CN208515719U - Mobile robot moving body structure - Google Patents
Mobile robot moving body structure Download PDFInfo
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- CN208515719U CN208515719U CN201821097916.3U CN201821097916U CN208515719U CN 208515719 U CN208515719 U CN 208515719U CN 201821097916 U CN201821097916 U CN 201821097916U CN 208515719 U CN208515719 U CN 208515719U
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- wheel
- body frame
- vehicle body
- mobile robot
- chassis
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Abstract
The utility model discloses a kind of mobile robot moving body structures, it is characterized in that, including vehicle body frame support construction and chassis drive mechanism, this construction reduce car body stress points, driving wheel and universal wheel are connected with structure, become triangle force structure, mobile robot chassis drive mechanism is linked using driving wheel and driven wheel (universal wheel), with the balance plate drive mechanism of car body braced frame composition complete set, can complete power transmission also and can guarantee all wheels with ground face contact, to make body construction have better road holding, vehicle is set to adapt to more complicated worse operating condition.
Description
Technical field
The utility model relates to moving body technical fields, more particularly to a kind of mobile robot moving body structure.
Background technique
With the development of science and technology and progress, intelligent robot are applied more more and more universal.Intelligent mobile robot is a collection
The multi-functional integrated system in one such as environment sensing, dynamic decision and planning, behaviour control and execution.For wheel type mobile machine
For device people, moving body structural behaviour is more important, especially the road holding of wheel.
Summary of the invention
For above-mentioned the technical problems existing in the prior art, the purpose of the utility model is to provide a kind of moving machines
Device people's moving body structure.
To realize the purpose of this utility model, the utility model provides a kind of mobile robot moving body structure,
It is characterized in that, including vehicle body frame support construction and chassis drive mechanism, downside one end of the vehicle body frame support construction is set
It is equipped with vehicle body frame driven wheel, downside is provided with the first driving motor and the first driving motor, and the chassis drive mechanism includes
Two balance plates disposed in parallel are provided with chassis driven wheel, drive wheel bearing seat and Coupling bearing below the balance plate
Seat, the Coupling bearing seats of two balance plates is by connecting shaft connection, and the both ends of the connecting shaft are slidably connected a fixing axle respectively
Seat is held, is connected by screw on the downside of the fixed bearing block and the vehicle body frame support construction, the drive wheel bearing seat is sliding
Dynamic to be connected with driving wheel wheel shaft, the outboard end of driving wheel wheel shaft is connected with driving wheel, and inner end is connected with driven sprocket, and setting exists
Driving motor in vehicle body frame support construction passes through the rotation of driven sprocket described in chain-driving.
Wherein, the vehicle body frame driven wheel and chassis driven wheel are universal wheel.
Compared with prior art, the beneficial effects of the utility model are that this construction reduce car body stress points, driving wheel
It is connect with universal wheel with structure, becomes triangle force structure, mobile robot chassis drive mechanism uses driving wheel and driven wheel
(universal wheel) linkage, the balance plate drive mechanism with car body braced frame composition complete set, can complete power transmission and also can
Guarantee that all wheels make vehicle adapt to more complicated more dislike so that body construction be made to have better road holding with ground face contact
Bad operating condition.
Detailed description of the invention
Fig. 1 show the first schematic diagram of structure of the application；
Fig. 2 show the second schematic diagram of structure of the application；
Fig. 3 show the structure third schematic diagram of the application；
Fig. 4 show the first schematic diagram of structure of the application vehicle body frame support construction；
Fig. 5 show the second schematic diagram of structure of the application vehicle body frame support construction；
Fig. 6 show the structural schematic diagram of the application chassis drive mechanism；
In figure, 1- vehicle body frame support construction, the chassis 2- drive mechanism, the first driving motor of 101-, the driving of 102- second
Motor, 103- vehicle body frame driven wheel, 201- driving wheel, 206- balance plate, 203- driven sprocket, 204- connecting shaft, 205- are fixed
Bearing block, 202- drive wheel bearing seat, the chassis 207- driven wheel, 208- Coupling bearing seat.
Specific embodiment
The utility model is described in further detail below in conjunction with the drawings and specific embodiments.It should be appreciated that this place
The specific embodiment of description is only used to explain the utility model, is not used to limit the utility model.
It should be noted that " connection " described herein and the word for expressing " connection ", as " being connected ",
" connected " etc. had both included that a certain component is directly connected to another component, and had also included that a certain component passes through other component and another portion
Part is connected.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also be intended to include plural form, additionally, it should be understood that, when in the present specification using belong to "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, component or module, component and/or their combination.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.
