CN203332260U - Mobile mechanism of robot - Google Patents
Mobile mechanism of robot Download PDFInfo
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- CN203332260U CN203332260U CN2013204123321U CN201320412332U CN203332260U CN 203332260 U CN203332260 U CN 203332260U CN 2013204123321 U CN2013204123321 U CN 2013204123321U CN 201320412332 U CN201320412332 U CN 201320412332U CN 203332260 U CN203332260 U CN 203332260U
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- adapter plate
- mobile robot
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- wheel
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Abstract
The utility model relates to the movement of a robot, in particular to a mobile mechanism of the robot. The mobile mechanism comprises a mobile robot base plate, universal wheels, a driving wheel and an electromotor. The mobile mechanism is characterized in that strip-shaped driving fixing plates and a guide fixing plate are provided, the driving fixing plates which are perpendicular to the front and back direction of the mobile robot base plate are arranged on the front side of one end of the mobile robot base plate and the back side of one end of the mobile robot base plate respectively, the universal wheels and the driving wheel are arranged on the two end portions of the driving fixing plates respectively, the driving wheel is connected with the electromotor, a driving axle is arranged in the front and back direction of the mobile robot base plate, the guide fixing plate which is in the front and back direction of the mobile robot base plate is arranged in the middle of the other end of the mobile robot base plate, and the universal wheels are arranged on the two end portions of the guide fixing plate respectively. The mobile mechanism has the advantages of being simple and novel in structure, good in stability, and especially suitable for making the robot move forwards and backwards, rotate in situ by 360 degrees and make turns by 90 degrees under complicated geographic conditions.
Description
Technical field
The utility model relates to the movement of robot, a kind of road pavement strong adaptability specifically, the travel mechanism of the robots that can carry out 360 degree original place rotations, 90 degree right-angled bends, advance or retreat.
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 motorized motions, 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.The wheeled mobile robot that simultaneously has at present forward-reverse and 360 degree rotation function in place generally adopts the four wheel drive mode, and four motor operated driving mechanisms have the car body heaviness, and cost is high; And use, two direct motor drive can only realize advancing, arc is turned and simple short range fallback function.
Summary of the invention
The purpose of this utility model is to overcome above-mentioned the deficiencies in the prior art, provide a kind of simple in structure, adapt to move at complex-terrain, realize advancing, retreat, the travel mechanism of the robot of 360 degree original place rotations and 90 degree right-angled bends.
The utility model can reach by following measure:
A kind of travel mechanism of robot, comprise mobile robot's base plate, cardan wheel, drive wheel and electrical motor, it is characterized in that being provided with driving adapter plate and the guiding adapter plate of strip, the front side of mobile robot's base plate one end and rear side be respectively equipped with mobile robot's base plate before, rear is to vertical driving adapter plate, drive the adapter plate both ends to be provided with respectively cardan wheel and drive wheel, drive wheel is connected with electrical motor, live axle is before mobile robot's base plate, rear is to setting, the middle part of mobile robot's base plate other end is provided with before mobile robot's base plate, rear to the guiding adapter plate, guiding adapter plate both ends are provided with respectively cardan wheel.
Driving adapter plate described in the utility model is connected with mobile robot's base plate through bearing seat with the guiding adapter plate, drive the middle part of adapter plate and guiding adapter plate to be provided with connecting panel, connecting panel is provided with connecting bore, pivot shaft is through the connecting bore on connecting panel, the pivot shaft two ends are connected with mobile robot's base plate through bearing seat respectively, drive adapter plate and the guiding adapter plate robot base plate that relatively moves to be seesaw type mechanism, the adaptive capacity of wheeled mobile robot road pavement is improved greatly; Only with the two motors differential, drive, can not only realize the forward-reverse function, can also 360 degree original place rotations and 90 degree right-angled bends.
Driving adapter plate described in the utility model or guiding 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, and connecting panel is provided with the connecting bore that pivot shaft passes.
The utility model can be provided with mounting bracket, drive wheel is arranged on mounting bracket through bearing, upper end, mounting bracket front side is hinged mutually with driving adapter plate, the mounting bracket rear lateral portion is provided with and the connecting panel that drives the adapter plate plate to parallel, pipe link is connected with driving adapter plate through the connecting bore on connecting panel, drive cover on the pipe link between adapter plate and connecting panel that spring is arranged, the output shaft of electrical motor is connected with drive wheel.
Connecting panel described in the utility model is arranged on outside mounting bracket and is connected with the rear side of mounting bracket, the pipe link upper end is fixedly connected with driving adapter plate, the lower end of pipe link is provided with the standby cap of anticreep, and the standby cap of anticreep is connected with pipe link with screw thread, to prevent connecting panel, breaks away from pipe link.
