CN208664861U - A kind of drive assembly and mobile robot - Google Patents
A kind of drive assembly and mobile robot Download PDFInfo
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- CN208664861U CN208664861U CN201821180261.6U CN201821180261U CN208664861U CN 208664861 U CN208664861 U CN 208664861U CN 201821180261 U CN201821180261 U CN 201821180261U CN 208664861 U CN208664861 U CN 208664861U
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- pivoted arm
- driving
- revolving member
- component
- universal wheel
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Abstract
The utility model provides a kind of drive assembly and mobile robot, the drive assembly includes: driving assembly, universal wheel component and tumbler assembly, the driving component is connected with one end of the tumbler assembly, the universal wheel component is connected with the other end of the tumbler assembly, and the driving component and universal wheel component realize relative motion up and down by the tumbler assembly respectively.Tumbler assembly is arranged in the utility model between driving assembly and universal wheel component, realizes relative motion up and down by the tumbler assembly respectively convenient for the driving component and universal wheel component；Driving wheel is realized to move up and down with perpendicular to the ground always, universal wheel can be swung up and down around the third revolving member of the tumbler assembly simultaneously, and then the adhesive force for reaching driving wheel increases with the increase of load, and always close proximity to ground and the purpose that will not be skidded, the vehicle body of its mobile robot is enabled to make lighter, effectively save energy consumption, additionally it is possible to effectively adapt to uneven ground.
Description
Technical field
The utility model relates to a kind of driving structure more particularly to a kind of drive assembly, and are related to including that the driving is total
At mobile robot.
Background technique
Existing mobile robot (also referred to as AGV), especially for heavily loaded mobile robot, the installation of driving wheel is for whole
The performance of vehicle has a great impact.To make mobile robot have the adaptability on good ground, it is ensured that driving wheel always with ground
Contact, mostly uses greatly driving wheel spring structure, spring compression driving wheel is allowed to guarantee that driving wheel has enough adhesive force.This side
Formula, if spring force is too big, when AGV zero load, will be jacked up；If spring force is too small, driving wheel will skid AGV when overloaded.
So non-slip when overloaded in order to guarantee, it is necessary to AGV own wt is made weight, and AGV own wt is heavier, vehicle body is certainly
The energy consumed again also can be bigger.
Summary of the invention
Technical problem to be solved in the utility model is to need to provide a kind of adhesive force for enabling to driving wheel with negative
The increase of load and increase, and always close proximity to ground will not skid, and vehicle body can make it is lighter, to save energy consumption
Drive assembly, and further provide for include the drive assembly mobile robot.
In this regard, the utility model provides a kind of drive assembly, comprising: driving assembly, universal wheel component and tumbler assembly, institute
It states driving assembly to be connected with one end of the tumbler assembly, the universal wheel component is connected with the other end of the tumbler assembly
It connects, the driving component and universal wheel component realize relative motion up and down by the tumbler assembly respectively.
Further improvement of the utility model is that the tumbler assembly includes the second pivoted arm and third pivoted arm, the drive
Dynamic component is fixedly connected with one end of the third pivoted arm, and one end of the other end of the third pivoted arm and second pivoted arm is living
Dynamic connection, the other end of second pivoted arm are fixedly connected with the universal wheel component.
Further improvement of the utility model is that the tumbler assembly further includes the first pivoted arm and fulcrum bearing, the branch
Seat is held to be flexibly connected by the first pivoted arm with the third pivoted arm.
Further improvement of the utility model is that the tumbler assembly further includes the first revolving member and the second rotation structure
Part, first pivoted arm are connected to the third pivoted arm by the first revolving member, and first pivoted arm passes through the second rotation structure
Part is connected to the fulcrum bearing.
Further improvement of the utility model is that the tumbler assembly further includes third revolving member and the 4th rotation structure
Part, second pivoted arm are connected to the fulcrum bearing by third revolving member, and second pivoted arm passes through the 4th revolving member
It is connected to the third pivoted arm.
Further improvement of the utility model is, first revolving member, the second revolving member, third revolving member
With any one revolving member that the 4th revolving member is in pin shaft or shaft.
Further improvement of the utility model is, further includes elastic parts, and the elastic parts is set to the third
On pivoted arm.
Further improvement of the utility model is that the elastic parts includes spring and spring bearer plate, the spring pressure
Plate is fixedly connected with the car body of mobile robot, and the spring is set between the spring bearer plate and third pivoted arm.
Further improvement of the utility model is that the driving component includes driving motor, driving reduction gearbox, driving
Wheel, steering motor, first gear and second gear, the driving motor are connected by driving reduction gearbox with the driving wheel,
The first gear is installed on the driving reduction gearbox, and the second gear is installed in the steering motor, and described first
Gear and second gear engagement connection.
The utility model also provides a kind of mobile robot, includes drive assembly as described above.
Compared with prior art, the utility model has the beneficial effects that: being set between driving assembly and universal wheel component
Tumbler assembly is set, relative motion up and down is realized by the tumbler assembly respectively convenient for the driving component and universal wheel component；
More have preferably, the connection between driving wheel and universal wheel is realized by the parallelogram sturcutre being made of tumbler assembly, it is real
Having showed driving wheel can move up and down, and perpendicular to the ground always, while universal wheel can be rotated around the third of the tumbler assembly
Component is swung up and down, and then the adhesive force for reaching driving wheel increases with the increase of load, always and it close proximity to ground and will not beat
Sliding purpose, the vehicle body of mobile robot can make lighter, effectively save because vehicle body self weight is overweight and bring
Unnecessary energy consumption；On this basis, additionally it is possible to which effectively filtering is because of mobile robot vehicle body caused by the injustice of ground
The variation of height.
Detailed description of the invention
Fig. 1 is a kind of schematic perspective view of embodiment of the utility model；
Fig. 2 is a kind of schematic view of the front view of embodiment of the utility model；
Fig. 3 is a kind of structural representation for the parallelogram sturcutre of embodiment of the utility model being made of tumbler assembly
Figure；
Fig. 4 is a kind of structural schematic diagram of the third pivoted arm of embodiment of the utility model；
Fig. 5 is a kind of structural schematic diagram of the second pivoted arm of embodiment of the utility model；
Fig. 6 is a kind of drive assembly status diagram when universal wheel lifts of embodiment of the utility model；
Fig. 7 is a kind of drive assembly status diagram in driving wheel pressure of embodiment of the utility model；
Fig. 8 is a kind of drive assembly status diagram in universal wheel pressure of embodiment of the utility model；
Fig. 9 is a kind of drive assembly status diagram when driving wheel lifts of embodiment of the utility model；
Figure 10 is a kind of rotation schematic diagram of the second pivoted arm of embodiment of the utility model；
Figure 11 is a kind of stress analysis schematic diagram of the drive assembly of embodiment of the utility model.
Specific embodiment
With reference to the accompanying drawing, the preferably embodiment of the utility model is described in further detail.
As shown in Figure 1 to Figure 3, this example provides a kind of drive assembly, comprising: driving assembly, universal wheel component 10 and pivoted arm
Component, the driving component are connected with one end of the tumbler assembly, the universal wheel component 10 and the tumbler assembly
The other end is connected, and the driving component and universal wheel component 10 realize relative motion up and down by the tumbler assembly respectively.
Tumbler assembly described in this example realizes the relative motion up and down of driving assembly and universal wheel component 10 by pivoted arm, in turn
It can adapt to the variation because of mobile robot bodywork height caused by the injustice of ground, and realizing driving wheel can be upper and lower
Movement is with perpendicular to the ground always.
As shown in Figures 1 to 5, tumbler assembly described in this example preferably includes the first pivoted arm 6, fulcrum bearing 7,9 and of the second pivoted arm
One end of third pivoted arm 12, the fulcrum bearing 7 is flexibly connected by the first pivoted arm 6 with the third pivoted arm 12, the fulcrum bearing 7
The other end be flexibly connected with second pivoted arm 9；The driving component is fixedly connected with one end of the third pivoted arm 12, institute
The other end for stating third pivoted arm 12 is flexibly connected with one end of second pivoted arm 9, the other end of second pivoted arm 9 with it is described
Universal wheel component 10 is fixedly connected.
Preferably, as shown in Figures 1 to 5, tumbler assembly described in this example further includes the first revolving member 14, second rotation structure
Part 11, third revolving member 8 and the 4th revolving member 13, first pivoted arm 6 are connected to described by the first revolving member 14
Third pivoted arm 12, first pivoted arm 6 are connected to the fulcrum bearing 7 by the second revolving member 11, and second pivoted arm 9 passes through
Third revolving member 8 is connected to the fulcrum bearing 7, and second pivoted arm 9 is connected to the third by the 4th revolving member 13
Pivoted arm 12.Therefore, the tumbler assembly forms a parallelogram sturcutre, can be realized driving wheel 15 and universal wheel component 10
Universal wheel between connection, realizing driving wheel 15 can move up and down, and perpendicular to the ground always, while universal wheel can be around
The third revolving member 8 of the tumbler assembly is swung up and down, and then the adhesive force for reaching driving wheel 15 increases with the increase of load
Add, and always close proximity to ground and the purpose that will not be skidded.
Certainly, it is a preferred embodiment that tumbler assembly described in this example, which forms a parallelogram sturcutre,
In practical application, the driving component and universal wheel component 10 is enabled to realize the tumbler assembly of relative motion up and down respectively i.e.
It can.First revolving member 14, the second revolving member 11 described in this example, third revolving member 8 and the 4th revolving member 13 are preferably
For any one revolving member in pin shaft or shaft.
This example further includes elastic parts, and the elastic parts is set on the third pivoted arm 12.The elastic parts is
It is slow for providing for realizing the elastomeric element of buffering and compression between the third pivoted arm 12 and the vehicle body of mobile robot
Punching and aux. pressure, there is certain beneficial effect to the adhesive force of driving wheel 15.
Preferably, as shown in figures 1 and 3, elastic parts described in this example includes spring 4 and spring bearer plate 3, the spring pressure
Plate 3 is fixedly connected with the car body of mobile robot, and the spring 4 is set between the spring bearer plate 3 and third pivoted arm 12, and
It is compressed by screw 2.And then by including that the elastic parts of spring 4 etc. plays buffering and offer aux. pressure, to driving wheel
15 adhesive force has certain beneficial effect.Universal wheel component 10 described in this example is mounted on the second pivoted arm 9.
As depicted in figs. 1 and 2, this example the driving component includes driving motor 5, driving reduction gearbox 16, driving wheel 15, turns
To motor 1, first gear 18 and second gear 17, the driving motor 5 passes through driving reduction gearbox 16 and 15 phase of driving wheel
Connection, the first gear 18 are installed on the driving reduction gearbox 16, and the second gear 17 is installed on the steering motor 1
On, the first gear 18 and the engagement connection of second gear 17.The first gear 18 is preferably gear wheel, the second gear
17 preferably turn to pinion gear.
Driving motor 5 described in this example is by driving reduction gearbox 16 to link together with driving wheel 15, the first gear 18
It is mounted on driving reduction gearbox 16, second gear 17, the second gear 17 and first gear is installed in the steering motor 1
18 engagements；To realize the power drive bull gear drive of the output of steering motor 1, and then realize the steering of driving wheel 15.
This example also provides a kind of mobile robot, includes drive assembly as described above.
Fulcrum bearing 7 described in this example is fixedly connected with mobile robot car body, rotates structure by the first revolving member 14, second
Part 11, third revolving member 8 and the 4th revolving member 13 may be implemented in the first pivoted arm 6, the second pivoted arm 9, third pivoted arm 12 and branch
Hold one parallelogram sturcutre of formation, i.e., dotted line parallelogram as shown in Figure 2 between seat 7.It does not do and rotates when fulcrum bearing 7
When movement, thus the up and down motion of 13 place line of the first revolving member 14 and the 4th revolving member may be implemented, the first rotation
Component 14 and 13 place line of the 4th revolving member do not have rotary motion.Simultaneously because the first revolving member 14 and the 4th rotation
13 place line of component is on third pivoted arm 12, and third pivoted arm 12 is stationarily connected to together with driving wheel, thus can be with
It realizes that driving wheel only has upper and lower movement with the fluctuating on ground, remains driving wheel contact perpendicular to the ground.It thus can be with
It improves mobile robot and travels precision.
