CN203449966U - Differentially driven mobile robot chassis mechanism - Google Patents
Differentially driven mobile robot chassis mechanism Download PDFInfo
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- CN203449966U CN203449966U CN201320578882.0U CN201320578882U CN203449966U CN 203449966 U CN203449966 U CN 203449966U CN 201320578882 U CN201320578882 U CN 201320578882U CN 203449966 U CN203449966 U CN 203449966U
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- axle
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The utility model relates to a differentially driven mobile robot chassis mechanism structurally comprising a machine body, a driving device, a permanent magnet adsorption device, a dropping preventing device, an obstacle avoiding device and a guide wheel, wherein the driving device is arranged below the machine body and is used for driving a robot chassis to move and steer; the permanent magnet adsorption device is arranged at the bottom of the machine body and is used for increasing the adhesive force between driving wheels and a working plane, improving the stability of the machine body and preventing the driving wheels from sliding; the guide wheel and the driving wheels are used for simultaneously supporting a machine body platform; the obstacle avoiding device is arranged in the front of the machine body and is used for detecting an obstacle in front of the machine body; the dropping preventing device is arranged below the machine body and is used for preventing the machine body from dropping downwards from the working plane. The differentially driven mobile robot chassis mechanism is flexible in movement and simple in driving and steering mechanisms, and has obstacle avoiding and dropping preventing functions.
Description
Technical field
The utility model relates to a kind of differential and drives mobile robot's body chassis, belongs to Robotics field.
Background technology
In the prior art, the type of drive of mobile robot's body chassis has wheeled, polypody, crawler type and hybrid etc. multiple.Control of Wheeled Mobile Robots is simple, and every motor unit is minimum apart from the energy consuming, conventionally fast than crawler type and polypody body chassis kinematic velocity, and therefore application at most.Wheeled mobile robot body chassis can be divided into substantially: direction-driving and differential drive; On direction-drive-type movable chassis mechanism, the control of direction and driving adopt respectively different motors to drive.To the control of direction and driving, can on identical wheel, complete (as front wheel drive car), but speed and direction are to control respectively.It is to realize by proportional the speed of controlling each wheel to, the change of sense of motion that differential drives body chassis to adopt identical wheel and actuator to drive with controlling party.
At present, the body chassis for mobile robot structurally mainly contains three-wheel and four-wheel structure.Three-wheel type structure is the most common, and its conventional structure is to utilize two high-precision drive wheels and a flower wheel structure.Two drive wheels are driven after retarder slows down by two motors respectively, and flower wheel can be placed in front portion or the rear portion of body.The velocity contrast by two drive wheels that turns to of body chassis determines, by two motors are applied to the motion that different speed controlling quantitys can realize any direction.Also have adopt front-wheel be drive wheel be also steering wheel, it needs two independent motors turn to and drive control.Also have a kind of employing synchronous driving mode, three wheels are uniformly distributed, with gear or chain by wheel with controlling party respectively to being connected with the motor driving, the motion of drive motor wheels, steer motor control wheel turns to.Four-wheel structure also has the configuration mode of similar tricycle structure, as drives-turn to Comprehensive Control and independent control etc.But compare with adopting the mobile robot of three-wheel, although four-wheel structure is more stable, complex structure, radius of turn is larger, turns to dumbly, therefore adopts the mobile robot of four-wheel structure actually rare.
Therefore, in sum, the body chassis of the tricycle structure that adopts before, construction profile size is larger, and in the plane of limited space, kinematic dexterity is poor.
Summary of the invention
The purpose of this utility model is the shortcoming for existing wheeled robot body chassis, provides a kind of differential to drive mobile robot's body chassis.This robot body chassis motion flexibly, can realize zero Turning radius, and structure and control are simple, meanwhile, has and keeps away barrier and dropproof function.
