CN202641571U - General modular wheel type chassis of mobile robot - Google Patents
General modular wheel type chassis of mobile robot Download PDFInfo
- Publication number
- CN202641571U CN202641571U CN 201220347852 CN201220347852U CN202641571U CN 202641571 U CN202641571 U CN 202641571U CN 201220347852 CN201220347852 CN 201220347852 CN 201220347852 U CN201220347852 U CN 201220347852U CN 202641571 U CN202641571 U CN 202641571U
- Authority
- CN
- China
- Prior art keywords
- movable bearing
- bearing chassis
- actuating device
- mobile carrying
- chassis
- 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.)
- Expired - Lifetime
Links
Images
Landscapes
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model discloses a general modular wheel type chassis of a mobile robot, which comprises a driving device, an aerospace interconnecting element, a mobile carrying chassis cover plate, a driving device pressing block, a driver, a mobile carrying chassis box body and ultrasonic radars, wherein the driving device is arranged in the mobile carrying chassis box body, the driving device pressing block is used for fixing the driving device and connected with the mobile carrying chassis box body, the driver is arranged in the mobile carrying chassis box body, the ultrasonic radars are respectively arranged at the front end and the rear end of the mobile carrying chassis box body, the mobile carrying chassis cover plate is arranged on the mobile carrying chassis box body, and the aerospace interconnecting element is arranged in the middle of the mobile carrying chassis cover plate. The chassis is driven by four wheels, is improved in cross-country capability and environment using capability, has a slipping turning function and can freely turn in a narrow range. The ultrasonic radars are arranged in all the directions so that the chassis has a collision avoidance function. Besides, the chassis has strong practicability, and is convenient to disassemble and repair due to the modular design.
Description
Technical field
The utility model relates to a kind of mobile robot's accessory device, especially designs a kind of mobile robot's Universal, modular wheel undercarriage.
Background technology
The application of robot is more and more wider, and intelligent mobile robot is the important branch of robotics, since the danger such as it gets rid of the danger in military surveillance, clearance, anti-coring pollution and harsh environment and civilian in material handling have broad application prospects so that its research is subject to common concern in countries in the world.Research about intelligent mobile robot relates to many aspects, at first, consider move mode, can be wheeled, crawler type, leg formula etc.Various travel mechanisms are each has something to recommend him, have adapted to the different requirements of various working environments.But it is especially outstanding that wheel type mobile mechanism seems, because its control is convenient, mechanism is simple, and motion stabilization and energy utilization rate high develop rapidly to practical.
Existing wheel type mobile chassis scheme is that two drive wheels add Universal wheel structure substantially, this structure obstacle climbing ability is lower, to having relatively high expectations by environment ground, comformability is not strong, can not wait in the harsh environment in the open air and use, and Turning radius is larger, volume is large, limit it by the narrow zone ability, be unfavorable for promoting.
Summary of the invention
The purpose of this utility model provides a kind of mobile robot's Universal, modular wheel undercarriage with regard to being in order to address the above problem.
The utility model is achieved through the following technical solutions above-mentioned purpose:
The utility model comprises actuating device, air plug, the movable bearing chassis cover plate, the actuating device briquetting, actuator, movable bearing chassis casing and ultrasonic radar, described actuating device is installed in the described movable bearing chassis casing, described actuating device briquetting is used for fixing described actuating device and is connected with described movable bearing chassis casing, described actuator is installed in the described movable bearing chassis casing, the corresponding connection with the signal output part of described actuator of the signal input part of described actuating device, described ultrasonic radar is installed on respectively the front-end and back-end of described movable bearing chassis casing, described movable bearing chassis cover plate is installed on the described movable bearing chassis casing, and described air plug is installed on the centre of described movable bearing chassis cover plate.
Particularly, the two ends of the side of described movable bearing chassis casing are separately installed with the carrying draw ring; Described actuating device comprises motor, drop-gear box and wheel, the rotating shaft of described motor is connected with described wheel by described drop-gear box, described motor and described drop-gear box place in the described movable bearing chassis casing, and described wheel places outside the described movable bearing chassis casing.
The beneficial effects of the utility model are:
The utility model adopts four wheel drive, improve cross country power and environment and used ability, and has a glide steering function, can in narrow scope, freely turn to, also in each orientation the ultrasonic radar device is installed, so that the utlity model has collision prevention function, but and the utility model practicality wide, modularization is convenient to the dismounting maintenance.
