CN205872236U - Travel mechanism - Google Patents
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- CN205872236U CN205872236U CN201620911751.3U CN201620911751U CN205872236U CN 205872236 U CN205872236 U CN 205872236U CN 201620911751 U CN201620911751 U CN 201620911751U CN 205872236 U CN205872236 U CN 205872236U
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- 230000007246 mechanism Effects 0.000 title claims abstract description 57
- 230000005540 biological transmission Effects 0.000 claims abstract description 3
- 230000006698 induction Effects 0.000 claims description 12
- 230000008878 coupling Effects 0.000 claims description 9
- 238000010168 coupling process Methods 0.000 claims description 9
- 238000005859 coupling reaction Methods 0.000 claims description 9
- 230000005611 electricity Effects 0.000 claims description 5
- 230000008859 change Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 3
- 239000002966 varnish Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008450 motivation Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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Abstract
The utility model discloses a travel mechanism, including connecting piece, chassis and the actuating mechanism who is used for connecting the machine people, the connecting piece sets up on the chassis, actuating mechanism includes left drive wheel, right drive wheel and sets up the information acquisition device on the chassis, left motor, left motor drive, right motor, right motor drive, battery and circuit board, left side drive wheel sets up in the left side on chassis, by left motor drive, right side drive wheel sets up in the right side on chassis, by right motor drive, equal and the circuit board electrically connected of information acquisition device, left motor drive and right motor drive, left side motor drive and left motor electrically connected, right side motor drive and right motor electrically connected, be information acquisition device, circuit board, left motor, left motor drive, right motor and the power supply of right motor drive by the battery. This travel mechanism can be connected through the detachable mode with the robot, is applicable to different robots, and the practicality is strong, and the transmission is steady, small in noise.
Description
Technical field
This utility model relates to motion control device technical field, particularly relates to a kind of travel mechanism.
Background technology
In order to assist people realizes various performance capacity, as to specifying position to carry out food delivery, transport goods, typically existed
The lower section of robot arranges mobile chassis.Typically there is following several drive form in the most common travel mechanism: in-wheel driving, shoe
Belt-type drive, articulated type drive and hybrid driving.Track driving mechanism is usually used in field work, such as military surveillance, exploration etc.；
In-wheel driving mechanism is generally used for indoor and outdoor, the occasion that road surface is relatively flat；And articulated type drive mechanism and hybrid drive
The structure of motivation structure is complicated, applies to less on service robot.It is to say, the mobile chassis for robot is typically all
By in-wheel driving.
Usually, the mobile chassis for robot is a kind of automatical pilot transportation vehicle (AGV, Automated Guided
Vehicle), it is typically with battery as power.AGV is equipped with noncontact navigation (guiding) device, and it can be pressed under computer monitoring
Path planning and job requirements, accurately walk and be accommodated to appointed place, completes a series of operation function, thus realizes unmanned
The hauling operation driven.AGV is characterized with wheel type mobile, compared with other equipment conventional in carrying with material, and the behaviour area of AGV
Territory, without laying the fixing device such as track, support saddle frame, is not limited by place, road and space.Therefore, in automatic material flow system
In system, can embody its automaticity and flexibility fully, it is achieved efficiently, economic, manless production flexibly.
But, existing mobile chassis is usually one-body molded with robot, the most non-removable, say, that
Different robots is both needed to the corresponding mobile chassis of each self-configuring.
Utility model content
In order to overcome the deficiencies in the prior art, the purpose of this utility model is to provide a kind of travel mechanism, this moving machine
Structure can be attached by dismountable mode with robot, it is adaptable to different robots, practical；Further, this shifting
The stable drive of motivation structure, noise is little, the lowest.
The purpose of this utility model realizes by the following technical solutions:
A kind of travel mechanism, including for connecting the connector of robot, chassis and drive mechanism；Described connector is arranged
On described chassis；Described drive mechanism includes information acquisition device, left driving wheel, left motor, left motor driver, right driving
Wheel, right motor, right motor driver, battery and circuit board；Described information acquisition device is arranged at the lower section on described chassis；A described left side
Motor, left motor driver, right motor, right motor driver, battery, circuit board may be contained within described chassis；A described left side is driven
Driving wheel is arranged at the left side on described chassis, described left motor drive；Described right driving wheel is arranged at the right side on described chassis, by
Described right motor drives；The signal output part of described information acquisition device is connected with the first signal input part of described circuit board；Institute
The signal input part of the first signal output part and described left motor driver of stating circuit board is connected, its secondary signal outfan with
The signal input part of described right motor driver connects；The signal output part of described left motor driver and the letter of described left motor
Number input connects；The signal output part of described right motor driver is connected with the signal input part of described right motor；By described
Battery is that described information acquisition device, circuit board, left motor, left motor driver, right motor and right motor driver are powered.