Mobile robot's base plate described in the utility model is square, and four of mobile robot's base plate even are respectively equipped with cardan wheel on angle, and mounting bracket is arranged on front side and the rear side at mobile robot's base plate middle part.
The utility model becomes three groups of seesaw type wheel mechanisms by six wheel combination, when uneven phenomenon appears in ground, each wheel will rotate around center shaft as the seesaw, makes the wheel can be recumbently, can make again vehicle body remain on a relative level state, in addition, two drive wheels are exported by motor power separately respectively, when two drive wheels turn to identical, when rotating speed is identical, robot is realized straight ahead, and when rotating speed is not identical, robot is realized curve; When two drive wheels turn to while turning simultaneously, when rotating speed is identical, robot realizes that straight line retreats, and when rotating speed is not identical, robot realizes that curve retreats; When a drive wheel rotates forward, another drive wheel rotates backward, and when rotating speed is identical, robot just can reach the function of 360 degree original place rotations and 90 degree turnings, 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 a kind of structural representation of the present utility model.
Fig. 2 is wheel configuration schematic diagram of the present utility model.
Fig. 3 is the structural representation that drives adapter plate and guiding adapter plate in the utility model.
Fig. 4 is the left view of Fig. 3.
Fig. 5 is the birds-eye view of Fig. 3.
Fig. 6 is a kind of scheme of installation of drive wheel 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 travel mechanism of robot, comprise mobile robot's base plate 1, cardan wheel 2, drive wheel 3 and electrical motor 4, the structure of above-mentioned each component part is same as the prior art, this does not repeat, driving adapter plate 5 and the guiding adapter plate 6 that is provided with strip that be characterised in that of the present utility model, the front side of mobile robot's base plate 1 one ends and rear side be respectively equipped with mobile robot's base plate before, rear is to vertical driving adapter plate 5, drive adapter plate 5 both ends to be provided with respectively cardan wheel and drive wheel 3, drive wheel 3 is connected with electrical motor 4, live axle is before mobile robot's base plate, rear is to setting, the middle part of mobile robot's base plate 1 other end is provided with before mobile robot's base plate, rear to guiding adapter plate 6, guiding adapter plate 6 both ends are provided with respectively cardan wheel 2, described driving adapter plate 5 is connected with mobile robot's base plate 1 through bearing seat 7 with guiding adapter plate 6, drive the middle part of adapter plate 5 and guiding adapter plate 6 to be provided with connecting panel 8, connecting panel 8 is provided with connecting bore, pivot shaft 9 is through the connecting bore on connecting panel 8, pivot shaft 9 two ends are connected with mobile robot's base plate 1 through bearing seat 7 respectively, drive adapter plate 5 and the guiding adapter plate 6 robot base plate 1 that relatively moves to be seesaw type mechanism, the adaptive capacity of wheeled mobile robot road pavement is improved greatly, only with the two motors differential, drive, can not only realize the forward-reverse function, can also 360 degree original place rotations and 90 spend right-angled bends, bearing seat 7 wherein adopts the UCP bearing seat, driving adapter plate 5 described in the utility model or guiding adapter plate 6 both sides are provided with connecting panel 8, and connecting panel 8 is perpendicular with wheel adapter plate 5 or 6, and connecting panel 8 is increased to centre gradually by two ends, connecting panel is provided with the connecting bore that pivot shaft 9 passes
In addition, the utility model can be provided with mounting bracket 10, drive wheel 3 is arranged on mounting bracket 10 through bearing, mounting bracket 10 upper ends, front side are hinged mutually with driving adapter plate 11, mounting bracket 10 rear lateral portion be provided with drive adapter plate plate 11 to parallel be connected stay bearing plate 12, pipe link 13 is connected with driving adapter plate 11 through the connecting bore connected on stay bearing plate 12, drive adapter plate 11, with cover on the pipe link 13 that is connected 12 of stay bearing plates, spring 14 is arranged, the output shaft of electrical motor is connected with drive wheel 2, described connection stay bearing plate 12 is arranged on outside mounting bracket and is connected with the rear side of mounting bracket 10, pipe link 13 upper ends are fixedly connected with driving adapter plate 11, the lower end of pipe link 13 is provided with the standby cap 15 of anticreep, the standby cap 15 of anticreep is connected with pipe link 13 with screw thread, to prevent that connecting panel breaks away from pipe link.
Mobile robot's base plate described in the utility model is square, and four of mobile robot's base plate even are respectively equipped with cardan wheel on angle, and mounting bracket is arranged on front side and the rear side at mobile robot's base plate middle part.
