CN209921281U - Four-wheel drive structure chassis capable of being pushed flexibly - Google Patents
Four-wheel drive structure chassis capable of being pushed flexibly Download PDFInfo
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- CN209921281U CN209921281U CN201920737286.XU CN201920737286U CN209921281U CN 209921281 U CN209921281 U CN 209921281U CN 201920737286 U CN201920737286 U CN 201920737286U CN 209921281 U CN209921281 U CN 209921281U
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- 230000007246 mechanism Effects 0.000 claims abstract description 49
- 238000010586 diagram Methods 0.000 description 4
- 230000008602 contraction Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000011065 in-situ storage Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Abstract
The utility model discloses a four-wheel drive structure chassis which can be pushed flexibly, comprising a chassis fixing bracket, four sets of driving wheel mechanisms, an auxiliary jacking mechanism and universal wheels arranged at the bottom of the auxiliary jacking mechanism; the four sets of driving wheel mechanisms are respectively arranged at two ends of two sides of the chassis fixing bracket; the auxiliary jacking mechanism comprises a jack and a jack bracket; the jack is arranged in the middle of one end of the chassis fixing support through the jack support and used for controlling the universal wheels to ascend or descend. The utility model discloses can be when mobile robot outage or equipment break down, can artificially promote the four-wheel drive structure chassis of (advancing, retreat, turn) in a flexible way.
Description
Technical Field
The utility model relates to a robot equipment technical field especially relates to a can nimble four drive structure chassis that promote.
Background
With the increasing application proportion of the mobile robot in the field of outdoor security, people have more requirements on mobile robot equipment. At present, a mobile robot used for outdoor adaptation to complex terrains is a four-wheel drive structure, four sets of driving wheels can only rotate positively and negatively, the driving wheels can not rotate in situ, and the movement mode is differential movement, namely, forward movement, backward movement and turning are all completed by different movement modes of the driving wheels; especially, the turning is completed by using the friction resultant force through the contact of four sets of driving wheels and the ground. When the robot is pushed by people, the driving wheels of the robot can only rotate forwards and backwards, and the driving wheels can not rotate in situ, so that the robot can not turn when being pushed by people. Therefore, when the battery power of the mobile robot equipment is insufficient and sufficient power supply cannot be carried out or the equipment has electrical equipment failure, the manual pushing of the mobile robot is very inconvenient.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a can be nimble four drive structure chassis that promote can be artificial for the four drive structure chassis that promotes (gos forward, retreat, turn) in a flexible way when mobile robot outage or equipment break down.
In order to realize the purpose, the following technical scheme is adopted:
a four-wheel drive structure chassis capable of being pushed flexibly comprises a chassis fixing support, four sets of driving wheel mechanisms, an auxiliary jacking mechanism and universal wheels arranged at the bottom of the auxiliary jacking mechanism; the four sets of driving wheel mechanisms are respectively arranged at two ends of two sides of the chassis fixing bracket; the auxiliary jacking mechanism comprises a jack and a jack bracket; the jack is arranged in the middle of one end of the chassis fixing support through the jack support, and the jack is used for controlling the universal wheel to descend so as to jack up or lift up and contract the chassis fixing support.
Preferably, the jack comprises a scissor-type lifting frame, a screw rod and a jack wrench; the lead screw passes and cuts fork crane and arranges, and jack spanner and lead screw one end threaded connection, jack spanner are used for controlling the drawing or the shrink of cutting the fork crane through the lead screw.
Preferably, the jack support is of a door-shaped structure, one end of the chassis fixing support is provided with a notch structure, and two vertical door-shaped ends of the jack support are detachably connected with the tops of two sides of the notch structure respectively; the top of the scissor type lifting frame is lifted at the door-shaped transverse end of the jack support, and the jack is used for driving the universal wheel to ascend or descend through the gap structure of the chassis fixing support.
Preferably, a supporting block is arranged at the top of the scissor type lifting frame; the supporting block passes through the portal transverse end of the jack support, the top of the supporting block is provided with a jack fixing pressing block, and the periphery of the supporting block is fixedly nested with a jack fixing pressing plate.
Preferably, the bottom of the scissor type lifting frame is provided with a supporting plate; the detachable universal wheel holding plate that is connected with in backup pad top, universal wheel holding plate is used for being fixed in the top of universal wheel with the backup pad.
Preferably, the driving wheel mechanism comprises a driving motor, a driving support connecting piece and a driving wheel; the driving motor and the driving wheel are respectively arranged at two ends of the driving support connecting piece, and the driving motor penetrates through the driving support connecting piece to be in driving connection with the driving wheel; the driving motor is used for driving the driving wheel to work.
