CN113022739A

CN113022739A - Omnidirectional mobile robot with simple suspension

Info

Publication number: CN113022739A
Application number: CN202110263469.4A
Authority: CN
Inventors: 宋辉; 乔贵方
Original assignee: Nanjing Mowen Technology Co ltd
Current assignee: Nanjing Mowen Technology Co ltd
Priority date: 2021-03-11
Filing date: 2021-03-11
Publication date: 2021-06-25

Abstract

The invention relates to the technical field of mobile robots and discloses an omnidirectional mobile robot with a simple suspension, which comprises a plurality of side beams and a plurality of cross beams, wherein a first connecting block is fixedly connected between the side beams and the cross beams, one side of each cross beam is fixedly connected with two second connecting blocks, the other sides of the two second connecting blocks are fixedly connected with a first upright post, the other sides of the two cross beams are fixedly connected with two second fixing blocks, the other sides of the second fixing blocks are fixedly connected with a second connecting beam, one side of the second connecting beam is fixedly connected with a corner hinge, the other side of the corner hinge is fixedly connected with a motor fixing frame, the top of the motor fixing frame is fixedly connected with a direct-current speed reducing motor, and one end of an output shaft of the direct-current speed reducing motor is fixedly connected with a coupler. The invention can prevent the direct current speed reducing motor from damaging the motor shaft due to larger load or bumpiness of the rugged ground, and improve the service life of the mobile robot.

Description

Omnidirectional mobile robot with simple suspension

Technical Field

The invention relates to the technical field of mobile robots, in particular to an omnidirectional mobile robot with a simple suspension.

Background

The mobile robot is a comprehensive system integrating multiple functions of environmental perception, dynamic decision and planning, behavior control and execution and the like, the current mobile robots are mainly classified into leg type, wheel type, crawler type, hybrid type and the like, the wheel type mobile robots are commonly used in the teaching field at present, the wheel type mobile robots are mainly classified into common wheels, Mecanum wheels, omnidirectional wheels and the like according to the form of the wheels, the mobile robot applied in the teaching at present is mainly a common wheel type robot, wherein a two-wheel differential drive robot or a four-wheel drive mobile robot is mainly used, at present, the mobile robot for teaching is less in a suspension structure, and radial stress causes motor damage, so that the demand for an omnidirectional mobile robot with a simple suspension is urgently required.

At present, the conventional mobile robots mostly have the following defects: radial damage to the motor in the operation process is too big, greatly reduced mobile robot's life, and can not guarantee mobile robot's the flexibility of operation, influence the use of operation personnel to mobile robot work, to sum up, current mobile robot still can not agree with actual need well mostly.

Disclosure of Invention

Technical problem to be solved

Aiming at the defects of the prior art, the invention provides an omnidirectional mobile robot with a simple suspension, which mainly solves the problems that the radial damage to a motor is overlarge in the operation process, the service life of the mobile robot is greatly shortened, the operation flexibility of the mobile robot cannot be ensured, and the working and use of an operator on the mobile robot are influenced.

(II) technical scheme

In order to achieve the purpose, the invention provides the following technical scheme:

an omnidirectional mobile robot with a simple suspension comprises a plurality of side beams and a plurality of cross beams, wherein a first connecting block is fixedly connected between the side beams and the cross beams, one side of each cross beam is fixedly connected with two second connecting blocks, the other sides of the two second connecting blocks are fixedly connected with a first upright post, the other sides of the two cross beams are fixedly connected with two second fixing blocks, the other sides of the second fixing blocks are fixedly connected with a second connecting beam, one side of the second connecting beam is fixedly connected with a corner hinge, the other side of the corner hinge is fixedly connected with a motor fixing frame, the top of the motor fixing frame is fixedly connected with a direct current gear motor, one end of an output shaft of the direct current gear motor is fixedly connected with a coupler, the other end of the coupler is fixedly connected with a Mecanum wheel, one side of the cross beam positioned at the top end of the first upright post is fixedly connected, the opposite side fixedly connected with first tie-beam of first fixed block, one side fixedly connected with installation piece of first tie-beam, the both sides of installation piece are rotated respectively and are connected with the second turning block, the both sides of motor mount are rotated respectively and are connected with first turning block, and fixedly connected with telescopic link between first turning block and the second turning block, first spring has been cup jointed to one side of telescopic link, the both ends of first spring respectively with one side fixed connection of first turning block and second turning block.

