CN209478177U - A kind of mobile robot including more driving - Google Patents
A kind of mobile robot including more driving Download PDFInfo
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- CN209478177U CN209478177U CN201822060666.2U CN201822060666U CN209478177U CN 209478177 U CN209478177 U CN 209478177U CN 201822060666 U CN201822060666 U CN 201822060666U CN 209478177 U CN209478177 U CN 209478177U
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Abstract
The utility model belongs to robot field, more particularly to a kind of mobile robot including more driving, a kind of mobile robot including more driving, the mobile robot includes support portion, several power mechanisms for moving along the length direction of guide rail of driving support portion, several power mechanisms are arranged along the length direction of support portion；Each power mechanism includes idler wheel, driving unit, transition element on guide rail, and the driving unit drives idler wheel to rotate on guide rail by transition element, and the driving unit and support portion are flexibly connected.The advantages of utility model is: multiple driving mechanisms are arranged along the length direction of support portion, detection device in this way to be arranged on support portion provides more power, and it can also be adapted to large volume of detection device, wherein driving unit is flexibly connected with support portion, when bend occurs in guide rail in this way, robot will not be stuck on guide rail.
Description
Technical field
The utility model relates to robot field, especially a kind of mobile robot including more driving.
Background technique
In real life, for example the inspection to production line, the environment to relative risk carry out inspection and require accordingly
Staff is into environment to be detected, such as the inspection to production line, and a professional is thus needed entirely to give birth to
It walks about and is checked in producing line, greatly waste manpower.In corresponding relative risk or working environment rugged environment, such as
The road conditions inspection in winter mountain area etc. requires the personnel of corresponding profession to check.Such operating safety factor is low.Along to
On the route of inspection, how to realize that robot replaces manual inspection is a technical problem urgently to be solved, and due to checking
Route on may have bend, so that mobile robot is turned freely in corner and be also required to solve.Since some are patrolled
The detection device volume and weight of inspection are all bigger, which needs to provide bigger bearing area and driving force.
Utility model content
In order to overcome the shortcomings of the prior art described above, for this purpose, the utility model provides a kind of shifting including more driving
Mobile robot.
To achieve the above object, the utility model uses following technical scheme:
A kind of mobile robot including more driving, the mobile robot include support portion, driving support portion along guide rail
Length direction movement several power mechanisms, several power mechanisms along support portion length direction arrange；It is each dynamic
Force mechanisms include idler wheel, driving unit, transition element on guide rail, and the driving unit drives idler wheel by transition element
It is rotated on guide rail, the driving unit and support portion are flexibly connected.
Restriction to power mechanism, each power mechanism include 2 idler wheels, are located under the web two sides of guide rail
On flange plate, the transition element includes two driving box being correspondingly connected with two idler wheels, passes through driving between two driving box
Axis connection；The driving unit include setting bevel gear structure on the driving shaft, the rotation of driving bevel gear structure actuator,
Rotor plate, the actuator are fixed on rotor plate, and rotor plate is connect by rotation axis with support portion.
Restriction to driving box, the boss of equal height is also set up on the opposite face of two driving box, and the rotor plate is solid
It is scheduled in the plane of two boss support.
Restriction to support portion, the support portion include fixed plate, mount plate, mount frame, and the fixed plate passes through rotation
Axis is connect with rotor plate, is mounted plate and is arranged in parallel up and down with fixed plate, and by mounting frame connection, the rotor plate and actuator
It is arranged in fixed plate and mounts between plate.
The limit that restricted idler wheel is detached from guide rail is arranged by connecting plate for restriction to limit roller, each driving box medial surface
Roller, the plane of rotation of the limit roller are located at the outer side edges of bottom wing listrium.
Restriction to the position of power mechanism quantity, the power mechanism are 2, are separately positioned on the both ends of support portion,
Described two power mechanisms are symmetrical about the middle vertical plane in bearing length direction.