Preferably, the bottom of the drive support connecting piece is detachably connected with the top of the chassis fixing support, and the drive motor is arranged above the chassis fixing support.
Adopt above-mentioned scheme, the beneficial effects of the utility model are that:
the utility model overcomes prior art's is not enough, simple structure, and use and easy maintenance can realize that two sets of driving wheel mechanisms of certain one end of chassis fixed bolster can be by the function of jacking, under this state, four-wheel drive structure chassis has become the tricycle chassis structure of taking the universal wheel, has satisfied the user and when mobile robot outage or equipment broke down, can artificially promote the demand (marching forward, backward, turn) in a flexible way, has improved mobile robot user's work efficiency.
Drawings
Fig. 1 is a perspective view of the present invention;
fig. 2 is a perspective view of the auxiliary jacking mechanism of the present invention;
fig. 3 is a perspective view of the driving wheel mechanism of the present invention;
fig. 4 is a schematic view of the auxiliary jacking mechanism of the present invention pulling to jack the chassis fixing bracket;
fig. 5 is a schematic view illustrating the chassis fixing bracket of the present invention being lifted to a target position;
fig. 6 is a schematic view of the chassis fixing bracket descending due to the contraction of the auxiliary jacking mechanism of the present invention;
fig. 7 is a schematic view of the four sets of driving wheels of the present invention in a fully landing state;
wherein the figures identify the description:
Detailed Description
1-chassis fixing support, 2-driving wheel mechanism,
3-an auxiliary jacking mechanism, 4-universal wheels,
21-driving motor, 22-driving supporting connecting piece,
23-driving wheel, 31-jack,
32-jack support, 41-universal wheel top plate,
311-a scissor-fork type lifting frame, 312-a jack wrench,
313, a supporting block, 314, a jack fixing pressing block,
315, a jack fixing pressure plate, and 316, a universal wheel fixing pressure plate.
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1 to 7, the utility model provides a four-wheel drive chassis which can be pushed flexibly, comprising a chassis fixing support 1, four sets of driving wheel mechanisms 2, an auxiliary jacking mechanism 3 and universal wheels 4 arranged at the bottom of the auxiliary jacking mechanism 3; the four sets of driving wheel mechanisms 2 are respectively arranged at two ends of two sides of the chassis fixing support 1; the auxiliary jacking mechanism 3 comprises a jack 31 and a jack bracket 32; the jack 31 is arranged in the middle of one end of the chassis fixing support 1 through the jack support 32, and the jack 31 is used for controlling the universal wheel 4 to descend so as to jack up or ascend and contract the chassis fixing support 1.
Wherein the jack 31 comprises a scissor-type lifting frame 311, a screw rod (not shown in the figure), a jack wrench 312; the screw rod penetrates through the scissor type lifting frame 311 to be arranged, the jack wrench 312 is in threaded connection with one end of the screw rod, and the jack wrench 312 is used for controlling the extension or contraction of the scissor type lifting frame 311 through the screw rod. The jack support 32 is of a door-shaped structure, one end of the chassis fixing support 1 is provided with a notch structure, and two vertical door-shaped ends of the jack support 32 are detachably connected with the tops of two sides of the notch structure respectively; the top of the scissor type lifting frame 311 is lifted at the door-shaped transverse end of the jack support 32, and the jack 31 is used for driving the universal wheel 4 to ascend or descend through the gap structure of the chassis fixing support 1.
The top of the scissor type lifting frame 311 is provided with a supporting block 313; the supporting block 313 passes through the portal transverse end of the jack support 32, and the top of the supporting block is provided with a jack fixing pressing block 314, and the periphery of the supporting block is fixedly nested with a jack fixing pressing plate 315. The bottom of the scissor type lifting frame 311 is provided with a support plate (not shown in the figure); the top of the supporting plate is detachably connected with a universal wheel fixing pressing plate 316, and the universal wheel fixing pressing plate 316 is used for fixing the supporting plate on the top of the universal wheel 4.
The driving wheel mechanism 2 comprises a driving motor 21, a driving support connecting piece 22 and a driving wheel 23; the driving motor 31 and the driving wheel 23 are respectively arranged at two ends of the driving support connecting piece 22, and the driving motor 21 penetrates through the driving support connecting piece 22 to be in driving connection with the driving wheel 23; the driving motor 21 is used for driving the driving wheel 23 to work. The bottom of the drive support connecting piece 22 is detachably connected with the top of the chassis fixing support 1, and the drive motor 21 is arranged above the chassis fixing support 1.