It should be noted that described circuit board is the circuit board being integrated with central processing unit, signal can be received, and to letter
Number process.
Preferably, described connector includes the first cylinder and the second cylinder；Described first cylinder and described second cylinder divide
It is not symmetricly set on described chassis.
Preferably, also include that the first foot rest block and the second foot rest block, described first foot rest block and described second foot rest block divide
It is not symmetricly set on described chassis；Described first cylinder is arranged on described first foot rest block by the way of being spirally connected, described
Second cylinder is arranged on described bipod block by the way of being spirally connected.
Preferably, the first universal wheel, the second universal wheel and the 3rd universal wheel are also included；Described first universal wheel and described
Two universal wheels are respectively symmetrically the front side being arranged at described tray bottom, after described 3rd universal wheel is arranged at described tray bottom
Side so that described first universal wheel, the second universal wheel and the 3rd universal wheel form the arrangement mode of isosceles triangle.
Preferably, left gear drive mechanism and right gear drive mechanism are also included；Described left gear drive mechanism includes
One left gear, the second left gear and the first revolver axle；Described first left gear is arranged at the top of described second left gear, and with
Described second left gear coupling engagement；Described first left gear is connected with the clutch end of described left motor；Described first is left
One end of wheel shaft couples with described second left gear, and its other end couples with described left driving wheel；Described right gear drive mechanism
Including the first right gear, the second right gear and the first right wheel axle；Described first right gear is arranged at the upper of described second right gear
Side, and engage with described second right gear coupling；Described first right gear is connected with the clutch end of described right motor；Described
One end of first right wheel axle couples with described second right gear, and its other end couples with described right driving wheel.
Preferably, described left gear drive mechanism also includes the second revolver axle；One end of described second revolver axle is with described
The clutch end of left motor couples, and its other end couples with described first left gear；Described right gear drive mechanism also includes
Second right wheel axle；One end of described second right wheel axle couples with the clutch end of described right motor, its other end and described the
One right gear couples.
Preferably, described first left gear, described second left gear, described first right gear and described second right gear are equal
For helical gear；Or, state the first left gear, described second left gear, described first right gear and described second right gear and be
Bevel gear.
Preferably, described information acquisition device includes that magnetic induction sensor and RFID sensor, described magnetic induction sensor set
Being placed in the front side of described tray bottom, described RFID sensor is arranged on the bottom on described chassis, and is positioned at described magnetic induction
The rear of sensor.
Preferably, battery fixed case is also included；Described battery fixed case coupling cover on the battery, and with the described end
Dish is fixing to be connected；Described circuit board is arranged on the back of described battery fixed case, or, described circuit board is arranged at described chassis
Central authorities；Described left motor driver and described right motor driver are respectively arranged at the left and right sides of described battery fixed case,
And all fixing with described chassis be connected.
Compared to existing technology, the beneficial effects of the utility model are:
(1) travel mechanism provided by the utility model, has broken traditional robot and mobile chassis integrated design
Thinking, robot and mobile chassis modularity, mobile chassis is provided with connector, robot pass through this connector and shifting
Dynamic chassis removably connects.General, the leg of robot is inserted on connector, and fixes with connector.This set
Put mode, meet the trend of customization service robot, meet the needs frequently replacing clothing of robot model, accessories etc. and want
Ask.Modularized design, is significantly improved the customizability making robot.This travel mechanism's applied range, including answering
The service robot of locomotive function is needed, while retaining original robot function, by simply for guest-meeting robot etc.
Connection can complete the combination with mobile chassis, makes robot have the function of movement.
(2) travel mechanism provided by the utility model, left driving wheel and right driving wheel are realized by gear driven mechanism
Operating, specifically, the engagement that gear could be arranged to helical gear or bevel gear, helical gear or bevel gear is good, stable drive,
Noise is little；Registration is big, it is possible to reduces the load of every pair of gear, thus improves the bearing capacity of gear.Further, this set side
Formula, can effectively reduce the height on chassis, so that after robot is combined with chassis, whole height change is little.