Furthermore, one side of the first connecting beam and one side of the second connecting beam are fixedly connected with a third fixing block, and the other side of the third fixing block is fixedly connected with a second upright post.

On the basis of the scheme, the tops of the two side beams are fixedly connected with first supporting blocks, the tops of the first supporting blocks are rotatably connected with two rotating strips, and the other ends of the rotating strips are rotatably connected with mounting plates.

As a further scheme of the invention, the tops of the other two side beams are also fixedly connected with second supporting blocks, and a connecting plate is fixedly connected between the two second supporting blocks.

On the basis of the scheme, a plurality of guide bars of bottom fixedly connected with of mounting panel, the other end of guide bar pass the fixed plate and with fixed plate sliding connection, the second spring has been cup jointed to the one end of guide bar, the bottom fixedly connected with stopper of guide bar, the both ends of second spring respectively with one side of stopper and the bottom fixed connection of fixed plate.

Furthermore, the top of mounting panel is equipped with the interface, and it has the T-shaped piece to peg graft in the interface, and the third spring has been cup jointed to one side of T-shaped piece, and the bottom fixedly connected with bottom brick of T-shaped piece.

On the basis of the scheme, one side at T-shaped block top is equipped with the slide opening, and sliding connection has the slide bar in the slide opening, and the spacing ring has been cup jointed to the one end of slide bar, and the fourth spring has been cup jointed to one side of slide bar, and the top fixedly connected with of slide bar carries the piece, and the both ends of fourth spring respectively with the bottom of T-shaped block and one side fixed connection of spacing ring.

As a further aspect of the present invention, the mounting plate has a plurality of positioning grooves formed at the top thereof, and one end of the sliding rod slides in the positioning grooves.

(III) advantageous effects

Compared with the prior art, the invention provides an omnidirectional mobile robot with a simple suspension, which has the following beneficial effects:

1. the four-bar linkage structure can be formed by matching the corner hinge, the motor fixing frame, the direct current speed reducing motor, the coupler, the Mecanum wheel and the first spring, so that a simple independent suspension structure is formed, the motor shaft is prevented from being damaged by the direct current speed reducing motor due to larger load or bumpiness on the rugged ground, and the service life of the mobile robot is prolonged.

2. According to the invention, the side beams, the first connecting block, the cross beam, the second connecting block and the first upright post are matched to form a main frame of the mobile robot, and the hollow structure design of the main frame of the mobile robot is convenient for the integrated installation of functional units such as a controller, a sensor and a mechanical arm.

3. The four direct-current speed reduction motors are used for driving the four Mecanum wheels respectively, so that the mobile robot can be flexibly driven to run, and the four-direct-current speed reduction motors are compact in structure, flexible in maneuvering performance and high in cost performance.

4. According to the invention, the detection equipment can be conveniently installed through the arrangement of the T-shaped block, the installation angle of the detection equipment can be conveniently adjusted through the design of the plurality of positioning grooves and the sliding rod, and meanwhile, the bumping of the robot to the detection equipment in the moving process can be relieved through the design of the second spring and the third spring, so that the normal use of the detection equipment is ensured.

Drawings

Fig. 1 is a schematic partial perspective view of an omnidirectional mobile robot in an embodiment 1 with a simple suspension according to the present invention;

fig. 2 is a schematic perspective view of an omnidirectional mobile robot in accordance with an embodiment 1 of the present invention, which has a simple suspension;

fig. 3 is a schematic side view of a part of an omnidirectional mobile robot in embodiment 1 with a simple suspension according to the present invention;

fig. 4 is a schematic perspective view of an omnidirectional mobile robot in accordance with embodiment 2 of the present invention, which has a simple suspension;

fig. 5 is a schematic partial perspective view of an omnidirectional mobile robot in embodiment 2 with a simple suspension according to the present invention.

