a speed reducer is arranged at the front end of the motor, a gear box is arranged between the speed reducer and the transmission shaft, the output of a large load can be achieved through bipolar speed reduction, the first stage is a standard planetary gear speed reducer to realize speed reduction and torque increase of the first stage, the second stage is a cylindrical gear speed reducer to realize speed reduction and torque increase of the second stage, and the two reduction ratios are multiplied to form a final output reduction ratio;
thirdly, the motor, the speed reducer, the rotary encoder and the output shaft can be completely distributed in a narrow space through the eccentric design of the gear box;
fourthly, independent design is carried out on independent driving modules, the modules are finally distributed on the whole chassis, motor drivers can be placed in redundant places, the overall height of the chassis can be controlled to be very low, and the overall height is basically determined by the installation height of the drivers.
Drawings
FIG. 1 is a schematic view of the overall structure of a four-wheel drive chassis for a robot according to the present invention;
fig. 2 is a structural view of an independent driving mechanism in a four-wheel drive type chassis structure for a robot according to the present invention.
In the figure: 1. a chassis mounting plate; 2. a motor driver; 3. a motor; 4. a speed reducer; 5. a rotary encoder; 6. a gear case; 7. a drive shaft.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
Referring to fig. 1-2, a four-wheel drive chassis structure for a robot includes a chassis mounting plate 1, and independent driving mechanisms for driving the chassis mounting plate 1 to move are respectively installed at four corners of an outer surface of a top end of the chassis mounting plate 1,
the independent driving mechanism comprises motors 3 which are respectively arranged at four corners of the outer surface of the top end of the chassis mounting plate 1 and used for outputting torsion, a speed reducer 4 which is arranged at the front end of each motor 3 and used for transmitting the torsion of each motor 3, and a gear box 6 which is arranged at the top end of the chassis mounting plate 1, wherein a transmission shaft 7 is movably arranged on the outer surface of the front end of each gear box 6.
Referring to fig. 1, motor drivers 2 for controlling the rotation of a motor 3 are symmetrically arranged at two sides of the center of the top end of a chassis mounting plate 1.
Referring to fig. 2, a rotary encoder 5 is installed at a position, close to a speed reducer 4, on the outer surface of the top end of a chassis mounting plate 1, a coupler is arranged at the center of the outer surface of the front end of the rotary encoder 5, and the coupler is welded with the center of the outer surface of the rear end of a transmission shaft 7.
Referring to fig. 2, a speed reducer 4 and a rotary encoder 5 are respectively installed at both sides of the outer surface of the rear end of a gear box 6.
Referring to fig. 2, the motors 3 on both sides of the top end of the chassis mounting plate 1 are centrosymmetric with respect to the vertical line where the center point of the chassis mounting plate 1 is located.
Referring to fig. 2, the output shaft at the front end of the speed reducer 4 and the outer surface of the transmission shaft 7 are both provided with a connecting gear, the connecting gear outside the transmission shaft 7 is meshed with the connecting gear outside the output shaft of the speed reducer 4, and the outside of the transmission shaft 7 can be connected with a crawler belt or a tire.
The speed reducer 4 adopts a planetary gear speed reducer, the rotary encoder 5 can record the rotation angle and the rotation speed of the output shaft in real time, and a servo control loop can be formed by the absolute value type and the motor 3.
The gear box 6 adopts a cylindrical gear reduction box to realize two-stage speed reduction, and the output shaft of the motor 3 and the transmission shaft 7 of the vehicle body are staggered, so that the rotary encoder 5 can be arranged in a compact structure while reducing speed.
When in use, the motor 3 is electrified to rotate and transmits the torque to the output shaft at the front end of the speed reducer 4, the output shaft at the front end of the speed reducer 4 is connected with the transmission shaft 7 through the connecting gear, so that the output shaft of the motor 3 is not on the same central axis with the transmission shaft 7, the positions of the motor 3 and the rotary encoder 5 are adjusted, the utilization degree of space is improved, secondly, the transmission shaft 7 can be driven to rotate when the output shaft of the speed reducer 4 rotates, finally, the torque is transmitted to the crawler belt or the tire connected with the transmission shaft 7 through the transmission shaft 7, so that the crawler belt or the tire rotates to drive the chassis mounting plate 1 to move, in the process, the torque output by the motor 3 firstly passes through the standard planetary gear speed reducer to realize the initial speed reduction and torque increase, and then the cylindrical gear speed reducer realizes the secondary speed reduction and torque increase, the two reduction ratios are multiplied to form the final output reduction ratio, and the motors 3 are controlled by the independent motor drivers 2, so that the four motors 3 can move independently, the rotating speeds and the rotating directions of the transmission shafts 7 at different positions are controlled by the four motor drivers 2 respectively, the rotating speeds and the rotating directions of the crawler belts or the tires arranged on the outer surfaces of the transmission shafts 7 are adjusted, and the steering and the front-back movement of the chassis mounting plate 1 are adjusted.
Because the motor 3 of 1 top both sides of chassis mounting panel is symmetrical about 1 central point place plumb line central symmetry in chassis mounting panel for motor 3 staggers with rotary encoder 5's position, and inseparable the installation on 1 top of chassis mounting panel, not only can improve the utilization degree in 1 top space in chassis mounting panel, can also be very low with the whole height control in chassis simultaneously, determine whole height with motor drive 2's mounting height basically, can reduce the distance between device focus and the chassis mounting panel 1, reduce the focus.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (6)

