CN209776611U - Chassis suspension system of service robot - Google Patents
Chassis suspension system of service robot Download PDFInfo
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- CN209776611U CN209776611U CN201920220055.1U CN201920220055U CN209776611U CN 209776611 U CN209776611 U CN 209776611U CN 201920220055 U CN201920220055 U CN 201920220055U CN 209776611 U CN209776611 U CN 209776611U
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- chassis
- bearing
- service robot
- suspension system
- drive assembly
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Abstract
The utility model discloses a service robot chassis suspension, last chassis including the rectangle, the lower chassis of rectangle, a plurality of universal wheels, two drive assembly and two drive wheels, a plurality of universal wheels are installed in the four corners position of last chassis lower surface, the bilateral symmetry of going up the chassis is provided with the mounting bracket that is used for installing drive assembly, two drive assembly install on the mounting bracket that corresponds, and bilateral symmetry installs, two drive wheels are installed on drive assembly, go up the chassis spiral-lock on the chassis down, and fix two drive assembly between chassis and the last chassis down, a plurality of universal wheels and two drive wheels offset with ground. The chassis suspension system of the service robot is simple in structure, can well realize the landing of 6 wheels, ensures the normal walking of the robot, and has high practicability.
Description
Technical Field
The utility model relates to an artificial intelligence device field, in particular to service robot chassis suspension.
Background
The existing service robot adopts 4 universal wheels and two fixed driving components. Compared with a service robot, the chassis suspension is simpler, and the 6-wheel grounding is not achieved when the robot walks. The phenomenon that the driving wheels are suspended or lifted may exist, so that the robot cannot walk normally.
SUMMERY OF THE UTILITY MODEL
To the technical problem, the utility model provides a simple structure can effectively 6 rounds land, has ensured the service robot chassis suspension that the robot can normally walk.
In order to solve the technical problem, the utility model discloses the technical scheme who takes is: the utility model provides a service robot chassis suspension, includes the lower chassis, a plurality of universal wheel, two drive assembly and two drive wheels of the last chassis, rectangle of rectangle, a plurality of universal wheels are installed go up the lower surface on chassis, the bilateral symmetry of going up the chassis is provided with and is used for the installation drive assembly's mounting bracket, two drive assembly installs and corresponds on the mounting bracket to bilateral symmetry installs, two the drive wheel is installed drive assembly is last, it is in to go up the chassis spiral-lock down on the chassis, and will two drive assembly fixes down the chassis with go up between the chassis, it is a plurality of universal wheel and two the drive wheel offsets with ground.
The utility model adopts the above technical scheme, the technological effect who reaches does: the utility model provides a two drive assembly of service robot chassis suspension install between last chassis and lower chassis to two drive assembly install at the bilateral symmetry between last chassis and lower chassis, two drive wheels are installed respectively on the drive assembly who corresponds, and a plurality of universal wheels are installed in the four corners position on last chassis, and offset with ground after passing the lower chassis, and two drive wheels offset with ground equally, and drive assembly drives the drive wheel and rotates, overcomes frictional force and realizes the walking. The chassis suspension system of the service robot is simple in structure, can well realize the landing of 6 wheels, ensures the normal walking of the robot, and has high practicability.
Preferably, in above-mentioned technical scheme, drive assembly includes shaft coupling axle, bearing fixing base, a plurality of sharp optical axis, gear motor and plum blossom shaft coupling, gear motor is detachable installs the one end of bearing fixing base, the one end of plum blossom shaft coupling is installed gear motor's output, the one end of shaft coupling axle with the other end fixed connection of plum blossom shaft coupling, its other end with drive wheel fixed connection, it is a plurality of the one end of sharp optical axis is fixed the upper surface of bearing fixing base, its other end is installed on the mounting bracket.
Preferably, in the above technical scheme, the driving assembly further includes two bearings, the two bearings are respectively installed at positions of the shaft coupling shaft near the two ends, and the shaft coupling shaft is installed in the bearing fixing seat through the two bearings.
Preferably, in above-mentioned technical scheme, the mounting bracket includes linear bearing seat and bearing support, bearing support installs the left and right sides on last chassis, linear bearing seat installs bearing support's upper surface, and is a plurality of the other end of straight line optical axis passes fixed orifices on the bearing support is installed on the linear bearing seat.
