CN212073647U - Four-wheel four-drive mobile robot - Google Patents
Four-wheel four-drive mobile robot Download PDFInfo
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- CN212073647U CN212073647U CN202020768330.6U CN202020768330U CN212073647U CN 212073647 U CN212073647 U CN 212073647U CN 202020768330 U CN202020768330 U CN 202020768330U CN 212073647 U CN212073647 U CN 212073647U
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Abstract
The utility model discloses a four-wheel four-drive mobile robot, belonging to the technical field of robots, comprising a vehicle body shell, a driving wheel set, a driven wheel set and an electric appliance control device; the driving wheel sets are symmetrically arranged at the rear of the vehicle body; the driven wheel groups are symmetrically arranged in the left and right direction in front of the vehicle body; the electric appliance control device is arranged in the vehicle body or on the board and is used for controlling the movement, the light and the like of the four-wheel-drive mobile robot; the utility model discloses a two high-power brushless motor send power to from the driving wheel through synchronous belt drive to whole power more strengthens, synchronous belt drive has the transmission efficiency height, and the noise is low, characteristics such as transmission is steady, and the automobile body adopts closed structure, has functions such as waterproof, and the lid around setting up on the automobile body also makes more installation screws hide inside the automobile body, and the outward appearance is more pleasing to the eye. And adopt differential drive form for vehicle body simple structure, simple to operate turns to more nimble.
Description
Technical Field
The utility model relates to the technical field of robot, especially, relate to a four-wheel drive mobile robot.
Background
The existing four-wheel robot generally adopts double-motor diagonal drive, or drive wheels and universal wheel drive, or wheat wheels and other drive modes, the diagonal drive chassis has insufficient drive force, the noise is generally large, the structure of the universal wheel chassis is not stable enough, and the power is insufficient; the abrasion of the wheat wheel chassis is large, and the maintenance and cost are high.
Aiming at the problems that the diagonal driving chassis in the prior art has insufficient driving force and generally large noise, the chassis structure of the universal wheel is not stable enough, and the power is insufficient; the abrasion of the wheat wheel chassis is large, and the maintenance and the cost are high. It is desirable to provide a four-wheel four-drive mobile robot to solve the above problems.
SUMMERY OF THE UTILITY MODEL
Aiming at the defects in the prior art, the embodiment of the utility model provides a four-wheel four-drive mobile robot, which adopts double high-power brushless motors and transmits power to a driven wheel through synchronous belt transmission, so that the whole power is more increased, the synchronous belt transmission has the characteristics of high transmission efficiency, low noise, stable transmission and the like, a vehicle body adopts a closed structure and has the functions of water resistance and the like, and more mounting screws are hidden in the vehicle body in a front and back cover mode, so that the appearance is more attractive; and, adopt the differential drive form for vehicle body structure is simple, simple to operate, turns to more nimble, in order to solve the problem among the above-mentioned background art.
In order to achieve the above object, the utility model provides a following technical scheme:
a four-wheel four-drive mobile robot comprises a vehicle body shell, 2 driving wheel sets, 2 driven wheel sets and an electric appliance control device, wherein the driving wheel sets are symmetrically arranged at the rear of a vehicle body in a left-right manner; the number of the driven wheel sets is 2, and the driven wheel sets are symmetrically arranged in front of the vehicle body;
the driving wheel set comprises a rubber driving wheel, a driving main shaft, a driving synchronous wheel, a worm and gear reducer and a driving brushless motor, the rubber driving wheel is arranged at the outer end of the driving main shaft, the inner end of the driving main shaft is connected with the worm and gear reducer, and the worm and gear reducer is connected with the driving brushless motor;
the driven wheel set comprises a rubber driven wheel, a driven wheel shaft, a driven synchronous wheel and a transmission synchronous belt, the rubber driven wheel is arranged at the outer end of the driven wheel shaft, the inner end of the driven wheel shaft is connected with the driven synchronous wheel, the driven synchronous wheel is connected with a driving synchronous wheel through the transmission synchronous belt, and the driving synchronous wheel is arranged in the middle of the driving main shaft;
the electric appliance control device is arranged in the vehicle body or on the board and used for controlling the movement, the light and the like of the four-wheel-drive mobile robot.
As a further proposal of the utility model, the vehicle body shell comprises a main U-shaped support plate, a vehicle body front cover, a vehicle body rear cover, a vehicle body upper packaging plate, a sealing rectangular frame, a sealing strip, a supporting beam and a beam connecting rod, wherein the main U-shaped support plate is a main body of the whole vehicle body frame, and the vehicle body front cover and the vehicle body rear cover are installed and fixed at the front and rear ends of the main U-shaped support plate through the sealing rectangular frame; the upper packaging plate of the vehicle body is arranged above the main U-shaped supporting plate through a left sealing strip and a right sealing strip; the number of the beam connecting rods is 4, the beam connecting rods are arranged on two sides of the main U-shaped supporting plate, the beam connecting rods correspond to each other pairwise, the middle of the left beam connecting rod and the right beam connecting rod is connected with a supporting beam, and the number of the supporting beams is two, so that the supporting and stabilizing functions of the whole framework are realized; all there is the rubber strip between sealed rectangle frame, sealed rectangular and the board that corresponds, with whole hull seal waterproof.
As a further scheme of the utility model, the driving wheel group still includes the waterproof bearing frame of drive, and the worm gear reduction gear bottom surface is installed on the bottom surface of main U type backup pad, drive brushless motor installs on worm gear reduction gear's input hole, and the drive main shaft is installed through the waterproof bearing frame of drive on the side of main U type backup pad, the inner of drive main shaft is connected on worm gear reduction gear's the delivery outlet.
As a further scheme of the utility model, driven wheelset still includes driven waterproof bearing frame and tensioning idler, and the trailing axle is installed through driven waterproof bearing frame on the side of main U type backup pad, drive range connects between drive range and driven range, and the tensioning idler sets up the lateral surface at drive range, and the tensioning idler is installed on the crossbeam connecting rod.
As a further scheme of the utility model, electrical apparatus controlling means includes waterproof scram switch, USB extension interface, USB debugging interface, waterproof mouth, waterproof master switch, main circuit control panel, motor drive, battery and the headlamp that charges, waterproof scram switch, USB extension interface, USB debugging interface, waterproof mouth, waterproof master switch and headlamp that charges are all installed lid top and automobile body protecgulum's dead ahead behind the automobile body, all interfaces all contain rubber seal.
As a further aspect of the present invention, the electrical control device includes a waterproof emergency stop switch, a USB expansion interface, a USB debugging interface, a waterproof charging port, a waterproof main switch, a main circuit control panel, a motor driver, a battery, and a front lighting lamp, wherein the waterproof emergency stop switch, the USB expansion interface, the USB debugging interface, the waterproof charging port, the waterproof main switch, and the front lighting lamp are all installed above the rear cover of the vehicle body and right in front of the front cover of the vehicle body, and all the interfaces all include rubber sealing rings; the main circuit control board is arranged on a main U-shaped support plate in the middle of the driven wheel set, and the motor driver is arranged on the main U-shaped support plates on two sides of the main circuit control board; the batteries are mounted on a main U-shaped support plate below the two driving brushless motors. All the electric appliances are electrically connected.
As a further scheme of the utility model, the vehicle body further comprises a front anti-collision strip, a rear anti-collision strip and an expansion bracket, wherein the front anti-collision strip and the rear anti-collision strip are respectively arranged right in front of a front cover of the vehicle body and behind a rear cover of the vehicle body, and play roles of a handle and anti-collision; the expansion bracket is arranged above the packaging plate on the vehicle body and can be used as a fixing frame for external expansion or carrying.
To sum up, compared with the prior art, the embodiment of the utility model has the following beneficial effects:
the four-wheel-drive mobile robot of the utility model has a sealed and waterproof structure as a whole, and is suitable for field traveling off-road in rainy days; when the vehicle travels in a straight line, the waterproof main switch is pressed down, an operation instruction is sent to the main circuit control board through remote control, the main circuit control board drives the two driving brushless motors to start after receiving the instruction, the rotating torque is transmitted to the two driving main shafts through the speed reduction effect of the worm gear reducer, on one hand, the two rubber driving wheels are driven to rotate, on the other hand, the rotating torque is transmitted to the rubber driven wheels through the driving synchronous wheels, the transmission synchronous belts and the driven synchronous wheels, the gear ratio of the driving synchronous wheels to the driven synchronous wheels is 1:1, so that the rubber driving wheels and the rubber driven wheels synchronously rotate, and the whole vehicle body is driven to advance. In addition, when the robot goes forward or backward or turns on site and needs any angle turning, the robot can be realized only by adjusting two driving brushless motors with different rotating speeds and directions; two high-power driving brushless motors are arranged, so that the four-wheel drive mobile robot can carry a load which is several times larger than the self weight to move.
To illustrate the structural features and functions of the present invention more clearly, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
Drawings
Fig. 1 is an overall schematic view of a left front structure of a four-wheel drive mobile robot provided by the embodiment of the present invention.
Fig. 2 is a schematic diagram of the overall structure of the rear right of the four-wheel drive mobile robot according to the embodiment of the present invention.
Fig. 3 is a schematic view of the cover opening overlooking structure of the four-wheel drive mobile robot provided by the embodiment of the utility model.
Fig. 4 is a schematic structural diagram of the four-wheel drive mobile robot at the right rear side of the cover.
Wherein, in the figures, the respective reference numerals:
10-vehicle body shell 11-main U-shaped supporting plate 12-vehicle body front cover
13-vehicle body rear cover 14-vehicle body upper packaging plate 15-sealed rectangular frame
16-sealing strip 17-supporting beam 18-beam connecting rod
30-driving wheel set 31-rubber driving wheel 32-driving waterproof bearing seat
33-driving spindle 34-driving synchronizing wheel 35-worm gear reducer
36-driving brushless motor 50-driven wheel group 51-rubber driven wheel
52-driven waterproof bearing seat 53-driven wheel shaft 54-driven synchronizing wheel
55-transmission synchronous belt 56-tensioning idler wheel 70-electric appliance control device
71-waterproof scram switch 72-USB expansion interface 73-USB debugging interface
74-waterproof charging port 75-waterproof main switch 76-main circuit control panel
77-motor driver 78-battery 79-front lighting lamp
91-front bumper strip 92-rear bumper strip 93-expansion support.
Detailed Description
The technical solution of the present invention will be further explained with reference to the accompanying drawings and specific embodiments.
Example 1
As shown in fig. 1 to 4, an embodiment of the present invention provides a four-wheel four-drive mobile robot, including a vehicle body shell 10, a driving wheel set 30, a driven wheel set 50, and an electrical control device 70; the number of the driving wheel sets 30 is 2, and the driving wheel sets are symmetrically arranged at the rear of the vehicle body; the driven wheel sets 50 are 2 in number and are symmetrically arranged in the front of the vehicle body; the electric control device 70 is installed inside the vehicle body or on a board to control the movement, lighting, etc. of the four-wheel four-drive mobile robot.
In the embodiment, as shown in fig. 1 to 4, the vehicle body shell 10 includes a main U-shaped support plate 11, a vehicle body front cover 12, a vehicle body rear cover 13, a vehicle body upper packaging plate 14, a sealing rectangular frame 15, a sealing strip 16, a support cross beam 17 and a cross beam connecting rod 18, the main U-shaped support plate 11 is a main body of an integral vehicle body frame, and end faces of the vehicle body front cover 12 and the vehicle body rear cover 13 are both mounted and fixed at front and rear ends of the main U-shaped support plate 11 through the sealing rectangular frame 15; the vehicle body upper packaging plate 14 is arranged above the main U-shaped supporting plate 11 through a left sealing strip 16 and a right sealing strip 16; the number of the cross beam connecting rods 18 is 4, the cross beam connecting rods are arranged on two sides of the main U-shaped supporting plate 11, 2 cross beam connecting rods 18 are arranged on two sides of the main U-shaped supporting plate 11 respectively, every two cross beam connecting rods 18 correspond to each other, a supporting cross beam 17 is connected between the left cross beam connecting rod 18 and the right cross beam connecting rod 18, and the number of the supporting cross beams 17 is two, so that the overall framework supporting and stabilizing effects are achieved; rubber strips are arranged between the sealing rectangular frame 15 and the sealing strip 16 and between the corresponding plates, so that the whole vehicle body shell 10 is sealed and waterproof.