In the figure: 1. a side beam; 2. a first connection block; 3. a cross beam; 4. a second connecting block; 5. a first upright post; 6. a first fixed block; 7. a first connecting beam; 8. a second fixed block; 9. a second connecting beam; 10. a third fixed block; 11. a second upright post; 12. mounting blocks; 13. corner hinges; 14. a motor fixing frame; 15. a DC gear motor; 16. a coupling; 17. a Mecanum wheel; 18. a first rotating block; 19. a second turning block; 20. a telescopic rod; 21. a first spring; 22. a first support block; 23. rotating the strip; 24. mounting a plate; 25. a second support block; 26. a connecting plate; 27. a guide bar; 28. a limiting block; 29. a second spring; 30. a fixing plate; 31. a bottom block; 32. a T-shaped block; 33. a third spring; 34. a slide bar; 35. lifting blocks; 36. a limiting ring; 37. a fourth spring; 38. and (6) positioning a groove.

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.

Example 1

Referring to fig. 1 to 3, an omnidirectional mobile robot with a simple suspension comprises a plurality of side beams 1 and a plurality of cross beams 3, wherein a first connecting block 2 is fixed between the side beams 1 and the cross beams 3 through bolts, two second connecting blocks 4 are fixed on one side of each cross beam 3 through bolts, a first upright post 5 is fixed on the other side of each second connecting block 4 through bolts, the side beams 1, the first connecting block 2, the cross beams 3, the second connecting blocks 4 and the first upright post 5 form a main frame of the mobile robot, the main frame of the mobile robot is a hollow structure, so that the installation of a controller, a sensor and a mechanical arm lamp functional unit is facilitated, wherein two second fixing blocks 8 are fixed on the other side of the two cross beams 3 through bolts, a second connecting beam 9 is fixed on the other side of the second fixing block 8 through bolts, a corner hinge 13 is fixed on one side of the second connecting beam 9 through bolts, a motor fixing frame 14 is fixed on the other side of the corner hinge 13 through bolts, a direct current gear motor 15 is fixed on the top of the motor fixing frame 14 through bolts, a coupler 16 is connected with one end key of an output shaft of the direct current gear motor 15, a mecanum wheel 17 is fixed on the other end of the coupler 16 through bolts, four direct current gear motors 15 respectively drive four mecanum wheels 17 to flexibly drive the mobile robot to run, two first fixing blocks 6 are fixed on one side of a cross beam 3 positioned at the top end of a first upright post 5 through bolts, a first connecting beam 7 is fixed on the other side of the first fixing block 6 through bolts, a mounting block 12 is fixed on one side of the first connecting beam 7 through bolts, second rotating blocks 19 are respectively and rotatably connected on two sides of the mounting block 12, first rotating blocks 18 are respectively and rotatably connected on two sides of the motor fixing frame 14, an expansion link 20 is fixed between the first rotating blocks 18 and the second rotating blocks 19 through bolts, one side of the telescopic rod 20 is sleeved with a first spring 21, two ends of the first spring 21 are respectively and fixedly connected with one side of the first rotating block 18 and one side of the second rotating block 19, and the matching design of the rotating angle hinge 13, the motor fixing frame 14, the direct current speed reducing motor 15, the coupler 16, the mecanum wheel 17 and the first spring 21 forms a four-bar structure, so that a simple independent suspension structure is formed, and the motor shaft is prevented from being damaged by the direct current speed reducing motor 15 due to large load or bumpiness on the rugged ground.

One side of the first connecting beam 7 and one side of the second connecting beam 9 are fixedly provided with a third fixing block 10 through bolts, the other side of the third fixing block 10 is fixedly provided with a second upright post 11 through bolts, the third fixing block 10 is convenient for the first connecting beam 7 and the second connecting beam 9 to be fixedly connected with the second upright post 11, and the second upright post 11 supports the first connecting beam 7.

