CN208392027U - The chassis mobile mechanism of robot - Google Patents
The chassis mobile mechanism of robot Download PDFInfo
- Publication number
- CN208392027U CN208392027U CN201821101363.4U CN201821101363U CN208392027U CN 208392027 U CN208392027 U CN 208392027U CN 201821101363 U CN201821101363 U CN 201821101363U CN 208392027 U CN208392027 U CN 208392027U
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- fixedly connected
- sliding block
- pedestal
- buffer
- motor
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Abstract
The utility model discloses the chassis mobile mechanisms of robot, including mobile mechanism's ontology, mobile mechanism's ontology is by pedestal, power mechanism, rotating mechanism and damping composition, the inside of pedestal is fixedly connected with power mechanism, and the middle position of chassis interior is fixedly connected with rotating mechanism, damping is fixedly connected at the top of pedestal, the utility model is compact-sized, it is used convenient for robot chassis is mobile, by being provided with first motor and the second motor, two motors work at the same time when in use, increase the power of its movement, increase the stability of movement, by being provided with rubber belt track, make to be moved under chassis and varying environment, and prevent movement from causing to damage to ground, improve the practicability of mobile device, by being provided with rotating mechanism, suitable angle is rotated when alloing robot motion according to demand, make to move Move more convenient, keep its flexible structure adjustable, when avoiding mobile because structure it is inflexible caused by mobile inconvenient problem.
Description
Technical field
The utility model relates to robotic technology fields, in particular to the chassis mobile mechanism of robot.
Background technique
Robot is existing life and industrial very common one of equipment, and it is impossible effectively to complete the mankind
Work, has liberated productivity, has reduced labor intensity, in use, the mobile mechanism on chassis is for existing robot
It is vital, machine task efficiency can effectively be turned up, existing mobile mechanism can not increase the power of its movement,
The stability of movement can not be increased, can not make to be moved under chassis and varying environment, and can not prevent movement from making to ground
At damage, the practicability of mobile device is reduced, when robot motion can not rotate suitable angle according to demand, move
It is not convenient enough, it not can avoid the inflexible problem for causing mobile inconvenience of structure.
Utility model content
The purpose of this utility model is that solve the above-mentioned problems and provides the chassis mobile mechanism of robot, solves
Problem of the existing technology.
To solve the above-mentioned problems, the utility model provides a kind of technical solution:
The chassis mobile mechanism of robot, including mobile mechanism's ontology, mobile mechanism's ontology is by pedestal, engine
Structure, rotating mechanism and damping composition, the inside of the pedestal are fixedly connected with power mechanism, and in the chassis interior
Between position be fixedly connected with rotating mechanism, damping is fixedly connected at the top of the pedestal, the power mechanism is by first
Driving wheel, the second driving wheel, the first fixed plate, the first worm screw, the first worm gear, first motor, the second fixed plate, the second worm gear,
Second worm screw and the second motor form, one end of the inside of the pedestal are symmetrically fixedly connected with the second fixed plate and first and fix
Plate, described base side one end are symmetrically rotatably connected to the first driving wheel and the second driving wheel, and first fixed plate is main with first
It is fixedly connected with the first worm gear between driving wheel, is fixedly connected with the second worm gear between second fixed plate and the second driving wheel,
The chassis interior is fixedly connected with first motor, and the fixed company of output end of the first motor close to the side of the first worm gear
It is connected to the first worm screw, and first worm screw engages connection with the first worm gear, the chassis interior is close to the side of the second worm gear
It is fixedly connected with the second motor, and the output end of second motor is fixedly connected with the second worm screw, the of second worm screw
The engagement connection of two worm gears, the pedestal are symmetrically rotatably connected to driven wheel far from one end of the first driving wheel.