Accompanying drawing explanation
The overall schematic of the travel mechanism that Fig. 1 is provided by this utility model embodiment；
The exploded perspective view of the travel mechanism that Fig. 2 is provided by this utility model embodiment；
The exploded perspective view of right driving means in the travel mechanism that Fig. 3 is provided by this utility model embodiment；
The connection diagram of travel mechanism's middle gear drive mechanism that Fig. 4 is provided by this utility model embodiment；
In figure: 1, preset robot leg；2, the first cylinder；3, the first foot rest block；4, right driving means；5, sensor peace
Dress plate；6, magnetic induction sensor；7, universal wheel installing plate；8, the first universal wheel；9, knob；10, left driving means；11, battery
Fixed case；12, battery；13, circuit board；14, left motor driver；15, chassis；16, RFID sensor；17, front lamp plate；18、
Front lamp plate installing plate；19, rear lamp plate；20, rear lamp plate installing plate；40, the second bearing cap；41, wheel pad；42, right driving wheel；
43, clutch shaft bearing lid；44, the first sleeve；45, the first right wheel axle；46, the second right gear；47, the second sleeve；48, right motor；
49, the first right gear；411, motor rack；412, gear lower box；413, gear upper box；414, the second right wheel axle；415,
Three sleeves；416, the 4th sleeve；417, the 3rd bearing cap.
Detailed description of the invention
Below, in conjunction with accompanying drawing and detailed description of the invention, this utility model is described further:
As shown in Figure 1-2, a kind of travel mechanism, including for connecting the connector of robot, chassis 15 and drive mechanism；
Described connector is arranged on chassis 15；Described drive mechanism includes that information acquisition device, battery 12, circuit board 13, left driving fill
Put 10 and right driving means 4；Left driving means 10 includes left driving wheel, left motor, left motor driver 14；Right driving means 4
Including right driving wheel 42, right motor 48, right motor driver；Described information acquisition device is arranged at the lower section on chassis 15；A described left side
Motor, left motor driver 14, right motor 48, right motor driver, battery 12, circuit board 13 may be contained within chassis 15；Institute
State left driving wheel and be arranged at the left side on chassis 15, described left motor drive；Right driving wheel 42 is arranged at the right side on chassis 15, by
Right motor 48 drives；The signal output part of described information acquisition device is connected with the first signal input part of circuit board 13；Circuit board
First signal output part of 13 is connected with the signal input part of left motor driver 14, its secondary signal outfan and described right electricity
The signal input part of machine driver connects；The signal output part of left motor driver 14 connects with the signal input part of described left motor
Connect；The signal output part of described right motor driver is connected with the signal input part of right motor 48；It is described information by battery 12
Harvester, circuit board 13, left motor, left motor driver 14, right motor 48 and right motor driver are powered.
Specifically, the connector being used for connecting robot includes the first cylinder 2 and the second cylinder；First cylinder 2 and described
Second cylinder is respectively symmetrically and is arranged on chassis 15, the rear side being generally located on chassis.It addition, also include the first foot rest block 3
It is respectively symmetrically is arranged on chassis 15 with the second foot rest block, the first foot rest block 3 and described second foot rest block；First cylinder 2 passes through
The mode being spirally connected is arranged on the first foot rest block 3, and described second cylinder is arranged on described bipod block by the way of being spirally connected.
Preset robot leg 1 and be set to cavity body structure, it is possible to be set on the first cylinder 2 or the second cylinder, and, preset robot
It is provided with screwed hole on leg 1.When combination presets robot and during this mobile chassis, preset robot leg 1 and insert the respectively
One cylinder 2 and the second cylinder, is then screwed into suitable knob 9 in the screwed hole on default robot leg 1 so that the first post
Body 2 and the second cylinder are all fixing with default robot leg 1 to be connected.When robot changed by needs, again unscrew knob 9, pull out
Go out default robot leg 1, repeat above-mentioned installation and operate.
It addition, so that the movement of mobile chassis more steady and smooth, also include first universal wheel the 8, second universal wheel
With the 3rd universal wheel；First universal wheel 8 and described second universal wheel are respectively symmetrically the front side being arranged at bottom chassis 15, and described
Three universal wheels are arranged at the rear side bottom chassis 15 so that first universal wheel the 8, second universal wheel and the 3rd universal wheel form isosceles
The arrangement mode of triangle.Of course, it is possible to arrange universal wheel installing plate 7, universal wheel installing plate 7 is provided with screwed hole, first
Universal wheel the 8, second universal wheel and the 3rd universal wheel are all threaded with corresponding universal wheel installing plate 7 fixing, and three pieces universal
Wheel installing plate 7 is threadeded fixing respectively with chassis 15, thus solid to first universal wheel the 8, second universal wheel and the 3rd universal wheel
It is scheduled on chassis 15.Assembling form is simple, easy to operate.
