CN209037378U - Wheeled robot Omni-mobile chassis - Google Patents
Wheeled robot Omni-mobile chassis Download PDFInfo
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- CN209037378U CN209037378U CN201821808841.5U CN201821808841U CN209037378U CN 209037378 U CN209037378 U CN 209037378U CN 201821808841 U CN201821808841 U CN 201821808841U CN 209037378 U CN209037378 U CN 209037378U
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Abstract
The utility model belongs to wheeled robot technical field, specifically a kind of wheeled robot Omni-mobile chassis.Including rear box, preceding cabinet, guiding driving wheel and articulation joint, wherein rear box is connected with preceding cabinet by articulation joint, the bottom of rear box and preceding cabinet is oriented to driving wheel there are two being all provided with, being oriented to driving wheel includes guiding driving mechanism, connecting flange, straight line suspension arrangement and hub motor, wherein guiding driving mechanism is connect by connecting flange with straight line suspension arrangement, and straight line suspension arrangement is connect with hub motor.The utility model keeps wheeled robot terrain adaptability stronger by the passive articulation joint between forward and backward cabinet, and articulation joint Seal Design ensure that the integral sealing requirement of robot cable.
Description
Technical field
The utility model belongs to wheeled robot technical field, specifically a kind of wheeled robot Omni-mobile bottom
Disk.
Background technique
Currently, wheeled robot driving guidance mode is broadly divided into: four-wheel drive, guiding steering wheel cooperate driving wheel, four-wheel
360 degree of guiding of driving collocation.Wherein four-wheel drive is arranged in pairs or groups, and the driving guidance mode that 360 degree turn to is flexible with steering, it is smart to turn to
Degree is high, cast can be achieved, and can satisfy robot requirements of one's work in small space.It is existing to be led using this driving
To the chassis structure of mode, there are also many problems to need to solve, what wherein emphasis needed to solve include landform adaptability it is not strong,
Structure is complicated with steering mechanical, the problem of protective capacities difference for driving.
Utility model content
In view of the deficiencies of the prior art, the purpose of this utility model is to provide a kind of wheeled robot Omni-mobile bottoms
Disk has the characteristics that terrain adaptability is strong and sealing effect is good to realize four motorized wheels and cast.
To achieve the goals above, the utility model uses following technical scheme:
A kind of wheeled robot Omni-mobile chassis, which is characterized in that including rear box, preceding cabinet, guiding driving wheel and
Articulation joint, wherein rear box is connected with preceding cabinet by articulation joint, and the bottom of the rear box and preceding cabinet is equipped with two
A guiding driving wheel.
The guiding driving wheel includes guiding driving mechanism, connecting flange, straight line suspension arrangement and hub motor, wherein leading
It is connect to driving mechanism by connecting flange with straight line suspension arrangement, the straight line suspension arrangement is connect with hub motor.
The straight line suspension arrangement includes bracket, guiding axis, linear bearing and spring, wherein one end of bracket and the company
Acting flange connection, the other end is slidably connected by linear bearing with the guiding axis being arranged along the vertical direction, under the guiding axis
End is connect with wheel hub fixing seat, and the wheel hub fixing seat is connect with the hub motor, and the spring pocket is set to the guiding axis
Upper and stress is between the bracket and the wheel hub fixing seat.
The guiding driving mechanism includes retarder interconnected and steering motor, the retarder and the connection method
Orchid connection.
The output shaft of the retarder is equipped with magnetic coder.
The guiding driving mechanism is set in the rear box and preceding cabinet.
The articulation joint includes preceding support, hollow flange axis, rear support and bearing assembly, wherein preceding support and rear support
It is connect respectively with preceding cabinet and rear box, the preceding support is fixedly connected with one end of hollow flange axis, the rear support suit
It is rotatablely connected on the hollow flange axis and by bearing assembly.
The bearing assembly includes collar and two groups of tapered roller bearings, and the both ends of the hollow flange axis are arranged with respectively
Two groups of tapered roller bearings, the collar bush are set on the hollow flange axis and are located between two groups of tapered roller bearings.
Sealing ring is equipped between the end of the hollow flange axis and the preceding support.
