CN206679076U - A kind of all-terrain moving robot chassis - Google Patents
A kind of all-terrain moving robot chassis Download PDFInfo
- Publication number
- CN206679076U CN206679076U CN201720259725.1U CN201720259725U CN206679076U CN 206679076 U CN206679076 U CN 206679076U CN 201720259725 U CN201720259725 U CN 201720259725U CN 206679076 U CN206679076 U CN 206679076U
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- CN
- China
- Prior art keywords
- motor
- mounting bracket
- plate
- moving robot
- robot chassis
- 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 - Fee Related
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Abstract
The utility model provides a kind of all-terrain moving robot chassis, belongs to wheeled mobile robot field.Motor rotating shaft with decelerator is bolted, the bottom of car body is equipped with the quadrilateral structure of crossbeam for the both ends of two longerons, the outside of two longerons is provided with car body side plate, protective ring and driver installing plate are equipped with two longerons of crossbeam side, the inner side of driver installing plate is provided with motor driver, inner end is provided with and fixed with the demarcation strip perpendicular to longeron, driver installing plate with demarcation strip by connecting corner yard；The middle part of demarcation strip is provided with battery pack fixed plate, battery pack fixed plate higher slice is provided with battery body frame, between the two by supporting copper post to connect, encoder is embedded in the mounting bracket of motor, mounting bracket upper end and one end of damping spring are hinged, the other end of damping spring is bolted by bearing pin and the lug pin joint of the top edge of mounting bracket, top and the vehicle frame side plate of mounting bracket.
Description
Technical field
The utility model belongs to wheeled mobile robot field.
Background technology
At present, in mobile robot field, wheeled mobile robot is because having relatively easy structure, driving and controlling party
Just the advantages that, operating efficiency is high is widely used in the work for needing to clear the jumps.But typically conventional mobile device is
Four-wheel drive structure, power relative deficiency, obstacle climbing ability are poor；Dismounted between various parts it is especially cumbersome, between disparate modules
Managerial confusion, the parts to break down that replacing belongs to a module generally require to disassemble the parts of other modules, electrically member
Cabling is unordered in a jumble between device, and the device such as battery is exposed in extraneous air, easily causes the safety problems such as short circuit.Therefore,
Increase driving power, improve obstacle climbing ability, the management between reinforcing module, facilitate the dismounting between module, improve electronics member device
The security of part is particularly important.
Chinese patent CN201521060337.8 describe a kind of disaster relief mechanical device of three-axis structure, including main car frame with
And the subframe being connected through the hinge with main car frame, controller be connecteds with installed in the electronics push rod of main car frame bottom, cylinder and
It is arranged on the electronics push rod connection of main car frame bottom.Advantage is that size is small, light weight, possesses front and back wheel liftable mechanism, still
Shortcoming is to install between modules unreasonable, and controller and other components are laid more random, and electrical cable is without spy
Fixed wiring channel and protection device, easily appearance connection is unstable, or even short circuit phenomenon, causes potential safety hazard.
The content of the invention
The purpose of this utility model is to provide a kind of all-terrain moving robot chassis, and it can efficiently solve wheel type mobile
Robot architectureization, modular technology composition problem.
The purpose of this utility model is achieved through the following technical solutions：A kind of all-terrain moving robot chassis,
Including car body, motor, control element cabin and powerhouse dome, wheel is consolidated with the motor rotating shaft with decelerator by bolt
Fixed, decelerator is connected to one end of motor, and the bottom of car body is fixed for the both ends of two longerons with two crossbeam both ends, structure
Into parallelogram, the upper and lower horizontal plane of the parallelogram is equipped with sheet material, and the space of formation is control element cabin, and two
Car body side plate is equipped with the outside of root longeron, protective ring and driver installation are equipped with two longerons of powerhouse dome side
Plate, the inner side of driver installing plate are provided with motor driver, and inner end is provided with and the demarcation strip perpendicular to longeron, driver installation
Plate is connected with demarcation strip by corner brace；The middle part of demarcation strip is provided with battery pack fixed plate, and battery pack fixed plate higher slice is set
There is battery body frame, between the two by supporting copper post to connect, encoder is embedded in the mounting bracket of motor, mounting bracket
Upper end and one end of damping spring are hinged, and the other end of damping spring passes through bearing pin and the lug pin of the top edge of mounting bracket
Connect, top and the vehicle frame side plate of mounting bracket are bolted；Vehicular body front is load cabin, and rear vehicle is provided with powerhouse dome,
Bottom is provided with control element cabin and its cover plate.
