CN112644236A - Chassis suspension driving module of mobile robot - Google Patents
Chassis suspension driving module of mobile robot Download PDFInfo
- Publication number
- CN112644236A CN112644236A CN202110046435.XA CN202110046435A CN112644236A CN 112644236 A CN112644236 A CN 112644236A CN 202110046435 A CN202110046435 A CN 202110046435A CN 112644236 A CN112644236 A CN 112644236A
- Authority
- CN
- China
- Prior art keywords
- mobile robot
- mounting
- robot chassis
- linear bearing
- drive module
- 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.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
- B60G11/14—Resilient suspensions characterised by arrangement, location or kind of springs having helical, spiral or coil springs only
- B60G11/16—Resilient suspensions characterised by arrangement, location or kind of springs having helical, spiral or coil springs only characterised by means specially adapted for attaching the spring to axle or sprung part of the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/40—Indexing codes relating to the wheels in the suspensions
- B60G2200/422—Driving wheels or live axles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/10—Type of spring
- B60G2202/12—Wound spring
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
The invention discloses a chassis suspension driving module of a mobile robot, which belongs to the technical field of robots and comprises a mounting plate, a mounting frame and linear bearing seats, wherein the mounting frame is arranged at the bottom end of the mounting plate, the linear bearing seats are symmetrically arranged on two sides of the mounting frame, a damping guide shaft is arranged inside the linear bearing seats, a damping spring is sleeved on the upper end surface of the damping guide shaft, a driving wheel is arranged at the bottom end of the mounting frame, a transmission shaft is arranged inside the driving wheel, and a driving motor is arranged on one side of the mounting frame corresponding to the transmission shaft; according to the invention, the mechanical transmission mechanism is designed in a modularized manner and optimized manner through each component, so that the up-and-down balance shock absorption of the driving wheel driven by the suspension is realized, and the axial pressure of the suspension driving module is adjusted by adjusting the compression amount of the spring, so that the running stability and the load force of the chassis of the mobile robot are provided, and the running effect is ensured.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a chassis suspension driving module of a mobile robot.
Background
The robot is taken as an assembly of a plurality of technologies and functions, besides partial software functions, other important parts are all arranged on a hardware module of a robot chassis, and the robot chassis is not only an integration point of various sensors, machine vision, laser radar, motor wheels and other equipment, but also bears basic functions of the robot such as positioning, navigation, movement, obstacle avoidance and the like.
The prior art has the following problems: the chassis suspension driving module mechanism of the AGV product in the existing mobile robot industry adopts an angle chain type connection shock absorber, the shock absorber performance is poor, the structural connection gap is large, and the suspension driving module is not stable in operation, so that the chassis of the mobile robot vibrates greatly and the shock absorbing effect cannot be achieved.
Disclosure of Invention
To solve the problems set forth in the background art described above. The invention provides a chassis suspension driving module of a mobile robot, which has the characteristics of stable operation and high transmission efficiency.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a mobile robot chassis hangs drive module, includes mounting panel, mounting bracket and sharp bearing frame, the bottom of mounting panel is provided with the mounting bracket, the bilateral symmetry of mounting bracket is provided with sharp bearing frame, the inside of sharp bearing frame is provided with the shock attenuation guiding axle, the upper end surface of shock attenuation guiding axle cup joints and is provided with damping spring, the bottom of mounting bracket is provided with the drive wheel, the inside of drive wheel is provided with the transmission shaft, the corresponding transmission shaft in one side of mounting bracket is provided with driving motor.
Preferably, the inside of mounting bracket corresponds the drive wheel and is provided with the cavity, one side of mounting bracket corresponds the drive wheel and is provided with the baffle.
Preferably, the corner of mounting panel is provided with the locating hole, the mounting panel passes through fixing bolt to be installed on the surface of robot chassis.
Preferably, the linear bearing blocks are symmetrically installed on two sides of the installation frame through movable bolts.