Preferably, the rotating mechanism is by rotary shaft, driven gear, hydraulic cylinder, driving gear, rotating electric machine, lifting
Hole, support plate and vacuum chuck, the middle position of the chassis interior are fixedly connected with partition, the interposition of the partition bottom
It sets and is rotatably connected to rotary shaft, and be fixed with driven gear on the outside of the rotary shaft, and the bottom of the rotary shaft is fixed
It is connected with hydraulic cylinder, the end of the hydraulic cylinder is fixedly connected with support plate, and the bottom symmetrical of the support plate is fixedly connected with
The bottom of several vacuum chucks, the pedestal is located at the lift span that is arranged right below of support plate, and the bottom of the base inner wall
Portion is fixedly connected with rotating electric machine, and the output end of the rotating electric machine is fixedly connected with driving gear, and the driving gear
Connection is engaged with driven gear, and the bottom of the base inner wall is fixedly connected with air pump relative to the other end of rotating electric machine,
And the air pump is connect by gas-guide tube with vacuum chuck.
Preferably, the damping by roll adjustment lead screw, headstock, distance-adjusting motor, roll adjustment sliding slot, the first sliding block,
Second sliding block, rubber belt track, telescopic hole, buffer spring, mounting plate, buffer bar, buffering chute, the first buffer sliding block, second are delayed
Slide block, compressed spring, reset spring and buffer board form, and are fixedly connected with roll adjustment sliding slot at the top of the partition, and described
The internal symmetry of roll adjustment sliding slot slidably connects the first sliding block and the second sliding block, and the internal symmetry of the roll adjustment sliding slot rotates and connects
Be connected to roll adjustment lead screw, the roll adjustment lead screw with passed through respectively from the middle part at the middle part of the first sliding block and the second sliding block, and described
One sliding block and the second sliding block are connect with roll adjustment threads of lead screw, and are symmetrically arranged with left hand thread and the right side on the outside of the roll adjustment lead screw
Screw thread is revolved, the top of first sliding block and the top plate of the second sliding block are fixedly connected to support transverse slat, and the support transverse slat
Top be symmetrically fixedly connected with buffer board, set that there are two buffering chutes at the top of the buffer board, and the buffering chute is interior
Portion symmetrically slidably connects the first buffer sliding block and the second buffer sliding block, first buffer sliding block and the second buffer sliding block it
Between be fixedly connected with compressed spring, between first buffer sliding block and buffering chute inner wall and the second buffer sliding block and snubber slide
Reset spring is fixedly connected between slot inner wall, and the top of first buffer sliding block and the top of the second buffer sliding block are equal
Mounting plate is connected with by strut.
Preferably, the quadrangle of the mounting plate bottom is fixedly connected to buffer bar, corresponded at the top of the buffer board slow
The position of jumper bar is equipped with telescopic hole, and the buffer bar is inserted into telescopic hole, the outside of the buffer bar be located at mounting plate with
Buffer spring is cased between buffer bar.
Preferably, first driving wheel is connect with the driven wheel of adjacent side by rubber track drive, and described
Second driving wheel is connect with the driven wheel of adjacent side by rubber track drive.
There is one end of first motor to be fixedly connected with controller, and the control preferably, the chassis interior is close
Device is TB6600 type controller.
Preferably, one end of the roll adjustment sliding slot is equipped with headstock, the inside of the headstock is fixedly connected with roll adjustment
Motor, and the output end of the distance-adjusting motor is fixedly connected with roll adjustment lead screw.
Preferably, the first motor, the second motor and air pump are electrically connected with controller.
The utility model has the beneficial effects that the utility model is compact-sized, used convenient for robot chassis is mobile, by setting
First motor and the second motor are set, two motors work at the same time when in use, increase the power of its movement, increase the steady of movement
It is qualitative, by being provided with rubber belt track, make to be moved under chassis and varying environment, and prevent movement from causing to damage to ground
Wound, improves the practicability of mobile device, by being provided with rotating mechanism, rotating close according to demand when alloing robot motion
Suitable angle, makes to move more convenient, keeps its flexible structure adjustable, convenient and efficient, when avoiding mobile because structure it is inflexible caused by move
Move inconvenient problem.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is sectional view of the utility model along the direction A-A；
Fig. 3 is the schematic diagram of internal structure of the utility model；
Fig. 4 is the top view of the utility model buffer board；
Fig. 5 is the top view of the utility model pedestal.