On the other hand, front lamp plate 17 and rear lamp plate 19 can also be installed by this travel mechanism, first, front lamp plate 17 is fixed on
On front lamp plate installing plate 18, rear lamp plate 19 is arranged on rear lamp plate installing plate 20, then by front lamp plate installing plate 18 and back light
Plate installing plate 20 they be respectively installed to the front and back on chassis 15.
Meanwhile, so that the transmission of this mobile chassis is more steady, running noises is less.This mobile chassis also includes a left side
Gear drive and right gear drive mechanism；Described left gear drive mechanism includes the first left gear, the second left gear and
One revolver axle；Described first left gear is arranged at the top of described second left gear, and engages with described second left gear coupling；
Described first left gear is connected with the clutch end of described left motor；One end of described first revolver axle and described second left tooth
Wheel couples, and its other end couples with described left driving wheel.As shown in Figure 4, described right gear drive mechanism includes the first right gear
49, the second right gear 46 and the first right wheel axle 45；First right gear 49 is arranged at the top of the second right gear 46, and right with second
Gear 46 coupling engagement；First right gear 49 is connected with the clutch end of right motor 48；One end of first right wheel axle 45 and the
Two right gears 46 couple, and its other end couples with right driving wheel 42.When left electric motor starting, the first left gear is driven to rotate, the
One left gear drives the second left gear to rotate, and the second left gear, the first revolver axle and left driving wheel are linkages, therefore, left
Driving wheel achieves operating.The mode of right driving wheel 42 realization operating is consistent with the principle of left driving wheel.
It addition, in order to protect left motor and right motor 48, the second revolver axle and the second right wheel axle 414 can be arranged.Specifically
As follows: described left gear drive mechanism also includes the second revolver axle；One end of described second revolver axle is dynamic with described left motor
Power outfan couples, and its other end couples with described first left gear；Described right gear drive mechanism also includes the second right wheel axle
414；One end of second right wheel axle 414 couples with the clutch end of right motor 48, its other end and described first right gear connection
Connect.This setup, it is to avoid gear directly couples with motor, decreases the infringement to motor, extends use longevity of motor
Life.
Left driving means 10 is the same with the type of drive of right driving means 4, below with the side of setting of right driving means 4
As a example by formula, do and more specifically describe.As it is shown on figure 3, also include wheel pad 41, clutch shaft bearing lid the 43, second bearing cap 40,
One sleeve the 44, second sleeve 47, motor rack 411, gear lower box 412, gear upper box the 413, the 3rd sleeve the 415, the 4th overlap
Cylinder 416 and the 3rd bearing cap 417.During assembling, clutch shaft bearing lid 43 and the first sleeve 44 are worn from one end of the first right wheel axle 45
Enter, and be pressed at the shaft shoulder of the first right wheel axle 45；By another from the first right wheel axle 45 of the second right gear 46 and the second sleeve 47
One end penetrates, and is pressed at the shaft shoulder of the first right wheel axle 45；Right driving wheel 42 is loaded on the first right wheel axle 45, and placing car
Wheel pad 41, is tightened in wheel pad 41 and right driving wheel 42 on the first right wheel axle 45 with hexagon socket head cap screw；By the second right wheel
One end of axle 414 is connected with the clutch end of right motor 48, and its other end and the first right gear 49 couple, and the 3rd set
Cylinder the 415, the 4th sleeve 416 and the 3rd bearing cap 417 are arranged on the relevant position of the second right wheel axle 414；Then by right motor
48 are installed on motor rack 411, tighten with bolt；Clutch shaft bearing lid 43 and the second bearing cap 40 are fitted in gear lower box
The relevant position of 412, tightens with bolt, and the first right gear 49 and the second right gear 46 are arranged at gear upper box 413 and tooth
The receiving intracavity that wheel lower box 412 is assembled to form.So, just complete to assemble.Take this setup, can effectively reduce at the end
The height of dish 15, so that after robot is combined with chassis 15, whole height change is little.
