CN210478384U

CN210478384U - Robot shock attenuation chassis that turns to in a flexible way

Info

Publication number: CN210478384U
Application number: CN201921470074.6U
Authority: CN
Inventors: 陈桂林; 任成昊; 连佳乐; 王石林
Original assignee: Shandong University of Technology
Current assignee: Shandong University of Technology
Priority date: 2019-09-05
Filing date: 2019-09-05
Publication date: 2020-05-08
Anticipated expiration: 2029-09-05

Abstract

The utility model discloses a nimble robot shock attenuation chassis that turns to belongs to the robotechnology field. The automatic transmission comprises a driving wheel set, a driven wheel set, a bottom plate, an I-shaped frame, a driven gear, a driving gear set, a top plate and the like. Two sets of driving wheel sets are symmetrically arranged on two sides of the rear portion of the bottom plate, two sets of driven wheel sets are symmetrically arranged on two sides of the top plate and located on two sides of the front portion of the bottom plate, the top plate is connected with the bottom plate through an I-shaped frame, and the driving wheel sets are arranged on the front portion of the bottom plate and matched with driven gears arranged on the driven wheel sets. The driving wheel set at the rear part of the chassis is used as the power of the robot in the moving process of the chassis, so that the robot can move back and forth, and the driven wheel set at the front part of the chassis and the driving wheel set act together to enable the robot to flexibly steer in the moving process; all be equipped with the bumper shock absorber in drive wheelset and driven wheelset department and make the robot have good topography trafficability characteristic. The utility model has the advantages of strong flexibility, good passing ability, convenient disassembly and assembly, reliable performance and the like.

Description

Robot shock attenuation chassis that turns to in a flexible way

Technical Field

The utility model belongs to the technical field of the robot, concretely relates to nimble robot shock attenuation chassis that turns to.

Background

With the rapid development of artificial intelligence technology, mobile robots have gained popularity in many fields.

The damping structure of present mobile robot is various, and the produced shock attenuation effect of different damping structure is different, and current some damping structure designs exist not enough to lead to the robot when moving stability when having the driving not enough, cross the obstacle performance poor, grab ground performance shortcoming such as not enough through uneven ground surface. Nowadays, most chassis steering adopts a differential steering mode, and steering by adopting the method has large steering radius, so that the flexibility of robot movement is limited to a certain extent.

For example, the utility model with patent publication number CN204585230U discloses a wheeled household monitoring robot. The shock absorber is positioned on one side of the connecting plate, the shock absorption mode easily causes the inclination of a wheel train structure, the central shaft of the wheel forms an angle with the ground, and the maximum function of the wheel cannot be exerted.

For example, the invention patent with patent publication number CN108327473A discloses an omnidirectional all-wheel-drive mobile robot chassis with independent suspension. The steering structure is controlled by four motors, the motors swing along with the steering structure when steering, damage is easily caused, and the four independent suspensions are complex in structure and high in processing cost.

Disclosure of Invention

In view of the not enough that existing mobile robot shock attenuation and steering structure exist, the utility model discloses a provide a robot shock attenuation chassis that can turn to in a flexible way, chassis simple structure has economic nature. The stability and the flexibility of removal when having improved the robot and traveling on the road surface.

Realize the utility model discloses a solution does:

a robot shock absorption chassis capable of flexibly steering comprises a driving wheel set, a driven wheel set, a bottom plate, an I-shaped frame, a driven gear, a driving gear set and a top plate. The driving wheel sets are arranged on two sides of the rear part of the bottom plate symmetrically; the top plate is connected with the bottom plate through four groups of I-shaped frames symmetrically arranged at the front part of the bottom plate; the two driven wheel sets are symmetrically positioned at two sides of the front part of the bottom plate, and the upper parts of the two driven wheel sets are arranged on the top plate; the driving gear set is arranged at the front part of the bottom plate.

The driven wheel group comprises a turntable bearing, two groups of driven wheel connecting plate seats, two groups of driven wheel damper seats and a driven gear mounting plate are mounted on the lower portion of an outer ring of the turntable bearing, and a mounting hole of an inner ring of the turntable bearing is used for mounting the driven wheel group on the top plate.

The driven wheel set further comprises a driven wheel connecting plate seat, a driven wheel shock absorber seat, a driven wheel connecting plate, a driven wheel shaft, a flange bearing, a driven gear mounting plate, a wheel, a shock absorber, a bushing and a clamp spring.