1. A four-wheel drive type chassis structure for a robot is characterized by comprising a chassis mounting plate (1), wherein independent driving mechanisms for driving the chassis mounting plate (1) to move are respectively mounted at four corners of the outer surface of the top end of the chassis mounting plate (1),
the independent driving mechanism comprises motors (3) which are respectively installed at four corners of the outer surface of the top end of the chassis installation plate (1) and used for outputting torsion, speed reducers (4) which are installed at the front ends of the motors (3) and used for transmitting the torsion of the motors (3) and gear boxes (6) which are installed at the top end of the chassis installation plate (1), and transmission shafts (7) are movably installed on the outer surface of the front ends of the gear boxes (6).
2. The four-wheel drive type chassis structure for a robot according to claim 1, wherein: and motor drivers (2) for controlling the rotation of the motor (3) are symmetrically arranged at two sides of the center of the top end of the chassis mounting plate (1).
3. The four-wheel drive type chassis structure for a robot according to claim 1, wherein: the rotary encoder (5) is installed at the position, close to the speed reducer (4), of the outer surface of the top end of the chassis mounting plate (1), a coupler is arranged at the center of the outer surface of the front end of the rotary encoder (5), and the coupler is connected with the center of the outer surface of the rear end of the transmission shaft (7).
4. The four-wheel drive type chassis structure for a robot according to claim 1, wherein: the speed reducer (4) and the rotary encoder (5) are respectively installed on two sides of the outer surface of the rear end of the gear box (6).
5. The four-wheel drive type chassis structure for a robot according to claim 1, wherein: the motor (3) on the two sides of the top end of the chassis mounting plate (1) is centrosymmetric about the perpendicular line where the center point of the chassis mounting plate (1) is located.
6. The four-wheel drive type chassis structure for a robot according to claim 1, wherein: and the outer surfaces of the output shaft at the front end of the speed reducer (4) and the transmission shaft (7) are respectively provided with a connecting gear, and the connecting gear outside the transmission shaft (7) is meshed with the connecting gear outside the output shaft of the speed reducer (4).
CN201911401563.0A 2019-12-31 2019-12-31 Four-wheel drive type chassis structure for robot Withdrawn CN111252156A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201911401563.0A CN111252156A (en) 2019-12-31 2019-12-31 Four-wheel drive type chassis structure for robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201911401563.0A CN111252156A (en) 2019-12-31 2019-12-31 Four-wheel drive type chassis structure for robot

Publications (1)

Publication Number Publication Date
CN111252156A true CN111252156A (en) 2020-06-09

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201911401563.0A Withdrawn CN111252156A (en) 2019-12-31 2019-12-31 Four-wheel drive type chassis structure for robot

Country Status (1)

Country Link
CN (1) CN111252156A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112171689A (en) * 2020-09-27 2021-01-05 杭州电子科技大学 Robot moving platform for restaurant

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN203470748U (en) * 2013-09-22 2014-03-12 刘亚超 Steel bar bending machine
CN104175873A (en) * 2014-08-11 2014-12-03 安徽工程大学 Chassis driving system for four-wheel drive electromobile and control method of chassis driving system
CN204415551U (en) * 2015-01-29 2015-06-24 兰州理工大学 Novel six caterpillar robots cross the transmission of crawler belt power and distribution system
CN206108545U (en) * 2016-10-14 2017-04-19 广州市濑加金属加工机械有限公司 Automatic winding machine
CN206691206U (en) * 2017-03-22 2017-12-01 四川阿泰因机器人智能装备有限公司 A kind of four-wheel drive robot chassis structure
CN208053107U (en) * 2017-12-07 2018-11-06 极创机器人科技有限公司 A kind of highly integrated 4 wheel driven wheel undercarriage
CN109703649A (en) * 2019-01-15 2019-05-03 哈工大机器人(昆山)有限公司 A kind of AGV transport vehicle of Novel transmission and suspension and its load 500kG compact
US10399598B2 (en) * 2016-09-06 2019-09-03 Sharp Kabushiki Kaisha Moving vehicle
CN209441472U (en) * 2018-03-12 2019-09-27 深圳煜禾森科技有限公司 A kind of four-wheel omnidirectional intelligent robot chassis
CN209454576U (en) * 2018-12-30 2019-10-01 武汉申远科技有限公司 A kind of four-wheel drive transportation robot

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN203470748U (en) * 2013-09-22 2014-03-12 刘亚超 Steel bar bending machine
CN104175873A (en) * 2014-08-11 2014-12-03 安徽工程大学 Chassis driving system for four-wheel drive electromobile and control method of chassis driving system
CN204415551U (en) * 2015-01-29 2015-06-24 兰州理工大学 Novel six caterpillar robots cross the transmission of crawler belt power and distribution system
US10399598B2 (en) * 2016-09-06 2019-09-03 Sharp Kabushiki Kaisha Moving vehicle
CN206108545U (en) * 2016-10-14 2017-04-19 广州市濑加金属加工机械有限公司 Automatic winding machine
CN206691206U (en) * 2017-03-22 2017-12-01 四川阿泰因机器人智能装备有限公司 A kind of four-wheel drive robot chassis structure
CN208053107U (en) * 2017-12-07 2018-11-06 极创机器人科技有限公司 A kind of highly integrated 4 wheel driven wheel undercarriage
CN209441472U (en) * 2018-03-12 2019-09-27 深圳煜禾森科技有限公司 A kind of four-wheel omnidirectional intelligent robot chassis
CN209454576U (en) * 2018-12-30 2019-10-01 武汉申远科技有限公司 A kind of four-wheel drive transportation robot
CN109703649A (en) * 2019-01-15 2019-05-03 哈工大机器人(昆山)有限公司 A kind of AGV transport vehicle of Novel transmission and suspension and its load 500kG compact

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112171689A (en) * 2020-09-27 2021-01-05 杭州电子科技大学 Robot moving platform for restaurant
CN112171689B (en) * 2020-09-27 2022-03-18 杭州电子科技大学 Robot moving platform for restaurant

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Application publication date: 20200609