Description of drawings
Fig. 1 is the system construction drawing of mobile robot's Universal, modular wheel undercarriage described in the utility model;
Fig. 2 is the cut-away view of mobile robot's Universal, modular wheel undercarriage described in the utility model;
Fig. 3 is the birds-eye view of mobile robot's Universal, modular wheel undercarriage described in the utility model;
Fig. 4 is the lateral plan of mobile robot's Universal, modular wheel undercarriage described in the utility model;
Fig. 5 is the front elevation of mobile robot's Universal, modular wheel undercarriage described in the utility model.
Among the figure: 1-actuating device, 2-air plug, 3-movable bearing chassis cover plate, 4-actuating device briquetting, 5-actuator, 6-carrying draw ring, 7-movable bearing chassis casing, 8-ultrasonic radar.
The specific embodiment
The utility model is described in further detail below in conjunction with accompanying drawing:
As shown in drawings: the utility model comprises actuating device 1, air plug 2, movable bearing chassis cover plate 3, actuating device briquetting 4, actuator 5, movable bearing chassis casing 7 and ultrasonic radar 8.Actuating device 1 is installed in the movable bearing chassis casing 7, actuating device 1 briquetting is used for fixed drive device 1 and is connected with movable bearing chassis casing 7, actuator 5 is installed in the movable bearing chassis casing 7, the corresponding connection of signal output part of the signal input part of actuating device 1 and actuator 5, ultrasonic radar 8 is installed on respectively the front-end and back-end of movable bearing chassis casing 7, movable bearing chassis cover plate 3 is installed on the movable bearing chassis casing 7, and air plug 2 is installed on the centre of movable bearing chassis cover plate 3.
As shown in drawings: the two ends of the side of movable bearing chassis casing 7 are separately installed with carrying draw ring 6; Actuating device 1 comprises motor, drop-gear box and wheel, and the rotating shaft of motor is connected with wheel by drop-gear box, and motor and drop-gear box place in the movable bearing chassis casing 7, and wheel places outside the movable bearing chassis casing 7.
As shown in drawings: four groups of actuating devices 1 are installed on respectively the movable bearing chassis casing 7 interior left and right sides, i.e. four wheel drive, and be fixed in the movable bearing chassis casing 7 by actuating device briquetting 4.Actuator 5 also divides two pack modules to be installed on the movable bearing chassis casing 7 interior left and right sides, to make things convenient for the operation of wiring drive motor, passes through simultaneously air plug 2 with the outer connected control system of mobile chassis Internal cable.The multi-faceted ultrasonic radar 8 that is equipped with carries out obstacle detection to each orientation in this mobile chassis, carrying draw ring 6 is installed simultaneously, with convenient daily carrying all around on the chassis.
As shown in drawings: the actuator 5 that is installed on the movable bearing chassis casing 7 interior left and right sides drives corresponding actuating device 1, and whole chassis is moved.The wheeled bearing chassis of this mobile robot's modularization is carried out the obstacle monitoring by the ultrasonic radar on its movable bearing chassis casing 7 to each orientation, makes the chassis have anti-barrier function.Carrying draw ring 6 is installed simultaneously, with convenient daily carrying around movable bearing chassis casing 7.
Claims (3)
1. mobile robot's Universal, modular wheel undercarriage, it is characterized in that: comprise actuating device, air plug, the movable bearing chassis cover plate, the actuating device briquetting, actuator, movable bearing chassis casing and ultrasonic radar, described actuating device is installed in the described movable bearing chassis casing, described actuating device briquetting is used for fixing described actuating device and is connected with described movable bearing chassis casing, described actuator is installed in the described movable bearing chassis casing, the corresponding connection with the signal output part of described actuator of the signal input part of described actuating device, described ultrasonic radar is installed on respectively the front-end and back-end of described movable bearing chassis casing, described movable bearing chassis cover plate is installed on the described movable bearing chassis casing, and described air plug is installed on the centre of described movable bearing chassis cover plate.
2. mobile robot's Universal, modular wheel undercarriage according to claim 1, it is characterized in that: the two ends of the side of described movable bearing chassis casing are separately installed with the carrying draw ring.