Preferably, in the above technical solution, the driving assembly further includes a return spring, a bottom end of the return spring abuts against an upper surface of the bearing fixing seat, and a top end of the return spring abuts against a lower surface of the bearing support.
Preferably, in the above technical scheme, the bearing bracket further includes a spring limiting plate, a through hole penetrating from top to bottom is formed in the middle of the bearing bracket, the spring limiting plate is installed on the upper surface of the bearing bracket, and the top end of the return spring penetrates through the through hole to abut against the lower surface of the spring limiting plate.
Preferably, in the above technical solution, the lower chassis further includes a plurality of fixing columns, bottom ends of the plurality of fixing columns are vertically fixed on an upper surface of the lower chassis, and other ends of the plurality of fixing columns abut against a lower surface of the upper chassis.
Preferably, in the above technical solution, the upper chassis is further provided with an upper notch for installing the mounting frame and the driving assembly, and the lower chassis is provided with a lower notch at a corresponding position, the lower notch being identical to the upper notch.
Preferably, in the above technical solution, the lower chassis is provided with roller gaps with the same number as the universal wheels, and the universal wheels penetrate through the corresponding roller gaps to abut against the ground.
Drawings
The present invention will be further explained with reference to the accompanying drawings:
Fig. 1 is a schematic structural diagram of a chassis suspension system of a service robot provided by the present invention;
FIG. 2 is an exploded view of the service robot chassis suspension system of FIG. 1;
Fig. 3 is a schematic view of the drive assembly of fig. 1.
Detailed Description
As shown in fig. 1, the utility model provides a service robot chassis suspension, last chassis 10 including the rectangle, the lower chassis 12 of rectangle, a plurality of universal wheels 16, two drive assembly and two drive wheels, a plurality of universal wheels 16 are installed at the 10 lower surfaces on last chassis, the left and right sides symmetry of going up chassis 10 is provided with the mounting bracket that is used for installing drive assembly, two drive assembly install on the mounting bracket that corresponds, and the bilateral symmetry installation, two drive wheels are installed on drive assembly, go up chassis 10 spiral-lock on chassis 12 down, and fix two drive assembly between chassis 12 and last chassis 10 down, a plurality of universal wheels 16 and two drive wheels offset with ground.
As one kind can implement mode, drive assembly includes shaft coupling axle 3, bearing fixing base 4, a plurality of straight line optical axis 7, gear motor 9 and plum blossom shaft coupling 15, gear motor 9 is detachable to be installed in the one end of bearing fixing base 4, the output at gear motor 9 is installed to plum blossom shaft coupling 15's one end, the one end of shaft coupling axle 3 and plum blossom shaft coupling 15's other end fixed connection, its other end and drive wheel fixed connection, the upper surface at bearing fixing base 4 is fixed to the one end of a plurality of straight line optical axis 7, its other end is installed on the mounting bracket. The setting of shaft coupling shaft 3 and plum blossom shaft coupling 15 can be effectual with the drive power conversion of gear motor 9 to the drive wheel on, can drive the universal wheel 16 and rotate under the drive of drive wheel to drive the rotation of robot. The setting of a plurality of straight line optical axes 7 can be effectual install drive assembly on the mounting bracket to the realization is fixed to drive assembly's installation. Further, the cross section of bearing fixing base 4 is not the rectangle, and the four corners position at bearing fixing base 4 upper surface is installed to the bottom of a plurality of sharp optical axes 7, can be with more firm of drive assembly installation.
Preferably, in the above technical solution, the driving assembly further includes two bearings 13, the two bearings 13 are respectively installed at positions of the coupling shaft 3 near the two ends, and the coupling shaft 3 is installed in the bearing fixing seat 4 through the two bearings 13. The setting of bearing 13 can furthest reduce the frictional force of shaft coupling shaft 3 rotation in-process, improves the percentage of efficiency conversion, ensures the utilization ratio of efficiency.
