CN207000082U - Wheels of mobile robot mechanism - Google Patents
Wheels of mobile robot mechanism Download PDFInfo
- Publication number
- CN207000082U CN207000082U CN201720882422.5U CN201720882422U CN207000082U CN 207000082 U CN207000082 U CN 207000082U CN 201720882422 U CN201720882422 U CN 201720882422U CN 207000082 U CN207000082 U CN 207000082U
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- driven pulley
- fixed
- cantilever
- drive wheel
- wheels
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Abstract
A kind of wheels of mobile robot mechanism, including wheel suspension assembly, drive wheel assemblies, first driven pulley and the second driven pulley, the wheel suspension assembly includes hinged seat and cantilever, the hinged seat is fixed on robot body, the middle part of the cantilever is hinged with the hinged seat, the drive wheel assemblies, first driven pulley and the second driven pulley are respectively positioned on the bottom of the robot body, and the drive wheel assemblies are between first driven pulley and the second driven pulley, the drive wheel assemblies and the first driven pulley are individually fixed in the both ends of the cantilever, second driven pulley is fixed on the bottom of the robot body, the quality of the drive wheel assemblies side is more than the quality of the first driven pulley side.The utility model is simple in construction, easily manufactured, and running into ground in robot has not usually, energy held stationary operation, and driving wheel is remained and contacted with ground, is avoided because driving wheel can not vacantly provide the situation of driving force.
Description
Technical field
It the utility model is related to robot field, more particularly to a kind of wheels of mobile robot mechanism.
Background technology
Now in life, there are various robots, can move and work.
Most of existing mobile robot uses wheeled construction, but most of machines have not usually running into ground,
Its robot body can tilt forward and back, and cause unstable, and when running into hole on ground, front-wheel enters hole, the driving of rear side
Wheel can not contact with ground all the time, so as to provide the situation of driving force, cause robot can not continue to move.
The content of the invention
Based on this, for above-mentioned technical problem, there is provided a kind of wheels of mobile robot mechanism.
In order to solve the above technical problems, the utility model adopts the following technical scheme that：
A kind of wheels of mobile robot mechanism, including wheel suspension assembly, drive wheel assemblies, the first driven pulley and second
Driven pulley, the wheel suspension assembly include hinged seat and cantilever, and the hinged seat is fixed on robot body, described outstanding
The middle part of arm is hinged with the hinged seat, and the drive wheel assemblies, the first driven pulley and the second driven pulley are respectively positioned on the machine
The bottom of device human body, and the drive wheel assemblies are between first driven pulley and the second driven pulley, the driving wheel
Component and the first driven pulley are individually fixed in the both ends of the cantilever, and second driven pulley is fixed on the robot body
Bottom, the quality of the drive wheel assemblies side is more than the quality of the first driven pulley side.
The drive wheel assemblies include assembly fixture, connection sheet, driving wheel and motor, and the assembly fixture passes through connection
Piece is fixed on one end of the cantilever, and the driving wheel is rotated by the first rotating shaft of transverse direction to be fixed on the assembly fixture, institute
State motor to be fixed on the assembly fixture, and be connected with the first rotating shaft；First driven pulley, which rotates, is fixed on one
On first wheel carrier, first wheel carrier is fixed on the other end of the cantilever by the second vertical axis of rotation；Described second
Driven pulley, which rotates, to be fixed on one second wheel carrier, and second wheel carrier is fixed on the machine by the 3rd vertical axis of rotation
The bottom of human body.
The hinged seat includes two piece of first side plate of vertical parallel interval arrangement and is connected to two piece of first side
The first top plate between plate upper end, its vertical cross-section are in n shapes, have hinge hole on first side plate, the cantilever is by thin bar
And thick bar is formed, the front end of the thick bar is connected with the rear end of the thin bar, and the front end of the thick bar and first side plate
Be hinged, the assembly fixture is fixed on the rear end of the thick bar by connection sheet, and the upper end of second rotating shaft, which rotates, is fixed on institute
State the front end of thin bar.
There is the first mounting bracket fixed with robot body on first top plate.
The hinged seat includes two piece of second side plate of vertical parallel interval arrangement and is connected to two piece of second side
The second top plate between plate upper end, its vertical cross-section are in n shapes, have hinge hole on second side plate, second top plate
Both sides have along the be hinged symmetrical extension of centerline hole, have the waist type being arranged symmetrically on the extension of both sides respectively
Hole, the middle part of the cantilever are hinged with second side plate, and the both ends of the cantilever have the vertical body of rod, and the body of rod is worn upwards
The waist-shaped hole is crossed, its top has backstop cap, is arranged with the body of rod respectively positioned at the upper of the upper and lower both sides of the waist-shaped hole
Pad and lower gasket, upper spring is provided between the Upper gasket and backstop cap, lower bullet is provided between the lower gasket and cantilever
Spring, the upper end of second rotating shaft, which rotates, to be fixed on a switching piece, and the switching piece is fixed with the cantilever.
Interface formed with annular on second top plate, the interface are connected with the second mounting bracket, second mounting bracket
Fixed with the robot body.
The utility model is simple in construction, easily manufactured, and running into ground in robot has not usually, energy held stationary operation,
And driving wheel remains to be contacted with ground, avoid because driving wheel can not vacantly provide the situation of driving force.
Brief description of the drawings
The utility model is described in detail with reference to the accompanying drawings and detailed description：
Fig. 1 is the structural representation of the embodiment of the utility model one；
Fig. 2 is the structural representation of another embodiment of the utility model；
Fig. 3 is the structural representation of the wheel suspension assembly of embodiment illustrated in fig. 1；
Fig. 4 is the structural representation of the wheel suspension assembly of embodiment illustrated in fig. 2；
Fig. 5 is the structural representation of the hinged seat of wheel suspension assembly shown in Fig. 4；
Fig. 6 is the structural representation of the cantilever of wheel suspension assembly shown in Fig. 4.
Embodiment
As shown in Figure 1 and Figure 2, a kind of wheels of mobile robot mechanism, including wheel suspension assembly 1100, active wheels
Part 1200, the first driven pulley 1300 and the second driven pulley 1400.
As shown in Figure 3 and 4, wheel suspension assembly 1100 includes hinged seat 1110 and cantilever 1120, hinged seat
1110 are fixed on robot body 2, and the middle part of cantilever 1120 and hinged seat 1110 are be hinged.
Drive wheel assemblies 1200, the first driven pulley 1300 and the second driven pulley 1400 are respectively positioned on the bottom of robot body 2
Portion, and the drive wheel assemblies 1200 are between the first driven pulley 1300 and the second driven pulley 1400, drive wheel assemblies 1200
And first driven pulley 1300 be individually fixed in the both ends of cantilever 1120, the second driven pulley 1400 is fixed on robot body 2
Bottom, the quality of the side of drive wheel assemblies 1200 are more than the quality of the side of the first driven pulley 1300.
The driven pulley 1300 of drive wheel assemblies 1200 and first is fixed on wheel suspension dress by the utility model wheel mechanism
Put on 1100, the second driven pulley 1400 is fixed on robot body 2, have not usually, due to wheel suspension when running into ground
The effect of device 1100, its robot body 2 will not be tilted forward and back, operated steadily, and the side of drive wheel assemblies 1200
Quality is more than the quality of the side of the first driven pulley 1300, though the first driven pulley 1300 contacts with ground at level land, it is really
Hung on by the quality of the side of drive wheel assemblies 1200 on cantilever 1120, therefore when the first driven pulley 1300 enters to cheat, it can be in
Vacant state, and drive wheel assemblies 1200 still can keep contacting with ground.
Wherein, drive wheel assemblies 1200 include assembly fixture 1210, connection sheet 1220, driving wheel 1230 and motor
1240, assembly fixture 1210 is fixed on one end of cantilever 1120 by connection sheet 1220, and driving wheel 1230 passes through horizontal first turn
Axle 1231 rotate is fixed on assembly fixture 1210, motor 1240 is fixed on assembly fixture 1210, and with first rotating shaft 1231
Connection.
First driven pulley 1300, which rotates, to be fixed on the first wheel carrier 1310, and the first wheel carrier 1310 passes through the second vertical rotating shaft
1320 rotate the other end for being fixed on cantilever 1120.
Second driven pulley 1400, which rotates, to be fixed on the second wheel carrier 1410, and the second wheel carrier 1410 passes through the 3rd vertical rotating shaft
Rotate the bottom for being fixed on robot body 2.
As shown in figure 3, in one embodiment, the hinged seat 1110 of wheel suspension assembly 1100 includes vertical parallel interval
Two piece of first side plate 1111 of arrangement and the first top plate 1112 being connected between two piece of first upper end of side plate 1111, its is vertical
Section is in n shapes, has hinge hole on the first side plate 1111, cantilever 1120 is made up of thin bar 1121 and thick bar 1122, thick bar
1122 front end is connected with the rear end of thin bar 1121, and the front end of the thick bar 1122 and the first side plate 1111 are be hinged, assembly fixture
1210 are fixed on the rear end of thick bar 1122 by connection sheet 1220, and the upper end of the second rotating shaft 1320, which rotates, is fixed on thin bar 1122
Front end.
The purpose of design thin bar 1122 and thick bar 1122 is more than the also for making the quality of the side of drive wheel assemblies 1200
The quality of the side of one driven pulley 1300.
Wherein, there is the first mounting bracket 1113 fixed with robot body 2 on the first top plate 1112.
As Figure 4-Figure 6, in another embodiment, hinged seat 1110 includes two piece of second side of vertical parallel interval arrangement
Plate 1114 and the second top plate 1115 being connected between two piece of second upper end of side plate 1114, its vertical cross-section are in n shapes, the second side
There is hinge hole, the both sides of the second top plate 1115 have prolongs along the symmetrical extension of be hinged centerline hole, both sides on plate 1114
There is the waist-shaped hole 1115a being arranged symmetrically respectively, the middle part of cantilever 1120 has axis hole, and passes through the axle through axis hole in extending portion
Be hinged with the second side plate 1114, the both ends of the cantilever 1120 have the vertical body of rod 1123, and the body of rod 1123 is upward through waist-shaped hole
1115a, its top have backstop cap 1123a, are arranged with the body of rod 1123 respectively positioned at the upper pad of both sides above and below waist-shaped hole 1115a
Upper spring 1123d, lower gasket are provided between piece 1123b and lower gasket 1123c, Upper gasket 1123b and backstop cap 1123a
Lower spring 1123e is provided between 1123c and cantilever 1120, the upper end of the second rotating shaft 1320, which rotates, to be fixed on switching piece 1330,
The front end of the switching piece 1330 and cantilever 1120 is fixed.
In the present embodiment, upper spring 1123d and lower spring 1123e can play a part of buffering and damping.
Interface 1116 formed with annular on second top plate 1115, the interface 1116 are connected with the second mounting bracket 1117, the
Two mounting brackets 1117 are fixed with robot body 2.
But those of ordinary skill in the art is it should be appreciated that the embodiment of the above is intended merely to explanation originally
Utility model, and being not used as to restriction of the present utility model, if in spirit of the present utility model, to
Change, the modification of the upper embodiment will all fall in Claims scope of the present utility model.
Claims (6)
1. a kind of wheels of mobile robot mechanism, it is characterised in that including wheel suspension assembly, drive wheel assemblies, first driven
Wheel and the second driven pulley, the wheel suspension assembly include hinged seat and cantilever, and the hinged seat is fixed on robot sheet
On body, the middle part of the cantilever is hinged with the hinged seat, and the drive wheel assemblies, the first driven pulley and the second driven pulley are equal
Positioned at the bottom of the robot body, and the drive wheel assemblies are between first driven pulley and the second driven pulley,
The drive wheel assemblies and the first driven pulley are individually fixed in the both ends of the cantilever, and second driven pulley is fixed on described
The bottom of robot body, the quality of the drive wheel assemblies side are more than the quality of the first driven pulley side.
2. a kind of wheels of mobile robot mechanism according to claim 1, it is characterised in that the drive wheel assemblies include
Assembly fixture, connection sheet, driving wheel and motor, the assembly fixture are fixed on one end of the cantilever, institute by connection sheet
State driving wheel and rotated by the first rotating shaft of transverse direction and is fixed on the assembly fixture, the motor is fixed on the assembly fixture
On, and be connected with the first rotating shaft；First driven pulley, which rotates, to be fixed on one first wheel carrier, and first wheel carrier passes through
The second vertical axis of rotation is fixed on the other end of the cantilever；Second driven pulley, which rotates, is fixed on one second wheel carrier
On, second wheel carrier is fixed on the bottom of the robot body by the 3rd vertical axis of rotation.
3. a kind of wheels of mobile robot mechanism according to claim 2, it is characterised in that the hinged seat includes vertical
Two piece of first side plate of parallel interval arrangement and the first top plate being connected between two piece of first side plate upper end, its is vertical
Section is in n shapes, has hinge hole on first side plate, the cantilever is made up of thin bar and thick bar, the front end of the thick bar
It is connected with the rear end of the thin bar, and the front end of the thick bar is hinged with first side plate, the assembly fixture is consolidated by connection sheet
Due to the rear end of the thick bar, the upper end of second rotating shaft rotates the front end for being fixed on the thin bar.
4. a kind of wheels of mobile robot mechanism according to claim 3, it is characterised in that have on first top plate
The first mounting bracket fixed with robot body.
5. a kind of wheels of mobile robot mechanism according to claim 2, it is characterised in that the hinged seat includes vertical
Two piece of second side plate of parallel interval arrangement and the second top plate being connected between two piece of second side plate upper end, its is vertical
Section is in n shapes, has hinge hole on second side plate, and the both sides of second top plate have along the be hinged centerline hole pair
The extension of title, there is the waist-shaped hole being arranged symmetrically, the middle part of the cantilever and second side respectively on the extension of both sides
Plate is hinged, and the both ends of the cantilever have the vertical body of rod, and the body of rod is upward through the waist-shaped hole, and its top has backstop
Cap, be arranged with the body of rod respectively positioned at the Upper gasket and lower gasket of waist-shaped hole both sides up and down, the Upper gasket with
Upper spring is provided between backstop cap, lower spring is provided between the lower gasket and cantilever, the upper end of second rotating shaft rotates admittedly
Due on a switching piece, the switching piece is fixed with the cantilever.
6. a kind of wheels of mobile robot mechanism according to claim 5, it is characterised in that formed on second top plate
There is the interface of annular, the interface is connected with the second mounting bracket, and second mounting bracket is fixed with the robot body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720882422.5U CN207000082U (en) | 2017-07-20 | 2017-07-20 | Wheels of mobile robot mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720882422.5U CN207000082U (en) | 2017-07-20 | 2017-07-20 | Wheels of mobile robot mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207000082U true CN207000082U (en) | 2018-02-13 |
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ID=61455282
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720882422.5U Active CN207000082U (en) | 2017-07-20 | 2017-07-20 | Wheels of mobile robot mechanism |
Country Status (1)
| Country | Link |
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| CN (1) | CN207000082U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110329391A (en) * | 2019-08-09 | 2019-10-15 | 北京布科思科技有限公司 | A kind of Guo Zhang mechanism and its wheel undercarriage component and the application on crusing robot |
-
2017
- 2017-07-20 CN CN201720882422.5U patent/CN207000082U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110329391A (en) * | 2019-08-09 | 2019-10-15 | 北京布科思科技有限公司 | A kind of Guo Zhang mechanism and its wheel undercarriage component and the application on crusing robot |
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