Restriction to carbon brush component, mobile robot further include carbon brush component, and the side of web is provided with conductive strips, carbon brush
Component includes carbon brush, carbon brush plate, and carbon brush plate is arranged on the first sliding block, and the first abutting mechanism is arranged between carbon brush and carbon brush plate to be made
Carbon brush is contacted with conductive strips always.
Restriction to vertical shift portion, the robot further includes that the vertical shift portion mounted below plate is arranged in, described
Vertical shift portion includes shell and multiple drawstring folding and unfolding components for being mounted on shell, the drawstring folding and unfolding component include drawstring,
First retractable unit, the one end of drawstring are fixed on the first retractable unit, and the first retractable unit includes deploying and retracting axis, driving folding and unfolding
The driving of axis rotation, the first retractable unit drive detection device to move up and down by drawstring.
Restriction to being driven in vertical shift portion, driving deploying and retracting axis rotation driving include retracting motor, folding and unfolding shaft gear,
Retracting motor gear, multiple second support frames for being used to support deploying and retracting axis and retracting motor, retracting motor drive retracting motor tooth
Wheel rotation, the right part of the deploying and retracting axis passes through one of the second support frame and folding and unfolding shaft gear is coaxially connected, deploying and retracting axis tooth
Wheel and retracting motor gear mesh.
Restriction to spindle assembly in vertical shift portion, the vertical shift portion further include spindle assembly, and spindle assembly is solid
It is scheduled on case inside face, the spindle assembly includes spindle set, the spindle that spindle set right end is arranged in and drives spindle set rotation
Driving unit, the spindle driving unit include clockwork spring structure, and clockwork spring structure coaxial sleeve is on spindle axis and one end and spindle axis
Connection, the other end are fixed with spindle set inner sidewall, and the axis of spindle axis is overlapped with the axis that spindle covers.
Utility model has the advantages that
(1) multiple driving mechanisms are arranged along the length direction of support portion, in this way the detection dress to be arranged on support portion
It sets and more power is provided, and can also be adapted to large volume of detection device, wherein driving unit and support portion activity connect
It connects, when bend occurs in such guide rail, robot will not be stuck on guide rail.
(2) 2 idler wheels are separately positioned on rail web two sides, and the support portion of lower section in this way is more stable, driving box, cone tooth
Wheel construction, drive shaft realize that an actuator drives two idler wheel rotations simultaneously.The driving unit uses bevel gear structure, can be with
So that first motor 104 is located at the medium position of mobile robot, the i.e. underface of guide rail 3, thus is avoided that mobile robot to peace
Side inclination equipped with actuator.
(3) driving box serves not only as driving member, also carrys out support rotating plate as supporting element, can be convenient the cloth of driving unit
Office, when first motor is bigger, the level height of drive shaft is relatively low, can be increased at this time by replacing driving box
The quantity of gear is driven to extend the length of driving box in driving box.
(4) support portion includes fixed plate and mounts plate, can increase the mounting area below fixed mobile robot in this way,
Fixed plate is horizontally set on the top of rotor plate by rotation axis, can not only rotor plate be made to horizontally rotate relative to fixed plate,
In this way when guide rail is turned, mobile robot can be worked normally.One end of fixed plate is also supported by rotation axis.
(5) setting of limit roller can limit idler wheel a certain range of movement on bottom wing listrium, as close as possible to web
The middle part of two sides bottom wing listrium prevents mobile robot lateral deviation when guide rail is mobile to be stuck on guide rail.
The set-up mode of (6) 2 power mechanisms not only increases driving force, also supports the both ends of fixed plate.
(7) setting of conductive strips and carbon brush can provide electric energy and control signal to robot, and can be anti-by signal
It is fed to control terminal.
(8) setting in vertical shift portion and power mechanism realize the detection device being fixed below mobile robot along leading
Rail can also move up and down while mobile.
(9) deploying and retracting axis drives indirectly by retracting motor, and deploying and retracting axis can be realized when controlling retracting motor positive and negative rotation
Positive and negative rotation.
(10) setting of clockwork spring structure makes spindle assembly not need power mechanism the volume of conducting wire can be realized in spindle assembly
It puts.
Detailed description of the invention
Fig. 1 and Fig. 2 is the perspective view of mobile robot in the utility model embodiment 1.
Fig. 3 is the side view of mobile robot in the utility model embodiment 1.
Fig. 4 is the structure chart in the utility model embodiment 1 in the structure chart and driving box of transition element.
Fig. 5 is the perspective view in vertical shift portion in the utility model embodiment 2.
Fig. 6 is the perspective view of guiding axis group in the utility model embodiment 2.
Fig. 7 is the perspective view of vertical shift portion drawstring folding and unfolding component in the utility model embodiment 2.
Fig. 8 is the Local map of second encoder component in the utility model embodiment 2.
Fig. 9 is the structure chart of spindle assembly in the utility model embodiment 2.
Figure 10 is the cross-sectional view that spindle assembly removes spindle rack in the utility model embodiment 2.
Figure 11 is the cross-sectional view of spindle set in the utility model embodiment 2.
The meaning of label symbol is as follows in figure:
101- idler wheel 102- driving box 1021- boss 1022- drives gear
103- drive shaft 104- first motor 105- drive bevel gear 106- driven wheel of differential
107- rotor plate 108- limit roller 109- connecting plate
201- conducting wire guiding axis 202- drawstring guiding axis 205- ring 206- ring loop bar
207- is oriented to bracing strut
210- folding and unfolding shaft gear 211- retracting motor gear 212- retracting motor 213- deploying and retracting axis
231- the second support frame 232- second encoder 233- second encoder transition wheel
234- second encoder gear
241- drawstring retaining ring
25- spindle assembly 251- spindle set 2511- unwrapping wire hole 2512- puts conductive strips
The left right blocking portion of blocking portion 2514- of 2513-
252- slip ring 2521- shaft
2530- core 2531- lower cover 2532- upper cover
2533- first bearing 2534- second bearing 2535- spindle axis 254- spindle rack
3- guide rail 301- top flange plate 302- bottom wing listrium 303- web
41- fixed plate 42- rotation axis 43- mounts plate 44- and mounts frame
51- carbon brush 52- fixed frame 53- conductive strips
Specific embodiment
Embodiment 1
As shown in Figs 1-4, a kind of mobile robot including more driving, the mobile robot include support portion, driving branch
Several power mechanisms that support part is moved along the length direction of guide rail 3, several power mechanisms along support portion length side
To arrangement.Each power mechanism includes idler wheel 101, driving unit, transition element on guide rail 3, and the driving unit is logical
Crossing transition element drives idler wheel 101 to rotate on guides 3, and the driving unit and support portion are flexibly connected.In this embodiment,
Power mechanism is separately positioned on the both ends of support portion for 2, realizes double drive.
Guide rail 3 includes web 303 and flange plate, and on the section perpendicular to 3 length direction of guide rail, web 303 vertically connects
It connects and is provided with conductive strips 53 on the middle part of flange plate, a side of web 303.In this embodiment, flange plate includes upper limb
Listrium 301 and bottom wing listrium 302, top flange plate 301 is parallel with about 302 bottom wing listrium and is vertically disposed on web 303
Top and bottom form H-type structure.Guide rail 3 is fixed by 301 upper surface of top flange plate.
Described two power mechanisms are symmetrical about the middle vertical plane of support portion length direction.Mobile robot can be steady in this way
Move on guides 3, double drive also increases the power of robot on guides 3.
Power mechanism is described in detail below.
Each power mechanism includes 2 idler wheels 101, is located on the bottom wing listrium 302 of 303 two sides of web, described
Transition element includes two driving box 102, and each driving box 102 is coaxially connected with corresponding idler wheel 101 respectively, two driving box
It is connected between 102 by drive shaft 103.5 driving gears 1022, adjacent driving gear 1022 are provided in driving box 102
Between it is ratcheting, the driving gear 1022 positioned at 102 side of driving box is connect with drive shaft 103, the driving gear 1022 of the other side
It is coaxially disposed with idler wheel 101.
The driving unit includes the drive of the bevel gear structure being arranged in drive shaft 103, the rotation of driving bevel gear structure
Moving part, rotor plate 107.The actuator is first motor 104, and the first motor 104 is fixed on rotor plate 107, is rotated
Plate 107 is connect by rotation axis 42 with support portion.Bevel gear structure includes ratcheting drive bevel gear 105 and driven wheel of differential
106, the axis of drive bevel gear 105 and driven wheel of differential 106 is mutually perpendicular to.The driving end of first motor 104 and active conical tooth
Take turns 105 coaxially connected, driven wheel of differential 106 is fixed in drive shaft 103, and the axis of driven wheel of differential 106 and drive shaft 103
Axis be overlapped.Idler wheel 101 rolls under the action of driving unit and transition element.The driving unit uses bevel gear structure,
First motor 104 can be made to be located at the medium position of mobile robot, the i.e. underface of guide rail 3, thus be avoided that mobile robot
It is tilted to the side for being equipped with first motor 104.
The setting of driving box 102 not only can be used as the effect of transmission, but also can be convenient the layout of driving unit, when the first electricity
When machine 104 is bigger, the level height of drive shaft 103 is relatively low, can increase and drive by replacing driving box 102 at this time
The quantity of gear 1022 is driven to extend the length of driving box 102 in dynamic case 102.
The boss 1021 of equal height is also set up on the opposite face of two driving box 102, the rotor plate 107 is fixed on two
In the plane that a boss 1021 supports.Boss 1021 is for installing and fixed support portion and driving unit.
The support portion includes fixed plate 41, mounts plate 43, mounts frame 44.The fixed plate 41 is by rotation axis 42 and turns
Movable plate 107 connects, and mounts plate 43 and is arranged in parallel with about 41 fixed plate, and mounts the connection of frame 44 by side.The rotation
Plate 107 and first motor 104 are arranged in fixed plate 41 and mount between plate 43, can increase below fixed mobile robot in this way
Mounting area, fixed plate 41 is horizontally set on the top of rotor plate 107 by rotation axis 42, can not only make rotor plate 107
Horizontally rotate relative to fixed plate 41, in this way when guide rail 3 is turned, mobile robot can be worked normally.One end of fixed plate 41
Also supported by rotation axis 42.
The limit roller that restricted idler wheel 101 is detached from guide rail 3 is arranged by connecting plate 109 for each 102 medial surface of driving box
108, the plane of rotation of the limit roller 108 is located at the side in the thickness face of bottom wing listrium 302.Limitation idler wheel 101 in this way is in bottom wing
A certain range of movement on listrium 302 prevents mobile robot as close as possible to the middle part of the two sides bottom wing listrium 302 of web 303
When guide rail 3 is mobile, lateral deviation card is on guides 3.
The fixed frame 52 that robot further includes carbon brush 51, carbon brush 51 is arranged on support portion, fixed frame 52 is fixed on solid
On fixed board 41.The contact jaw of carbon brush 51 contacts always with the conductive strips 53 on web 303, in this embodiment, the type of carbon brush 51
Number it is the double rod double end integrator of JBC-C type, is provided with the first spring (not shown), the first bullet on the carbon brush 51 of the model
Spring is always compressive state, guarantees that carbon brush 51 is contacted with conductive strips 53 always.So that when mobile robot moves on guides 3 also
Control signal can be powered and sent to robot.Optimization, fixed frame 52 is connected with carbon brush 51 by length-adjustable connecting rod,
Spring is provided on connecting rod, spring is always compressive state, contacts carbon brush 51 with conductive strips 53 always.
