CN203332264U - Mobile robot driving wheel supporting mechanism - Google Patents
Mobile robot driving wheel supporting mechanism Download PDFInfo
- Publication number
- CN203332264U CN203332264U CN2013204122920U CN201320412292U CN203332264U CN 203332264 U CN203332264 U CN 203332264U CN 2013204122920 U CN2013204122920 U CN 2013204122920U CN 201320412292 U CN201320412292 U CN 201320412292U CN 203332264 U CN203332264 U CN 203332264U
- Authority
- CN
- China
- Prior art keywords
- mobile robot
- base plate
- mounting bracket
- driving wheel
- ground
- 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)
Abstract
The utility model relates to motion of a robot, in particular to a mobile robot driving wheel supporting mechanism. The mobile robot driving wheel supporting mechanism comprises a mobile robot base plate, and universal wheels and driving wheels are arranged on the mobile robot base plate. The mobile robot driving wheel supporting mechanism is characterized in that installation supports are arranged, the driving wheels are installed on the installation supports through bearings, the upper ends of the front sides of the installation supports are hinged to the mobile robot base plate, connecting plates parallel to the mobile robot base plate are arranged on the rear side portions of the installation supports, connecting rods penetrate through connecting holes in the connecting plates to be connected with the mobile robot base plate, the portions, between the mobile robot base plate and the connecting plates, of the connecting rods are sleeved with springs, electric motors are arranged on the installation supports, output shafts of the electric motors are connected with the driving wheels, the two driving wheels are closely pressed by the springs to the ground, when the robot goes forwards or goes backwards, if the ground is rough, the wheels are in close contact with the ground through the pressure of the springs, sufficient friction force between the driving wheels and the ground is guaranteed to be generated, and therefore stable and reliable running of the robot is well guaranteed.
Description
Technical field
The utility model relates to the movement of robot, specifically a kind of simple in structure, adapts to mobile robot's driving wheel support mechanism of uneven ground.
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, provide a kind of simple in structure, adapt at complex-terrain accurately by the robot wheel type mobile supporting mechanism of controlling the stability-of-path motion.
The utility model can reach by following measure:
A kind of mobile robot's driving wheel support mechanism, comprise mobile robot's base plate, mobile robot's base plate is provided with cardan wheel and drive wheel, 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 mobile robot's base plate, the mounting bracket rear lateral portion is provided with the connecting panel paralleled with mobile robot's base plate, pipe link is connected with mobile robot's base plate through the connecting bore on connecting panel, on pipe link between mobile robot's base plate and connecting panel, cover has spring, mounting bracket is provided with electrical motor, the output shaft of electrical motor is connected with drive wheel.
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.
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 mobile robot's base 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.
Drive wheel in the utility model by spring application to ground, robot is in advancing or falling back moving process, run into ground not at ordinary times, the pressure of spring will make drive wheel closely land, and guarantee that drive wheel and ground produce enough friction force, there are simple in structure, the advantages such as motion is reliable, good stability.
The accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
Fig. 2 is wheel configuration schematic diagram of the present 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 mobile robot's driving wheel support mechanism, comprise mobile robot's base plate 1, mobile robot's base plate 1 is provided with cardan wheel 2 and drive wheel 3, mobile robot's base plate 1 is square, four of mobile robot's base plate 1 even are respectively equipped with cardan wheel 2 on angle, mobile robot's base plate 1, the structure of cardan wheel 2 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 mounting bracket 4, mounting bracket 4 is arranged on front side and the rear side at mobile robot's base plate 1 middle part, drive wheel 3 is arranged on mounting bracket 4 through bearing, mounting bracket 4 upper ends, front side are hinged mutually through hinge means 5 and mobile robot's base plate 1, hinge means 5 is same as the prior art, this does not repeat, mounting bracket 4 rear lateral portion are provided with the connecting panel 6 paralleled with mobile robot's base plate 1, connecting panel 6 is arranged on outside mounting bracket 4 and is connected with the rear side of mounting bracket 4, pipe link 7 upper ends are fixedly connected with mobile robot's base plate 1, the lower end of pipe link 7 is provided with the standby cap of anticreep, the standby cap of anticreep is connected with pipe link 7 with screw thread, to prevent that connecting panel 6 breaks away from pipe link 7, on the pipe link 7 that mobile robot's base plate 1 and connecting panel are 6, cover has spring 8, mounting bracket 4 is provided with electrical motor 9, the output shaft of electrical motor 9 is connected with drive wheel 3, its connection structure is same as the prior art, this does not repeat, drive wheel in the utility model by spring application to ground, robot is in advancing or falling back moving process, run into ground not at ordinary times, the pressure of spring will make drive wheel closely land, and guarantee that drive wheel and ground produce enough friction force, the utlity model has simple in structure, motion is reliable, the advantages such as good stability.