The working principle of the embodiment is as follows: during the use, at first, curb girder 1, first connecting block 2, crossbeam 3, second connecting block 4 and first stand 5 constitute mobile robot's main frame, and mobile robot's main frame is hollow structure, install the controller again, the sensor, arm lamp functional unit in mobile robot's main frame's hollow structure, then, start direct current gear motor 15, shaft coupling 16 rotates under direct current gear motor 15's drive, thereby drive mecanum wheel 17 and rotate, and then drive mobile robot traveles forward, when mobile robot load is great or when traveling on rugged road surface, telescopic link 20 and first spring 21 can contract, motor mount 14 can rotate around corner hinge 13 simultaneously, with this jolt that alleviates mobile robot received, prevent simultaneously that direct current gear motor 15 output shaft from receiving the damage.

Example 2

Referring to fig. 4-5, an omnidirectional mobile robot with a simple suspension comprises two side beams 1, wherein a first supporting block 22 is further fixed on the top of each of the two side beams 1 through a bolt, two rotating strips 23 are rotatably connected on the top of each of the first supporting blocks 22, a mounting plate 24 is rotatably connected on the other end of each of the rotating strips 23, a second supporting block 25 is further fixed on the top of each of the other two side beams 1 through a bolt, a connecting plate 26 is fixed between the two second supporting blocks 25 through a bolt, a plurality of guide rods 27 are fixed on the bottom of each of the mounting plates 24 through a bolt, the other ends of the guide rods 27 penetrate through a fixing plate 30 and are slidably connected with the fixing plate 30, a second spring 29 is sleeved on one end of each of the guide rods 27, when the robot runs on a rugged road, the guide rods 27 slide downwards, so that the second springs 29 contract and further reduce the degree of bumping, a limiting block 28, two ends of the second spring 29 are fixedly connected with one side of the stop block 28 and the bottom of the fixing plate 30 respectively.

The top of the mounting plate 24 is provided with an insertion port, a T-shaped block 32 is inserted in the insertion port, the T-shaped block 32 facilitates the fixed mounting of the detection device, a third spring 33 is sleeved on one side of the T-shaped block 32, a bottom block 31 is fixed at the bottom end of the T-shaped block 32 through a bolt, a slide hole is arranged on one side of the top of the T-shaped block 32, a slide rod 34 is connected in the slide hole in a sliding manner, a limit ring 36 is sleeved at one end of the slide rod 34, a fourth spring 37 is sleeved on one side of the slide rod 34, a lifting block 35 is fixed at the top end of the slide rod 34 through a bolt, the lifting block 35 is lifted upwards to enable the slide rod 34 to slide upwards, the T-shaped block 32 is rotated to enable the slide rod 34 to rotate together, so that the mounting angle of the detection device is adjusted, two ends of the fourth spring 37 are respectively fixedly connected with the bottom of the T-shaped block 32 and one side, one end of the slide rod 34 slides within the positioning slot 38.

The working principle of the embodiment is as follows: during the use, at first, with check out test set fixed mounting at the top of T-shaped piece 32, then rotate T-shaped piece 32 and drive slide bar 34 and do the circular motion to do the regulation to check out test set's installation angle, inject slide bar 34 into constant head tank 38 again, then, make spacing ring 36 support mounting panel 24 under fourth spring 37's elastic action, fix the angle of adjusting, the elasticity of rethread second spring 29 and third spring 33 is alleviated and is jolted the check out test set amount.

The electrical components presented in the document are all electrically connected with an external master controller and 220V mains, and the master controller can be a conventional known device controlled by a computer or the like.