Preferably, a connecting wire is arranged on one side of the surface of the driving motor.
Preferably, one side of the mounting frame is provided with a fixing frame corresponding to the driving motor, and the driving motor is mounted inside the fixing frame through a positioning bolt.
Preferably, the upper end of the mounting plate is provided with a bearing sleeve corresponding to the damping guide shaft.
Preferably, the middle part of the mounting rack is provided with a through hole corresponding to the transmission shaft.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the mechanical transmission mechanism is designed in a modularized manner and optimized manner through all parts, so that the driving wheel driven by suspension is balanced and damped up and down;
the axle pressure of the suspension driving module is adjusted by adjusting the compression amount of the spring, so that the running stability and the load force of the mobile robot chassis are provided, and the running effect is ensured;
the damping stroke of the damping spring is large, so that the chassis of the mobile robot can adapt to the ground in different complex environments;
the damping effect of the driving wheel can be improved, and therefore the running stability of the chassis of the mobile robot is improved.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a rear view of an embodiment of the present invention;
FIG. 3 is a side view of an embodiment of the present invention;
in the figure: 1. mounting a plate; 2. a mounting frame; 3. a linear bearing seat; 4. a shock-absorbing guide shaft; 5. a drive wheel; 6. a drive shaft; 7. a damping spring; 8. the motor is driven.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-3, the present invention provides the following technical solutions: a chassis suspension driving module of a mobile robot comprises a mounting plate 1, a mounting frame 2 and linear bearing seats 3, wherein the mounting frame 2 is arranged at the bottom end of the mounting plate 1, the linear bearing seats 3 are symmetrically arranged at two sides of the mounting frame 2, a damping guide shaft 4 is arranged inside the linear bearing seats 3, a damping spring 7 is sleeved on the upper end surface of the damping guide shaft 4, a driving wheel 5 is arranged at the bottom end of the mounting frame 2, a transmission shaft 6 is arranged inside the driving wheel 5, a driving motor 8 is arranged at one side of the mounting frame 2 corresponding to the transmission shaft 6, the driving motor 8 drives the transmission shaft 6 to rotate, so that the driving wheel 5 rotates to drive the robot chassis to operate, when the mounting plate 1 is mounted on the robot chassis, can follow linear bearing seat 3 and rotate shock attenuation guiding axle 4 for damping spring 7 compresses, adjusts the axle pressure who hangs the drive module, thereby provides the stationarity and the loading force of mobile robot chassis operation.
Specifically, the inside of mounting bracket 2 corresponds drive wheel 5 and is provided with the cavity, and one side of mounting bracket 2 corresponds drive wheel 5 and is provided with the baffle. Guarantee that drive wheel 5 can block impurity such as earth when rotating.
Specifically, the corner of the mounting plate 1 is provided with a positioning hole, and the mounting plate 1 is mounted on the surface of the robot chassis through a fixing bolt. The firmness and the convenience of the installation plate 1 are ensured, and the use quality is improved.
Specifically, the linear bearing blocks 3 are symmetrically installed on two sides of the installation frame 2 through movable bolts. The stability of the installation of the linear bearing seat 3 is ensured.
Specifically, a connection wire is provided on one side of the surface of the drive motor 8. The driving motor 8 is supplied with power by the connecting wire, so that the driving motor 8 can work normally.
Specifically, one side of the mounting frame 2 is provided with a fixing frame corresponding to the driving motor 8, and the driving motor 8 is mounted inside the fixing frame through a positioning bolt. The convenience of installation of the driving motor 8 is guaranteed, and the driving transmission shaft 6 which can be conveniently and fast driven by the driving motor 8 is guaranteed to rotate.
Specifically, the upper end of the mounting plate 1 is provided with a bearing sleeve corresponding to the damping guide shaft 4. Guarantee that shock attenuation guiding axle 4 can rotate, and can drive linear bearing seat 3 and remove and compress damping spring 7 when rotating, guarantee to hang the stability of drive module work.