In figure: 1, mobile mechanism's ontology；2, pedestal；3, power mechanism；4, rotating mechanism；5, damping；6, first is main
Driving wheel；7, the second driving wheel；8, the first fixed plate；9, the first worm screw；10, the first worm gear；11, first motor；12, second is fixed
Plate；13, the second worm gear；14, the second worm screw；15, the second motor；16, driven wheel；17, controller；18, air pump；19, rotary shaft；
20, driven gear；21, hydraulic cylinder；22, driving gear；23, rotating electric machine；24, lift span；25, support plate；26, vacuum is inhaled
Disk；27, partition；28, roll adjustment lead screw；29, headstock；30, distance-adjusting motor；31, roll adjustment sliding slot；32, the first sliding block；33, second
Sliding block；34, rubber belt track；35, telescopic hole；36, buffer spring；37, mounting plate；38, buffer bar；39, buffering chute；40,
One buffer sliding block；41, the second buffer sliding block；42, compressed spring；43, reset spring；44, buffer board；45, transverse slat is supported；46,
Strut.
Specific embodiment
Below in conjunction with attached drawing, the utility model is described in further detail.
As shown in Figs. 1-5, present embodiment uses following technical scheme: the chassis mobile mechanism of robot, including
Mobile mechanism's ontology 1, mobile mechanism's ontology 1 are made of pedestal 2, power mechanism 3, rotating mechanism 4 and damping 5, institute
The inside for stating pedestal 2 is fixedly connected with power mechanism 3, and the middle position inside the pedestal 2 is fixedly connected with rotating mechanism
4, the top of the pedestal 2 is fixedly connected with damping 5, the power mechanism 3 by the first driving wheel 6, the second driving wheel 7,
First fixed plate 8, the first worm screw 9, the first worm gear 10, first motor 11, the second fixed plate 12, the second worm gear 13, the second worm screw
14, the second motor 15 forms, and one end of the inside of the pedestal 2 is symmetrically fixedly connected with the second fixed plate 12 and the first fixed plate
8, described 2 side one end of pedestal is symmetrically rotatably connected to the first driving wheel 6 and the second driving wheel 7, first fixed plate 8 and first
It is fixedly connected with the first worm gear 10 between driving wheel 6, is fixedly connected between second fixed plate 12 and the second driving wheel 7
Two worm gears 13,2 inside of pedestal are fixedly connected with first motor 11, and the first motor close to the side of the first worm gear 10
11 output end is fixedly connected with the first worm screw 9, and first worm screw 9 engages connection with the first worm gear 10, in the pedestal 2
Portion is fixedly connected with the second motor 15 close to the side of the second worm gear 13, and the output end of second motor 15 is fixedly connected with
The second worm gear 13 of second worm screw 14, second worm screw 14 engages connection, the one end of the pedestal 2 far from the first driving wheel 6
Symmetrically it is rotatably connected to driven wheel 16.
Driving gear 22, rotating electric machine 23, lift span 24, support plate 25 and vacuum chuck 26, inside the pedestal 2 in
Between position be fixedly connected with partition 27, the middle position of 27 bottom of partition is rotatably connected to rotary shaft 19, and the rotation
The outside of axis 19 is fixed with driven gear 20, and the bottom of the rotary shaft 19 is fixedly connected with hydraulic cylinder 21, described hydraulic
The end of cylinder 21 is fixedly connected with support plate 25, and the bottom symmetrical of the support plate 25 is fixedly connected with several vacuum chucks
26, what the bottom of the pedestal 2 was located at support plate 25 is arranged right below lift span 24, and the bottom of 2 inner wall of the pedestal is fixed
It is connected with rotating electric machine 23, and the output end of the rotating electric machine 23 is fixedly connected with driving gear 22, and the driving gear
22 engage connection with driven gear 20, and the bottom of 2 inner wall of the pedestal is fixedly connected relative to the other end of rotating electric machine 23
There is air pump 18, and the air pump 18 is connect by gas-guide tube with vacuum chuck 26.