A kind of differential described in the utility model drives mobile robot's body chassis, adopts wheeled differential drive configuration, comprises body, actuating device, track adjusting wheel, permanent magnetic adhesion device, obstacle avoidance apparatus and fall-proofing device, the installation basis that described body is all devices;
Described actuating device comprises axle drive shaft, axle drive shaft bearing, and drive motor, retarder, driving gear, driven gear and drive wheel, two axle drive shaft bearings are installed on organism bottom by tie bolt, and axle drive shaft is installed between two axle drive shaft bearings, and is screwed; Two drive wheels are installed on axle drive shaft two ends by adapter sleeve; Drive motor adopts stepping or servomotor, by motor contiguous block, is connected with retarder, and retarder is connected by attaching screw with axle drive shaft bearing; Driving gear is installed on the axle shaft of retarder, and driven gear is installed on axle drive shaft by an antifriction-bearing box; The gear engagement that moves through of drive motor passes to drive wheel;
Described track adjusting wheel comprises multi-directional ball and insulation sleeve, adopts bolt to be installed on front part of a body, and insulate by insulation sleeve and body, and multi-directional ball comprises track adjusting wheel body, steel ball, gland, elastic scheibe, steel ball;
Described permanent magnetic adhesion device is installed on described body middle part, comprises magnet regulating handle, magnet camshaft, magnet cam sleeve, magnet driver plate, magnetic support, permanent magnet, magnetic support bearing seat, magnetic support axle; Two magnetic support bearing seats are connected with body by bolt, and magnetic support is connected by two magnetic support axles with two magnetic support bearing seats, and four permanent magnets are arranged in magnetic support; Magnet driver plate adopts permeability magnetic material manufacture, be installed on magnetic support, for fixing permanent magnet, magnet cam sleeve adopts three bolts to be installed on body, magnet camshaft is installed in magnet cam sleeve, magnet regulating handle is installed in its axle one end, and the cam of the other end contacts with magnet driver plate lower surface, and magnet regulating handle is connected by pin with magnet camshaft;
Described obstacle avoidance apparatus is comprised of a sonac, is installed on described front part of a body, and fall-proofing device is comprised of four opto-electronic pickups, is installed on described body surrounding;
Mobile welding robot body chassis move and turn to by control two independently drive motor rotating speed realize, when two drive motor rotating speeds are when identical, Robot straight-line motion; As need turn to, can control two drive motor rotating speed differences and realize;
When obstacle avoidance apparatus detects the place ahead and has obstacle, sonac signals to robot controller, and then controller turns to and keeps away barrier by controlling two drive motor rotating speeds; When fall-proofing device detects the place ahead without workpiece planarization, sensor signals to robot controller, and then controller makes the stop motion of robot chassis by controlling two drive motor;
It is adjustable that described permanent magnetism gap adsorption plant can be realized adsorption affinity, specific works principle is: during the normal operation of mobile robot's body chassis, the basic circle of the cam of magnet camshaft contacts with magnet driver plate, now magnetic adsorption device and magnetic conduction workpiece are apart from minimum, magnetic adsorbability is maximum, increases robot power-handling capability and stability; When rotor magnet regulating handle certain angle, the cam of the magnet camshaft jack-up magnet driver plate that makes progress, makes magnetic support rotate around magnetic support axle, thereby makes the distance increase of permanent magnet and magnetic conduction workpiece, thereby magnetic adsorbability is reduced; When staff needs transfer robot, can make magnet regulating handle rotate the angle of 90 degree, now the distance of permanent magnet and magnetic conduction workpiece is maximum, and magnetic adsorbability is minimum.
The beneficial effects of the utility model:
Adopt two-wheeled differential to drive, can realize original place 360 degree and turn to and move, effectively reduced the dead angle of working space, control simple.
Adopt permanent magnetism gap adsorption plant, adhesive ability is large, improves propulsive effort and stability; Meanwhile, because adsorption affinity is adjustable, make robot safe in handling process, laborsaving.
Adopt sonac to detect body the place ahead obstacle, there is the barrier of keeping away ability.
Because body surrounding has been installed opto-electronic pickup, can detect robot motion's environment, prevent that robot from falling damage.
Oad is little, can be in the operation interval of limited space flexible motion.
Accompanying drawing explanation
Fig. 1 is the structural representation that differential described in the utility model drives mobile robot's body chassis;
In figure: 1, body 2, actuating device 3, permanent magnetic adhesion device 4, fall-proofing device 5, obstacle avoidance apparatus 6, track adjusting wheel;
Fig. 2 is the structural representation that differential described in the utility model drives actuating device in mobile robot's body chassis;
In figure: 21, drive motor 22, motor contiguous block 23, retarder 24, attaching screw 25, axle drive shaft bearing 26, driving gear 27, ring gear 28, adapter sleeve 29, axle drive shaft 30, driving gear setting up piece 31, drive wheel;
Fig. 3 is the structural representation that differential described in the utility model drives track adjusting wheel in mobile robot's body chassis;
In figure: 32, insulation sleeve 33, steel ball 34, track adjusting wheel body 35, elastic scheibe 36, gland 37, steel ball
Fig. 4 is the schematic diagram that differential described in the utility model drives permanent magnetic adhesion device in mobile robot's body chassis;
Fig. 5 is the upward view that differential described in the utility model drives the adjustable permanent magnetism of adsorption affinity gap adsorption plant in mobile robot's body chassis;
In figure: 41, magnetic support axle 42, magnetic support bearing seat 43, magnetic support 44, magnet camshaft 45, magnet cam sleeve 46, magnet regulating handle 47, magnet driver plate 48, permanent magnet.