This example is mainly installed the installation between driving wheel 15 and mobile robot car body using parallelogram sturcutre,
It realizes that universal wheel component 10 and driving wheel 15 move up and down around third revolving member 8 by the second pivoted arm 9 simultaneously, comes further real
Adaptability of the existing mobile robot chassis to ground.As shown in fig. 6, when ground is convex, universal wheel component 10 is lifted, by flat
Row quadrilateral structure, driving wheel 15 will not move, and the second revolving member 11 and 8 place line of third revolving member will be shifted up；Such as Fig. 7
It is shown, when ground is recessed, when driving wheel 15 is depressed, by parallelogram sturcutre, the still positive pressure ground of driving wheel 15, universal wheel
Component 10 can slightly be swung, and the second revolving member 11 and 8 place line of third revolving member can move down；As shown in figure 8, working as ground
Recessed, universal wheel component 10 is depressed, and by parallelogram sturcutre, driving wheel 15 will not be moved, the second revolving member 11 and
Three revolving members, 8 place line can move down；As shown in figure 9, driving wheel 15 is lifted, and passes through parallelogram when ground is convex
Structure, the still positive pressure ground of driving wheel 15, and universal wheel component 10 can slightly be swung, the second revolving member 11 and third rotate structure
8 place line of part will be shifted up；Thus drive assembly can be kept in contact with ground well, and keep the vertical pressure always of driving wheel 15
The traveling precision of mobile robot can be improved in ground.
Pass through the third revolving member 8 and the 4th revolving member 13 and universal wheel component on the second pivoted arm 9 of rational design
The position of 10 and the second installation point M between pivoted arm 9, can effectively filter ground it is uneven caused by mobile robot vehicle body shake
Dynamic problem.As shown in Figure 10, if the distance of C point and D point is LCD, A point is the position where the first revolving member 14, and B point is
Position where second revolving member 11, C point are the position where third revolving member 8, where the 4th revolving member of D point 13
Position, then parallelogram sturcutre also becomes parallelogram ABCD structure, M point be universal wheel component 10 and the second pivoted arm 9 it
Between installation point position, then C point at a distance from M point be LCM, the height of vehicle body becomes as Lh, the height of universal wheel component 10 becomes
For LH, then have:
From formulaIt is found that Lh<LH, cause mobile robot vehicle body upper-lower height to become by ground injustice
Change can reduce, and have apparent filtration.
Drive assembly force analysis is as shown in figure 11, if driving wheel 15 and ground contact points are E point, support reaction Fa, ten thousand
It is H, universal wheel from support reaction F to wheel assembly 10 and ground contact pointsb, the gravity of load and chassis gravity and drive assembly
Act on B point, active force F, effect point K, active force F of the spring to drive assemblyk.Wherein LkExist for K point and E point
The projector distance on ground, LaFor the projector distance on ground of E point and B point；LbProjector distance for B point and H point on ground.
Had according to drive assembly force analysis: Fa+Fb=F+FkAnd Fb(La+Lb)+FkLk=FLa, can be obtained according to above formula
Out:With
If F=20000N, Fk=1000N, La=0.245m, Lb=0.44m, Lk=0.17m, according to formula It is found that Fa=14094N；If LCD=0.1m, LCM=0.43m, if making universal wheel due to ground injustice
Height change LH=0.02m, then according to formulaIt is found that Lh=0.0038m；So mobile robot vehicle body
Height change can greatly reduce.
From formulaIt is found that working as La、Lb、LkAnd FkWhen being designed as definite value, the power of driving wheel 15
FaIncrease with the increase of load.From formulaIt is found that the power F on universal wheelbAnd with load increase and increase
Add.It simultaneously can be by adjusting LaAnd LbCome the power distributed on driving wheel 15 and universal wheel.Thus, mobile robot chassis from
In the state that body is light-weight, heavy load can also be driven and non-slip, mobile robot car body weight can make lighter, from
And reach the problem of reducing the waste of vehicle body energy consumption.