It addition, described first left gear, described second left gear, the first right gear 49 and the second right gear 46 are helical teeth
Wheel；Or, state the first left gear, described second left gear, the first right gear 49 and the second right gear 46 and be bevel gear.Helical teeth
The engagement of wheel or bevel gear is good, and stable drive, noise are little；Registration is big, it is possible to reduces the load of every pair of gear, thus improves
The bearing capacity of gear.
As in figure 2 it is shown, also include battery fixed case 11；Battery fixed case 11 coupling covers on battery 12, and and chassis
15 fixing connections；Circuit board 13 is arranged on the back of battery fixed case 11, or, circuit board 13 is arranged at the central authorities on chassis 15；
Left motor driver 14 and described right motor driver are respectively arranged at the left and right sides of battery fixed case 11, and all with chassis 15
Fixing connection.
Below, being further described the set-up mode of information acquisition device, the particular type of information acquisition device is different, then should
The principle that mobile chassis realizes running is different.Below, enumerate several set-up mode, but be not limited to following manner；
The first, electromagnetism aiming means；Information acquisition device can be included magnetic induction sensor 6 and RFID sensor 16,
Magnetic induction sensor 6 is arranged at the front side bottom chassis 15, can be carried out by 5 magnetic induction sensors of sensor installing plate 6
Install；RFID sensor 16 is arranged on the bottom on chassis 15, and is positioned at the rear of magnetic induction sensor 6.Concrete is worked
Journey is as follows: bury special magnetic stripe underground under the route of mobile chassis walking.Magnetic induction sensor 6 can detect the position of magnetic stripe,
When dolly is walked along circuit, exporting magnetic stripe position signalling, on car, controller carries out, according to this signal, control of rectifying a deviation.Meanwhile, electricity
The signal of machine driver circuit board for receiving 13, is controlled speed and the acceleration of electric machine rotation, thus reaches by pulse frequency
The function of navigation, RFID sensor 16 can recognize the rfid card sheet being fixed on magnetic stripe, and rfid card sheet contains position letter
Breath, thus reach the mesh of location.
The second, optics controls band guide mode；Described information acquisition device is set to infrared light supply, and infrared light supply has transmitting
And receive capabilities, in order to irradiate varnish-treated tape.Utilizing ground color and paint colored contrast, varnish-treated tape is painted with black on bright ground
Color, or it is painted with white on dark ground.It is uniformly distributed is provided with fluorescence detector at varnish-treated tape and two side positions, for detection not
Same composite signal, to control the direction of mobile chassis so that it is follows the tracks of rail.
The third, laser radar aiming means；Described information acquisition device is set to laser radar sensor.At mobile chassis
At anterior position, it is mounted with laser radar sensor.Robot is first allowed to walk in the environment of required location, from main scanning in advance
Environmental map is also saved in this locality.Robot is during formal walking, by processing the feedback information of laser radar, walking
The travel distance information of motor, the gyroscope information on panel, and determine robot at environment by related algorithm process
In positional information, thus realize be accurately positioned and orient.
The travel mechanism that this utility model embodiment is provided, has broken that traditional robot is integrated with mobile chassis to be set
The thinking of meter, robot and mobile chassis modularity, mobile chassis is provided with connector, robot by this connector and
Mobile chassis removably connects, and meets the trend of customization service robot, meets the clothes needing frequently to change robot model
The requirements such as dress, accessories.Modularized design, is significantly improved the customizability making robot.
It will be apparent to those skilled in the art that can technical scheme as described above and design, make other various
Corresponding change and deformation, and all these change and deformation all should belong to the protection of this utility model claim
Within the scope of.
Claims (9)
1. a travel mechanism, it is characterised in that include for connecting the connector of robot, chassis and drive mechanism；
Described connector is arranged on described chassis；
Described drive mechanism include information acquisition device, left driving wheel, left motor, left motor driver, right driving wheel, right motor,
Right motor driver, battery and circuit board；Described information acquisition device is arranged at the lower section on described chassis；Described left motor, left electricity
Machine driver, right motor, right motor driver, battery, circuit board may be contained within described chassis；Described left driving wheel is arranged at
The left side on described chassis, is driven by described left motor；Described right driving wheel is arranged at the right side on described chassis, by described right motor
Drive；
The signal output part of described information acquisition device is connected with the first signal input part of described circuit board；The of described circuit board
One signal output part is connected with the signal input part of described left motor driver, and its secondary signal outfan drives with described right motor
The signal input part of dynamic device connects；The signal output part of described left motor driver connects with the signal input part of described left motor
Connect；The signal output part of described right motor driver is connected with the signal input part of described right motor；It is described by described battery
Information acquisition device, circuit board, left motor, left motor driver, right motor and right motor driver are powered.
