CN209776616U

CN209776616U - Universal chassis of mobile robot

Info

Publication number: CN209776616U
Application number: CN201920546344.0U
Authority: CN
Inventors: 张锐; 李强强
Original assignee: Qingdao Iron And Steel Man Technology Co Ltd
Current assignee: Qingdao Iron And Steel Man Technology Co Ltd
Priority date: 2019-04-19
Filing date: 2019-04-19
Publication date: 2019-12-13
Anticipated expiration: 2029-04-19

Abstract

The embodiment of the utility model discloses mobile robot's general chassis relates to robotechnology field. The lifting device comprises a fixed bottom plate, a plurality of driving units and a lifting mechanism, wherein the plurality of driving units are uniformly arranged on the lower side of the fixed bottom plate, each driving unit is connected with a driving motor for driving the driving unit to rotate, and the lifting mechanism is arranged in the middle of the upper side of the fixed bottom plate; the driving unit comprises an omnidirectional wheel, a supporting shaft of the omnidirectional wheel is rotatably connected with the fixed bottom plate through a driving bearing seat, and a driving motor is connected with the supporting shaft through a coupler. The driving unit adopts the omnidirectional wheel, can realize the translation of each angle, arc motion, rotation in situ and other motions, and turning radius is less, can better adapt to the operational environment under the service scene. The fixed bottom plate connects the jacking mechanism and the driving unit together. More convenient to maintain and change, the cost is lower. The method has universality and can be simultaneously applied to the service robot industry and the AGV industry.

Description

Universal chassis of mobile robot

Technical Field

The embodiment of the utility model provides a relate to the robotechnology field, concretely relates to mobile robot's general chassis.

Background

The existing mobile robot chassis is mainly applied to the service robot industry and the storage robot (AGV) industry. In the service robot industry, most chassis are not provided with a jacking mechanism, but a mode of directly and fixedly connecting the chassis with a robot body is adopted. In the AGV industry, a differential drive scheme of 2 drive wheels, 4 casters and a jacking scheme with a slew bearing are employed.

The current chassis of the robot mainly has the following problems: (1) the chassis applied to the service robot industry does not have a lifting function, only can provide drive, and has limited realization function; (2) the chassis applied to the AGV industry adopts a differential driving scheme of 2 driving wheels and 4 trundles, and has large gyration radius and poor control precision; (3) the chassis applied to the AGV industry adopts the jacking scheme with the slewing bearing, and the jacking mechanism is large in size, heavy in weight and complex in structure, so that the size of a vehicle body is increased, the load is increased, and the cost is increased. At present, a universal chassis which can be simultaneously applied to the service robot industry and the AGV industry is lacked.

Disclosure of Invention

Therefore, the embodiment of the utility model provides a mobile robot's general chassis can be applicable to the general chassis of service robot trade and AGV trade simultaneously.

In order to achieve the above object, the embodiment of the present invention provides the following technical solutions:

According to the first aspect of the embodiment of the utility model, the universal chassis of the mobile robot comprises a fixed bottom plate, a plurality of driving units and a jacking mechanism, wherein the plurality of driving units are uniformly arranged at the lower side of the fixed bottom plate, each driving unit is connected with a driving motor for driving the driving unit to rotate, the jacking mechanism is arranged in the middle of the upper side of the fixed bottom plate, and the upper end of the jacking mechanism is provided with a jacking top plate for connecting the robot; the driving unit comprises an omnidirectional wheel, a supporting shaft of the omnidirectional wheel is rotatably connected with the fixed bottom plate through a driving bearing seat, and a driving motor is connected with the supporting shaft through a coupler.

Furthermore, the omniwheel be three, adjacent omniwheel contained angle is 120 degrees and evenly arranges in the PMKD downside, driving motor passes through the mount and fixes at the PMKD downside.

Further, the jacking mechanism comprises a scissor rod and a transverse pushing mechanism, the scissor rod is vertically arranged between the fixed bottom plate and the jacking top plate in a telescopic mode, and the transverse pushing mechanism is connected with one side of the lower end of the scissor rod.

Further, the transverse pushing mechanism comprises a jacking motor, a trapezoidal screw rod, a screw nut and a pushing block, one end of the trapezoidal screw rod is connected with the jacking motor, the screw nut is in threaded connection with the trapezoidal screw rod, and the pushing block is connected between the screw nut and the scissor rod.

Furthermore, the lower end of the scissor rod is arranged on a jacking bottom plate, and the jacking bottom plate is fixed on the upper side of the fixed bottom plate at intervals.

furthermore, a position detection sensor is arranged on the chassis.