The utility model becomes three groups of seesaw type wheel mechanisms by six wheel combination, when uneven phenomenon appears in ground, each wheel will rotate around center shaft as the seesaw, makes the wheel can be recumbently, can make again vehicle body remain on a relative level state, in addition, two drive wheels are exported by motor power separately respectively, when two drive wheels turn to identical, when rotating speed is identical, robot is realized straight ahead, and when rotating speed is not identical, robot is realized curve; When two drive wheels turn to while turning simultaneously, when rotating speed is identical, robot realizes that straight line retreats, and when rotating speed is not identical, robot realizes that curve retreats; When a drive wheel rotates forward, another drive wheel rotates backward, and when rotating speed is identical, robot just can reach the function of 360 degree original place rotations and 90 degree turnings, have simple in structure, novel, the characteristics of good stability, the mobile robot can realize omnibearing movement in motion process.
Claims (5)
1. the travel mechanism of a robot, comprise mobile robot's base plate, cardan wheel, drive wheel and electrical motor, it is characterized in that being provided with driving adapter plate and the guiding adapter plate of strip, the front side of mobile robot's base plate one end and rear side be respectively equipped with mobile robot's base plate before, rear is to vertical driving adapter plate, drive the adapter plate both ends to be provided with respectively cardan wheel and drive wheel, drive wheel is connected with electrical motor, live axle is before mobile robot's base plate, rear is to setting, the middle part of mobile robot's base plate other end is provided with before mobile robot's base plate, rear to the guiding adapter plate, guiding adapter plate both ends are provided with respectively cardan wheel.
2. the travel mechanism of a kind of robot according to claim 1, it is characterized in that driving adapter plate or guiding adapter plate to be connected with mobile robot's base plate through bearing seat, drive the middle part of adapter plate or guiding adapter plate to be provided with connecting panel, connecting panel is provided with connecting bore, pivot shaft is through the connecting bore on connecting panel, and the pivot shaft two ends are connected with mobile robot's base plate through bearing seat respectively.
3. the travel mechanism of a kind of robot according to claim 1 and 2, it is characterized in that the utility model drives adapter plate or guiding adapter plate both sides to be provided with connecting panel, connecting panel and wheel adapter plate are perpendicular, connecting panel is increased to centre gradually by two ends, and connecting panel is provided with the connecting bore that pivot shaft passes.
4. the travel mechanism of a kind of robot according to claim 1, it is characterized in that being provided with mounting bracket, drive wheel is arranged on mounting bracket through bearing, upper end, mounting bracket front side is hinged mutually with driving adapter plate, the mounting bracket rear lateral portion is provided with and the stay bearing plate that is connected that drives the adapter plate plate to parallel, pipe link is connected with driving adapter plate through the connecting bore connected on stay bearing plate, drive adapter plate, with cover on the pipe link be connected between stay bearing plate, spring is arranged, the output shaft of electrical motor is connected with drive wheel.
5. the travel mechanism of a kind of robot according to claim 4, it is characterized in that connecting stay bearing plate is arranged on outside mounting bracket and is connected with the rear side of mounting bracket, the pipe link upper end is fixedly connected with driving adapter plate, the lower end of pipe link is provided with the standby cap of anticreep, and the standby cap of anticreep is connected with pipe link with screw thread.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013204123321U CN203332260U (en) | 2013-07-11 | 2013-07-11 | Mobile mechanism of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013204123321U CN203332260U (en) | 2013-07-11 | 2013-07-11 | Mobile mechanism of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203332260U true CN203332260U (en) | 2013-12-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013204123321U Expired - Lifetime CN203332260U (en) | 2013-07-11 | 2013-07-11 | Mobile mechanism of robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN203332260U (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103332236A (en) * | 2013-07-11 | 2013-10-02 | 青岛海通机器人系统有限公司 | Moving device of robot |