As shown in Figs. 1-5, the embodiment of the present application provides a kind of mobile robot moving body structure, including vehicle body frame
Support construction 1 and chassis drive mechanism 2, the vehicle body frame support construction 1 downside one end setting there are two vehicle body frame from
Driving wheel 103, downside are provided with the first driving motor 101 and the first driving motor 102, and two driving motors respectively drive a master
Driving wheel, the chassis drive mechanism 2 include two balance plates 206 disposed in parallel, and the lower section of the balance plate 206 is provided with two
The Coupling bearing seat 208 of a chassis driven wheel 207, drive wheel bearing seat 202 and Coupling bearing seat 208, two balance plates 206 is logical
The connection of connecting shaft 204 is crossed, and connecting shaft is slidably connected with Coupling bearing seat 208, it is rotatable, and divide on the inside of the both ends of the connecting shaft 204
Be not slidably connected a fixed bearing block 205, and the fixed bearing block 205 is rotatable, and with the vehicle body frame support construction 1
Downside is connected by screw to, and the drive wheel bearing seat 202 slidably connects driving wheel wheel shaft, and the outboard end of driving wheel wheel shaft connects
It is connected to driving wheel 201, inner end is connected with driven sprocket, and the driving motor being arranged in vehicle body frame support construction 1 passes through chain
Item drives the driven sprocket rotation.
Wherein, vehicle body frame support construction 1 and chassis drive mechanism 2 are connected by the fixed bearing block 205 on connecting shaft, Gu
Determine bearing block 205 to be slidably connected with connecting shaft, it is rotatable.
Wherein, the vehicle body frame driven wheel 103 and chassis driven wheel 207 are universal wheel.
After the balance plate of the application chassis drive mechanism connects universal wheel with driving wheel, stress point is transferred to balance plate
Intermediate position, stress point install Coupling bearing seat and connecting shaft, guarantee that balance plate can be rotated along stress point, to ensure that universal wheel
With driving wheel simultaneously with ground face contact, slipping phenomenon will not occur.It is also provided with fixed bearing block on connecting shaft, is used for connection body
Frame support structure, same fixed bearing block can also be rotated around connecting shaft, will not be skidded.Fixed bearing block is connect with vehicle body frame,
Connecting shaft guarantees that two balance plate structure stresses and function are realized, drive sprocket connects chain, and chain connection servo motor is moved
Power guarantees total even running.
The above is only the preferred embodiment of the utility model, it is noted that for the general of the art
For logical technical staff, without departing from the principle of this utility model, several improvements and modifications can also be made, these change
It also should be regarded as the protection scope of the utility model into retouching.
Claims (2)
1. a kind of mobile robot moving body structure, which is characterized in that be driven including vehicle body frame support construction (1) and chassis
Downside one end of structure (2), the vehicle body frame support construction (1) is provided with vehicle body frame driven wheel (103), and downside is provided with
First driving motor (101) and the first driving motor (102), the chassis drive mechanism (2) include two disposed in parallel flat
It weighs plate (206), is provided with chassis driven wheel (207), drive wheel bearing seat (202) and connecting shaft below the balance plate (206)
The Coupling bearing seat (208) of bearing block (208), two balance plates (206) is connected by connecting shaft (204), and the connecting shaft (204)
Both ends be slidably connected respectively a fixed bearing block (205), the fixed bearing block (205) and vehicle body frame support are tied
It is connected by screw on the downside of structure (1), the drive wheel bearing seat (202) slidably connects driving wheel wheel shaft, driving wheel wheel shaft
Outboard end is connected with driving wheel (201), and inner end is connected with driven sprocket, the drive being arranged on vehicle body frame support construction (1)
Dynamic motor passes through the rotation of driven sprocket described in chain-driving.
2. a kind of mobile robot moving body structure according to claim 1, which is characterized in that the vehicle body frame from
Driving wheel (103) and chassis driven wheel (207) are universal wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821097916.3U CN208515719U (en) | 2018-07-12 | 2018-07-12 | Mobile robot moving body structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821097916.3U CN208515719U (en) | 2018-07-12 | 2018-07-12 | Mobile robot moving body structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208515719U true CN208515719U (en) | 2019-02-19 |
Family
ID=65335542
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821097916.3U Active CN208515719U (en) | 2018-07-12 | 2018-07-12 | Mobile robot moving body structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208515719U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3848274A1 (en) | 2020-01-09 | 2021-07-14 | Mobile Industrial Robots A/S | Chassis for an autonomous mobile robot |
-
2018
- 2018-07-12 CN CN201821097916.3U patent/CN208515719U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3848274A1 (en) | 2020-01-09 | 2021-07-14 | Mobile Industrial Robots A/S | Chassis for an autonomous mobile robot |
| WO2021140039A1 (en) | 2020-01-09 | 2021-07-15 | Mobile Industrial Robots A/S | Chassis for an autonomous mobile robot |
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