The driven gear mounting plate has two groups of mounting holes, one group of mounting holes are used for mounting the driven gear mounting plate on the lower part of the turntable bearing, and the other group of mounting holes are used for connecting the driven gear.

And the lower part of the driven wheel connecting plate seat is connected with an upper mounting hole of the driven wheel connecting plate to form a revolute pair.

And the lower part of the driven wheel shock absorber seat is connected with the upper mounting hole of the shock absorber to form a revolute pair.

The driven wheel connecting plates are distributed on two sides of the wheel, mounting holes in the middle of the driven wheel connecting plates are connected with mounting holes in the lower portions of the two sets of shock absorbers to form a revolute pair, and mounting holes in the lower portions of the driven wheel connecting plates are connected with two sets of flange bearings.

The driving gear set comprises a driving gear, a flange plate, a motor mounting frame and a motor.

And the driving gear of the driving gear set is matched with the driven gear installed on the driven gear set to form a gear pair so as to realize flexible steering.

One end face of the driving gear is connected with the flange plate, and the other end face of the driving gear is provided with a nut groove.

The flange plate penetrates through the motor mounting frame and is connected with an output shaft of the motor.

The motor mounting bracket is provided with a mounting hole connected with the motor, the motor mounting bracket is attached to the cylindrical shell of the motor when being connected with the motor, and the extended parts on the two sides of the motor mounting bracket are provided with mounting holes used for connecting the driving gear set with the bottom plate.

The driving wheel set comprises wheels, a driving wheel shock absorber seat, a shock absorber, a No. 1 connecting plate, a synchronous belt wheel, a driving wheel connecting plate seat, a motor, a No. 2 connecting plate, a driving wheel axle, a clamp spring, a synchronous belt, a lining and the like.

The driving wheel connecting plate seat is used for connecting a No. 1 connecting plate, a No. 2 connecting plate and a bottom plate, and the driving wheel shock absorber seat is used for connecting a shock absorber and the bottom plate.

The upper mounting hole of the No. 1 connecting plate is used for connecting a driving wheel connecting plate seat, the middle mounting hole is used for connecting a lower hole of a shock absorber, and the lower mounting hole is connected with a flange bearing; the upper mounting hole of the No. 2 connecting plate is used for connecting a driving wheel connecting plate seat, the middle upper mounting hole is used for connecting a motor, the middle lower mounting hole is used for connecting a lower hole of a shock absorber, and the lower mounting hole is connected with a flange bearing; the flange bearings connected with the No. 1 connecting plate and the No. 2 connecting plate are connected with the driving wheel shaft, and the two flange bearings are used for mounting the bushing and the synchronous belt pulley at a certain distance.

The output shaft of the motor penetrates through the No. 2 connecting plate to be matched with the synchronous pulley hole, and the motor and the synchronous pulley are fixed together through screws on the synchronous pulley.

The synchronous belt pulleys are divided into two groups, one group is used for connecting an output shaft of the motor, and the two groups are fixed together through screws on the synchronous belt pulleys; the other group is arranged on the driving wheel shaft and positioned between the two flange bearings, and the bushing is used for supplementing a gap between the two flange bearings after the synchronous belt wheel is arranged; the two groups of synchronous belt wheels are in matched transmission through a synchronous belt.

The driving wheel shaft is installed together with the wheel through the installation hole in the flange plate, a stepped shaft used for positioning the No. 1 connecting plate is arranged at the position where the driving wheel shaft is connected with the No. 1 connecting plate, and a groove used for installing a clamp spring used for positioning the No. 2 connecting plate is arranged at the position where the driving wheel shaft is connected with the No. 2 connecting plate.

The utility model discloses compare with current mobile robot, its advantage is:

the utility model discloses be provided with damping device respectively in drive wheel and driven wheel department, improved stationarity and the reliability that the removal robot went.

The utility model discloses a gear turns to the structure and turns to, reduces the requirement to the space when the robot traveles, makes mobile robot turn to more in a flexible way.

The utility model discloses a modular design, mutual independence between each module, it is convenient to dismantle, is favorable to the installation of mobile robot.

In addition to the above-mentioned features and advantages, other objects, features, etc. of the present invention will be further explained with reference to the accompanying drawings.

Drawings

Fig. 1 is a layout diagram of a flexible steering damping chassis of a robot of the present invention;

fig. 2 is a three-dimensional view of a flexible steering robot damping chassis of the present invention;

fig. 3 is a three-dimensional view of a driving wheel set of a flexible steering robot damping chassis of the present invention;

fig. 4 is an exploded view of a driven wheel set of a flexible steering robot damping chassis according to the present invention;

fig. 5 is an exploded view of a driving gear set of the flexible steering damping chassis of the robot of the present invention.

Wherein:

1. drive wheel group 1a, wheel 1b, drive wheel damper seat 1c, damper 1d.1 connecting plate 1e, synchronous pulley 1f, drive wheel connecting plate seat 1g, motor 1h.2 connecting plate 1i, drive wheel shaft 1j, snap spring 1k, synchronous belt 1m, bush

2. Driven wheel set 2a, driven wheel connecting plate seat 2b, driven wheel damper seat 2c, turntable bearing 2d, driven wheel connecting plate driven wheel axle 2f, flange bearing 2g, driven gear mounting plate

3. The motor mounting structure comprises a bottom plate 4, an I-shaped frame 5, a driven gear 6, a driving gear group 6a, a driving gear 6b, a flange plate 6c, a motor mounting frame 7 and a top plate.

Detailed Description

The present invention will be further described with reference to the accompanying drawings.

As shown in fig. 1-2, a flexible steering robot damping chassis comprises a driving wheel set 1, a driven wheel set 2, a bottom plate 3, an i-shaped frame 4, a driven gear 5, a driving gear set 6 and a top plate 7. The driving wheel sets 1 are two groups and are symmetrically arranged at two sides of the rear part of the bottom plate 3. The top plate 7 is connected with the bottom plate 3 through four groups of I-shaped frames 4 symmetrically arranged at the front part of the bottom plate 3. The two driven wheel sets 2 are symmetrically positioned at two sides of the front part of the bottom plate 3, and the upper parts of the driven wheel sets are arranged on the top plate 7; the drive gear set 6 is mounted to the front of the base plate 3.

Further, the whole bottom plate 3 is rectangle, and the rectangular hole that is equipped with bilateral symmetry at bottom plate 3 rear portion is used for installing drive wheelset 1, and the front portion is equipped with the opening of bilateral symmetry and is used for installing driven wheelset 2, and the front portion is equipped with the circular port and is used for installing motor 1g. It should be noted that the rectangular holes in the rear and the openings in the front of the bottom plate 3 should meet the motion requirements of the wheel set.

Furthermore, the I-shaped frame 4 is integrally I-shaped, and a reinforcing rib is designed at the right-angle joint of the I-shaped frame 4 to reinforce the I-shaped frame 4.

As shown in fig. 3, the driving wheel set 1 includes a wheel 1a, a driving wheel damper seat 1b, a damper 1c, a connection plate 1d No. 1, a synchronous pulley 1e, a driving wheel connection plate seat 1f, a motor 1g, a connection plate 1h No. 2, a driving wheel axle 1i, a clamp spring 1j, a synchronous belt 1k, and a bushing 1m. The driving wheel connecting plate seat 1f is used for connecting a No. 1 connecting plate 1d, a No. 2 connecting plate 1h and a bottom plate 3. The driving wheel damper base 1b is used for connecting the damper 1c and the bottom plate 3. No. 1 connecting plate 1d upper portion mounting hole is used for connecting drive wheel connecting plate seat 1f, and the middle part mounting hole is used for connecting bumper shock absorber 1c lower part hole, and the lower part mounting hole is connected with flange bearing 2f. No. 2 connecting plate 1h upper portion mounting hole is used for connecting drive wheel connecting plate seat 1f, and the middle part is mounting hole on the upper side is used for connecting motor 1g, and the middle part is mounting hole on the lower side is used for connecting bumper shock absorber 1c lower part hole, and the lower part mounting hole is connected with flange bearing 2f. The flange bearings 2f connected with the No. 1 connecting plate 1d and the No. 2 connecting plate 1h are connected with the driving wheel shaft 1i, and the two flange bearings 2f are used for mounting the bushing 1m and the synchronous belt pulley 1e at a certain distance.