3. mobile robot's Universal, modular wheel undercarriage according to claim 1, it is characterized in that: described actuating device comprises motor, drop-gear box and wheel, the rotating shaft of described motor is connected with described wheel by described drop-gear box, described motor and described drop-gear box place in the described movable bearing chassis casing, and described wheel places outside the described movable bearing chassis casing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220347852 CN202641571U (en) | 2012-07-18 | 2012-07-18 | General modular wheel type chassis of mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220347852 CN202641571U (en) | 2012-07-18 | 2012-07-18 | General modular wheel type chassis of mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202641571U true CN202641571U (en) | 2013-01-02 |
Family
ID=47410723
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220347852 Expired - Lifetime CN202641571U (en) | 2012-07-18 | 2012-07-18 | General modular wheel type chassis of mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202641571U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016132211A1 (en) * | 2015-02-20 | 2016-08-25 | John Victor Gano | Motherboard vehicle chassis |
| CN107203210A (en) * | 2017-06-09 | 2017-09-26 | 浙江安控科技有限公司 | A kind of AGV mobile robots based on las er-guidance |
| CN107351061A (en) * | 2017-07-18 | 2017-11-17 | 青岛丰光精密机械股份有限公司 | A kind of robot chassis |
| CN107600172A (en) * | 2017-09-28 | 2018-01-19 | 杭州国辰机器人科技有限公司 | A kind of four motorized wheels mobile robot with shockproof function |
| CN109353427A (en) * | 2018-10-19 | 2019-02-19 | 中国兵器装备集团自动化研究所 | A kind of modularization AGV |
| CN110053466A (en) * | 2019-04-26 | 2019-07-26 | 杭州申昊科技股份有限公司 | One kind two drives spider gear structure of driving unit |
| CN111409052A (en) * | 2020-03-17 | 2020-07-14 | 浙江工业大学 | AGV mechanism with replaceable transplanting module and design method |
-
2012
- 2012-07-18 CN CN 201220347852 patent/CN202641571U/en not_active Expired - Lifetime
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016132211A1 (en) * | 2015-02-20 | 2016-08-25 | John Victor Gano | Motherboard vehicle chassis |
| CN107203210A (en) * | 2017-06-09 | 2017-09-26 | 浙江安控科技有限公司 | A kind of AGV mobile robots based on las er-guidance |
| CN107351061A (en) * | 2017-07-18 | 2017-11-17 | 青岛丰光精密机械股份有限公司 | A kind of robot chassis |
| CN107351061B (en) * | 2017-07-18 | 2022-08-05 | 青岛丰光精密机械股份有限公司 | Robot chassis |
| CN107600172A (en) * | 2017-09-28 | 2018-01-19 | 杭州国辰机器人科技有限公司 | A kind of four motorized wheels mobile robot with shockproof function |
| CN109353427A (en) * | 2018-10-19 | 2019-02-19 | 中国兵器装备集团自动化研究所 | A kind of modularization AGV |
| CN110053466A (en) * | 2019-04-26 | 2019-07-26 | 杭州申昊科技股份有限公司 | One kind two drives spider gear structure of driving unit |
| CN111409052A (en) * | 2020-03-17 | 2020-07-14 | 浙江工业大学 | AGV mechanism with replaceable transplanting module and design method |
| CN111409052B (en) * | 2020-03-17 | 2021-07-30 | 浙江工业大学 | AGV mechanism with replaceable transplanting module and design method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202641571U (en) | General modular wheel type chassis of mobile robot | |
| CN108340981B (en) | All-terrain multipurpose mobile robot | |
| CN202911836U (en) | Omni-directional moving platform | |
| CN103010289A (en) | Omni-directional steering and lifting agricultural remote control mobile robot platform | |
| CN102773860B (en) | Throwable variable structure spherical robot | |
| CN108583728B (en) | Unmanned platform truck and working method thereof | |
| CN204184483U (en) | For the barrier-surpassing robot of narrow space | |
| CN105475260A (en) | Electric four-wheel-driven intelligent sprayer | |
| CN209859002U (en) | Outdoor pedestrian following robot control system | |
| CN102390444A (en) | Adaptive ground emergency rescue aided robot | |
| CN112455565A (en) | Wheel-leg-shape-reconfigurable reconnaissance robot with self-adaptive capacity | |
| CN210618294U (en) | Novel crawler-type all-terrain vehicle | |
| CN111907615A (en) | 7DOF two-wheeled multi-attitude robot | |
| CN201670290U (en) | Modular robot chassis structure | |
| CN203306130U (en) | Tracked robot mobile platform | |
| CN205357879U (en) | Electronic four wheel drive's intelligent sprayer | |
| CN104914861A (en) | Double-steering engine four-wheel drive omnidirectional ultrasonic detection trolley | |
| Ye et al. | Development of an omnidirectional mobile platform | |
| CN210284420U (en) | Standardized ground unmanned platform | |
| CN203651471U (en) | Motoring drive assembly | |
| CN201537917U (en) | Modular double-wheel driven moving robot of which the wheel distance and the wheel direction can be changed | |
| CN206510016U (en) | A kind of patrol robot with obstacle crossing function | |
| CN212667547U (en) | 7DOF two-wheeled multi-attitude robot | |
| CN210554718U (en) | Submerged automobile transfer robot | |
| CN110588809B (en) | Wheel-crawler type switching type all-terrain robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130102 |
|
| CX01 | Expiry of patent term |