The specific embodiment
Accompanying drawings is as follows:
A kind of differential described in the utility model drives mobile robot's body chassis, adopt wheeled differential drive configuration, comprise body (1), actuating device (2), track adjusting wheel (6), permanent magnetic adhesion device (3), obstacle avoidance apparatus (5) and fall-proofing device (4); The installation basis that described body (1) is all devices.
Described actuating device (2) comprises axle drive shaft (29), axle drive shaft bearing (25), drive motor (21), retarder (23), driving gear (26), driven gear (27) and drive wheel (21), two axle drive shaft bearings (25) are installed on body (1) bottom by tie bolt, axle drive shaft (29) is installed between two axle drive shaft bearings (25), and is screwed; Two drive wheels (31) are installed on axle drive shaft two ends by adapter sleeve (28); Described drive motor (21) adopts stepping or servomotor, by motor contiguous block (22), is connected with retarder (23), and retarder (23) is connected by attaching screw (24) with axle drive shaft bearing (25); Described driving gear (26) is installed on the axle shaft of retarder (23), and driven gear (27) is installed on axle drive shaft (29) by an antifriction-bearing box; The gear engagement that moves through of described drive motor (21) passes to drive wheel (31).
Described track adjusting wheel (6) comprises multi-directional ball and insulation sleeve (32), adopts bolt to be installed on front part of a body, and by insulation sleeve (1) and body (1) insulation; Described multi-directional ball comprises track adjusting wheel body (34), steel ball (33), gland (36), elastic scheibe (35), steel ball (37).
Described permanent magnetic adhesion device (3) is installed on described body (1) middle part, comprises magnet regulating handle (46), magnet camshaft (44), magnet cam sleeve (45), magnet driver plate (47), magnetic support (43), permanent magnet (48), magnetic support bearing seat (42), magnetic support axle (41); Two magnetic support bearing seats (42) are connected with body (1) by bolt; Described magnetic support (43) is connected by two magnetic support axles (41) with two magnetic support bearing seats (42), and four permanent magnets (48) are arranged in magnetic support; Described magnet driver plate (47) adopts permeability magnetic material manufacture, is installed on magnetic support (43) upper, for fixing permanent magnet (48); Described magnet cam sleeve (45) adopts three bolts to be installed on body (1); Described magnet camshaft (44) is installed in magnet cam sleeve (45), and magnet regulating handle (46) is installed in its axle one end, and the cam of the other end contacts with magnet driver plate (47) lower surface; Described magnet regulating handle (46) is connected by pin with magnet camshaft (44).
Described obstacle avoidance apparatus (5) is comprised of a sonac, is installed on described body (1) front portion; Described fall-proofing device (4) is comprised of four opto-electronic pickups, is installed on described body (1) surrounding.
Mobile welding robot body chassis working process described in the utility model is as follows:
Described differential drive mobile robot's body chassis to move and turn to by control two independently drive motor (21) rotating speed realize, when two drive motor (21) rotating speed is identical, Robot straight-line motion; As need turn to, can control two drive motor (21) rotating speed difference and realize.
When described obstacle avoidance apparatus (5) detects the place ahead and has obstacle, sonac signals to robot controller, and then controller turns to and keeps away barrier by controlling two drive motor (21) rotating speed.When described fall-proofing device (4) detects the place ahead without workpiece planarization, sensor signals to robot controller, and then controller makes the stop motion of robot chassis by controlling two drive motor (21).
