CN208576379U - A kind of omni-directional mobile robots mobile chassis - Google Patents
A kind of omni-directional mobile robots mobile chassis Download PDFInfo
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- CN208576379U CN208576379U CN201820961590.8U CN201820961590U CN208576379U CN 208576379 U CN208576379 U CN 208576379U CN 201820961590 U CN201820961590 U CN 201820961590U CN 208576379 U CN208576379 U CN 208576379U
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Abstract
The utility model relates to a kind of omni-directional mobile robots mobile chassis, including chassis skeleton, rear wheel independent suspension, Mecanum wheel, controller and a battery.The two sides of chassis skeleton upper end are respectively symmetrically set there are two Mecanum wheel, rear wheel independent suspension is respectively symmetrically located at the two sides of chassis skeleton lower end, the rear wheel independent suspension includes suspension bottom plate, damping and a transmission mechanism for Mecanum wheel movement after driving, suspension bottom plate is connect by transmission mechanism with Mecanum wheel, damping is symmetricly set on transmission mechanism two sides, and the main damping spring of the damping connects to form a second level shock-damping structure with auxiliary damping spring.The utility model uses independent suspension using rear-wheel, and the fixed mode of front-wheel guarantees that four Mecanum wheels and ground can completely attach to.Vibration when second level shock-damping structure runs omni-directional mobile robots is minimized, and guarantees that four-wheel and the contact force on ground are more balanced, error when reducing the walking of its straight line and turning to.
Description
Technical field
The utility model relates to mobile robot technology fields, in particular refer to that a kind of omni-directional mobile robots are mobile
Chassis.
Background technique
More and more about the research of mobile robot at present, the demand to mobile robot platform is also increasing.It is existing
Technology is all the scheme using spider gear, is artificially typically moved with turtlebot series, pioneer robot and small strong machine
Robot platform all uses spider gear.Cost is relatively low and walking stability is preferable for spider gear, but its kinematic dexterity is poor, holds
Loading capability is lower.Compared with spider gear, Mecanum wheel has preferable kinematic dexterity and biggish bearing capacity.
Existing its mobile chassis of the omni-directional mobile robots using Mecanum wheel is most of all to use non-suspension type wheat
Ke Namu wheel.On the one hand using the omni-directional mobile robots mobile chassis of non-suspension type Mecanum wheel to ground flat degree requirement
It is higher, increase the difficulty of operation use environment.On the other hand in actual job environment, the Omni-mobile machine of different loads
People can cause different degrees of vehicle body to shake during exercise, thus directly influence in robot moving process power distribution and
Efficiency, while the expansion equipment being mounted on above omni-directional mobile robots can also be adversely affected.Therefore, we provide one
Kind omni-directional mobile robots mobile chassis.
Utility model content
The utility model provides a kind of omni-directional mobile robots mobile chassis, is existed with solving existing omni-directional mobile robots
Because different loads cause vehicle body to shake in various degree when out-of-flatness ground handling, to influence to install above omni-directional mobile robots
Expansion equipment and omni-directional mobile robots normal operation the problems such as.
The utility model adopts the following technical solution:
A kind of omni-directional mobile robots mobile chassis, including chassis skeleton, rear wheel independent suspension, Mecanum wheel, control
Device and a battery, the two sides of chassis skeleton upper end are respectively symmetrically set there are two Mecanum wheel, two Mecanums
Wheel is connect by motor with the chassis skeleton respectively, and the controller is arranged on the chassis skeleton, and the rear-wheel is independent
Suspension is respectively symmetrically located at the two sides of chassis skeleton lower end, the rear wheel independent suspension include suspension bottom plate, damping and
One transmission mechanism moved for Mecanum wheel after driving, the suspension bottom plate are located on the chassis skeleton, the suspension bottom
Plate is connect by the transmission mechanism with the Mecanum wheel, and the damping is symmetricly set on the transmission mechanism two
Side, the damping include damper and damping installation seat, and the damping installation seat is respectively provided at the suspension bottom plate and chassis
On skeleton, the damper includes main damping spring and auxiliary damping spring, the main damping spring and the auxiliary damping bullet
Spring is connected and is connect respectively with the damping installation seat.
Further, the suspension bottom plate is equipped with a suspension mounting plate, which passes through bearing plate and axis
It holds and is connect with the chassis skeleton.
Further, the transmission mechanism includes motor, electric machine support, encoder, motor shaft upper fixed seat and motor shaft
Lower fixed seat, the suspension bottom plate are equipped with the electric machine support, and the motor is fixedly mounted on the electric machine support, the electricity
The output shaft of machine is connect by the motor shaft upper fixed seat and the motor shaft lower fixed seat with the Mecanum wheel, described
Encoder is set to the tail portion of the motor.
Further, four drivers are additionally provided on the chassis skeleton, four drivers are located at four institutes
Motor side is stated, the motor passes through the driver respectively and connects to power supply.