The damping 5 by roll adjustment lead screw 28, headstock 29, distance-adjusting motor 30, roll adjustment sliding slot 31, the first sliding block
32, the second sliding block 33, rubber belt track 34, telescopic hole 35, buffer spring 36, mounting plate 37, buffer bar 38, buffering chute 39,
One buffer sliding block 40, the second buffer sliding block 41, compressed spring 42, reset spring 43 and buffer board 44 form, the partition 27
Top is fixedly connected with roll adjustment sliding slot 31, and the internal symmetry of the roll adjustment sliding slot 31 slidably connects the first sliding block 32 and second
Sliding block 33, and the internal symmetry of the roll adjustment sliding slot 31 is rotatably connected to roll adjustment lead screw 28, the roll adjustment lead screw 28 with respectively from
The middle part of first sliding block 32 and the middle part of the second sliding block 33 pass through, and first sliding block 32 and the second sliding block 33 with roll adjustment silk
Thick stick 28 is threadedly coupled, and the outside of the roll adjustment lead screw 28 is symmetrically arranged with left hand thread and right-handed thread, first sliding block 32
Top and the second sliding block 33 top plate be fixedly connected to support transverse slat 45, and it is described support transverse slat 45 top symmetrically fix
It is connected with buffer board 44, is set at the top of the buffer board 44 there are two buffering chute 39, and the inside of the buffering chute 39 is right
Title slidably connects the first buffer sliding block 40 and the second buffer sliding block 41, first buffer sliding block 40 and the second buffer sliding block 41
Between be fixedly connected with compressed spring 42, between 39 inner wall of first buffer sliding block 40 and buffering chute and the second buffer sliding block
Reset spring 43, and the top and second of first buffer sliding block 40 are fixedly connected between 41 and 39 inner wall of buffering chute
The top of buffer sliding block 41 passes through strut 46 and is connected with mounting plate 37.
The quadrangle of 37 bottom of mounting plate is fixedly connected to buffer bar 38, corresponds to buffer bar at the top of the buffer board 44
38 position is equipped with telescopic hole 35, and the buffer bar 38 is inserted into telescopic hole 35, and the outside of the buffer bar 38 is located at peace
Buffer spring 36 is cased between loading board 37 and buffer bar 38.
First driving wheel 6 and the driven wheel 16 of adjacent side are sequentially connected by rubber belt track 34, and described second
Driving wheel 7 and the driven wheel 16 of adjacent side are sequentially connected by rubber belt track 34, easy to remove.
2 inside of pedestal is close to have one end of first motor 11 to be fixedly connected with controller 17, and the controller 17
For TB6600 type controller 17, it is convenient for control mobile mechanism's ontology 1.One end of the roll adjustment sliding slot 31 is equipped with headstock 29, institute
The inside for stating headstock 29 is fixedly connected with distance-adjusting motor 30, and the output end of the distance-adjusting motor 30 and roll adjustment lead screw 28 are fixed
Connection, convenient for adjusting spacing between support transverse slat 45.The first motor 11, the second motor 15 and air pump 18 with controller 17
It is electrically connected, convenient for controlling the movement and steering of pedestal 2.
The use state of the utility model are as follows: be fixedly mounted on robot on the mounting plate 37 at 2 top of pedestal, straight line moves
When dynamic, first motor 11 is controlled by controller 17 and is worked at the same time with the second motor 15, first motor 11 passes through 9 band of the first worm screw
Dynamic first worm gear 10 rotation, the second motor 15 drive the rotation of the second worm gear 13, the first worm gear 10 and second by the second worm screw 14
Worm gear 13 drives the first driving wheel 6 and the second driving wheel 7 to move respectively, and the first driving wheel 6 and the second driving wheel 7 pass through rubber
Crawler belt 34 drives driven wheel 16 to rotate, and completes to move along a straight line with this, and when movement, under the effect of gravity, mounting plate 37 will be pressed
Power is transmitted downwards, and mounting plate 37 moves downward after being under pressure, and pushes the first buffer sliding block 40 and the second buffering by strut 46
Sliding block 41 is moved to two sides simultaneously, and the first buffer sliding block 40 and the second buffer sliding block 41 elongate compressed spring 42, passes through spring
Retraction force offset push gravity, with this reduce robot movement generate vibration；When turning to, controlled by controller 17
Hydraulic cylinder 21 extends, and support plate 25 is made to support ground, makes vacuum chuck 26 that ground be sucked by air pump 18, after the completion of stablizing, rotation
Rotating motor 23 drives driven gear 20 to rotate by driving gear 22, because being rotatablely connected at the top of rotary shaft 19 and pedestal 2, and rotates
Motor 23 is fixedly connected with pedestal 2, with this under the reaction of power, is rotated pedestal 2, is completed to rotate with this.