It is adjustable that described permanent magnetism gap adsorption plant can be realized adsorption affinity, specific works principle is: during the normal operation of mobile robot's body chassis, the basic circle of the cam of magnet camshaft (44) contacts with magnet driver plate (47), now magnetic adsorption device and magnetic conduction workpiece are apart from minimum, magnetic adsorbability is maximum, increases robot power-handling capability and stability; When rotor magnet regulating handle (46) certain angle, the cam of magnet camshaft (43) the jack-up magnet driver plate (47) that makes progress, magnetic support (43) is rotated around magnetic support axle (41), thereby permanent magnet (48) and the distance of magnetic conduction workpiece are increased, thereby magnetic adsorbability is reduced.When staff needs transfer robot, can make magnet regulating handle (46) rotate the angle of 90 degree, now permanent magnet (48) is maximum with the distance of magnetic conduction workpiece, and magnetic adsorbability is minimum.
Claims (1)
1. differential drives mobile robot's body chassis, it is characterized in that: described body chassis structure comprises body, actuating device, track adjusting wheel, permanent magnetic adhesion device, obstacle avoidance apparatus and fall-proofing device;
Described body is the installation basis of all devices;
Described actuating device comprises axle drive shaft, axle drive shaft bearing, and drive motor, retarder, driving gear, driven gear and drive wheel, two axle drive shaft bearings are installed on organism bottom by tie bolt, and axle drive shaft is installed between two axle drive shaft bearings, and is screwed; Two drive wheels are installed on axle drive shaft two ends by adapter sleeve; Drive motor adopts stepping or servomotor, by motor contiguous block, is connected with retarder, and retarder is connected by attaching screw with axle drive shaft bearing; Driving gear is installed on the output shaft of retarder, and driven gear is installed on axle drive shaft by an antifriction-bearing box; The gear engagement that moves through of drive motor passes to drive wheel;
Described track adjusting wheel comprises multi-directional ball and insulation sleeve, adopts bolt to be installed on front part of a body, and insulate by insulation sleeve and body, and multi-directional ball comprises track adjusting wheel body, steel ball, gland, elastic scheibe, steel ball;
Described permanent magnetic adhesion device is installed on described body middle part, comprises magnet regulating handle, magnet camshaft, magnet cam sleeve, magnet driver plate, magnetic support, permanent magnet, magnetic support bearing seat, magnetic support axle; Two magnetic support bearing seats are connected with body by bolt, and magnetic support is connected by two magnetic support axles with two magnetic support bearing seats, and four permanent magnets are arranged in magnetic support; Magnet driver plate adopts permeability magnetic material manufacture, be installed on magnetic support, for fixing permanent magnet, magnet cam sleeve adopts three bolts to be installed on body, magnet camshaft is installed in magnet cam sleeve, magnet regulating handle is installed in its axle one end, and the cam of the other end contacts with magnet driver plate lower surface, and magnet regulating handle is connected by pin with magnet camshaft;
Described obstacle avoidance apparatus is comprised of a sonac, is installed on described front part of a body;
Described fall-proofing device is comprised of four opto-electronic pickups, is installed on described body surrounding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320578882.0U CN203449966U (en) | 2013-09-18 | 2013-09-18 | Differentially driven mobile robot chassis mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320578882.0U CN203449966U (en) | 2013-09-18 | 2013-09-18 | Differentially driven mobile robot chassis mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN203449966U true CN203449966U (en) | 2014-02-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320578882.0U Expired - Fee Related CN203449966U (en) | 2013-09-18 | 2013-09-18 | Differentially driven mobile robot chassis mechanism |
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| Country | Link |
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| CN (1) | CN203449966U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107297757A (en) * | 2017-08-27 | 2017-10-27 | 刘哲 | A kind of mobile robot |
| CN109319009A (en) * | 2018-11-27 | 2019-02-12 | 大连大学 | A kind of robot running gear |
| CN109649686A (en) * | 2018-12-29 | 2019-04-19 | 中国科学院沈阳自动化研究所 | Celestial body detecting automatic obstacle avoiding mobile robot |
-
2013
- 2013-09-18 CN CN201320578882.0U patent/CN203449966U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107297757A (en) * | 2017-08-27 | 2017-10-27 | 刘哲 | A kind of mobile robot |
| CN109319009A (en) * | 2018-11-27 | 2019-02-12 | 大连大学 | A kind of robot running gear |
| CN109649686A (en) * | 2018-12-29 | 2019-04-19 | 中国科学院沈阳自动化研究所 | Celestial body detecting automatic obstacle avoiding mobile robot |
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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: 20140226 Termination date: 20140918 |
|
| EXPY | Termination of patent right or utility model |