CN206691206U - A kind of four-wheel drive robot chassis structure - Google Patents
A kind of four-wheel drive robot chassis structure Download PDFInfo
- Publication number
- CN206691206U CN206691206U CN201720284538.9U CN201720284538U CN206691206U CN 206691206 U CN206691206 U CN 206691206U CN 201720284538 U CN201720284538 U CN 201720284538U CN 206691206 U CN206691206 U CN 206691206U
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- wheel
- chassis structure
- fixedly connected
- framework
- hub mount
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- 230000005540 biological transmission Effects 0.000 claims abstract description 18
- 230000001808 coupling Effects 0.000 claims abstract description 13
- 238000010168 coupling process Methods 0.000 claims abstract description 13
- 238000005859 coupling reaction Methods 0.000 claims abstract description 13
- 239000000969 carrier Substances 0.000 claims abstract description 12
- 238000005096 rolling process Methods 0.000 claims description 7
- 230000000694 effects Effects 0.000 description 2
- 230000002493 climbing Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Abstract
The utility model discloses a kind of four-wheel drive robot chassis structure, including carrier frame and it is symmetrically distributed in four groups of independence drive wheel groups of carrier frame both sides, carrier frame includes upper strata framework and lower floor's framework, and upper strata base of frame is fixedly connected with a pair of installing plates for being used to connect independent drive wheel group；Independent drive wheel group includes motor, planet corner reductor, shaft coupling, power transmission shaft, wheel hub mount, tire and bearing block, and wheel hub mount is arranged to hollow form, and shaft coupling, power transmission shaft are arranged in wheel hub mount.This chassis structure uses four groups of independence drive wheel groups so that has smaller radius of turn, motion is more flexible, and load capacity is stronger；And chassis structure improves the working condition of transmission parts, avoid vibrations and be delivered on the reductor of precision, extend service life, while structure more compact and reasonable.
Description
Technical field
The utility model belongs to the technical field of ground mobile robot, specifically, is related to a kind of four-wheel drive machine
People's chassis structure.
Background technology
As robot performance is constantly perfect, the application of mobile robot greatly extends, not only in industry, agriculture
Be widely used in the industries such as industry, medical treatment, service, and urban safety, national defence and space exploration field etc. it is harmful with
Dangerous situation is applied well.
Ground mobile robot is driven by the way that the component with various functions is arranged on chassis structure by chassis structure
Dynamic mobile robot is in ground moving, and so as to reach various functions, existing ground mobile robot generally use drives for a pair
The arrangement of wheel and a pair of driven, the train arrangement are difficult to reply climbing, obstacle detouring and the road conditions such as paddle, and load capacity
Difference, radius of turn is big, stability is poor.
Utility model content
For deficiency above-mentioned in the prior art, the utility model provides a kind of four-wheel drive robot chassis structure, this
Chassis structure road surface strong adaptability, radius of turn are small, and stability is strong.
In order to achieve the above object, the solution of the utility model use is：A kind of four-wheel drive robot chassis knot
Structure, including carrier frame and four groups of independence drive wheel groups for being symmetrically distributed in carrier frame both sides, carrier frame include upper strata
Framework and lower floor's framework, upper strata base of frame are fixedly connected with a pair of installing plates for being used to connect independent drive wheel group；It is independent to drive
Driving wheel group includes motor, planet corner reductor, shaft coupling, power transmission shaft, wheel hub mount, tire and bearing block, motor, planet
Corner reductor, shaft coupling, power transmission shaft, wheel hub mount, tire are sequentially connected, and planet corner reductor is fixed with bearing block to be connected
Connect, bearing block is fixedly connected with installing plate, is provided with a pair of rolling bearings in bearing block, wheel hub mount passes through with bearing mounting base
Rolling bearing is rotatablely connected.
Preferably, wheel hub mount is arranged to hollow form, and shaft coupling, power transmission shaft are arranged in wheel hub mount.
Preferably, the crank degree of planet corner reductor is 90 °.
Preferably, tire uses vacuum tyre.
Preferably, in addition to bottom waterproof cover and cover plate, bottom waterproof cover include bottom plate and are distributed in plate upper surface
The coaming plate of surrounding, bottom waterproof cover are fixedly connected with lower floor frame lower surface, and cover plate is fixedly connected with upper strata frame upper surface.
Preferably, lower floor's frame upper surface is fixedly connected with supporting plate, support plate upper surface be fixedly connected with battery pack and
Industrial computer.