Travel mechanism the most according to claim 1, it is characterised in that described connector includes the first cylinder and the second post
Body；Described first cylinder and described second cylinder are respectively symmetrically and are arranged on described chassis.
Travel mechanism the most according to claim 2, it is characterised in that also include the first foot rest block and the second foot rest block, institute
State the first foot rest block and described second foot rest block is respectively symmetrically and is arranged on described chassis；Described first cylinder is by the side being spirally connected
Formula is arranged on described first foot rest block, and described second cylinder is arranged on described bipod block by the way of being spirally connected.
Travel mechanism the most according to claim 1, it is characterised in that also include the first universal wheel, the second universal wheel and
Three universal wheels；Described first universal wheel and described second universal wheel are respectively symmetrically the front side being arranged at described tray bottom, described
3rd universal wheel is arranged at the rear side of described tray bottom so that described first universal wheel, the second universal wheel and the 3rd universal wheel
Form the arrangement mode of isosceles triangle.
Travel mechanism the most according to claim 1, it is characterised in that also include left gear drive mechanism and right gear transmission
Mechanism；
Described left gear drive mechanism includes the first left gear, the second left gear and the first revolver axle；Described first left gear sets
It is placed in the top of described second left gear, and engages with described second left gear coupling；Described first left gear and described left electricity
The clutch end of machine connects；One end of described first revolver axle couples with described second left gear, its other end and a described left side
Driving wheel couples；
Described right gear drive mechanism includes the first right gear, the second right gear and the first right wheel axle；Described first right gear sets
It is placed in the top of described second right gear, and engages with described second right gear coupling；Described first right gear and described right electricity
The clutch end of machine connects；One end of described first right wheel axle couples with described second right gear, its other end and the described right side
Driving wheel couples.
Travel mechanism the most according to claim 5, it is characterised in that described left gear drive mechanism also includes the second revolver
Axle；One end of described second revolver axle couples with the clutch end of described left motor, its other end and described first left gear
Couple；
Described right gear drive mechanism also includes the second right wheel axle；One end of described second right wheel axle and the power of described right motor
Outfan couples, and its other end couples with described first right gear.
Travel mechanism the most according to claim 5, it is characterised in that described first left gear, described second left gear, institute
State the first right gear and described second right gear is helical gear；Or, state the first left gear, described second left gear, described
First right gear and described second right gear are bevel gear.
Travel mechanism the most according to claim 1, it is characterised in that described information acquisition device include magnetic induction sensor and
RFID sensor, described magnetic induction sensor is arranged at the front side of described tray bottom, and described RFID sensor is arranged at described
On the bottom on chassis, and it is positioned at the rear of described magnetic induction sensor.
Travel mechanism the most according to claim 1, it is characterised in that also include battery fixed case；Described battery fixed case
Coupling covers on the battery, and fixing with described chassis is connected；Described circuit board is arranged on the back of the body of described battery fixed case
Portion, or, described circuit board is arranged at the central authorities on described chassis；Described left motor driver and described right motor driver are respectively
It is arranged at the left and right sides of described battery fixed case, and all fixing with described chassis is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620911751.3U CN205872236U (en) | 2016-08-19 | 2016-08-19 | Travel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620911751.3U CN205872236U (en) | 2016-08-19 | 2016-08-19 | Travel mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205872236U true CN205872236U (en) | 2017-01-11 |
Family
ID=57705303
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620911751.3U Expired - Fee Related CN205872236U (en) | 2016-08-19 | 2016-08-19 | Travel mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205872236U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108726633A (en) * | 2018-06-20 | 2018-11-02 | 虞惠敏 | A kind of softening water processing robot of automatically walk cleaning |
| CN108945148A (en) * | 2017-10-12 | 2018-12-07 | 深圳市安泽智能工程有限公司 | A kind of independent suspension device and omni-directional mobile robots |
-
2016
- 2016-08-19 CN CN201620911751.3U patent/CN205872236U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108945148A (en) * | 2017-10-12 | 2018-12-07 | 深圳市安泽智能工程有限公司 | A kind of independent suspension device and omni-directional mobile robots |
| CN108726633A (en) * | 2018-06-20 | 2018-11-02 | 虞惠敏 | A kind of softening water processing robot of automatically walk cleaning |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170111 |