Above embodiments are only for illustration of the utility model, rather than limitations of the present invention, related technical field
Technical staff can also make various transformation or modification in the case where not departing from the spirit and scope of the utility model, because
This all equivalent technical solution also should belong to the scope of the utility model, should be limited by each claim.
Claims (8)
1. a kind of chassis mobile mechanism of robot, including mobile mechanism's ontology (1), which is characterized in that mobile mechanism's sheet
Body (1) is made of pedestal (2), power mechanism (3), rotating mechanism (4) and damping (5), and the inside of the pedestal (2) is fixed
It is connected with power mechanism (3), and the middle position of the pedestal (2) inside is fixedly connected with rotating mechanism (4), the pedestal
(2) be fixedly connected at the top of damping (5), the power mechanism (3) by the first driving wheel (6), the second driving wheel (7),
First fixed plate (8), the first worm screw (9), the first worm gear (10), first motor (11), the second fixed plate (12), the second worm gear
(13), the second worm screw (14) and the second motor (15) composition, one end of the inside of the pedestal (2) is symmetrically fixedly connected with second
Fixed plate (12) and the first fixed plate (8), described pedestal (2) side one end are symmetrically rotatably connected to the first driving wheel (6) and second
Driving wheel (7) is fixedly connected with the first worm gear (10), described second between first fixed plate (8) and the first driving wheel (6)
It is fixedly connected between fixed plate (12) and the second driving wheel (7) the second worm gear (13), the pedestal (2) is internal close to the first snail
The side of wheel (10) is fixedly connected with first motor (11), and the output end of the first motor (11) is fixedly connected with the first snail
Bar (9), and first worm screw (9) engages connection with the first worm gear (10), the pedestal (2) is internal close to the second worm gear (13)
Side be fixedly connected with the second motor (15), and the output end of second motor (15) is fixedly connected with the second worm screw
(14), the second worm gear (13) of second worm screw (14), which engages, connects, and the one of the pedestal (2) separate first driving wheel (6)
End is symmetrically rotatably connected to driven wheel (16).
2. the chassis mobile mechanism of robot according to claim 1, it is characterised in that: the rotating mechanism (4) is by revolving
Shaft (19), driven gear (20), hydraulic cylinder (21), driving gear (22), rotating electric machine (23), lift span (24), support plate
(25) it is fixedly connected with partition (27) with vacuum chuck (26), the internal middle position of the pedestal (2), partition (27) bottom
The middle position in portion is rotatably connected to rotary shaft (19), and driven gear (20) are fixed on the outside of the rotary shaft (19),
And the bottom of the rotary shaft (19) is fixedly connected with hydraulic cylinder (21), the end of the hydraulic cylinder (21) is fixedly connected with support
Plate (25), the bottom symmetrical of the support plate (25) are fixedly connected with several vacuum chucks (26), the bottom of the pedestal (2)
Bottom positioned at being arranged right below lift span (24) for support plate (25), and the pedestal (2) inner wall is fixedly connected with electric rotating
Machine (23), and the output end of the rotating electric machine (23) is fixedly connected with driving gear (22), and the driving gear (22) with
Driven gear (20) engagement connection, and the other end fixed company of the bottom of the pedestal (2) inner wall relative to rotating electric machine (23)
It is connected to air pump (18), and the air pump (18) is connect by gas-guide tube with vacuum chuck (26).
3. the chassis mobile mechanism of robot according to claim 2, it is characterised in that: the damping (5) by
Roll adjustment lead screw (28), headstock (29), distance-adjusting motor (30), roll adjustment sliding slot (31), the first sliding block (32), the second sliding block (33),
Rubber belt track (34), telescopic hole (35), buffer spring (36), mounting plate (37), buffer bar (38), buffering chute (39), first
Buffer sliding block (40), the second buffer sliding block (41), compressed spring (42), reset spring (43) and buffer board (44) composition, it is described
It is fixedly connected at the top of partition (27) roll adjustment sliding slot (31), and the internal symmetry of the roll adjustment sliding slot (31) slidably connects
One sliding block (32) and the second sliding block (33), and the internal symmetry of the roll adjustment sliding slot (31) is rotatably connected to roll adjustment lead screw (28),
The roll adjustment lead screw (28) with passed through respectively from the middle part at the middle part of the first sliding block (32) and the second sliding block (33), and described first
Sliding block (32) and the second sliding block (33) are threadedly coupled with roll adjustment lead screw (28), and the outside of the roll adjustment lead screw (28) is symmetrically set
There are left hand thread and right-handed thread, the top of first sliding block (32) and the top plate of the second sliding block (33) are fixedly connected to branch
It supports transverse slat (45), and the top of support transverse slat (45) is symmetrically fixedly connected with buffer board (44), buffer board (44) top
Portion is set there are two buffering chute (39), and the inside of the buffering chute (39) symmetrically slidably connects the first buffer sliding block
(40) and the second buffer sliding block (41), pressure is fixedly connected between first buffer sliding block (40) and the second buffer sliding block (41)
Contracting spring (42), between first buffer sliding block (40) and buffering chute (39) inner wall and the second buffer sliding block (41) and buffering
It is fixedly connected to reset spring (43) between sliding slot (39) inner wall, and the top of first buffer sliding block (40) is delayed with second
The top of slide block (41) passes through strut (46) and is connected with mounting plate (37).
4. the chassis mobile mechanism of robot according to claim 3, it is characterised in that: mounting plate (37) bottom
Quadrangle is fixedly connected to buffer bar (38), and the position of corresponding buffer bar (38) is equipped with telescopic hole at the top of the buffer board (44)
(35), the buffer bar (38) is inserted into telescopic hole (35), and the outside of the buffer bar (38) is located at mounting plate (37) and slow
Buffer spring (36) are cased between jumper bar (38).
5. the chassis mobile mechanism of robot according to claim 1, it is characterised in that: first driving wheel (6) with
The driven wheel (16) of adjacent side is sequentially connected by rubber belt track (34), and second driving wheel (7) and adjacent side
Driven wheel (16) is sequentially connected by rubber belt track (34).
6. the chassis mobile mechanism of robot according to claim 2, it is characterised in that: the pedestal (2) is internal close
There is one end of first motor (11) to be fixedly connected with controller (17), and the controller (17) is TB6600 type controller
(17)。
7. the chassis mobile mechanism of robot according to claim 3, it is characterised in that: the one of the roll adjustment sliding slot (31)
End is equipped with headstock (29), and the inside of the headstock (29) is fixedly connected with distance-adjusting motor (30), and the distance-adjusting motor
(30) output end is fixedly connected with roll adjustment lead screw (28).
8. the chassis mobile mechanism of robot according to claim 6, it is characterised in that: the first motor (11),
Two motors (15) and air pump (18) are electrically connected with controller (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821101363.4U CN208392027U (en) | 2018-07-12 | 2018-07-12 | The chassis mobile mechanism of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821101363.4U CN208392027U (en) | 2018-07-12 | 2018-07-12 | The chassis mobile mechanism of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208392027U true CN208392027U (en) | 2019-01-18 |
Family
ID=65130371
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821101363.4U Active CN208392027U (en) | 2018-07-12 | 2018-07-12 | The chassis mobile mechanism of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208392027U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108748082A (en) * | 2018-07-12 | 2018-11-06 | 上海常仁信息科技有限公司 | The chassis mobile mechanism of robot |
-
2018
- 2018-07-12 CN CN201821101363.4U patent/CN208392027U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108748082A (en) * | 2018-07-12 | 2018-11-06 | 上海常仁信息科技有限公司 | The chassis mobile mechanism of robot |
| CN108748082B (en) * | 2018-07-12 | 2024-04-02 | 深圳市科莱昂科技有限公司 | Chassis moving mechanism of robot |
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