The beneficial effects of the utility model are that this chassis structure applies to mobile robot, using four groups of independence driving wheels
Group, each wheel have independent drive mechanism, the rotating forward of each wheel, reversion, parked can be controlled, so as to realize robot
Advance, retreat, turning, the motion such as parked, and make it that there is smaller radius of turn, moving more flexible, load capacity is more
By force；Wheel hub mount is designed as hollow form, and shaft coupling, power transmission shaft are arranged in wheel hub mount, and wheel hub mount is moving
During be solely subjected to moment of flexure, play a part of support；Power transmission shaft is solely subjected to moment of torsion, plays driving moment rotation；With it is traditional
Structure is compared, and the structural improvement has the working condition of transmission parts, is avoided vibrations and is delivered on the reductor of precision, extends
Service life, while structure more compact and reasonable.
Brief description of the drawings
Fig. 1 is the stereogram of four-wheel drive robot chassis structure of the present utility model.
Fig. 2 is that four-wheel drive robot chassis structure of the present utility model removes the solid after bottom waterproof cover and cover plate
Figure.
Fig. 3 is the structural representation of independent drive wheel group of the present utility model.
Fig. 4 is the sectional view of wheel hub mount of the present utility model.
Fig. 5 is the stereogram of bearing block of the present utility model.
In accompanying drawing：
10th, carrier frame；11st, upper strata framework；12nd, lower floor's framework；13rd, installing plate；20th, independent drive wheel group；21st, it is electric
Machine；22nd, planet corner reductor；23rd, shaft coupling；24th, power transmission shaft；25th, wheel hub mount；26th, tire；27th, bearing block；28、
Rolling bearing；31st, bottom waterproof cover；32nd, cover plate；33rd, supporting plate；41st, battery pack；42nd, industrial computer.
Embodiment
The utility model is further described below in conjunction with accompanying drawing：
Reference picture 1- Fig. 5, the utility model provide a kind of four-wheel drive robot chassis structure, including carrier frame 10 with
And four groups of independence drive wheel groups 20 of the both sides of carrier frame 10 are symmetrically distributed in, carrier frame 10 includes upper strata framework 11 and lower floor
Framework 12, the bottom of upper strata framework 11 are fixedly connected with a pair of installing plates 13 for being used to connect independent drive wheel group 20；Independent driving
Wheel group 20 includes motor 21, planet corner reductor 22, shaft coupling 23, power transmission shaft 24, wheel hub mount 25, tire 26 and bearing
Seat 27, motor 21, planet corner reductor 22, shaft coupling 23, power transmission shaft 24, wheel hub mount 25, tire 26 are sequentially connected, OK
Star corner reductor 22 is fixedly connected with bearing block 27, and bearing block 27 is fixedly connected with installing plate 13, and one is provided with bearing block 27
To rolling bearing 28, wheel hub mount 25 is rotatablely connected with bearing mounting base by rolling bearing 28.This chassis structure applies to
Mobile robot, using four groups of independence drive wheel groups 20, each wheel has independent drive mechanism, can control each wheel
Rotate forward, invert, be parked, so as to realize that the advance of robot, retrogressing, turning, parked etc. are moved, and to turn with smaller
Curved radius, motion is more flexible, and load capacity is stronger.
In the present embodiment, wheel hub mount 25 is arranged to hollow form, and shaft coupling 23, power transmission shaft 24 are arranged on wheel hub mount
In 25, wheel hub mount 25 is solely subjected to moment of flexure in motion process, plays support；Power transmission shaft 24 is solely subjected to moment of torsion, rises and drives
The effect of motor car wheel rotation；Compared with traditional structure, the structural improvement has the working condition of transmission parts, avoids vibrations
It is delivered on the reductor of precision, extends service life, while structure more compact and reasonable.
In the present embodiment, the crank degree of planet corner reductor 22 is 90 ° so that chassis structure is compacter.
In the present embodiment, tire 26 uses vacuum tyre, and vacuum tyre is suitable for outdoor complex road condition.
In the present embodiment, in addition to bottom waterproof cover 31 and cover plate 32, bottom waterproof cover 31 include bottom plate and are distributed in
The coaming plate of plate upper surface surrounding, bottom waterproof cover 31 are fixedly connected with the lower surface of lower floor framework 12, cover plate 32 and upper strata framework
11 upper surfaces are fixedly connected；The upper surface of cover plate 32 can carry different task configurations as needed, increase the sensing of difference in functionality
Device, monitor, manipulator etc..
In the present embodiment, the upper surface of lower floor's framework 12 is fixedly connected with supporting plate 33, and the upper surface of supporting plate 33 is fixedly connected
There are battery pack 41 and industrial computer 42；Layered arrangement effectively reduces the center of gravity on motion chassis, improves the stability on motion chassis.
Claims (6)
1. a kind of four-wheel drive robot chassis structure, it is characterized in that：Including carrier frame (10) and it is symmetrically distributed in chassis
Four groups of independence drive wheel groups (20) of framework (10) both sides, carrier frame (10) include upper strata framework (11) and lower floor's framework
(12), upper strata framework (11) bottom is fixedly connected with a pair of installing plates (13) for being used to connect independent drive wheel group (20)；It is independent
Drive wheel group (20) includes motor (21), planet corner reductor (22), shaft coupling (23), power transmission shaft (24), wheel hub mount
(25), tire (26) and bearing block (27), motor (21), planet corner reductor (22), shaft coupling (23), power transmission shaft (24),
Wheel hub mount (25), tire (26) are sequentially connected, and planet corner reductor (22) is fixedly connected with bearing block (27), bearing block
(27) it is fixedly connected with installing plate (13), a pair of rolling bearings (28), wheel hub mount (25) and axle is provided with bearing block (27)
Mounting seat is held to be rotatablely connected by rolling bearing (28).
2. four-wheel drive robot chassis structure according to claim 1, it is characterized in that：Described wheel hub mount (25)
Hollow form is arranged to, shaft coupling (23), power transmission shaft (24) are arranged in wheel hub mount (25).
3. four-wheel drive robot chassis structure according to claim 1, it is characterized in that：Described planet corner reductor
(22) crank degree is 90 °.
4. four-wheel drive robot chassis structure according to claim 1, it is characterized in that：Described tire (26) is using true
Empty.
5. four-wheel drive robot chassis structure according to claim 1, it is characterized in that：Also include bottom waterproof cover (31)
With cover plate (32), bottom waterproof cover (31) includes bottom plate and is distributed in the coaming plate of plate upper surface surrounding, bottom waterproof cover
(31) it is fixedly connected with lower floor framework (12) lower surface, cover plate (32) is fixedly connected with upper strata framework (11) upper surface.
6. four-wheel drive robot chassis structure according to claim 1, it is characterized in that：On described lower floor's framework (12)
Surface is fixedly connected with supporting plate (33), and supporting plate (33) upper surface is fixedly connected with battery pack (41) and industrial computer (42).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720284538.9U CN206691206U (en) | 2017-03-22 | 2017-03-22 | A kind of four-wheel drive robot chassis structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720284538.9U CN206691206U (en) | 2017-03-22 | 2017-03-22 | A kind of four-wheel drive robot chassis structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206691206U true CN206691206U (en) | 2017-12-01 |
Family
ID=60442851
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720284538.9U Active CN206691206U (en) | 2017-03-22 | 2017-03-22 | A kind of four-wheel drive robot chassis structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206691206U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108973527A (en) * | 2018-07-26 | 2018-12-11 | 芜湖市越泽机器人科技有限公司 | A kind of robotically-driven caster device of wear-resisting type |
| CN109592329A (en) * | 2019-01-30 | 2019-04-09 | 西安理工大学 | A kind of novel tube-strip machine testing track shuttle |
| CN111252156A (en) * | 2019-12-31 | 2020-06-09 | 安徽延达智能科技有限公司 | Four-wheel drive type chassis structure for robot |
| WO2021140039A1 (en) * | 2020-01-09 | 2021-07-15 | Mobile Industrial Robots A/S | Chassis for an autonomous mobile robot |
-
2017
- 2017-03-22 CN CN201720284538.9U patent/CN206691206U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108973527A (en) * | 2018-07-26 | 2018-12-11 | 芜湖市越泽机器人科技有限公司 | A kind of robotically-driven caster device of wear-resisting type |
| CN109592329A (en) * | 2019-01-30 | 2019-04-09 | 西安理工大学 | A kind of novel tube-strip machine testing track shuttle |
| CN111252156A (en) * | 2019-12-31 | 2020-06-09 | 安徽延达智能科技有限公司 | Four-wheel drive type chassis structure for robot |
| WO2021140039A1 (en) * | 2020-01-09 | 2021-07-15 | Mobile Industrial Robots A/S | Chassis for an autonomous mobile robot |
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