In this embodiment, as shown in fig. 1 to 4, the driving wheel set 30 includes a rubber driving wheel 31, a driving waterproof bearing seat 32, a driving spindle 33, a driving synchronizing wheel 34, a worm gear reducer 35 and a driving brushless motor 36, and the number of the parts of the driving wheel set 30 is 2, and the driving wheel set is installed in a left-right symmetrical manner; the bottom surface of the worm gear reducer 35 is arranged on the bottom surface of the main U-shaped support plate 11, and the driving brushless motor 36 is arranged on an input hole of the worm gear reducer 35; the driving main shaft 33 is installed on the side surface of the main U-shaped supporting plate 11 through a driving waterproof bearing seat 32, the outer end of the driving main shaft 33 is provided with a rubber driving wheel 31, and the inner end of the driving main shaft 33 is connected to an output hole of the worm gear reducer 35; the driving synchronizing wheel 34 is installed at the center of the driving main shaft 33.
In this embodiment, as shown in fig. 1 to 4, the driven wheel set 50 includes a rubber driven wheel 51, a driven waterproof bearing seat 52, a driven wheel shaft 53, a driven synchronous wheel 54, a transmission synchronous belt 55 and a tensioning idle wheel 56, and the number of the parts of the driven wheel set 50 is 2, and the driven wheel set is installed in a left-right symmetrical manner; the driven wheel shaft 53 is arranged on the side surface of the main U-shaped supporting plate 11 through a driven waterproof bearing seat 52, the outer end of the driven wheel shaft 53 is provided with a rubber driven wheel 51, and the inner end of the driven wheel shaft 53 is connected with the driven synchronous wheel 54; the transmission synchronous belt 55 is connected between the driving synchronous wheel 34 and the driven synchronous wheel 54, the outer side surface of the transmission synchronous belt 55 is pressed tightly through a tension idle wheel 56, and the tension idle wheel 56 is installed on the beam connecting rod 18.
In this embodiment, as shown in fig. 1 to 4, the electrical apparatus control device 70 includes a waterproof emergency stop switch 71, a USB expansion interface 72, a USB debugging interface 73, a waterproof charging interface 74, a waterproof main switch 75, a main circuit control board 76, a motor driver 77, a battery 78 and a front lighting lamp 79, where the waterproof emergency stop switch 71, the USB expansion interface 72, the USB debugging interface 73, the waterproof charging interface 74, the waterproof main switch 75 and the front lighting lamp 79 are all installed above the vehicle body rear cover 13 and in front of the vehicle body front cover 12, and all the interfaces include rubber sealing rings; the main circuit control board 76 is mounted on the main U-shaped support plate 11 in the middle of the driven wheel set 50, and the motor driver 77 is mounted on the main U-shaped support plates 11 on both sides of the main circuit control board 76; the battery 78 is a 24V large battery, and the battery 78 is mounted on the main U-shaped support plate 11 below the two driving brushless motors 36. All the electric appliances are electrically connected.
Example 2
The four-wheel four-drive mobile robot comprises a vehicle body shell 10, driving wheel sets 30, driven wheel sets 50 and an electric appliance control device 70, wherein the driving wheel sets 30 are 2 in number and are arranged behind a vehicle body in a bilateral symmetry manner; the driven wheel sets 50 are 2 in number and are symmetrically arranged in the front of the vehicle body; the electric control device 70 is installed inside the vehicle body or on a board to control the movement, lighting, etc. of the four-wheel four-drive mobile robot.