In the description herein, it is to be noted that, unless expressly stated or limited otherwise, the terms "connected" and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; the connection may be mechanical or electrical, and may be direct or indirect via an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the description herein, it is noted that relational terms such as first and second, and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. An omnidirectional mobile robot with a simple suspension comprises a plurality of side beams (1) and a plurality of cross beams (3), and is characterized in that a plurality of first connecting blocks (2) are fixedly connected between the side beams (1) and the cross beams (3), one side of each cross beam (3) is fixedly connected with two second connecting blocks (4), the other sides of the two second connecting blocks (4) are fixedly connected with a first upright post (5), the other sides of the two cross beams (3) are fixedly connected with two second fixing blocks (8), the other side of each second fixing block (8) is fixedly connected with a second connecting beam (9), one side of each second connecting beam (9) is fixedly connected with a corner hinge (13), the other side of each corner hinge (13) is fixedly connected with a motor fixing frame (14), and the top of each motor fixing frame (14) is fixedly connected with a direct-current speed reducing motor (15), one end of an output shaft of the direct-current speed reducing motor (15) is fixedly connected with a coupler (16), the other end of the coupler (16) is fixedly connected with a Mecanum wheel (17), one side of the cross beam (3) positioned at the top end of the first upright post (5) is fixedly connected with two first fixed blocks (6), the other side of each first fixed block (6) is fixedly connected with a first connecting beam (7), one side of the first connecting beam (7) is fixedly connected with an installation block (12), two sides of the installation block (12) are respectively and rotatably connected with a second rotating block (19), the motor fixing frame is characterized in that two sides of the motor fixing frame (14) are respectively and rotatably connected with a first rotating block (18), a telescopic rod (20) is fixedly connected between the first rotating block (18) and a second rotating block (19), a first spring (21) is sleeved on one side of the telescopic rod (20), and two ends of the first spring (21) are respectively and fixedly connected with one sides of the first rotating block (18) and the second rotating block (19).

2. An omnidirectional mobile robot with a simple suspension according to claim 1, wherein: and one sides of the first connecting beam (7) and the second connecting beam (9) are fixedly connected with a third fixing block (10), and the other side of the third fixing block (10) is fixedly connected with a second upright post (11).

3. An omnidirectional mobile robot with a simple suspension according to claim 1, wherein: the top of two wherein curb girder (1) is fixed connection has first supporting block (22) still, and the top of first supporting block (22) is rotated and is connected with two and rotates strip (23), and the other end of rotating strip (23) is rotated and is connected with mounting panel (24).

4. An omnidirectional mobile robot according to claim 3, wherein the omnidirectional mobile robot has a simple suspension, and the omnidirectional mobile robot comprises: the tops of the other two side beams (1) are also fixedly connected with second supporting blocks (25), and a connecting plate (26) is fixedly connected between the two second supporting blocks (25).

5. An omnidirectional mobile robot according to claim 4, wherein the omnidirectional mobile robot has a simple suspension, and the omnidirectional mobile robot comprises: the bottom fixedly connected with of mounting panel (24) a plurality of guide bars (27), the other end of guide bar (27) pass fixed plate (30) and with fixed plate (30) sliding connection, second spring (29) have been cup jointed to the one end of guide bar (27), the bottom fixedly connected with stopper (28) of guide bar (27), the both ends of second spring (29) respectively with the one side of stopper (28) and the bottom fixed connection of fixed plate (30).

6. An omnidirectional mobile robot according to claim 5, wherein the omnidirectional mobile robot has a simple suspension, and the omnidirectional mobile robot comprises: the top of mounting panel (24) is equipped with the interface, and it has T-shaped piece (32) to peg graft in the interface, and third spring (33) have been cup jointed to one side of T-shaped piece (32), and the bottom fixedly connected with bottom plate (31) of T-shaped piece (32).

7. An omnidirectional mobile robot according to claim 6, wherein the omnidirectional mobile robot has a simple suspension, and the omnidirectional mobile robot comprises: one side at T-shaped piece (32) top is equipped with the slide opening, sliding connection has slide bar (34) in the slide opening, and spacing ring (36) have been cup jointed to the one end of slide bar (34), and fourth spring (37) have been cup jointed to one side of slide bar (34), and the top fixedly connected with of slide bar (34) carries piece (35), the both ends of fourth spring (37) respectively with the bottom of T-shaped piece (32) and one side fixed connection of spacing ring (36).

8. An omnidirectional mobile robot according to claim 7, wherein the omnidirectional mobile robot has a simple suspension, and the omnidirectional mobile robot further comprises: the top of the mounting plate (24) is provided with a plurality of positioning grooves (38), and one end of the sliding rod (34) slides in the positioning grooves (38).