In conclusion tumbler assembly is arranged between driving assembly and universal wheel component 10 in this example, it is convenient for the driving group
Part and universal wheel component 10 realize relative motion up and down by the tumbler assembly respectively；More have preferably, by by pivoted arm group
The parallelogram sturcutre of part composition realizes the connection between driving wheel 15 and universal wheel, realize driving wheel 15 can on move down
It is dynamic and perpendicular to the ground always, while universal wheel can be swung up and down around the third revolving member 8 of the tumbler assembly, Jin Erda
Adhesive force to driving wheel 15 increases with the increase of load, always and close proximity to ground and the purpose that will not be skidded, moving machine
The vehicle body of device people can make lighter, effectively save because vehicle body self weight is overweight and the unnecessary energy consumption of bring；
On this basis, additionally it is possible to effectively variation of the filtering because of mobile robot bodywork height caused by the injustice of ground.
The specific embodiment of the above is the better embodiment of the utility model, and it is practical new not to limit this with this
The specific implementation range of type, the scope of the utility model includes being not limited to present embodiment, all according to the utility model
Shape, structure made by equivalence changes it is within the protection scope of the present utility model.
Claims (10)
1. a kind of drive assembly characterized by comprising driving assembly, universal wheel component and tumbler assembly, the driving component
It is connected with one end of the tumbler assembly, the universal wheel component is connected with the other end of the tumbler assembly, the drive
Dynamic component and universal wheel component realize relative motion up and down by the tumbler assembly respectively.
2. drive assembly according to claim 1, which is characterized in that the tumbler assembly includes that the second pivoted arm and third turn
Arm, the driving component are fixedly connected with one end of the third pivoted arm, the other end of the third pivoted arm with described second turn
One end of arm is flexibly connected, and the other end of second pivoted arm is fixedly connected with the universal wheel component.
3. drive assembly according to claim 2, which is characterized in that the tumbler assembly further includes the first pivoted arm and bearing
Seat, the fulcrum bearing are flexibly connected by the first pivoted arm with the third pivoted arm.
4. drive assembly according to claim 3, which is characterized in that the tumbler assembly further include the first revolving member and
Second revolving member, first pivoted arm are connected to the third pivoted arm by the first revolving member, and first pivoted arm passes through
Second revolving member is connected to the fulcrum bearing.
5. drive assembly according to claim 4, which is characterized in that the tumbler assembly further include third revolving member and
4th revolving member, second pivoted arm are connected to the fulcrum bearing by third revolving member, and second pivoted arm passes through the
Four revolving members are connected to the third pivoted arm.
6. drive assembly according to claim 5, which is characterized in that first revolving member, the second revolving member,
Three revolving members and the 4th revolving member are any one revolving member in pin shaft or shaft.
7. according to drive assembly described in claim 2 to 6 any one, which is characterized in that it further include elastic parts, the bullet
Property component is set on the third pivoted arm.
8. drive assembly according to claim 7, which is characterized in that the elastic parts includes spring and spring bearer plate,
The spring bearer plate is fixedly connected with the car body of mobile robot, the spring be set to the spring bearer plate and third pivoted arm it
Between.
9. according to claim 1 to drive assembly described in 6 any one, which is characterized in that the driving component includes driving
Motor, driving reduction gearbox, driving wheel, steering motor, first gear and second gear, the driving motor pass through driving reduction gearbox
It is connected with the driving wheel, the first gear is installed on the driving reduction gearbox, and the second gear is installed on described
In steering motor, the first gear and second gear engagement connection.
10. a kind of mobile robot, which is characterized in that include drive assembly as claimed in any one of claims 1 to 9.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821180261.6U CN208664861U (en) | 2018-07-25 | 2018-07-25 | A kind of drive assembly and mobile robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821180261.6U CN208664861U (en) | 2018-07-25 | 2018-07-25 | A kind of drive assembly and mobile robot |
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| Publication Number | Publication Date |
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| CN208664861U true CN208664861U (en) | 2019-03-29 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112223967A (en) * | 2020-09-25 | 2021-01-15 | 上海擎朗智能科技有限公司 | Chassis suspension mechanism, chassis and robot |
-
2018
- 2018-07-25 CN CN201821180261.6U patent/CN208664861U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112223967A (en) * | 2020-09-25 | 2021-01-15 | 上海擎朗智能科技有限公司 | Chassis suspension mechanism, chassis and robot |
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