The utility model has the advantages that and advantage:
1. the utility model keeps wheeled robot terrain adaptability stronger by the passive articulation joint between the cabinet of front and back,
Articulation joint Seal Design ensure that the integral sealing requirement of robot cable.
2. the straight line suspension arrangement of the utility model four wheels faces the rigid shock of wheel motor shaft in which can reduce, into
And increase the normal load of wheel, the ability that lands of wheel is played, is made more stable when driving.
3. the utility model uses four guiding driving wheels, four-wheel can independently be driven, and hub motor keeps structure simpler, energy
Enough requirements that fulfils assignment in narrow space, at the same it is easy to maintenance.
Detailed description of the invention
Fig. 1 is the axonometric drawing of the utility model；
Fig. 2 is the main view of the utility model；
Fig. 3 is the diagrammatic cross-section of the articulation joint of the utility model；
Fig. 4 is the structural schematic diagram of the guiding driving wheel of the utility model.
In figure: 1 is rear box, and 2 be preceding cabinet, and 3 be hub motor, and 4 be straight line suspension arrangement, and 5 be to be oriented to driving wheel, 6
It is linear bearing for articulation joint, 7,8 be spring, and 9 be wheel hub fixing seat, and 10 be preceding support, and 11 be sealing ring, and 12 be hollow
Flange shaft, 13 be front bearing retainer, and 14 be collar, and 15 be rear support, and 16 be rear bearing cover, and 17 be bearing baffle ring, and 18 be gasket,
19 be tapered roller bearing, and 20 be magnetic coder, and 21 be retarder, and 22 be steering motor, and 23 be connecting flange, and 24 be guiding
Axis, 25 be bracket.
Specific embodiment
In order to keep the purpose of this utility model, technical solution and advantage clearer, with reference to the accompanying drawing and it is embodied
The utility model is described in detail in example.
As shown in Figs. 1-2, a kind of wheeled robot Omni-mobile chassis provided by the utility model, including it is rear box 1, preceding
Cabinet 2, guiding driving wheel 5 and articulation joint 6, wherein rear box 1 and preceding cabinet 2 are connected by articulation joint 6,1 He of rear box
The bottom of preceding cabinet 2 is oriented to driving wheel 5 there are two being all provided with.
As shown in figure 3, articulation joint 6 includes preceding support 10, hollow flange axis 12, rear support 15 and bearing assembly, wherein
Preceding support 10 and rear support 15 are connect with preceding cabinet 2 and rear box 1 respectively by screw, preceding support 10 and hollow flange axis 12
One end be fixedly connected, rear support 15 be set on hollow flange axis 12 and by bearing assembly be rotatablely connected.Hollow flange axis
Sealing ring 11 is equipped between 12 end and preceding support 10.
Bearing assembly includes collar 14 and two groups of tapered roller bearings 19, and the both ends of hollow flange axis 12 are arranged with two respectively
Group tapered roller bearing 19, collar 14 are sheathed on hollow flange axis 12 and are located between two groups of tapered roller bearings 19.
Rear box 1 is connect with preceding cabinet 2 by articulation joint 6, when robot encounters uneven road surface, passes through forward and backward case
Swing between body enables to the four-wheel on chassis while landing, and enhances chassis passability.
The inner cavity of rear support 15 supports hollow flange axis 12 by pairs of tapered roller bearing 19, hollow flange axis 12
Bore seal is equipped with robot power and communication cable, and one end of hollow flange axis 12 is connect by screw with preceding support 10, even
End is connect equipped with sealing ring 11,12 other end of hollow flange axis is fixedly connected by screw with bearing baffle ring 17, bearing baffle ring 17
Tapered roller bearing 19 is compressed by gasket 18, the left and right sides of rear support 15 is equipped with drive end bearing bracket 13 and rear end cap 16, end cap
Junction is equipped with sealing ring and oil sealing.Further, lubricating oil can be added in rear support 15, that improves articulated structure uses the longevity
Life.