As an implementation manner, the mounting bracket includes linear bearing seats 5 and bearing supports 8, the bearing supports 8 are mounted on the left and right sides of the upper chassis 10, the linear bearing seats 5 are mounted on the upper surface of the bearing supports 8, and the other ends of the plurality of linear optical axes 7 are mounted on the linear bearing seats 5 through fixing holes on the bearing supports 8. Bearing bracket 8 has realized fixed the installation of drive assembly, and further, bearing bracket 8's longitudinal section is U type structure not invertd, and the realization that can be better is fixed the installation of bearing fixing base 4. The linear bearing seat 5 is arranged, so that the linear light shaft 7 is well fixed. The driving assembly further comprises a return spring 14, the bottom end of the return spring 14 abuts against the upper surface of the bearing fixing seat 4, and the top end of the return spring abuts against the lower surface of the bearing support 8. Further, the linear optical axis 7 is mounted on the linear bearing seat 5 when being capable of sliding up and down, and is matched with the return spring 14, and the driving assembly can move up and down under the action of the return spring 14 to adapt to different motion planes, so that wheels 6 of the robot can be grounded, and the stable operation of the robot is ensured.
As an implementation mode, the bearing 13 support 8 further comprises a spring limiting plate 6, a through hole penetrating through the middle of the bearing support 8 is formed in the middle of the bearing support 8, the spring limiting plate 6 is installed on the upper surface of the bearing support 8, and the top end of the return spring 14 penetrates through the through hole to abut against the lower surface of the spring limiting plate 6. The setting of spring limiting plate 6 has ensured that answer spring 14 can be in fixed vertical region, has also made things convenient for simultaneously fixed to the installation of answer spring 14, has ensured drive assembly's up-and-down motion effect.
As an implementation manner, the lower chassis 12 further includes a plurality of fixing posts 11, and bottom ends of the plurality of fixing posts 11 are vertically fixed on an upper surface of the lower chassis 12, and the other ends thereof abut against a lower surface of the upper chassis 10. The arrangement of the fixing column 11 not only realizes the installation and fixation between the upper chassis 10 and the lower chassis 12, but also ensures that a sufficient space is provided between the upper chassis 10 and the lower chassis 12 to accommodate the driving assembly, so that the chassis suspension system structure of the service robot after installation is more stable.
As an implementation mode, the upper chassis 10 is further provided with an upper notch for installing the mounting rack and the driving assembly, and the corresponding position on the lower chassis 12 is provided with a lower notch identical to the upper notch. Go up the setting of breach and lower breach, can be better hold drive assembly to can play fine limiting displacement, avoid drive assembly's rocking.
In one embodiment, the lower chassis 12 is provided with a number of roller notches equal to the number of universal wheels 16, and the plurality of universal wheels 16 are pressed against the ground through the corresponding roller notches. The arrangement of the gap of the roller wheel enables the universal wheel 16 to better penetrate through the lower chassis 12 to be abutted against the ground.
The walking principle of the robot chassis is as follows: the software program controls the motor driver through the industrial personal computer, and the driver sends a command to the speed reducing motor to realize the forward and reverse rotation of the speed reducing motor. The output shaft of the speed reducing motor is transmitted to the shaft coupling shaft through the plum coupling to drive the driving wheel to walk. In the walking process, when the ground is uneven, the driving assembly can realize up-and-down floating compensation through vertical and longitudinal guiding of the linear optical axis and intervention of spring force. Thereby achieving 6 wheels simultaneously contacting the ground. At the moment, the speed reducing motor transmits force to the driving wheel when rotating, and the driving wheel overcomes the friction force to realize the walking effect.
The utility model adopts the above technical scheme, the technological effect who reaches does: the utility model provides a two drive assembly of service robot chassis suspension install between last chassis and lower chassis to two drive assembly install at the bilateral symmetry between last chassis and lower chassis, two drive wheels are installed respectively on the drive assembly who corresponds, and a plurality of universal wheels are installed in the four corners position on last chassis, and offset with ground after passing the lower chassis, and two drive wheels offset with ground equally, and drive assembly drives the drive wheel and rotates, overcomes frictional force and realizes the walking. The chassis suspension system of the service robot is simple in structure, can well realize the landing of 6 wheels, ensures the normal walking of the robot, and has high practicability.
The above embodiments are intended to be illustrative of the manner in which the invention may be made and used by persons skilled in the art, and modifications to the above embodiments will be apparent to those skilled in the art, and it is therefore intended that the invention, including but not limited to the above embodiments, be limited to any methods, processes and products consistent with the principles and novel and inventive features disclosed herein, and which are to be interpreted as illustrative and not in a limiting sense.