The utility model discloses the theory of operation:
in the utility model, when the manual air pushing is needed, the auxiliary jacking mechanism 3 drives the universal wheel 4 to descend and is supported by the universal wheel 4 and the two driving wheels 23, so that the manual flexible pushing is realized; when autonomous motion is required, it is supported by four drive wheels 23.
When the scissor-type lifting frame 311 is stretched by artificially utilizing the jack wrench 312 to do work, the universal wheel 4 at the bottom of the jack 31 pushes the chassis fixing support 1 to slowly move upwards along the vertical direction, after the scissor-type lifting frame 311 is stretched to a specified height, the two sets of driving wheel mechanisms 2 at one end of the chassis fixing support 1 integrally lift up to a certain height at the same time, so that the driving wheels 23 at the end are not contacted with the ground, the chassis fixing support 1 is supported by the driving wheels 23 of the other two sets of driving wheel mechanisms 2 and the universal wheel 4, at the moment, when the robot is manually pushed to move, the driving wheels 23 of the two sets of lifted driving wheel mechanisms 2 do not rotate, and the driving wheels 23 of the remaining two sets of driving mechanisms 2 and the universal wheel 4 form a three-.
When the scissor type lifting frame 311 is retracted by artificially using the jack wrench 312 to do work, the universal wheels 4 start to be lifted off the ground due to the self gravity of the mobile robot and the action of the jack wrench 312, and the two suspended driving wheel mechanisms 2 start to descend until the state of contacting with the ground is reached.
Fig. 1 is the utility model provides a but the perspective view on four-wheel drive structure chassis that promotes in a flexible way, jack support 32 uses bolted connection with chassis fixed bolster 1, and drive wheel 23 uses bolted connection through drive support connecting piece 22 with chassis fixed bolster 1.
Fig. 2 is a perspective view of the auxiliary jacking mechanism 3 provided by the present invention, in which the jack stand 32 and the scissor type lifting frame 311 are fixed by a combination of a jack fixing pressing plate 315 and a jack fixing pressing block 314 by bolts; the universal wheel 4 and the scissor type lifting frame 311 are fixed through a universal wheel fixing pressure plate 316 by means of bolt combination (a universal wheel top plate 41 is arranged at the top of the universal wheel 4, the universal wheel fixing pressure plate 316 and the universal wheel top plate 41 clamp a support plate up and down by means of bolts to realize fixation), and the universal wheel 4 can move up and down along with the extension of the scissor type lifting frame 311; the jack wrench 312 is connected with the screw rod in a thread fit manner, and is easy to detach.
Fig. 3 is a perspective view of the driving wheel mechanism 2 provided by the present invention, wherein a driving wheel 23 is installed on one side end surface of the driving support connecting member 22, and a driving motor 21 is fixed on the other side end surface; the output shaft of the driving motor 21 passes through the driving support connecting piece 22 and is fixedly connected with the driving wheel 23 through flat keys and bolts.
Fig. 4 is a schematic diagram of the chassis fixing support 1 being jacked (the universal wheels 4 being lowered) by stretching the auxiliary jacking mechanism 3, and when the four-wheel drive structure chassis which can be flexibly pushed and placed on the horizontal ground needs to be manually pushed, the working principle of the auxiliary jacking mechanism 3 is as follows: artificially, the jack wrench 312 is matched and fixed with the screw rod, the scissor-type lifting frame 311 drives the universal wheel 4 to move downwards by applying work clockwise (shown in the direction A in fig. 4) through the jack wrench 312, the universal wheel 4 is contacted with the ground along with the continuous stretching of the scissor-type lifting frame 311, and the driving wheels 23 of the two sets of driving wheel mechanisms 2 at the end are lifted for a certain distance relative to the ground.
Fig. 5 is a schematic diagram of the chassis fixing bracket 1 being lifted to a target position, and after the chassis fixing bracket 1 is lifted to the target position, it can be seen from the diagram that the driving wheel 23 at the end has been lifted by the universal wheel 4 to a distance from the ground, at this time, the chassis fixing bracket 1 is supported by the driving wheel mechanism 2 and the universal wheel 4 at the other end, and the chassis fixing bracket 1 and the ground present a certain angle.