As shown in figure 4, guiding driving wheel 5 includes guiding driving mechanism, connecting flange 23, straight line suspension arrangement 4 and wheel hub
Motor 3, wherein guiding driving mechanism is connect by connecting flange 23 with straight line suspension arrangement 4, straight line suspension arrangement 4 and wheel hub
Motor 3 connects.
Straight line suspension arrangement 4 include bracket 25, guiding axis 24, linear bearing 7 and spring 8, wherein one end of bracket 25 with
Connecting flange 23 connects, and the other end is slidably connected by linear bearing 7 with the guiding axis 24 being arranged along the vertical direction, guiding axis 24
Lower end connect with wheel hub fixing seat 9, wheel hub fixing seat 9 is connect with hub motor 3, spring 8 be sheathed on guiding axis 24 and
Stress is between bracket 25 and wheel hub fixing seat 9.
Two linear bearings 7 are connected by screw to respectively in wheel hub fixing seat 9 and bracket 25, and guiding axis 24 passes through bullet
Spring 8 is slidably matched with linear bearing 7, and fixes at its end, further adds rubber pad in fixing end, reduces abrasion.
The straight line suspension arrangement of four wheels faces the rigid shock of wheel motor shaft in which can reduce, and then increases wheel
Normal load plays the ability that lands of wheel, makes more stable when driving.
Guiding driving mechanism is set in rear box 1 and preceding cabinet 2, and guiding driving mechanism includes retarder interconnected
21 and steering motor 22, output shaft one end of retarder 21 connect with connecting flange 23, the other end of the output shaft of retarder 21
Equipped with magnetic coder 20, magnetic coder 20, which can recorde, turns to main axis situation, to accurately control steering angle.
Hub motor 3 is by being built-in with accurate control of the feedback information realization of encoder to vehicle wheel rotation, straight line suspension
The impact that device 4 is generated for buffering road excitation.Magnetic coder 20 is mounted on the main shaft of steering motor 22, magnetic coder
20 record main axis positions, the main shaft of steering motor 22 are fixedly connected with straight line suspension arrangement 4, and retarder 21 and flange 23 are logical
It crosses screw to be fixedly connected, connecting flange 23 is fixedly mounted on cabinet lower surface by screw.
A kind of wheeled robot Omni-mobile chassis provided by the utility model include cabinet before and after robot, four groups it is complete
It is passive hinged between cabinet before and after identical omnidirectional driving wheel, four groups of identical straight line suspension arrangements and connection robot
Joint.Front and back cabinet is connected by articulation joint, realizes the deformation on robot chassis, the driving of steering and wheel, straight line suspension dress
It sets and keeps Elastic Contact with transfer bottom end；Passive articulation joint connects robot front and back cabinet by two supports, hingedly
Joint carries out waterproofing design, and by hollow axis connection, hollow shaft is built-in with robot communication and energy cable at articulation joint both ends.
The utility model keeps wheeled robot terrain adaptability stronger by the passive articulation joint between the cabinet of front and back, hinge
Connecing joint Seal Design ensure that the integral sealing requirement of robot cable.
The utility model uses four guiding driving wheels, and four-wheel can independently drive, and hub motor keeps structure simpler, can
Fulfil assignment requirement in narrow space, while easy to maintenance.
The foregoing is merely the embodiments of the present invention, are not intended to limit the protection scope of the utility model.It is all
Any modification, equivalent substitution and improvement made within spirit of the present utility model and principle, extension etc., are all contained in this reality
With in novel protection scope.
Claims (9)
1. a kind of wheeled robot Omni-mobile chassis, which is characterized in that including rear box (1), preceding cabinet (2), guiding driving
(5) and articulation joint (6) are taken turns, wherein rear box (1) and preceding cabinet (2) are connected by articulation joint (6), the rear box (1)
With the bottom of preceding cabinet (2) be all provided with there are two be oriented to driving wheel (5).
2. wheeled robot Omni-mobile according to claim 1 chassis, which is characterized in that the guiding driving wheel (5)
Including guiding driving mechanism, connecting flange (23), straight line suspension arrangement (4) and hub motor (3), wherein guiding driving mechanism is logical
It crosses connecting flange (23) to connect with straight line suspension arrangement (4), the straight line suspension arrangement (4) connect with hub motor (3).