In this embodiment, as shown in fig. 1 to 4, the vehicle body further includes a front bumper strip 91, a rear bumper strip 92 and an expansion bracket 93, where the front bumper strip 91 and the rear bumper strip 92 are respectively installed right in front of the vehicle body front cover 12 and behind the vehicle body rear cover 13, and function as a handle and a bumper; the expansion bracket 93 is mounted above the package plate 14 on the vehicle body, and can be used as a fixing frame for external expansion or transportation.
Specifically, the utility model discloses a four-wheel drive mobile robot, when the straight line is walked, press waterproof master switch 75, through remote control, send the operation instruction to main circuit control board 76, main circuit control board 76 receives two drive brushless motor 36 starts after the instruction, through the deceleration of worm gear reduction 35, transmit rotatory moment to two drive main shafts 33, drive two rubber drive wheels 31 and rotate on the one hand, on the other hand through drive synchronizing wheel 34, transmission synchronous belt 55, driven synchronizing wheel 54 with rotatory moment transmission to rubber from driving wheel 51, drive synchronizing wheel 34, driven synchronizing wheel 54 is 1: 1's gear ratio, thereby make rubber drive wheel 31 and rubber from driving wheel 51 synchronous revolution, thereby drive whole automobile body and go forward. In addition, when the robot moves forwards or backwards or turns on site and needs any angle of turning, the robot can be realized only by adjusting the different rotating speeds and directions of the two driving brushless motors 36; two high-power driving brushless motors 36 are provided, so that the four-wheel drive mobile robot can carry a load movement which is several times larger than the self weight.
The technical principle of the present invention has been described above with reference to specific embodiments, which are merely preferred embodiments of the present invention. The utility model discloses a scope of protection not only limits in above-mentioned embodiment, and the all belongings the utility model discloses a technical scheme under the thinking all belongs to the utility model discloses a scope of protection. Those skilled in the art will appreciate that other embodiments of the invention can be devised which do not require inventive effort and which fall within the scope of the present invention.
Claims (9)
1. A four-wheel four-drive mobile robot comprises a vehicle body shell (10), a driving wheel set (30), a driven wheel set (50) and an electric appliance control device (70), and is characterized in that the number of the driving wheel sets (30) is 2, and the driving wheel sets are symmetrically arranged at the rear of a vehicle body; the number of the driven wheel sets (50) is 2, and the driven wheel sets are symmetrically arranged in front of the vehicle body;
the driving wheel set (30) comprises a rubber driving wheel (31), a driving spindle (33), a driving synchronous wheel (34), a worm and gear reducer (35) and a driving brushless motor (36), the rubber driving wheel (31) is installed at the outer end of the driving spindle (33), the inner end of the driving spindle (33) is connected with the worm and gear reducer (35), and the worm and gear reducer (35) is connected with the driving brushless motor (36);
the driven wheel set (50) comprises a rubber driven wheel (51), a driven wheel shaft (53), a driven synchronous wheel (54) and a transmission synchronous belt (55), the rubber driven wheel (51) is installed at the outer end of the driven wheel shaft (53), the inner end of the driven wheel shaft (53) is connected with the driven synchronous wheel (54), the driven synchronous wheel (54) is connected with the driving synchronous wheel (34) through the transmission synchronous belt (55), and the driving synchronous wheel (34) is installed in the middle of the driving main shaft (33);
the electrical appliance control device (70) is mounted inside the vehicle body or on a panel.
2. The four-wheel four-drive mobile robot as claimed in claim 1, wherein the vehicle body housing (10) comprises a main U-shaped support plate (11), a vehicle body front cover (12), a vehicle body rear cover (13), a vehicle body upper packaging plate (14), a sealing rectangular frame (15), a sealing strip (16), a support cross beam (17) and a cross beam connecting rod (18), the main U-shaped support plate (11) is a main body of an integral vehicle body frame, and the end surfaces of the vehicle body front cover (12) and the vehicle body rear cover (13) are fixedly arranged at the front end and the rear end of the main U-shaped support plate (11) through the sealing rectangular frame (15); the vehicle body upper packaging plate (14) is arranged above the main U-shaped supporting plate (11) through a left sealing strip and a right sealing strip (16).