| CN104777832A (en) * | 2015-04-24 | 2015-07-15 | 吴进庆 | Side wall guiding vehicle driving direction control system |
| CN104908022A (en) * | 2015-06-04 | 2015-09-16 | 昆山穿山甲机器人有限公司 | Base of meal delivery robot walking steadily |
| CN106394721A (en) * | 2016-12-05 | 2017-02-15 | 深圳市华海科技研发有限公司 | Multi-road-condition vertical movement transporting device and transporting method |
| CN108945159A (en) * | 2018-08-29 | 2018-12-07 | 北京极智嘉科技有限公司 | A kind of chassis assembly and transport device of transport device |
| CN109421836A (en) * | 2017-08-28 | 2019-03-05 | 深圳玩智商科技有限公司 | Ground adaptive universal type chassis and robot |
| CN110217315A (en) * | 2019-06-24 | 2019-09-10 | 北京理工华汇智能科技有限公司 | Robot running gear |
| CN111963849A (en) * | 2020-08-31 | 2020-11-20 | 广州尚开科技有限公司 | Digital product photographing support adaptable to different terrains |
| CN112172961A (en) * | 2020-10-19 | 2021-01-05 | 宋文霞 | Dolly that no elastic element can realize switching between hard and soft state |
| CN114466787A (en) * | 2019-10-01 | 2022-05-10 | 莫比奥工业机器人有限公司 | Mobile robot with adjustable traction counterweight |
| US20220250429A1 (en) * | 2019-07-23 | 2022-08-11 | FB Industry Automation GmbH | Driverless transport system |
-
2013
- 2013-07-11 CN CN2013204123321U patent/CN203332260U/en not_active Expired - Lifetime
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103332236A (en) * | 2013-07-11 | 2013-10-02 | 青岛海通机器人系统有限公司 | Moving device of robot |
| CN104777832B (en) * | 2015-04-24 | 2018-03-02 | 吴进庆 | A kind of side wall guides vehicle heading control system |
| CN104777832A (en) * | 2015-04-24 | 2015-07-15 | 吴进庆 | Side wall guiding vehicle driving direction control system |
| CN104908022A (en) * | 2015-06-04 | 2015-09-16 | 昆山穿山甲机器人有限公司 | Base of meal delivery robot walking steadily |
| CN104908022B (en) * | 2015-06-04 | 2016-11-30 | 昆山穿山甲机器人有限公司 | A kind of meal delivery robot base of smooth running |
| CN106394721B (en) * | 2016-12-05 | 2018-09-21 | 深圳市华海科技研发有限公司 | The upright mobile conveyor of multiple road conditions and transportation resources |
| CN106394721A (en) * | 2016-12-05 | 2017-02-15 | 深圳市华海科技研发有限公司 | Multi-road-condition vertical movement transporting device and transporting method |
| CN109421836A (en) * | 2017-08-28 | 2019-03-05 | 深圳玩智商科技有限公司 | Ground adaptive universal type chassis and robot |
| CN108945159A (en) * | 2018-08-29 | 2018-12-07 | 北京极智嘉科技有限公司 | A kind of chassis assembly and transport device of transport device |
| CN110217315A (en) * | 2019-06-24 | 2019-09-10 | 北京理工华汇智能科技有限公司 | Robot running gear |
| US20220250429A1 (en) * | 2019-07-23 | 2022-08-11 | FB Industry Automation GmbH | Driverless transport system |
| CN114466787A (en) * | 2019-10-01 | 2022-05-10 | 莫比奥工业机器人有限公司 | Mobile robot with adjustable traction counterweight |
| CN111963849A (en) * | 2020-08-31 | 2020-11-20 | 广州尚开科技有限公司 | Digital product photographing support adaptable to different terrains |
| CN112172961A (en) * | 2020-10-19 | 2021-01-05 | 宋文霞 | Dolly that no elastic element can realize switching between hard and soft state |
| CN112172961B (en) * | 2020-10-19 | 2021-12-14 | 宋文霞 | Dolly that no elastic element can realize switching between hard and soft state |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170720 Address after: 266101 Shandong Province, Qingdao city Laoshan District Songling Road No. 169 Qingdao International Innovation Park B block 10 layer B3 Patentee after: QINGDAO HTAGV ROBOT SYSTEMS CO.,LTD. Address before: 266101 Shandong Province, Qingdao city Laoshan District of Zhuzhou Road No. 153 high level talents entrepreneurship center block A room 901 Co-patentee before: WEIHAI SINOWILL ELECTRONICS EQUIPMENTS Co.,Ltd. Patentee before: QINGDAO HTAGV ROBOT SYSTEMS CO.,LTD. |
|
| TR01 | Transfer of patent right | ||
| CP03 | Change of name, title or address |
Address after: 215100 building 3, Tianlong science and Technology Park, No. 1, Zhufeng Road, Mudu Town, Wuzhong District, Suzhou City, Jiangsu Province Patentee after: Suzhou Haitong Robot System Co.,Ltd. Address before: B3, 10th floor, block B, Qingdao International Innovation Park, 169 Songling Road, Laoshan District, Qingdao City, Shandong Province, 266101 Patentee before: QINGDAO HTAGV ROBOT SYSTEMS CO.,LTD. |
|
| CP03 | Change of name, title or address | ||
| CX01 | Expiry of patent term |
Granted publication date: 20131211 |
|
| CX01 | Expiry of patent term |