Embodiment 2
Relative to embodiment 1, the lower section for mounting plate 43 is provided with the vertical shift that driving detection device moves up and down
Portion.As shown in Figure 11-Figure 5, vertical shift portion includes drawstring folding and unfolding component, the second encoding pack, spindle assembly 25, several are used for
It is oriented to the ring 205 of drawstring and conducting wire.Ring 205 passes through shell and is fixed on shell by ring loop bar 206.Its medium pulling rope
Folding and unfolding component includes drawstring, the first retractable unit, and the one end of drawstring is fixed on detection means, and the other end is fixed on the first receipts
It puts on unit.Robot further includes the conducting wire that detection device is connected with the conducting end of carbon brush 51, and spindle assembly 25 is for conducting wire
Folding and unfolding.Several groups guiding axis group is provided on the upper surface of case inside, the top of each ring 205 is provided with one and leads
To axis group, every group of guiding axis group includes drawstring guiding axis 202, conducting wire guiding axis 201, guiding bracing strut 207, is oriented to bracing strut
207 both ends are fixed on shell, and the both ends of drawstring guiding axis 202 and conducting wire guiding axis 201 are fixed on guiding axis branch by bearing
On frame 207.Stretching folding and unfolding component and spindle assembly 25 are specifically described below.
Other scheme, 205 length of ring is adjustable, drawstring close to detection device one end and ring 205 far from shell most
The upper end of one section of lower section connects, and lower end of the ring 205 far from one section of shell bottom is fixed on detection means, passes through drawing
Rope is connect by ring with detection device, and detection device connection area is increased, so that detection device is more stable, is reduced and is shaken
It is dynamic.Shorten ring by the pulling force of drawstring, is that ring is elongated by the gravity of detection device.
2.1, drawstring folding and unfolding component
As shown in figs 6-8, the first retractable unit includes retracting motor 212, deploying and retracting axis 213, folding and unfolding shaft gear 210, folding and unfolding
Motor gear 211, several second support frames 231.In this embodiment, the second support frame 231 is 3, respectively left support
Frame, midfoot support frame, right support frame, left support frame and right support frame are separately positioned on the both ends of deploying and retracting axis 213.Three second
Support frame 231 is each attached on the medial surface of shell.Retracting motor 212 drives retracting motor gear 211 to rotate, retracting motor
In 212 fixed right support frames, actuating station passes through right support frame and retracting motor gear 211 is coaxially connected, right support frame and receipts
Axis 213 is put to connect by bearing.The right part of deploying and retracting axis 213 passes through right support frame and folding and unfolding shaft gear 210 is coaxially connected, folding and unfolding
Shaft gear 210 and retracting motor gear 211 are ratcheting.Several groups drawstring retaining ring 241, every group of drawstring gear are provided on deploying and retracting axis 213
Circle 241 includes 2 pieces of baffles being fixed on deploying and retracting axis 213, and two baffles are for the corresponding drawstring that rotates.It draws in this embodiment
Retaining ring 241 of restricting is 2 groups.
2.2, the second encoding pack
As shown in Figure 7 and Figure 8, second encoding pack include second encoder 232, second encoder transition wheel 233,
Second encoder gear 234, second encoder transition wheel 233 are coaxially fixed on deploying and retracting axis 213, second encoder gear 234
Ratcheting with second encoder transition wheel 233, second encoder 232 passes through midfoot support frame and connect with second encoder gear 234,
Midfoot support frame is immobilized in the shell on side.
2.3, spindle assembly
As shown in figs. 9-11, spindle assembly 25 includes the spindle rack 254 being fixed on the medial surface of shell, in spindle branch
It is rotated on frame 254 and for the spindle of folding and unfolding conducting wire set 251.In the embodiment, the quantity of spindle assembly 25 and drawstring retaining ring 241
Identical, the spindle assembly 25 in the program is 2, is each attached to opposite with the fixed side of the second support frame 231 in shell
On panel.