Preferably, when the connection plate 1d of No. 1, the connection plate 1h of No. 2 are installed on the driving wheel connection plate seat 1f, a thrust ball bearing can be installed between the contact surfaces of the connection plate and the driving wheel connection plate seat 1f to reduce the friction between the end surfaces of the connection plate and the driving wheel connection plate seat, so that the rotation of the formed revolute pair is smoother.

An output shaft of the motor 1g penetrates through the No. 2 connecting plate 1h to be matched with a hole of the synchronous belt wheel 1e, and the motor 1g and the synchronous belt wheel 1e are fixed together through a screw on the synchronous belt wheel 1e. The synchronous belt wheels 1e are divided into two groups, one group is used for connecting an output shaft of the motor 1g, and the two groups are fixed together through screws on the synchronous belt wheels 1 e; the other set is mounted on the driving wheel shaft 1i and is located between the two flange bearings 2f. The bush 1m is used to supplement a gap existing between the two flange bearings 2f after the synchronous pulley 1e is mounted. The two groups of synchronous belt wheels 1e are in matched transmission through a synchronous belt 1k. The driving wheel shaft 1i is installed together with the wheel 1a through a mounting hole in a flange plate of the driving wheel shaft 1i, a stepped shaft is arranged at the position where the driving wheel shaft 1i is connected with the No. 1 connecting plate 1d and used for positioning the No. 1 connecting plate 1d, and a groove is arranged at the position where the driving wheel shaft 1i is connected with the No. 2 connecting plate 1h and used for installing a clamp spring 1j for positioning the No. 2 connecting plate 1h.

As shown in fig. 4, the driven wheel set 2 includes a turntable bearing 2c, a driven wheel connecting plate seat 2a, a driven wheel damper seat 2b, a driven wheel connecting plate 2d, a driven wheel axle 2e, a flange bearing 2f, a driven gear mounting plate 2g, a wheel 1a, a damper 1c, a bushing 1m, a snap spring 1j, and the like. And the lower part of the outer ring of the turntable bearing 2c is provided with two groups of driven wheel connecting plate seats 2a, two groups of driven wheel shock absorber seats 2b and a driven gear mounting plate 2g.

And the inner ring mounting hole of the turntable bearing 2c is used for mounting the driven wheel set 2 on the top plate 7.

Preferably, when the inner ring of the turntable bearing 2c is installed on the top plate 7, a bush 1m is added between the installation hole and the top plate 7 to ensure that a certain gap is formed between the turntable bearing 2c and the top plate 7, so as to avoid interference between other bolts and nuts on the driven wheel set 2 and the top plate 7.

Driven gear mounting panel 2g has two sets of mounting holes in total, and its inside a set of mounting hole is used for installing driven gear mounting panel 2g in the lower part of slewing bearing 2c, and a set of mounting hole of outside is used for connecting driven gear 5. The lower part of the driven wheel connecting plate seat 2a is connected with an upper mounting hole of the driven wheel connecting plate 2d to form a revolute pair.

Preferably, when the driven wheel connecting plate 2d is installed on the driven wheel connecting plate seat 2a, a thrust ball bearing can be installed between the contact surfaces of the driven wheel connecting plate 2d and the driving wheel connecting plate seat 1f to reduce friction between the end surfaces of the driven wheel connecting plate and the driving wheel connecting plate seat, so that the formed revolute pair can rotate more smoothly.

The lower part of the driven wheel shock absorber seat 2b is connected with the upper part mounting hole of the shock absorber 1c to form a revolute pair. The driven wheel connecting plates 2d are divided into two groups and distributed on two sides of the wheel 1a, mounting holes in the middle of the driven wheel connecting plates are respectively connected with mounting holes in the lower parts of the two groups of shock absorbers 1c to form a revolute pair, and mounting holes in the lower parts of the driven wheel connecting plates are respectively connected with two groups of flange bearings 2f.

As shown in fig. 5, the driving gear group 6 includes a driving gear 6a, a flange 6b, a motor mounting bracket 6c, and a motor 1g. The driving gear 6a is matched with the driven gear 5 arranged on the driven wheel set 2 to form a gear pair so as to realize flexible steering. One end face of the driving gear 6a is connected with the flange plate 6b, and the other end face is provided with a nut groove. The flange 6b penetrates through the motor mounting frame 6c to be connected with an output shaft of the motor 1g. Motor mounting bracket 6c is equipped with the mounting hole of being connected with motor 1g, and its inside cylinder casing laminating with motor 1g when being connected with motor 1g, motor mounting bracket 6c both sides overhanging portion is equipped with the mounting hole that is used for being connected drive gear group 6 and bottom plate 3.

