CN203331766U - Wheel supporting mechanism of wheeled mobile robot - Google Patents
Wheel supporting mechanism of wheeled mobile robot Download PDFInfo
- Publication number
- CN203331766U CN203331766U CN2013204123317U CN201320412331U CN203331766U CN 203331766 U CN203331766 U CN 203331766U CN 2013204123317 U CN2013204123317 U CN 2013204123317U CN 201320412331 U CN201320412331 U CN 201320412331U CN 203331766 U CN203331766 U CN 203331766U
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- wheel
- mobile robot
- adapter plate
- supporting mechanism
- wheeled mobile
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model relates to moving of robots, in particular to a wheel supporting mechanism of a wheeled mobile robot. The wheel supporting mechanism of the wheeled mobile robot comprises a mobile robot base plate, a universal wheel, a driving wheel and a motor and is characterized in that a wheel fixing plate is arranged, the left end portion and the right end portion of the wheel fixing plate are respectively provided with the universal wheel or the driving wheel, the driving wheel is connected with the motor, the middle of the wheel fixing plate is connected with a supporting shaft through a connecting plate, and the two ends of the supporting shaft are connected with the mobile robot base plate through bearing pedestals respectively. According to the wheel supporting mechanism of the wheeled mobile robot, the wheels are installed on the wheel fixing plate, the wheel fixing plate is further installed on the mobile robot base plate through the supporting shaft, and then the wheels on the two end portions of the wheel fixing plate form a structure like a seesaw to rotate around the center axis. When the ground is bumpy, the wheels not only can touch the ground reliably, but also can make a vehicle body keep relatively horizontal. The wheel supporting mechanism of the wheeled mobile robot has the advantages of being simple and novel in structure and good in stability, and the mobile robot can move in all directions.
Description
Technical field
The utility model relates to the movement of robot, specifically the wheeled mobile robot wheel supporting mechanism of a kind of road pavement strong adaptability, working stability.
Background technology
As everyone knows, the travel mechanism that realizes robot mainly contains wheeled, crawler type, the leg formula, the formula of crawling, great-jump-forward and combined type, the maximum characteristics of wheeled mobile robot wherein are from heavy and light, bearing capacity is large, mechanism is simple, it is relative convenient with control to drive, and the speed of travel is fast, maneuverability, high efficiency, due to above-mentioned advantage, wheeled mobile robot is widely used in industry, agricultural, medical treatment, the field such as family and space exploration, existing wheeled mobile robot roughly can be divided into two kinds by the mode driven, a kind of differential type, be respectively equipped with cardan wheel and drive wheel on its mobile robot's base plate, generally cardan wheel be arranged on to robot base plate front side, drive wheel is arranged on robot base plate rear side both sides, drive wheel is respectively by direct motor drive, utilize the rotating speed of two motors, the mode of two-wheeled differential reaches left/right rotation to advancing with driving, and differential type wheeled mobile robot is simple in structure, can tackle the situation of ground injustice, but, due to wheel and frictional ground force deficiency, the propulsive effort easily caused skids not and turns to the problems such as dumb, another kind of mode is turning to and type of drive of similar automobile, be that front-wheel is wheel flutter, trailing wheel is drive wheel, is called the steering wheel type, the mode that the wheel supporting mechanism of wheeled mobile robot generally adopts directly and mobile robot's base plate is fixing, this is being fixedly connected with of a kind of rigidity, and this mode complex structure is difficult to adapt to the complexity variation on road surface, running into road surface occurs when rough and uneven in surface, may make wheel unsettled, or contact badly with ground, affect the normal walking of wheeled mobile robot.The mode that the wheel of above-mentioned two kinds of wheeled mobile robot travel mechanisms generally adopts directly and mobile robot's base plate is fixing, this is a kind of mode that is fixedly connected with of rigidity, be difficult to adapt to the complexity variation on road surface, running into road surface occurs when rough and uneven in surface, may make wheel unsettled or contact badly with ground, affect the normal walking of wheeled mobile robot.
Summary of the invention
The purpose of this utility model is to overcome above-mentioned the deficiencies in the prior art, the wheeled mobile robot wheel supporting mechanism that provides a kind of simple in structure, working stability, adaptation to move at complex-terrain.
The utility model can reach by following measure:
A kind of wheeled mobile robot wheel supporting mechanism, comprise mobile robot's base plate, cardan wheel, drive wheel and electrical motor, it is characterized in that being provided with the wheel adapter plate, both ends, wheel adapter plate left and right are provided with respectively cardan wheel or drive wheel, drive wheel is connected with electrical motor, wheel adapter plate middle part is connected with pivot shaft through connecting panel, and the pivot shaft two ends are connected with mobile robot's base plate through bearing seat respectively.
Wheel adapter plate described in the utility model both sides are provided with connecting panel, and connecting panel and wheel adapter plate are perpendicular, and connecting panel is increased to centre gradually by two ends, pivot shaft can be passed.
Live axle on wheel adapter plate described in the utility model is perpendicular to the robot working direction, and drive wheel is arranged on mobile robot's base plate middle part.
The utility model is arranged on wheel (comprising cardan wheel and drive wheel) on the wheel adapter plate, the wheel adapter plate is arranged on mobile robot's base plate through pivot shaft again, the wheel at wheel adapter plate both ends forms and rotates around center shaft as seesaw, when uneven phenomenon appears in ground, each wheel will make the wheel can be recumbently, can make again vehicle body remain on a relative level state, have simple in structure, novel, the characteristics of good stability, the mobile robot can realize omnibearing movement in motion process.
The accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the left view of Fig. 1.
Fig. 3 is the structural representation of wheel adapter plate in the utility model.
The specific embodiment
Below in conjunction with accompanying drawing, the utility model is further described.
As shown in the figure, a kind of wheeled mobile robot wheel supporting mechanism, comprise mobile robot's base plate 1, cardan wheel or drive wheel 2 and electrical motor, the structure of above-mentioned each component part and the interconnected relationship between them are same as the prior art, this does not repeat, of the present utility model being characterised in that is provided with wheel adapter plate 3, wheel adapter plate 3 is rectangle, wheel adapter plate 3 both ends, left and right are provided with respectively cardan wheel or drive wheel 2, the installation direction of cardan wheel or drive wheel 2 can be along the left and right directions of wheel adapter plate 3, also can be along the fore-and-aft direction of wheel adapter plate 3, drive wheel is connected with electrical motor, its annexation is same as the prior art, this does not repeat, wheel adapter plate 3 both sides are provided with connecting panel 4, connecting panel 4 is perpendicular with wheel adapter plate 3, connecting panel 4 is increased to centre gradually by two ends, pivot shaft 5 can be passed, wheel adapter plate 3 middle parts are connected with pivot shaft 5 through connecting panel 4, connecting panel 4 is provided with connecting bore, pivot shaft 5 is inserted in connecting bore, pivot shaft 5 two ends are connected with mobile robot's base plate 1 through bearing seat 6 respectively, the general UCP bearing seat that adopts of bearing seat 6, in addition, live axle on wheel adapter plate described in the utility model is perpendicular to the robot working direction, drive wheel is arranged on mobile robot's base plate middle part, the utility model is arranged on wheel (comprising cardan wheel and drive wheel) on the wheel adapter plate, the wheel adapter plate is arranged on mobile robot's base plate through pivot shaft again, the wheel at wheel adapter plate both ends forms and rotates around center shaft as seesaw, when uneven phenomenon appears in ground, each wheel will make the wheel can be recumbently, can make again vehicle body remain on a relative level state, have simple in structure, novel, the characteristics of good stability, the mobile robot can realize omnibearing movement in motion process.
Claims (3)
1. a wheeled mobile robot wheel supporting mechanism, comprise mobile robot's base plate, cardan wheel, drive wheel and electrical motor, it is characterized in that being provided with the wheel adapter plate, both ends, wheel adapter plate left and right are provided with respectively cardan wheel or drive wheel, drive wheel is connected with electrical motor, wheel adapter plate middle part is connected with pivot shaft through connecting panel, and the pivot shaft two ends are connected with mobile robot's base plate through bearing seat respectively.
2. a kind of wheeled mobile robot wheel supporting according to claim 1 mechanism, is characterized in that wheel adapter plate both sides are provided with connecting panel, and connecting panel and wheel adapter plate are perpendicular, and connecting panel is increased to centre gradually by two ends.
3. a kind of wheeled mobile robot wheel supporting according to claim 1 mechanism, is characterized in that live axle on the wheel adapter plate is perpendicular to the robot working direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013204123317U CN203331766U (en) | 2013-07-11 | 2013-07-11 | Wheel supporting mechanism of wheeled mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013204123317U CN203331766U (en) | 2013-07-11 | 2013-07-11 | Wheel supporting mechanism of wheeled mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203331766U true CN203331766U (en) | 2013-12-11 |
Family
ID=49700463
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013204123317U Expired - Fee Related CN203331766U (en) | 2013-07-11 | 2013-07-11 | Wheel supporting mechanism of wheeled mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203331766U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107867541A (en) * | 2016-09-23 | 2018-04-03 | 株式会社大福 | Article transport car |
| CN108422408A (en) * | 2018-05-23 | 2018-08-21 | 苏州赛亚智能技术有限公司 | A kind of mobile base for robot |
| CN108772821A (en) * | 2018-06-11 | 2018-11-09 | 杭州欢乐飞机器人科技股份有限公司 | A kind of adaptive robot novel chassis and adaptive equalization adjusting method |
| CN114559780A (en) * | 2022-02-28 | 2022-05-31 | 海信集团控股股份有限公司 | Vehicle attitude control method and device |
-
2013
- 2013-07-11 CN CN2013204123317U patent/CN203331766U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107867541A (en) * | 2016-09-23 | 2018-04-03 | 株式会社大福 | Article transport car |
| CN107867541B (en) * | 2016-09-23 | 2024-05-31 | 株式会社大福 | Article carrying vehicle |
| CN108422408A (en) * | 2018-05-23 | 2018-08-21 | 苏州赛亚智能技术有限公司 | A kind of mobile base for robot |
| CN108772821A (en) * | 2018-06-11 | 2018-11-09 | 杭州欢乐飞机器人科技股份有限公司 | A kind of adaptive robot novel chassis and adaptive equalization adjusting method |
| CN108772821B (en) * | 2018-06-11 | 2024-03-08 | 深圳凌鼎智能装备科技有限公司 | Novel chassis of self-adaptive robot and self-adaptive balance adjusting method |
| CN114559780A (en) * | 2022-02-28 | 2022-05-31 | 海信集团控股股份有限公司 | Vehicle attitude control method and device |
| CN114559780B (en) * | 2022-02-28 | 2023-10-24 | 海信集团控股股份有限公司 | Vehicle attitude control method and device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131211 Termination date: 20210711 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |