CN210592141U

CN210592141U - Mobile robot chassis structure

Info

Publication number: CN210592141U
Application number: CN201921663154.3U
Authority: CN
Inventors: 司蓉兴; 杨连明
Original assignee: Wuxi Yijia Industrial Equipment Manufacturing Co ltd
Current assignee: Wuxi Yijia Industrial Equipment Manufacturing Co ltd
Priority date: 2019-09-30
Filing date: 2019-09-30
Publication date: 2020-05-22
Anticipated expiration: 2029-09-30

Abstract

The utility model belongs to the technical field of intelligent logistics equipment, a mobile robot chassis structure is related to, including the frame, the frame rotates respectively along length direction both ends and connects a set of suspension, and every group the suspension rotates respectively along length direction both ends and sets up a set of drive wheel, the drive wheel is driven by the driving piece and is operated, every the suspension sets up the limiting plate respectively along length direction both ends in order to carry out the spacing to the lower limit position of suspension swing, the product of the utility model is rational in infrastructure ingenious, in use, can greatly improve the trafficability characteristic of mobile robot, and the trafficability characteristic of mobile robot is irrelevant with the load; simple structure, convenient maintenance and low implementation cost.

Description

Mobile robot chassis structure

Technical Field

The utility model belongs to the technical field of intelligence logistics equipment, a mobile robot chassis structure is related to.

Background

The ground in a production plant such as a high-speed train, heavy machinery, aerospace, etc. generally requires a certain number of ground rails or track-retaining grooves, obstacles, etc. to be laid, and thus requires a high passing performance of the mobile robot. The conventional mobile robot adopts the guide element and the elastic element to ensure the passing performance of the equipment, the mode only can adapt to the conditions of uneven road surface, potholes and the like, the conventional mobile robot cannot be used for the ground with ground rails, the passing performance can be reduced along with the increase of load, in addition, the structure is complex, the elastic element needs to be replaced frequently, and the implementation cost is high.

Disclosure of Invention

The utility model provides a to above-mentioned problem, a mobile robot chassis structure is provided, this chassis structure had both guaranteed that the robot has high throughput performance, has realized the load irrelevance through the performance again to possess simple structure, compactness, be convenient for maintain, characteristics that the implementation cost is low.

According to the technical scheme of the utility model: a mobile robot chassis structure which characterized in that: including the frame, the frame rotates respectively along length direction both ends and connects a set of suspension, every group the suspension rotates respectively along length direction both ends and sets up a set of drive wheel, the drive wheel is operated by driving piece drive, every the suspension sets up the limiting plate respectively along length direction both ends and carries on spacingly in order to carry out suspension wobbling lower limit position.

As a further improvement of the utility model, each group the driving wheel is driven to operate by a group of speed reducer and driving motor that interact mutually respectively.

As a further improvement, the suspension sets up mounting plate along length direction both ends, mounting plate fixed connection speed reducer mount pad, the speed reducer install in on the speed reducer mount pad, driving motor's output shaft is connected with the input hole of speed reducer.

As a further improvement, the suspension comprises a swing arm frame, the swing arm frame is provided with a rotating shaft assembly along the middle position of the length direction, and the rotating shaft assembly is connected with the frame.

As the utility model discloses a further improvement, the pivot subassembly include with swing arm frame fixed connection's sleeve, the sleeve internal rotation sets up the pivot, and the pivot tip passes through flange structure fastening connection pivot bottom plate, pivot bottom plate and frame fixed connection.

As a further improvement, the pivot both ends are respectively through bearing support in the sleeve, separate through the annular bulge that the sleeve inner wall formed between two bearings, keep away from pivot bottom plate one side in the pivot and set up the oil blanket, and the oil blanket is fixed in the pivot through lock nut.

The technical effects of the utility model reside in that: the product of the utility model has reasonable and ingenious structure, and can greatly improve the passing performance of the mobile robot when in use, and the passing performance of the mobile robot is irrelevant to the load; simple structure, convenient maintenance and low implementation cost.

Drawings

Fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic structural diagram of the suspension in the present invention.

Fig. 3 is a schematic structural diagram of the middle rotating shaft assembly of the present invention.

Fig. 4 is a working state diagram of the present invention.

Detailed Description

The following description will further describe embodiments of the present invention with reference to the accompanying drawings.

Fig. 1 to 4 include a vehicle frame 100, a stopper plate 110, a suspension 200, a rotating shaft assembly 210, a sleeve 211, a bearing 212, a rotating shaft 213, a rotating shaft base plate 214, a swing arm frame 220, a mounting base plate 230, a speed reducer mounting base 240, a drive wheel 300, a drive motor 400, a speed reducer 500, and the like.

As shown in fig. 1 and 4, the utility model relates to a mobile robot chassis structure, including frame 100, frame 100 rotates respectively along length direction both ends and connects a set of suspension 200, every group suspension 200 rotates respectively along length direction both ends and sets up a set of drive wheel 300, drive wheel 300 is by driving piece drive operation, every suspension 200 sets up limiting plate 110 respectively along length direction both ends and carries on spacingly in order to carry out the wobbling lower limit position to suspension 200.