Fig. 6 is a schematic diagram of the auxiliary jacking mechanism 3 contracting to make the chassis fixing support 1 descend (the universal wheels ascend), and when the four-wheel drive structure chassis mobile robot which can be pushed flexibly needs autonomous movement, the working principle of the auxiliary jacking mechanism is as follows: artificially, jack spanner 312 and lead screw cooperation are fixed, do work through jack spanner 312 anticlockwise (shown in B direction in figure 6), under the combined action of mobile robot self gravity and jack spanner 312, universal wheel 4 upwards moves, chassis fixed bolster 1 and two sets of drive wheel mechanism 2 that are lifted move downwards, along with the continuous shrink of scissor formula crane 311, universal wheel 4 leaves ground, the drive wheel 23 of the drive wheel mechanism 2 of this end begins to contact with ground, stop action when scissor formula crane 311 contracts to self extreme position, drive wheel 23 and ground complete contact.
Fig. 7 is a schematic view of the four sets of driving wheel mechanisms 2 in a fully landing state, and it is apparent from the figure that the driving wheels 23 of the driving wheel mechanisms 2 are in full contact with the ground, and the chassis fixing bracket 1 is supported by the driving wheels 23 of the four sets of driving wheel mechanisms 2.
The above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (7)
1. A four-wheel drive structure chassis capable of being pushed flexibly is characterized by comprising a chassis fixing support, four sets of driving wheel mechanisms, an auxiliary jacking mechanism and universal wheels arranged at the bottom of the auxiliary jacking mechanism; the four sets of driving wheel mechanisms are respectively arranged at two ends of two sides of the chassis fixing bracket; the auxiliary jacking mechanism comprises a jack and a jack bracket; the jack is arranged in the middle of one end of the chassis fixing support through the jack support, and the jack is used for controlling the universal wheel to descend so as to jack up or lift up and contract the chassis fixing support.
2. The flexibly pushable four-wheel drive structural chassis of claim 1, wherein the jack comprises a scissor lift, a lead screw, a jack wrench; the lead screw passes and cuts fork crane and arranges, and jack spanner and lead screw one end threaded connection, jack spanner are used for controlling the drawing or the shrink of cutting the fork crane through the lead screw.
3. The flexibly-propelled four-wheel drive structure chassis as claimed in claim 2, wherein the jack support is of a door-shaped structure, one end of the chassis fixing support is provided with a notch structure, and two vertical door-shaped ends of the jack support are detachably connected with the tops of two sides of the notch structure respectively; the top of the scissor type lifting frame is lifted at the door-shaped transverse end of the jack support, and the jack is used for driving the universal wheel to ascend or descend through the gap structure of the chassis fixing support.
4. The flexibly pushable four wheel drive structural chassis of claim 3, wherein a support block is provided on top of the scissor lift frame; the supporting block passes through the portal transverse end of the jack support, the top of the supporting block is provided with a jack fixing pressing block, and the periphery of the supporting block is fixedly nested with a jack fixing pressing plate.
5. The flexibly-propelled four-wheel drive structure chassis as claimed in claim 2, wherein a support plate is arranged at the bottom of the scissor type lifting frame; the detachable universal wheel holding plate that is connected with in backup pad top, universal wheel holding plate is used for being fixed in the top of universal wheel with the backup pad.
6. The flexibly pushable four-wheel drive structural chassis of claim 1, wherein the drive wheel mechanism comprises a drive motor, a drive support connection, a drive wheel; the driving motor and the driving wheel are respectively arranged at two ends of the driving support connecting piece, and the driving motor penetrates through the driving support connecting piece to be in driving connection with the driving wheel; the driving motor is used for driving the driving wheel to work.
7. The flexibly pushable four-wheel drive structure chassis according to claim 6, wherein the bottom of the drive support connection member is detachably connected with the top of the chassis fixing bracket, and the drive motor is arranged above the chassis fixing bracket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920737286.XU CN209921281U (en) | 2019-05-20 | 2019-05-20 | Four-wheel drive structure chassis capable of being pushed flexibly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920737286.XU CN209921281U (en) | 2019-05-20 | 2019-05-20 | Four-wheel drive structure chassis capable of being pushed flexibly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209921281U true CN209921281U (en) | 2020-01-10 |
Family
ID=69091517
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920737286.XU Expired - Fee Related CN209921281U (en) | 2019-05-20 | 2019-05-20 | Four-wheel drive structure chassis capable of being pushed flexibly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209921281U (en) |
-
2019
- 2019-05-20 CN CN201920737286.XU patent/CN209921281U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200110 |
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| CF01 | Termination of patent right due to non-payment of annual fee |