By the above-mentioned description to the utility model structure it is found that compared to the prior art, the utility model has following excellent
Point:
1, vehicle body when the utility model is by being arranged damping on suspension bottom plate to move omni-directional mobile robots
Vibration be minimized.The damper is composed in series a second level shock-damping structure using the spring of two kinds of different spring rates, main
Damping spring rigidity is smaller, and auxiliary damping spring rigidity is larger.When omni-directional mobile robots do not load or load smaller
Main damping spring plays a major role.When omni-directional mobile robots load is larger, main damping spring deformation, which reaches, does big value, then auxiliary
Damping spring is helped to play a role.It can guarantee under any load in this way, vibration can be minimized by mobile robot, and
Keep four-wheel and the contact force on ground more balanced, error when reducing the walking of its straight line and turning to.
2, the utility model realizes the Omni-mobile of mobile robot using Mecanum wheel, can be in the feelings that ontology does not turn to
It is mobile to any direction under condition, the flexibility of mobile robot is enhanced, application scenarios have been expanded.Four Mecanum wheels use
Rear-wheel uses independent suspension, and the fixed mode of front-wheel guarantees that four Mecanum wheels and ground can completely attach to, bearing capacity
Greatly, kinematic dexterity is good and walking error is small.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model.
Fig. 2 is that the utility model installs the structural schematic diagram after empennage.
Fig. 3 is the main view of the utility model.
Fig. 4 is that the utility model installs the main view after empennage.
Specific embodiment
Illustrate specific embodiment of the present utility model with reference to the accompanying drawings.
A kind of omni-directional mobile robots mobile chassis, referring to Fig.1, Fig. 2, Fig. 3 and Fig. 4, including chassis skeleton 1, rear-wheel are only
Vertical suspension 2, Mecanum wheel 3, controller 4 and a battery.On chassis, the two sides of 1 upper end of skeleton are respectively symmetrically set there are two Mike
Na Mu wheel 3, Mecanum wheel 3 is connect by motor 5 with chassis skeleton 1 respectively.Controller 4, the control are equipped on chassis skeleton 1
Device 4 processed is STM32.
Referring to Fig.1, rear wheel independent suspension 2 is respectively symmetrically located at the two sides of 1 lower end of chassis skeleton, the rear wheel independent suspension 2
The transmission mechanism 23 and damping 24 that Mecanum wheel moves after driving are used for including suspension bottom plate 22, one.Suspension bottom plate 22
It is located on chassis skeleton 1, which is equipped with a suspension mounting plate 25, and suspension mounting plate 25 passes through 26 He of bearing plate
Bearing 27 is connected on chassis skeleton 1.Suspension bottom plate 22 is connect by transmission mechanism 23 with Mecanum wheel 3, the transmission mechanism
23 include motor 5, electric machine support 231, encoder 232, motor shaft upper fixed seat 233 and motor shaft lower fixed seat 234.In suspension
Bottom plate 22 is equipped with electric machine support 231, and motor 5 is fixedly mounted on the electric machine support 231, and the output shaft of motor 5 passes through motor
Axis upper fixed seat 233 and motor shaft lower fixed seat 234 are connect with Mecanum wheel 3.An encoder is additionally provided in the tail portion of motor 5
232。
Referring to Fig.1, four drivers 6 are additionally provided on chassis skeleton 1, four drivers 6 are located at four motors 5 one
Side, four motors 5 are connected to power supply by four drivers 6 respectively.
Referring to Fig.1, it is equipped with damping 24 in 23 two sides of transmission mechanism, which includes that damper and damping are pacified
Seat 241 is filled, damping installation seat 241 is respectively provided on suspension bottom plate 22 and chassis skeleton 1.Damper includes main damping spring 242
With auxiliary damping spring 243, main damping spring 242 with auxiliary damping spring 243 using concatenated mode connect and respectively with hang
Damping installation seat 241 on frame bottom plate 22 and chassis skeleton 1 connects.Four Mecanum wheels 3 of the utility model use rear-wheel
Using independent suspension, the fixed mode of front-wheel can guarantee that omni-directional mobile robots four Mikes in moving process receive in this way
Nurse wheel 3 can completely with ground face contact.242 rigidity of main damping spring of rear wheel independent suspension damper is smaller, assists damping spring
243 rigidity are larger.When omni-directional mobile robots do not load or load smaller, main damping spring 242 plays a major role.When
When omni-directional mobile robots load is larger, main 242 deformation of damping spring, which reaches, does big value, then assists damping spring 243 to play and make
With.It can guarantee under any load in this way, vibration can be minimized by omni-directional mobile robots, and four Mikes is made to receive
Nurse wheel 3 and the contact force on ground are more balanced, error when reducing the walking of its straight line and turning to.