Claims (3)
1. mobile robot's driving wheel support mechanism, comprise mobile robot's base plate, mobile robot's base plate is provided with cardan wheel and drive wheel, 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 mobile robot's base plate, the mounting bracket rear lateral portion is provided with the connecting panel paralleled with mobile robot's base plate, pipe link is connected with mobile robot's base plate through the connecting bore on connecting panel, on pipe link between mobile robot's base plate and connecting panel, cover has spring, mounting bracket is provided with electrical motor, the output shaft of electrical motor is connected with drive wheel.
2. a kind of mobile robot's driving wheel support mechanism according to claim 1, it is characterized in that mobile robot's base plate is square, 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.
3. a kind of mobile robot's driving wheel support mechanism according to claim 1, it is characterized in that connecting panel 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 mobile robot's base 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 |
|---|---|---|---|
| CN2013204122920U CN203332264U (en) | 2013-07-11 | 2013-07-11 | Mobile robot driving wheel supporting mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013204122920U CN203332264U (en) | 2013-07-11 | 2013-07-11 | Mobile robot driving wheel supporting mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203332264U true CN203332264U (en) | 2013-12-11 |
Family
ID=49700959
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013204122920U Expired - Lifetime CN203332264U (en) | 2013-07-11 | 2013-07-11 | Mobile robot driving wheel supporting mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203332264U (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN105437260A (en) * | 2016-01-04 | 2016-03-30 | 杭州亚美利嘉科技有限公司 | Robot chassis |
| CN106004312A (en) * | 2016-06-28 | 2016-10-12 | 苏州斯锐奇机器人有限公司 | Stable mobile platform of indoor service robot |
| CN106427444A (en) * | 2016-12-07 | 2017-02-22 | 哈工大机器人集团上海有限公司 | Robot chassis |
| CN106585718A (en) * | 2016-12-13 | 2017-04-26 | 大连大华中天科技有限公司 | Mobile robot platform |
| CN107472786A (en) * | 2017-08-08 | 2017-12-15 | 深圳普智联科机器人技术有限公司 | A kind of double-deck AGV cars and its driving method and robot transportation system |
| CN107599776A (en) * | 2017-08-09 | 2018-01-19 | 北京云迹科技有限公司 | Chassis independent suspension universal wheel and robot |
| CN108000478A (en) * | 2017-12-13 | 2018-05-08 | 北京极智嘉科技有限公司 | Flexible bottom and transfer robot |
| CN110116769A (en) * | 2018-02-07 | 2019-08-13 | 北京京东尚科信息技术有限公司 | AGV body chassis and AGV vehicle |
| CN112869375A (en) * | 2019-11-30 | 2021-06-01 | 广州万汇机电科技有限公司 | Novel robot is accomodate to intelligence |
| 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 |
-
2013
- 2013-07-11 CN CN2013204122920U patent/CN203332264U/en not_active Expired - Lifetime
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| CN105437260A (en) * | 2016-01-04 | 2016-03-30 | 杭州亚美利嘉科技有限公司 | Robot chassis |
| CN106004312B (en) * | 2016-06-28 | 2018-09-18 | 苏州斯锐奇机器人有限公司 | The stabilization mobile platform of indoor service robot |
| CN106004312A (en) * | 2016-06-28 | 2016-10-12 | 苏州斯锐奇机器人有限公司 | Stable mobile platform of indoor service robot |