When the utility model works, when the product of the utility model leaves a groove or an obstacle through a ground rail or a track in a workshop, the suspension 200 can drive the driving wheel 300 to swing to a certain degree, so as to ensure that the obstacle can be effectively crossed; in order to realize the omnidirectional movement functions of the mobile robot, such as straight movement, transverse movement, diagonal movement, in-situ rotation and the like, the driving wheel 300 in the product of the utility model is preferably a Mecanum wheel.

In order to improve the output torque of the four driving wheels 300 of the utility model, each group of driving wheels 300 is driven by a group of reduction gears 500 and driving motors 400 which are mutually matched to operate respectively.

As shown in fig. 2, mounting base plates 230 are disposed at both ends of the suspension 200 in the longitudinal direction, the mounting base plates 230 are fixedly connected to a reducer mounting base 240, a reducer 500 is mounted on the reducer mounting base 240, and an output shaft of a driving motor 400 is connected to an input hole of the reducer 500.

The suspension 200 includes a swing arm frame 220, a rotating shaft assembly 210 is installed at the middle position of the swing arm frame 220 along the length direction, and the rotating shaft assembly 210 is connected with the vehicle frame 100 through a bolt, so that the swing arm frame 220 can rotate around the rotating shaft 213, thereby adapting to the road surface undulation condition and realizing high trafficability capability.

The suspension 200 in the utility model has simple structure, no maintenance, no elastic element and guide element, and low implementation cost;

as shown in fig. 3, the rotating shaft assembly 210 includes a sleeve 211 fixedly connected to the swing arm frame 220, a rotating shaft 213 is rotatably disposed in the sleeve 211, an end of the rotating shaft 213 is tightly connected to a rotating shaft base plate 214 through a flange structure, and the rotating shaft base plate 214 is fixedly connected to the frame 100.

Two ends of the rotating shaft 213 are supported in the sleeve 211 through bearings 212 respectively, the two bearings 212 are separated by an annular bulge formed on the inner wall of the sleeve 211, an oil seal 215 is arranged on one side of the rotating shaft 213, which is far away from a rotating shaft base plate 214, and the oil seal 215 is fixed on the rotating shaft 213 through a locking nut 216.

In the specific production, the outside of the sleeve 211 is fixed with the swing arm frame 220 through screws, and the bearings 212 arranged on the inner wall of the sleeve 211 are preferably tapered roller bearings and are arranged in a back-to-back manner; the rotating shaft 213 is made of high-quality alloy steel material and is matched with the inner ring of the bearing 212.

As shown in fig. 4, when the mobile robot passes through the rail or the rail leaving the groove, the obstacle, the front/rear suspension 2/3 can transmit the force and torsion acting between the wheel and the frame, and can automatically adapt to the adjustment change transmitted to the frame or the vehicle body by the uneven road surface, so as to ensure the vehicle can run smoothly; because there is no elastic element, the passing performance has no relation with the load acted on the robot, and the robot has good load independence.

Claims

1. A mobile robot chassis structure which characterized in that: including frame (100), frame (100) are rotated respectively along length direction both ends and are connected a set of suspension (200), every group suspension (200) are rotated respectively along length direction both ends and are set up a set of drive wheel (300), drive wheel (300) are by driving piece drive operation, every suspension (200) set up limiting plate (110) respectively along length direction both ends and carry on spacingly in order to carry out suspension (200) wobbling lower limit position.

2. The mobile robot chassis structure of claim 1, wherein: each group of driving wheels (300) are driven to run by a group of speed reducers (500) and driving motors (400) which are mutually matched.

3. The mobile robot chassis structure of claim 2, wherein: the suspension (200) is provided with mounting bottom plates (230) at two ends along the length direction, the mounting bottom plates (230) are fixedly connected with a speed reducer mounting seat (240), a speed reducer (500) is mounted on the speed reducer mounting seat (240), and an output shaft of a driving motor (400) is connected with an input hole of the speed reducer (500).

4. The mobile robot chassis structure of claim 1, wherein: the suspension (200) comprises a swing arm frame (220), a rotating shaft assembly (210) is installed in the middle of the swing arm frame (220) along the length direction, and the rotating shaft assembly (210) is connected with the frame (100).

5. The mobile robot chassis structure of claim 4, wherein: the rotating shaft assembly (210) comprises a sleeve (211) fixedly connected with the swing arm frame (220), a rotating shaft (213) is rotatably arranged in the sleeve (211), the end part of the rotating shaft (213) is fixedly connected with a rotating shaft bottom plate (214) through a flange structure, and the rotating shaft bottom plate (214) is fixedly connected with the frame (100).

6. The mobile robot chassis structure of claim 5, wherein: the two ends of the rotating shaft (213) are supported in the sleeve (211) through bearings (212) respectively, the two bearings (212) are separated through an annular bulge formed on the inner wall of the sleeve (211), an oil seal (215) is arranged on one side, far away from the rotating shaft base plate (214), of the rotating shaft (213), and the oil seal (215) is fixed on the rotating shaft (213) through a locking nut (216).