The above is only the specific embodiments of the present invention, but the design concept of the present invention is not limited thereto,
All non-essential modifications to the present invention made by this concept should belong to the row for invading scope of protection of the utility model
For.
Claims (4)
1. a kind of omni-directional mobile robots mobile chassis, including chassis skeleton, rear wheel independent suspension, Mecanum wheel, controller
And battery, the two sides of chassis skeleton upper end are respectively symmetrically set there are two Mecanum wheel, two Mecanum wheels divide
Not Tong Guo motor connect with the chassis skeleton, the controller is arranged on the chassis skeleton, the rear wheel independent suspension
The two sides of chassis skeleton lower end are respectively symmetrically located at, which includes suspension bottom plate, damping and a use
The transmission mechanism that Mecanum wheel moves after driving, the suspension bottom plate are located on the chassis skeleton, and the suspension bottom plate is logical
It crosses the transmission mechanism to connect with the Mecanum wheel, it is characterised in that: the damping is symmetricly set on the transmission
Mechanism two sides, the damping include damper and damping installation seat, and the damping installation seat is respectively provided at the suspension bottom plate
On the skeleton of chassis, the damper includes main damping spring and auxiliary damping spring, the main damping spring and the auxiliary
Damping spring is connected and is connect respectively with the damping installation seat.
2. a kind of omni-directional mobile robots mobile chassis as described in claim 1, it is characterised in that: set on the suspension bottom plate
There is a suspension mounting plate, which is connect by bearing plate and bearing with the chassis skeleton.
3. a kind of omni-directional mobile robots mobile chassis as described in claim 1, it is characterised in that: the transmission mechanism includes
Motor, electric machine support, encoder, motor shaft upper fixed seat and motor shaft lower fixed seat, the suspension bottom plate are equipped with the electricity
Machine support, the motor are fixedly mounted on the electric machine support, and the output shaft of the motor passes through the motor shaft upper fixed seat
It is connect with the motor shaft lower fixed seat with the Mecanum wheel, the encoder is set to the tail portion of the motor.
4. a kind of omni-directional mobile robots mobile chassis as described in claim 1, it is characterised in that: on the chassis skeleton also
If four drivers are located at four motor sides, and the motor passes through the drive respectively there are four driver
Dynamic device connects to power supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820961590.8U CN208576379U (en) | 2018-06-21 | 2018-06-21 | A kind of omni-directional mobile robots mobile chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820961590.8U CN208576379U (en) | 2018-06-21 | 2018-06-21 | A kind of omni-directional mobile robots mobile chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208576379U true CN208576379U (en) | 2019-03-05 |
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ID=65509072
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820961590.8U Active CN208576379U (en) | 2018-06-21 | 2018-06-21 | A kind of omni-directional mobile robots mobile chassis |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110588265A (en) * | 2019-08-15 | 2019-12-20 | 大连理工江苏研究院有限公司 | Omnidirectional mobile robot chassis with suspension device |
| CN110667732A (en) * | 2019-10-11 | 2020-01-10 | 湖北工业大学 | Terrain self-adaptive six-wheel moving device |
| CN111645778A (en) * | 2020-04-22 | 2020-09-11 | 沈机（上海）智能系统研发设计有限公司 | Omnidirectional mobile device |
| CN112026956A (en) * | 2020-08-28 | 2020-12-04 | 广东博智林机器人有限公司 | Suspension structure, mobile chassis and mobile building equipment |
| CN114940459A (en) * | 2022-06-16 | 2022-08-26 | 国营芜湖机械厂 | Multifunctional aircraft hanger mounting vehicle |
-
2018
- 2018-06-21 CN CN201820961590.8U patent/CN208576379U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110588265A (en) * | 2019-08-15 | 2019-12-20 | 大连理工江苏研究院有限公司 | Omnidirectional mobile robot chassis with suspension device |
| CN110667732A (en) * | 2019-10-11 | 2020-01-10 | 湖北工业大学 | Terrain self-adaptive six-wheel moving device |
| CN111645778A (en) * | 2020-04-22 | 2020-09-11 | 沈机（上海）智能系统研发设计有限公司 | Omnidirectional mobile device |
| CN112026956A (en) * | 2020-08-28 | 2020-12-04 | 广东博智林机器人有限公司 | Suspension structure, mobile chassis and mobile building equipment |
| CN112026956B (en) * | 2020-08-28 | 2021-12-31 | 广东博智林机器人有限公司 | Suspension structure, mobile chassis and mobile building equipment |
| CN114940459A (en) * | 2022-06-16 | 2022-08-26 | 国营芜湖机械厂 | Multifunctional aircraft hanger mounting vehicle |
| CN114940459B (en) * | 2022-06-16 | 2023-09-19 | 国营芜湖机械厂 | Multifunctional aircraft hanger mounting vehicle |
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