3. wheeled robot Omni-mobile according to claim 2 chassis, which is characterized in that the straight line suspension arrangement
It (4) include bracket (25), guiding axis (24), linear bearing (7) and spring (8), wherein one end of bracket (25) and the connection
Flange (23) connection, the other end is slidably connected by linear bearing (7) with the guiding axis (24) being arranged along the vertical direction, described to lead
It is connect to the lower end of axis (24) with wheel hub fixing seat (9), the wheel hub fixing seat (9) connect with the hub motor (3), described
Spring (8) is sheathed on the guiding axis (24) and stress is between the bracket (25) and the wheel hub fixing seat (9).
4. wheeled robot Omni-mobile according to claim 2 chassis, which is characterized in that the guiding driving mechanism packet
Retarder interconnected (21) and steering motor (22) are included, the retarder (21) connect with the connecting flange (23).
5. wheeled robot Omni-mobile according to claim 4 chassis, which is characterized in that the retarder (21) it is defeated
Shaft is equipped with magnetic coder (20).
6. wheeled robot Omni-mobile according to claim 4 chassis, which is characterized in that the guiding driving mechanism is set
It is placed in the rear box (1) and preceding cabinet (2).
7. wheeled robot Omni-mobile according to claim 2 chassis, which is characterized in that articulation joint (6) packet
Preceding support (10), hollow flange axis (12), rear support (15) and bearing assembly are included, wherein preceding support (10) and rear support (15) point
It is not connect with preceding cabinet (2) and rear box (1), the preceding support (10) is fixedly connected with one end of hollow flange axis (12), institute
Rear support (15) is stated to be set on the hollow flange axis (12) and be rotatablely connected by bearing assembly.
8. wheeled robot Omni-mobile according to claim 7 chassis, which is characterized in that the bearing assembly includes axis
Ring (14) and two groups of tapered roller bearings (19), the both ends of the hollow flange axis (12) are arranged with two groups of taper roller axis respectively
It holds (19), the collar (14) is sheathed on the hollow flange axis (12) and is located between two groups of tapered roller bearings (19).
9. wheeled robot Omni-mobile according to claim 7 chassis, which is characterized in that the hollow flange axis (12)
End and the preceding support (10) between be equipped with sealing ring (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821808841.5U CN209037378U (en) | 2018-11-05 | 2018-11-05 | Wheeled robot Omni-mobile chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821808841.5U CN209037378U (en) | 2018-11-05 | 2018-11-05 | Wheeled robot Omni-mobile chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209037378U true CN209037378U (en) | 2019-06-28 |
Family
ID=67039349
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821808841.5U Active CN209037378U (en) | 2018-11-05 | 2018-11-05 | Wheeled robot Omni-mobile chassis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209037378U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109278539A (en) * | 2018-11-05 | 2019-01-29 | 中国科学院沈阳自动化研究所 | A kind of wheeled robot Omni-mobile chassis |
| CN110480496A (en) * | 2019-07-24 | 2019-11-22 | 武汉大学 | A kind of intelligence feather plucking robot |
| CN111572629A (en) * | 2020-06-23 | 2020-08-25 | 江西小马机器人有限公司 | Robot chassis with four independently steered wheels |
| CN112638074A (en) * | 2020-12-10 | 2021-04-09 | 国网山东省电力公司信息通信公司 | Portable mobile device for field meeting guarantee and use method |
-
2018
- 2018-11-05 CN CN201821808841.5U patent/CN209037378U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109278539A (en) * | 2018-11-05 | 2019-01-29 | 中国科学院沈阳自动化研究所 | A kind of wheeled robot Omni-mobile chassis |
| CN110480496A (en) * | 2019-07-24 | 2019-11-22 | 武汉大学 | A kind of intelligence feather plucking robot |
| CN111572629A (en) * | 2020-06-23 | 2020-08-25 | 江西小马机器人有限公司 | Robot chassis with four independently steered wheels |
| CN112638074A (en) * | 2020-12-10 | 2021-04-09 | 国网山东省电力公司信息通信公司 | Portable mobile device for field meeting guarantee and use method |
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