| CN106427444A (en) * | 2016-12-07 | 2017-02-22 | 哈工大机器人集团上海有限公司 | Robot chassis |
| CN106585718A (en) * | 2016-12-13 | 2017-04-26 | 大连大华中天科技有限公司 | Mobile robot platform |
| CN107472786A (en) * | 2017-08-08 | 2017-12-15 | 深圳普智联科机器人技术有限公司 | A kind of double-deck AGV cars and its driving method and robot transportation system |
| CN107472786B (en) * | 2017-08-08 | 2019-01-18 | 深圳普智联科机器人技术有限公司 | A kind of bilayer AGV vehicle and its driving method and robot transportation system |
| CN107599776A (en) * | 2017-08-09 | 2018-01-19 | 北京云迹科技有限公司 | Chassis independent suspension universal wheel and robot |
| CN108000478A (en) * | 2017-12-13 | 2018-05-08 | 北京极智嘉科技有限公司 | Flexible bottom and transfer robot |
| CN108000478B (en) * | 2017-12-13 | 2023-08-08 | 北京极智嘉科技股份有限公司 | Flexible base and transfer robot |
| CN110116769A (en) * | 2018-02-07 | 2019-08-13 | 北京京东尚科信息技术有限公司 | AGV body chassis and AGV vehicle |
| 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 |
| CN112869375A (en) * | 2019-11-30 | 2021-06-01 | 广州万汇机电科技有限公司 | Novel robot is accomodate to intelligence |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203332264U (en) | Mobile robot driving wheel supporting mechanism | |
| CN103332236B (en) | A kind of mobile device of robot | |
| CN203332260U (en) | Mobile mechanism of robot | |
| CN203460696U (en) | Six-wheeled full drive obstacle clearance car | |
| CN206187159U (en) | Formula AGV trolley drive mechanism slips into | |
| CN203331766U (en) | Wheel supporting mechanism of wheeled mobile robot | |
| CN203727466U (en) | All-terrain wheeled robot based on shaft joint steering | |
| CN110329391A (en) | A kind of Guo Zhang mechanism and its wheel undercarriage component and the application on crusing robot | |
| CN206243294U (en) | One kind service humanoid robot chassis | |
| CN103879466A (en) | Crawler belt variable-rigidness independent suspension power chassis | |
| CN204510302U (en) | Triangle track loaders | |
| CN206678767U (en) | A kind of novel electric vehicle chassis | |
| CN202716956U (en) | Omnidirectional mobile crawler | |
| CN205737615U (en) | Hand hydraulic carrier transfer | |
| CN205916690U (en) | A AGV dolly that is used for uneven ground surface's actuating system and contains this system | |
| CN101722845B (en) | Swinging and steering four-wheel driving mechanism with single-bolt hinge | |
| CN203402303U (en) | Walking mechanism of underwater washing robot | |
| CN105000044A (en) | Three-wheel rotary buffering type efficient obstacle surmounting device for trolley | |
| CN108454719A (en) | A kind of mobile robot walking mechanism | |
| CN209650407U (en) | A kind of wheel undercarriage walking mechanism | |
| CN204021114U (en) | A kind of four-wheel electric motor car foresteerage gear | |
| CN202966429U (en) | Tractor chassis structure | |
| CN208069861U (en) | A kind of mobile robot walking mechanism | |
| CN202481174U (en) | Walking device for rescue robot | |
| CN203854713U (en) | Automobile steering system and electric truck |
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: 20170721 Address after: 266101 Shandong province Laoshan Mountain 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: 266101 B3, 10 / F, block B, Qingdao International Innovation Park, No. 169, Songling Road, Laoshan District, Qingdao, Shandong Province 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 |