The above is only a preferred embodiment of the present invention, and it should be noted that: many modifications and substitutions may be made by those skilled in the art, and any such modifications, alterations and the like which fall within the spirit and principles of the invention are intended to be encompassed within the scope of the invention.

Claims

1. The utility model provides a nimble robot shock attenuation chassis that turns to which characterized in that: the automatic transmission mechanism comprises a driving wheel set (1), a driven wheel set (2), a bottom plate (3), an I-shaped frame (4), a driven gear (5), a driving gear set (6) and a top plate (7); the driving wheel sets (1) are arranged at two sides of the rear part of the bottom plate (3) symmetrically; the top plate (7) is connected with the bottom plate (3) through four groups of I-shaped frames (4) symmetrically arranged at the front part of the bottom plate (3); the two driven wheel sets (2) are symmetrically positioned at two sides of the front part of the bottom plate (3), and the upper parts of the two driven wheel sets are arranged on the top plate (7); the driving gear set (6) is arranged at the front part of the bottom plate (3).

2. The flexible steering robot vibration damping chassis of claim 1, wherein: driven wheelset (2) include swivel bearing (2 c), swivel bearing (2 c) outer lane lower part is installed two sets of connecting plate seats (2 a), two sets of driven wheel bumper shock absorbers seat (2 b), driven gear mounting panel (2 g) from the driving wheel, swivel bearing (2 c) inner circle mounting hole is used for installing driven wheelset (2) on roof (7).

3. The flexible steering robot vibration damping chassis of claim 1, wherein: the driven wheel set (2) further comprises a driven wheel connecting plate seat (2 a), a driven wheel shock absorber seat (2 b), a driven wheel connecting plate (2 d), a driven wheel axle (2 e), a flange bearing (2 f), a driven gear mounting plate (2 g), a wheel (1 a), a shock absorber (1 c), a bushing (1 m) and a clamp spring (1 j).

4. The flexible steering robot vibration damping chassis of claim 3, wherein:

the driven gear mounting plate (2 g) has two groups of mounting holes, one group of mounting holes in the driven gear mounting plate are used for mounting the driven gear mounting plate (2 g) on the lower part of the turntable bearing (2 c), and the other group of mounting holes in the driven gear mounting plate are used for connecting a driven gear (5);

the lower part of the driven wheel connecting plate seat (2 a) is connected with an upper mounting hole of the driven wheel connecting plate (2 d) to form a revolute pair;

the lower part of the driven wheel shock absorber seat (2 b) is connected with the upper mounting hole of the shock absorber (1 c) to form a revolute pair.

5. The flexible steering robot vibration damping chassis of claim 4, wherein: the driven wheel connecting plates (2 d) are divided into two groups and distributed on two sides of the wheel (1 a), mounting holes in the middle of the driven wheel connecting plates are respectively connected with mounting holes in the lower parts of the two groups of shock absorbers (1 c) to form a revolute pair, and the mounting holes in the lower parts of the driven wheel connecting plates are respectively connected with the two groups of flange bearings (2 f).

6. The flexible steering robot vibration damping chassis of claim 1, wherein: the driving gear set (6) comprises a driving gear (6 a), a flange plate (6 b), a motor mounting frame (6 c) and a motor (1 g).

7. The flexible steering robot vibration damping chassis of claim 1, wherein: and a driving gear (6 a) of the driving gear set (6) is matched with a driven gear (5) installed on the driven gear set (2) to form a gear pair so as to realize flexible steering.

8. The flexible steering robot vibration damping chassis of claim 6, wherein:

one end face of the driving gear (6 a) is connected with the flange plate (6 b), and the other end face of the driving gear is provided with a nut groove;

the flange plate (6 b) is connected with an output shaft of the motor (1 g) by penetrating through the motor mounting frame (6 c);

motor mounting bracket (6 c) are equipped with the mounting hole of being connected with motor (1 g), and its inside cylinder casing laminating with motor (1 g) when being connected with motor (1 g), motor mounting bracket (6 c) both sides overhanging part is equipped with the mounting hole that is used for being connected drive gear group (6) and bottom plate (3).