Spindle assembly 25 include spindle and by spindle rack 254 that spindle is fixed on the medial surface of shell, spinning
Hammer the spindle for rotating and being used for folding and unfolding conducting wire on bracket 254 into shape.In the embodiment, the number of spindle assembly 25 and drawstring retaining ring 241
Measure identical, spindle assembly 25 in the program is 2, is each attached to opposite with the side of the second support frame 231 fixation in shell
Panel on.
Spindle includes spindle set 251, the spindle driving that spindle covers 251 right ends and drives 251 rotation of spindle set is arranged in
Unit, the spindle set 251 offer pay-off unit from side wall to left side, and pay-off unit includes that unwrapping wire hole is opened up on side wall
2511, it is offered along spindle 251 inside axis directions of set to left end and puts conductive strips 2512, put conductive strips 2512 and unwrapping wire hole
2511 conductings.The left end for putting conductive strips 2512 is additionally provided with slip ring 252, the axis of axis and the spindle set 251 of the slip ring 252
It is overlapped.Conducting wire one end enters from unwrapping wire hole 2511 and puts in conductive strips 2512, then extend into slip ring 252 in spindle set 251
One end connection, 252 other end of slip ring is provided with shaft 2521, wire output end of 2521 wiring of shaft as spindle assembly.
The shaft 2521 is fixed on spindle rack 254.When spindle covers 251 under the action of spindle driving unit relative to slip ring
When 252 shaft 2521 rotates, the conducting wire outside unwrapping wire hole 2511 twines on spindle set 251 to be put.The setting of slip ring is so that slip ring
It the conducting wire of shaft one end and is wound on spindle and covers upper conducting wire and keep apart, upper conducting wire stress is excessive is pulled off when being wound on spindle set
When, do not interfere with the conducting wire of slip ring shaft one end, the setting of slip ring be also prevented from conducting wire on spindle set around put when twisted into two parts.?
In the embodiment, the conducting wire connecting with shaft 2521 is connect with carbon brush 51, is connect with end of the slip ring 252 in spindle set 251
Conducting wire connect with detection device, such detection device move up and down when the conducting wire on carbon brush 51 will not be had an impact.
It further includes the left blocking portion 2513 and right blocking portion 2514 for preventing conducting wire from falling off from end that spindle, which covers 251 both ends,
Slip ring 252 is arranged in the set of the spindle at left blocking portion 2,513 251, and the spinning at right blocking portion 2514 is arranged in spindle driving unit
In hammer set 251.
The spindle driving unit includes spindle axis 2535, clockwork spring structure, inside spindle set 251 to the right along axis direction
Hold the driving placing groove that opens up, clockwork spring structure coaxial sleeve is on spindle axis 2535 and in placing groove, the axis of spindle axis 2535 with
The axis of spindle set 251 is overlapped spool structure and fixes with spindle 251 inner sidewalls of set, the spindle axis 2535 positioned at clockwork spring structure both ends
On be provided with 2533 second bearing 2534 of first bearing and spindle is respectively set to cover 251 inner sidewalls and connect.
Clockwork spring structure includes core 2530, and the inner end of core 2530 is fixed on spindle axis 2535, outboard end it is fixed with
Spindle covers fixed between 251 medial surfaces.Conducting wire is wound on spindle set 251.Core 2530 is torsional spring, and is rotation shape of threads.From
251 medial surfaces are covered close to spindle by under state, the core 2530 of shape of threads is most of, the overall length of such core 2530 can increase
Add.When detection device moves down, conducting wire by downward pulling force, at this point, spindle set 251 drive inside core 2530 around
2530 shape of threads coiling of core direction rotation, core 2530 increase rotation number, at this time the core 2530 of shape of threads slowly to
Spindle axis 2535 is close.In the process, torsional spring saves potential energy, and when detection device moves upwards, conducting wire loses downward at this time
Pulling force, torsional spring move the potential energy saved driving spindle set 251 in the opposite direction, so that conducting wire wraparound spindle is covered 251, until volume
Core 2530 is restored to free state.