Further, the position detection sensor comprises a laser radar and an inertial measurement unit.

Further, the fixed bottom plate is circular.

The embodiment of the utility model provides a have following advantage:

The embodiment of the utility model provides a drive unit adopts the omniwheel, can realize the translation of each angle, pitch arc motion, original place rotation wait the motion, more easily controls than the differential drive scheme of 2 drive wheels of present general use, 4 truckles, and radius of gyration is littleer, realizes complicated orbit motions such as pitch arc motion more easily, the operational environment under the adaptation service scene that can be better. The fixed bottom plate connects the jacking mechanism and the driving unit together. The jacking mechanism, the driving unit and the fixed bottom plate realize modularization and standardization, are more convenient to maintain and replace, and have lower cost. The method has universality and can be simultaneously applied to the service robot industry and the AGV industry.

The utility model discloses climbing mechanism's size is littleer, self is lighter, simple structure, jacking distance are bigger, can reduce the overall dimension and the weight on chassis, and adaptability is higher, and the cost is lower.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.

The structure, ratio, size and the like shown in the present specification are only used for matching with the content disclosed in the specification, so as to be known and read by people familiar with the technology, and are not used for limiting the limit conditions which can be implemented by the present invention, so that the present invention has no technical essential significance, and any structure modification, ratio relationship change or size adjustment should still fall within the scope which can be covered by the technical content disclosed by the present invention without affecting the efficacy and the achievable purpose of the present invention.

Fig. 1 is a schematic view of a general chassis of a mobile robot provided in embodiment 1 of the present invention;

In the figure: the device comprises a coupler 1, a coupler 2, a fixing frame 3, a driving motor 4, a laser radar fixing frame 5, a laser radar 6, a jacking bearing seat 7, a screw nut 8, a push block 9, a jacking top plate 10, a scissor rod 11, a jacking motor 12, a fixed bottom plate 13, a driving bearing seat 14, an omnidirectional wheel 15 and a jacking bottom plate.

Detailed Description

The present invention is described in terms of specific embodiments, and other advantages and benefits of the present invention will become apparent to those skilled in the art from the following disclosure. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention. In the present specification, the terms "upper", "lower", "left", "right", "middle", and the like are used for the sake of clarity only, and are not intended to limit the scope of the present invention, and changes or adjustments of the relative relationship thereof are also considered to be the scope of the present invention without substantial changes in the technical content.

Referring to fig. 1, the universal chassis of the mobile robot comprises a circular fixed bottom plate 12, a plurality of driving units and a jacking mechanism, wherein the plurality of driving units are uniformly arranged at the lower side of the fixed bottom plate 12, each driving unit is connected with a driving motor 3 for driving the driving unit to rotate, the jacking mechanism is arranged in the middle of the upper side of the fixed bottom plate 12, and the upper end of the jacking mechanism is provided with a jacking top plate 9 for connecting the robot; the driving unit comprises an omnidirectional wheel 14, a supporting shaft of the omnidirectional wheel 14 is rotatably connected with the fixed bottom plate 12 through a driving bearing seat 13, and the driving motor 3 is connected with the supporting shaft through a coupler 1.

The number of the omnidirectional wheels 14 is three, the included angles of the adjacent omnidirectional wheels 14 are 120 degrees and are uniformly arranged on the lower side of the fixed bottom plate 12, and the driving motor 3 is fixed on the lower side of the fixed bottom plate 12 through the fixing frame 2. The driving motor 3 transmits power to the omnidirectional wheels 14 through the coupler 1, the controller controls the three omnidirectional wheels 14 to move correspondingly, and the movement such as in-situ rotation and translation in each direction is realized through the synthesis of the movement.

The jacking mechanism comprises a scissor rod 10 and a transverse pushing mechanism, the scissor rod 10 is vertically arranged between the fixed bottom plate 12 and the jacking top plate 9 in a telescopic mode, and the transverse pushing mechanism is connected with one side of the lower end of the scissor rod 10. The transverse pushing mechanism comprises a jacking motor 11, a trapezoidal lead screw, a lead screw nut 7 and a pushing block 8, and the trapezoidal lead screw is horizontally and rotatably arranged on the fixed bottom plate 1212 through a jacking bearing seat 6. One end of the trapezoidal lead screw is connected with a jacking motor 11 through a coupler and a speed reducer, a lead screw nut 7 is in threaded connection with the trapezoidal lead screw, and a push block 8 is connected between the lead screw nut 7 and a shear fork rod 10. The jacking motor 11 and the reduction ratio are 10: the reduction gear of 1 links to each other and realizes the function of increase torque, and jacking motor 11 transmits power for trapezoidal lead screw by shaft coupling 1, and trapezoidal lead screw rotates and drives lead screw nut 7 and do and be linear motion along the lead screw direction, and lead screw nut 7 transmits power for ejector pad 8, and ejector pad 8 links to each other through bolt and scissors pole 10 and converts the lateral shifting of ejector pad 8 into the vertical motion of scissors pole 10, realizes the jacking then.