Claims (9)
1. A service robot chassis suspension system, characterized by: including the last chassis (10) of rectangle, the lower chassis (12) of rectangle, a plurality of universal wheel (16), two drive assembly and two drive wheel (1), a plurality of universal wheel (16) are installed go up the lower surface of chassis (10), the left and right sides symmetry of going up chassis (10) is provided with and is used for the installation drive assembly's mounting bracket, two drive assembly installs and corresponds on the mounting bracket to bilateral symmetry installs, two drive wheel (1) is installed drive assembly is last, it is in to go up chassis (10) spiral-lock down on chassis (12), and with two drive assembly fixes down chassis (12) with go up between chassis (10), it is a plurality of universal wheel (16) and two drive wheel (1) offset with ground.
2. The service robot chassis suspension system of claim 1, wherein: drive assembly includes shaft coupling axle (3), bearing fixing base (4), a plurality of sharp optical axis (7), gear motor (9) and plum blossom shaft coupling (15), gear motor (9) are detachable to be installed the one end of bearing fixing base (4), install the one end of plum blossom shaft coupling (15) the output of gear motor (9), the one end of shaft coupling axle (3) with the other end fixed connection of plum blossom shaft coupling (15), its other end with drive wheel (1) fixed connection, it is a plurality of the one end of sharp optical axis (7) is fixed the upper surface of bearing fixing base (4), its other end is installed on the mounting bracket.
3. The service robot chassis suspension system of claim 2, wherein: the driving assembly further comprises two bearings (13), the two bearings (13) are respectively installed at positions, close to two ends, of the coupler shaft (3), and the coupler shaft (3) is installed in the bearing fixing seat (4) through the two bearings (13).
4. the service robot chassis suspension system of claim 2, wherein: the mounting bracket includes straight line bearing frame (5) and bearing support (8), bearing support (8) are installed go up the left and right sides of chassis (10), install straight line bearing frame (5) the upper surface of bearing support (8), it is a plurality of the other end of straight line optical axis (7) passes fixed orifices on bearing support (8) is installed on straight line bearing frame (5).
5. the service robot chassis suspension system of claim 4, wherein: the driving assembly further comprises a return spring (14), the bottom end of the return spring (14) is abutted to the upper surface of the bearing fixing seat (4), and the top end of the return spring is abutted to the lower surface of the bearing support (8).
6. The service robot chassis suspension system of claim 5, wherein: bearing bracket (8) still include spring limiting plate (6), the middle part of bearing bracket (8) is provided with the through-hole that runs through from top to bottom, install spring limiting plate (6) the upper surface of bearing bracket (8), the top of answer spring (14) is passed the through-hole with the lower surface of spring limiting plate (6) offsets.
7. The service robot chassis suspension system of any one of claims 1 to 6, wherein: the lower chassis (12) further comprises a plurality of fixing columns (11), the bottom ends of the plurality of fixing columns (11) are vertically fixed on the upper surface of the lower chassis (12), and the other ends of the plurality of fixing columns are abutted to the lower surface of the upper chassis (10).
8. The service robot chassis suspension system of claim 7, wherein: the upper chassis (10) is further provided with an upper notch for mounting the mounting frame and the driving assembly, and the corresponding position on the lower chassis (12) is provided with a lower notch which is the same as the upper notch.
9. The service robot chassis suspension system of claim 7, wherein: the lower chassis (12) is provided with roller wheel gaps with the same number as the universal wheels (16), and the universal wheels (16) penetrate through the corresponding roller wheel gaps to abut against the ground.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920220055.1U CN209776611U (en) | 2019-02-21 | 2019-02-21 | Chassis suspension system of service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920220055.1U CN209776611U (en) | 2019-02-21 | 2019-02-21 | Chassis suspension system of service robot |
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| Publication Number | Publication Date |
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| CN209776611U true CN209776611U (en) | 2019-12-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920220055.1U Active CN209776611U (en) | 2019-02-21 | 2019-02-21 | Chassis suspension system of service robot |
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| CN (1) | CN209776611U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109747733A (en) * | 2019-02-21 | 2019-05-14 | 北京兆维电子(集团)有限责任公司 | A kind of service robot chassis suspension |
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2019
- 2019-02-21 CN CN201920220055.1U patent/CN209776611U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109747733A (en) * | 2019-02-21 | 2019-05-14 | 北京兆维电子(集团)有限责任公司 | A kind of service robot chassis suspension |
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