Optimization, core 2530 around the rotation of the direction of spindle axis 2535 to other directions in addition to also rotating in order to prevent, hair
Structure further includes core locating part, and core locating part includes upper cover 2532 and lower cover 2531, and upper cover 2532, the lid of lower cover 2531 close
The cavity for placing core 2530 is formed afterwards, and medial surface of the thickness face of about 2530 core with upper cover 2532 and lower cover 2531 connects
Touching.Outboard end, upper cover 2532, lower cover 2531, the spindle set 251 4 of core 2530 are fixedly connected.
That places conducting wire puts conductive strips 2512 and driving placing groove isolation.It can prevent the conducting wire put in conductive strips from entering
It drives in placing groove, influences to drive.
In this embodiment, the spindle axis 2535 and shaft 2521 pass through spindle rack 254 on shell.
Since detection device mutually moves up and down in guide rail 3, spindle assembly can prevent the conducting wire of carbon brush 51 Yu detection device
Knot in the process, when detection device with move horizontally at a distance from portion reduce when, conducting wire by spindle assembly 25 retracting
Be wrapped in spindle set 251 on, when detection device and move horizontally at a distance from portion increase when, conducting wire from spindle cover 251 on discharge.
The course of work in vertical shift portion is as follows: when needing detection device to need to move down, retracting motor 212 is obtained
Driving signal, driving deploying and retracting axis 213 rotate, and rotation direction is to reduce the circle number for being wound on drawstring in drawstring retaining ring 241, spindle
Pulling force, is transmitted on spindle assembly 251 by the conducting wire under tension on set 251 at this time, and 251 rotation of driving spindle set, release is led
Line.When needing detection device to move up, retracting motor 212 obtains driving signal, and driving deploying and retracting axis 213 rotates, rotation side
To being in order to increase the circle number for being wound on drawstring in drawstring retaining ring 241, conducting wire does not stress at this time, spindle set 251 rotation make conducting wire around
Direction on spindle set 251 rotates.
The above is only the preferred embodiments that the utility model is created, and are not intended to limit the utility model creation, all
Made any modifications, equivalent replacements, and improvements etc., should be included in this within the spirit and principle that the utility model is created
Within the protection scope that utility model is created.
Claims (10)
1. a kind of mobile robot including more driving, which is characterized in that the mobile robot includes support portion, driving support portion
Several power mechanisms moved along the length direction of guide rail, several power mechanisms along support portion length direction cloth
It sets；Each power mechanism includes idler wheel (101), driving unit, transition element on guide rail, and the driving unit passed through
Crossing unit drives idler wheel (101) to rotate on guide rail, and the driving unit and support portion are flexibly connected.
2. a kind of mobile robot including more driving according to claim 1, which is characterized in that each power mechanism is equal
Including 2 idler wheels (101), it is located on the bottom wing listrium (302) of web (303) two sides of guide rail (3), the transition element
Including two driving box (102) being correspondingly connected with two idler wheels (101), pass through drive shaft (103) between two driving box (102)
Connection；The driving unit includes the driving of the bevel gear structure being arranged on drive shaft (103), the rotation of driving bevel gear structure
Part, rotor plate (107), the actuator are fixed on rotor plate (107), and rotor plate (107) passes through rotation axis (42) and support
Portion's connection.
3. a kind of mobile robot including more driving according to claim 2, which is characterized in that two driving box
(102) boss (1021) of equal height is also set up on opposite face, the rotor plate (107) is fixed on two boss (1021)
In the plane of support.