The lower end of the scissor rod 10 is arranged on a jacking bottom plate 15, and the jacking bottom plate 15 is fixed on the upper side of the fixed bottom plate 12 at intervals. A position detection sensor is arranged on the chassis. Specifically, the position detection sensor includes a laser radar 5 and an Inertial Measurement Unit (IMU), and the laser radar 5 is fixed on the upper side of the fixed base plate 12 by a laser radar fixing frame 4. Compared with other sensors, the sensor is more sensitive and accurate in control, and can realize the functions of autonomous navigation and posture adjustment.

The embodiment of the utility model provides a drive unit adopts omniwheel 14, can realize the translation of each angle, pitch arc motion, original place rotation etc. and more easily control than the differential drive scheme of 2 drive wheels, 4 truckles of present general use, and radius of gyration is littleer, realizes complicated orbit motions such as pitch arc motion more easily, the operational environment under the adaptation service scene that can be better. The fixed base plate 12 connects the jack mechanism and the driving unit together. The jacking mechanism, the driving unit and the fixed bottom plate 12 realize modularization and standardization, are more convenient to maintain and replace and have lower cost. The method has universality and can be simultaneously applied to the service robot industry and the AGV industry.

Although the invention has been described in detail with respect to the general description and the specific embodiments, it will be apparent to those skilled in the art that modifications and improvements can be made based on the invention. Therefore, such modifications and improvements are intended to be within the scope of the invention as claimed.

Claims

1. A universal chassis of a mobile robot, characterized in that: the universal chassis comprises a fixed bottom plate (12), a plurality of driving units and a jacking mechanism, wherein the driving units are uniformly arranged on the lower side of the fixed bottom plate (12), each driving unit is connected with a driving motor (3) for driving the driving unit to rotate, the jacking mechanism is arranged in the middle of the upper side of the fixed bottom plate (12), and the upper end of the jacking mechanism is provided with a jacking top plate (9) for connecting a robot; the driving unit comprises an omnidirectional wheel (14), a supporting shaft of the omnidirectional wheel (14) is rotatably connected with the fixed bottom plate (12) through a driving bearing seat (13), and a driving motor (3) is connected with the supporting shaft through a coupler (1).

2. The universal chassis for a mobile robot of claim 1, wherein: the omnidirectional wheel (14) be three, adjacent omnidirectional wheel (14) contained angle is 120 degrees and evenly arranges in PMKD (12) downside, driving motor (3) are fixed at PMKD (12) downside through mount (2).

3. The universal chassis for a mobile robot of claim 1, wherein: the jacking mechanism comprises a scissor rod (10) and a transverse pushing mechanism, the scissor rod (10) is vertically arranged between the fixed bottom plate (12) and the jacking top plate (9) in a telescopic mode, and the transverse pushing mechanism is connected with one side of the lower end of the scissor rod (10).

4. The universal chassis for a mobile robot of claim 3, wherein: the transverse pushing mechanism comprises a jacking motor (11), a trapezoidal lead screw, a lead screw nut (7) and a pushing block (8), wherein the jacking motor (11) is connected to one end of the trapezoidal lead screw, the lead screw nut (7) is in threaded connection with the trapezoidal lead screw, and the pushing block (8) is connected between the lead screw nut (7) and a shearing fork rod (10).

5. A universal chassis for a mobile robot according to claim 3 or 4, characterized in that: the lower end of the scissor rod (10) is arranged on a jacking bottom plate (15), and the jacking bottom plate (15) is fixed on the upper side of the fixed bottom plate (12) at intervals.

6. The universal chassis for a mobile robot of claim 1, wherein: and a position detection sensor is arranged on the fixed bottom plate (12).

7. The universal chassis for a mobile robot of claim 6, wherein: the position detection sensor comprises a laser radar (5) and an inertial measurement unit.

8. The universal chassis of a mobile robot according to claim 1 or 6, characterized in that: the fixed bottom plate (12) is circular.