The longeron is hollow-core construction, and surface is provided with threading hole, and aperture is provided with a soft protective ring of circle, inside distribution electricity
Source line and control line.
The battery pack fixed plate is provided with the irregularly-shaped hole of two vertical and one horizontal.
The support copper post four is one group, every group of support battery body frame.
The driver installing plate is connected by screw with car body side plate, and the both sides of powerhouse dome are provided with motor driver.
The motor is brushless disk motor, is placed in mounting bracket.
Compared with prior art the advantages of and effect are：Above-mentioned mobile device, it includes the mould described in as above any one
Blocking structure, save installing space, convenient disassembly.Because drive component partial embedding is in wheel, wheel is reduced in car
The distance of side plate so that dolly is more steady in motion process, and drive component is not easy to touch barrier.The electricity such as power supply
Sub- component is placed in the space of a sealing, more securely and reliably.Car body is provided with cabling mouth so that electrical cable is more
Stable, connection is more firm, and being surrounded on cabling mouth has soft protective ring, can prevent that electrical cable from being scratched.
Brief description of the drawings
Fig. 1 is graphics of the present utility model；
Fig. 2 is explosive view of the present utility model；
Fig. 3 is powerhouse dome 3-D view of the present utility model；
Fig. 4 is the 3-D view of the utility model battery pack fixed plate；
Fig. 5 is the 3-D view of the utility model battery body frame；
Embodiment
Clear, complete description is carried out to the technical scheme of the utility model embodiment with reference to the accompanying drawings and examples.
In the present embodiment, a kind of all-terrain moving robot chassis, by wheel 1, motor 7, damping spring 8, load
Lotus cabin 4, powerhouse dome, control element cabin 23 form.
The wheel 1 is fixedly connected with the rotating shaft of the decelerator of the one end of motor 7 by screw 13, and the decelerator connects
One end of motor 7 is connected to, the encoder is embedded in electric machine support；The partial embedding of motor 7 is in wheel 1
Portion.
The drive component also includes mounting bracket, and the brushless electric machine is contained in mounting bracket；The mounting bracket
One end is installed on vehicle frame side plate 3；Mounting bracket includes a suspended structure, and suspended structure includes damping spring 8 and steady pin
Axle 2.
The car body includes deadlight load cabin 4, powerhouse dome, and control element cabin 23, before the load cabin 4 is placed in car body
Portion, weight can be placed；The control element cabin 23 is placed in below load cabin 4, the bottom of car body for two longerons 9 both ends with
Two both ends of crossbeam 22 are fixed, and form parallelogram, and the upper and lower horizontal plane of the parallelogram is equipped with sheet material, formation
Space is control element cabin 23, and is separated by one piece of moveable control element hatchway cover 5, can in control element cabin 23
To place controller and attached component；The powerhouse dome is placed in hull back.
The battery flat includes power supply hatchway cover 6, battery 11, the battery carrier 20 of self-contained battery, motor driver 12 and walks
Line mouth.The one end of power supply hatchway cover 6 is linked together with powerhouse dome demarcation strip 15 by hinge 10, and the other end is placed in powerhouse dome tailgate
On；The powerhouse dome tailgate and power supply hatchway cover 6 are fixed together by a lock.
The powerhouse dome demarcation strip 15 is fixed together with car body side plate 3 by connecting corner yard 14.
The cabling mouth connects powerhouse dome, control element cabin 23 and vehicle frame side plate 3, and being surrounded on the cabling mouth has a circle soft
Matter protective ring 18.Cabling mouth is dispersed throughout in longeron 9 and base cross members 22.
Two both ends of longeron 9 are fixed with two both ends of crossbeam 22, form parallelogram, the parallelogram
Upper and lower horizontal plane is equipped with sheet material, and the space of formation is control element cabin 23.
The battery 11 for can charge-discharge lithium battery, lithium battery is fixed on battery body frame 20.
The battery carrier includes battery pack fixed plate 21, supports copper post 17 and plastic battery body frame 20, battery pack fixed plate
21 are fixedly connected with powerhouse dome demarcation strip 15 by self-contained battery element 16；Described support copper post 17 one end is placed in battery carrier and fixed
Plate 21, the other end are connected with battery body frame 20；Placing battery on the battery body frame 20；The support copper post 17 4 is one
Group, support a battery body frame 20.
The motor driver 12 is placed on driver installing plate 19, and driver installing plate 19 passes through spiral shell with vehicle frame side plate 3
Nail is connected；The motor driver 12 is abreast placed in powerhouse dome both sides.The other end of damping spring 8 by bearing pin 2 with
The lug pin joint of the top edge of mounting bracket.