4. a kind of mobile robot including more driving according to claim 3, which is characterized in that the support portion includes
Fixed plate (41) mounts plate (43), mounts frame (44), and the fixed plate (41) is connected by rotation axis (42) and rotor plate (107)
Connect, mount plate (43) and fixed plate (41) and be arranged in parallel up and down, and by mounting frame (44) connection, the rotor plate (107) and
Actuator is arranged in fixed plate (41) and mounts between plate (43).
5. a kind of mobile robot including more driving according to claim 2, which is characterized in that each driving box
(102) limit roller (108) that restricted idler wheel (101) are detached from guide rail, the limit roller (108) is arranged by connecting plate in medial surface
Plane of rotation be located at the outer side edges of bottom wing listrium (302).
6. a kind of mobile robot including more driving according to claim 1, which is characterized in that the power mechanism is
2, the both ends of support portion are separately positioned on, two power mechanisms are symmetrical about the middle vertical plane in bearing length direction.
7. a kind of mobile robot including more driving according to claim 4, which is characterized in that mobile robot is also wrapped
Carbon brush component is included, the side of web (303) is provided with conductive strips (31), and carbon brush component includes carbon brush (121), carbon brush plate, carbon brush
Plate is arranged on the first sliding block (132), and the first abutting mechanism is arranged between carbon brush (121) and carbon brush plate makes carbon brush (121) always
It is contacted with conductive strips (31).
8. a kind of mobile robot including more driving according to claim 4, which is characterized in that the robot also wraps
It includes and is arranged in the vertical shift portion below plate (43) that mounts, the vertical shift portion includes shell and is mounted on multiple on shell
Drawstring folding and unfolding component, the drawstring folding and unfolding component include drawstring, the first retractable unit, and the one end of drawstring is fixed on the first folding and unfolding
On unit, the first retractable unit includes the driving of deploying and retracting axis (213), driving deploying and retracting axis (213) rotation, and the first retractable unit passes through
Drawstring driving detection device moves up and down.
9. a kind of mobile robot including more driving according to claim 8, which is characterized in that driving deploying and retracting axis
(213) driving rotated includes retracting motor (212), folding and unfolding shaft gear (210), retracting motor gear (211), is used to support receipts
Multiple second support frames (231) of axis (213) and retracting motor (212) are put, retracting motor (212) drives retracting motor gear
(211) it rotates, the right part of the deploying and retracting axis (213) passes through one of the second support frame (231) and folding and unfolding shaft gear (210)
Coaxially connected, folding and unfolding shaft gear (210) and retracting motor gear (211) are ratcheting.
10. a kind of mobile robot including more driving according to claim 9, which is characterized in that the vertical shift
Portion further includes spindle assembly (25), and spindle assembly (25) is immobilized in the shell side, and the spindle assembly includes spindle set
(251), it is arranged in spindle set (251) right end and drives the spindle driving unit of spindle set (251) rotation, the spindle driving is single
Member includes clockwork spring structure, and clockwork spring structure coaxial sleeve is on spindle axis (2535) and one end is connect with spindle axis (2535), the other end
It is fixed with spindle set (251) inner sidewall, the axis of spindle axis (2535) is overlapped with the axis of spindle set (251).
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| CN201822060666.2U CN209478177U (en) | 2018-12-06 | 2018-12-06 | A kind of mobile robot including more driving |
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| CN201822060666.2U CN209478177U (en) | 2018-12-06 | 2018-12-06 | A kind of mobile robot including more driving |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109500798A (en) * | 2018-12-06 | 2019-03-22 | 合肥瑞堡科技发展有限公司 | A kind of mobile robot including more driving |
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2018
- 2018-12-06 CN CN201822060666.2U patent/CN209478177U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109500798A (en) * | 2018-12-06 | 2019-03-22 | 合肥瑞堡科技发展有限公司 | A kind of mobile robot including more driving |
| CN109500798B (en) * | 2018-12-06 | 2024-02-20 | 合肥瑞堡科技发展有限公司 | Mobile robot comprising multiple drives |
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