Specifically, the middle part of the mounting frame 2 is provided with a through hole corresponding to the transmission shaft 6. Ensuring that the drive shaft 6 can pass through the mounting frame 2 and be connected to the output of the drive motor 8.
The working principle and the using process of the invention are as follows: when the suspension driving mechanism is used, the mounting plate 1 is mounted on a robot chassis through a fixing bolt, so that the suspension driving module is ensured to be integrally and firmly fixed, the damping spring 7 is compressed to support the robot chassis, the driving motor 8 is started to drive the transmission shaft 6 to rotate, the driving wheel 5 can rotate, the robot chassis is ensured to run, and when the load force for running the robot chassis needs to be adjusted, the damping guide shaft 4 is rotated along the linear bearing seat 3 to compress or relax the damping spring 7, so that the shaft pressure can be changed.
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 (8)
1. The utility model provides a mobile robot chassis hangs drive module, includes mounting panel (1), mounting bracket (2) and linear bearing seat (3), its characterized in that: the bottom of mounting panel (1) is provided with mounting bracket (2), the bilateral symmetry of mounting bracket (2) is provided with linear bearing seat (3), the inside of linear bearing seat (3) is provided with shock attenuation guiding axle (4), the upper end surface of shock attenuation guiding axle (4) cup joints and is provided with damping spring (7), the bottom of mounting bracket (2) is provided with drive wheel (5), the inside of drive wheel (5) is provided with transmission shaft (6), one side of mounting bracket (2) corresponds transmission shaft (6) and is provided with driving motor (8).
2. The mobile robot chassis suspension drive module of claim 1, wherein: the inside of mounting bracket (2) corresponds drive wheel (5) and is provided with the cavity, one side of mounting bracket (2) corresponds drive wheel (5) and is provided with the baffle.
3. The mobile robot chassis suspension drive module of claim 1, wherein: the corner of mounting panel (1) is provided with the locating hole, mounting panel (1) is installed on the surface on robot chassis through fixing bolt.
4. The mobile robot chassis suspension drive module of claim 1, wherein: the linear bearing blocks (3) are symmetrically arranged on two sides of the mounting frame (2) through movable bolts.
5. The mobile robot chassis suspension drive module of claim 1, wherein: and a connecting lead is arranged on one side of the surface of the driving motor (8).
6. The mobile robot chassis suspension drive module of claim 1, wherein: one side of the mounting rack (2) is provided with a fixing rack corresponding to the driving motor (8), and the driving motor (8) is installed inside the fixing rack through a positioning bolt.
7. The mobile robot chassis suspension drive module of claim 1, wherein: and the upper end of the mounting plate (1) is provided with a bearing sleeve corresponding to the damping guide shaft (4).
8. The mobile robot chassis suspension drive module of claim 1, wherein: the middle part of the mounting rack (2) is provided with a through hole corresponding to the transmission shaft (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110046435.XA CN112644236A (en) | 2021-01-14 | 2021-01-14 | Chassis suspension driving module of mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110046435.XA CN112644236A (en) | 2021-01-14 | 2021-01-14 | Chassis suspension driving module of mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112644236A true CN112644236A (en) | 2021-04-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110046435.XA Pending CN112644236A (en) | 2021-01-14 | 2021-01-14 | Chassis suspension driving module of mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112644236A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114313006A (en) * | 2021-12-30 | 2022-04-12 | 重庆特斯联智慧科技股份有限公司 | Robot chassis device for enhancing stability and regulating and controlling method thereof |
-
2021
- 2021-01-14 CN CN202110046435.XA patent/CN112644236A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114313006A (en) * | 2021-12-30 | 2022-04-12 | 重庆特斯联智慧科技股份有限公司 | Robot chassis device for enhancing stability and regulating and controlling method thereof |
| CN114313006B (en) * | 2021-12-30 | 2024-04-09 | 重庆特斯联智慧科技股份有限公司 | Robot chassis device for enhancing stability and regulation and control method thereof |
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