The utility model saves installing space, convenient disassembly using the modular construction described in any one.Drive component
Partial embedding reduces wheel in the distance of car body side plate in wheel so that dolly is more steady in motion process, driving
Component is not easy to touch barrier.The electronic components such as power supply are placed in the space of a sealing, more securely and reliably.Walk
Cabling mouth is placed with line connecting tube and base cross members, electrical cable is more stable, and connection is more firm, and being surrounded on cabling mouth has
Soft protective ring, it can prevent that electrical cable from being scratched.
Claims (6)
1. a kind of all-terrain moving robot chassis, including car body, motor (7), control element cabin (23) and powerhouse dome, car
Take turns (1) to fix by bolt (13) with motor (7) rotating shaft with decelerator, decelerator is connected to the one of motor (7)
End, it is characterised in that the bottom of car body is fixed for the both ends of two longerons (9) with two crossbeam (22) both ends, forms parallel four
Side shape, the upper and lower horizontal plane of the parallelogram are equipped with sheet material, and the space of formation is control element cabin (23), and two vertical
Car body side plate (3) is equipped with the outside of beam (9), close to powerhouse dome side two longerons (9) on be equipped with protective ring (18) and
Driver installing plate (19), the inner side of driver installing plate (19) are provided with motor driver (12), inner end be provided with perpendicular to
The demarcation strip (15) of longeron (9), driver installing plate (19) are connected with demarcation strip (15) by corner brace (14)；Demarcation strip
(15) middle part is provided with battery pack fixed plate (21), and battery pack fixed plate (21) higher slice is provided with battery body frame (20), both it
Between by supporting copper post (17) to connect, encoder is embedded in the mounting bracket of motor (7), mounting bracket upper end and damping
One end of spring (8) is hinged, and the other end of damping spring (8) passes through bearing pin (2) and the lug pin of the top edge of mounting bracket
Connect, top and the vehicle frame side plate (3) of mounting bracket are bolted；Vehicular body front is load cabin (4), and rear vehicle is provided with electricity
Source cabin, bottom are provided with control element cabin (23) and its cover plate (5).
A kind of 2. all-terrain moving robot chassis according to claim 1, it is characterised in that：The longeron (9) is sky
Core structure, surface are provided with threading hole, and aperture is provided with a soft protective ring (18) of circle, inside distribution power line and control line.
A kind of 3. all-terrain moving robot chassis according to claim 1, it is characterised in that：The battery pack fixed plate
(21) it is provided with the irregularly-shaped hole of two vertical and one horizontal.
A kind of 4. all-terrain moving robot chassis according to claim 1, it is characterised in that：The support copper post (17)
Four are one group, every group of support battery body frame (20).
A kind of 5. all-terrain moving robot chassis according to claim 1, it is characterised in that：Driver installing plate (19)
It is connected by screw with car body side plate (3), the both sides of powerhouse dome are provided with motor driver (12).
A kind of 6. all-terrain moving robot chassis according to claim 1, it is characterised in that：The motor (7)
For brushless disk motor, it is placed in mounting bracket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720259725.1U CN206679076U (en) | 2017-03-17 | 2017-03-17 | A kind of all-terrain moving robot chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720259725.1U CN206679076U (en) | 2017-03-17 | 2017-03-17 | A kind of all-terrain moving robot chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206679076U true CN206679076U (en) | 2017-11-28 |
Family
ID=60393417
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720259725.1U Expired - Fee Related CN206679076U (en) | 2017-03-17 | 2017-03-17 | A kind of all-terrain moving robot chassis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206679076U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106938666A (en) * | 2017-03-17 | 2017-07-11 | 西南交通大学 | A kind of all-terrain moving robot chassis |
| CN109606497A (en) * | 2018-12-21 | 2019-04-12 | 河海大学常州校区 | A kind of wheel leg type all-terrain vehicle |
-
2017
- 2017-03-17 CN CN201720259725.1U patent/CN206679076U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106938666A (en) * | 2017-03-17 | 2017-07-11 | 西南交通大学 | A kind of all-terrain moving robot chassis |
| CN109606497A (en) * | 2018-12-21 | 2019-04-12 | 河海大学常州校区 | A kind of wheel leg type all-terrain vehicle |
| CN109606497B (en) * | 2018-12-21 | 2021-04-16 | 河海大学常州校区 | Wheel leg type all-terrain vehicle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171128 Termination date: 20200317 |