3. The four-wheel four-drive mobile robot as claimed in claim 2, wherein the number of the beam connecting rods (18) is 4, the beam connecting rods are mounted on two sides of the main U-shaped supporting plate (11), two beam connecting rods (18) are mounted on two sides of the main U-shaped supporting plate (11), each beam connecting rod (18) corresponds to each other in pairs, the left and right beam connecting rods (18) are connected with the supporting beams (17) in the middle, the number of the supporting beams (17) is two, and rubber strips are arranged between the sealing rectangular frame (15), the sealing strips (16) and the corresponding plates.
4. A four-wheel four-drive mobile robot according to claim 2, characterized in that the driving wheel set (30) further comprises a drive waterproof bearing seat (32), a bottom surface of a worm gear reducer (35) is installed on the bottom surface of the main U-shaped support plate (11), a drive brushless motor (36) is installed on an input hole of the worm gear reducer (35), and a drive spindle (33) is installed on a side surface of the main U-shaped support plate (11) through the drive waterproof bearing seat (32).
5. A four-wheel four-drive mobile robot according to claim 4, characterized in that the inner end of the drive spindle (33) is connected to the output aperture of the worm gear reducer (35).
6. The four-wheel four-drive mobile robot according to claim 4, wherein the driven wheel set (50) further comprises a driven waterproof bearing seat (52) and a tension idler (56), the driven wheel shaft (53) is installed on the side of the main U-shaped support plate (11) through the driven waterproof bearing seat (52), a transmission synchronous belt (55) is connected between the driving synchronous wheel (34) and the driven synchronous wheel (54), the tension idler (56) is arranged on the outer side of the transmission synchronous belt (55), and the tension idler (56) is installed on the beam connecting rod (18).
7. The four-wheel four-drive mobile robot according to claim 6, wherein the electric appliance control device (70) comprises a waterproof emergency stop switch (71), a USB expansion interface (72), a USB debugging interface (73), a waterproof charging port (74), a waterproof main switch (75), a main circuit control board (76), a motor driver (77), a battery (78) and a front lighting lamp (79), the waterproof emergency stop switch (71), the USB expansion interface (72), the USB debugging interface (73), the waterproof charging port (74), the waterproof main switch (75) and the front lighting lamp (79) are all installed above the vehicle body rear cover (13) and right in front of the vehicle body front cover (12), and all the interfaces contain rubber sealing rings.
8. A four-wheel four-drive mobile robot according to claim 7, wherein the main circuit control board (76) is installed on the main U-shaped support plate (11) in the middle of the driven wheel group (50), the motor driver (77) is installed on the main U-shaped support plates (11) at both sides of the main circuit control board (76), and the battery (78) is installed on the main U-shaped support plate (11) below the two driving brushless motors (36).
9. A four-wheel four-drive mobile robot according to claim 2, characterized in that the vehicle body further comprises a front bumper strip (91), a rear bumper strip (92) and an expansion bracket (93), the front bumper strip (91) and the rear bumper strip (92) are respectively installed right in front of the vehicle body front cover (12) and behind the vehicle body rear cover (13), and the expansion bracket (93) is installed above the vehicle body upper package plate (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020768330.6U CN212073647U (en) | 2020-05-11 | 2020-05-11 | Four-wheel four-drive mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020768330.6U CN212073647U (en) | 2020-05-11 | 2020-05-11 | Four-wheel four-drive mobile robot |
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| Publication Number | Publication Date |
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| CN212073647U true CN212073647U (en) | 2020-12-04 |
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| CN202020768330.6U Active CN212073647U (en) | 2020-05-11 | 2020-05-11 | Four-wheel four-drive mobile robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20230043489A (en) * | 2021-09-24 | 2023-03-31 | 장석근 | Self-moving transport car |
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2020
- 2020-05-11 CN CN202020768330.6U patent/CN212073647U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20230043489A (en) * | 2021-09-24 | 2023-03-31 | 장석근 | Self-moving transport car |
| KR102531318B1 (en) * | 2021-09-24 | 2023-05-11 | 장석근 | Self-moving transport car |
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