CN212220427U

CN212220427U - Transmission mechanism of mobile robot

Info

Publication number: CN212220427U
Application number: CN202020046313.1U
Authority: CN
Inventors: 李泊希; 刘丙江
Original assignee: Tianjin Abeimo Robot Technology Co ltd
Current assignee: Tianjin Abeimo Robot Technology Co ltd
Priority date: 2020-01-10
Filing date: 2020-01-10
Publication date: 2020-12-25
Anticipated expiration: 2030-01-10

Abstract

The utility model relates to a drive mechanism of mobile robot, including fixed chassis, motor and drive wheel, from the driving wheel, adorn the motor admittedly on fixed chassis, install the drive wheel under the fixed chassis, the motor passes through the cingulum drive wheel and rotates, from the driving wheel driven, its characterized in that: the wheels under the fixed chassis are symmetrically arranged in two groups, one group is a plane wheel group, the front end of the plane wheel group is connected with the driving wheel in series, the rear end of the plane wheel group is connected with the driven wheel in series, a side wheel group is obliquely arranged outside each plane wheel group, and the wheels of the side wheel group correspond to the plane wheel group. The utility model discloses the setting is by the plane wheel group of two sets of symmetries, and two sets of outside side wheelsets of slope, and all around reach go to the bottom and contact the area on ground big, and frictional force also increases for this robot can be on plane, inclined plane free running, avoids rolling, and the operation is smooth and easy reasonable.

Description

Transmission mechanism of mobile robot

Technical Field

The utility model belongs to the robot field relates to the many rounds of many transmission techniques of mobile robot, especially a mobile robot's drive mechanism.

Background

At present, the technical innovation of a robot is promising, and the technical application field is very wide. The traveling mechanisms of the existing mobile robots are mostly driven by differential speed double wheels or tracks. With the gradual popularization of robots, in special occasions such as the field and places with special terrains, the moving mechanism of the robot driven by double-wheel differential or caterpillar tracks cannot meet the moving requirement of the all-weather robot. Therefore, the robot can be applied to various terrains or places, particularly terrains such as pits and the like, and is an innovative target of many scientific research institutions.

Through the search of published patent documents, the following two patents related to the present patent application are found:

1. a six-wheeled independently driven mobile robot (102582716B). The bicycle comprises a bicycle frame, wheels are arranged on two sides of a front row, a middle row and a rear row of the bicycle frame, six swing arms capable of swinging up and down are pivoted on the bicycle frame and distributed on two sides of the front row, the middle row and the rear row of the bicycle frame, a driving mechanism is respectively arranged on each swing arm, an output shaft of each driving mechanism extends out of the end of each swing arm and is provided with the wheel, an elastic element and a limiting mechanism are respectively arranged between the two swing arms of the front row, between the two swing arms of the middle row and between the two swing arms of the rear row, or an elastic element and a limiting mechanism are respectively arranged between each swing arm and the bicycle. The invention has good stability of the vehicle body, and strong obstacle-crossing capability, anti-overturning capability, terrain-adapting capability and loading capability.

2. A multi-wheel drive telescopic arm intelligent obstacle crossing robot (204548275U) comprises a front wheel lifting system and a rear wheel lifting system, wherein ultrasonic detectors are arranged on the front wheel lifting system and the rear wheel lifting system and are connected with a central controller, and the central controller is connected with the front wheel lifting system and the rear wheel lifting system and controls the lifting action of the front wheel lifting system and the rear wheel lifting system; the front wheel lifting system and the rear wheel lifting system respectively comprise a lifting device fixing platform, the lifting device fixing platform is connected with a lifting device below the lifting device fixing platform, and the lifting device is connected with a wheel set driven by a speed reduction motor; the lifting device is a lifting rod or an electric push rod driven by a hydraulic oil cylinder.

Through the comparison of technical characteristics, these two patent publications all adopt two rows of wheels and independently establish actuating mechanism, though can embody cross-country performance, but the structure is comparatively complicated, and the function that moves to one side is relatively poor, all is different with the technical scheme of this patent application, consequently can not destroy novelty and the creativity of this patent application.

Disclosure of Invention

An object of the utility model is to overcome prior art's weak point, provide a drive mechanism who removes the robot, this mechanism adopts the diversified linkage transmission of the many rounds of differential, is adapted to the walking of complicated topography and hinders more.

The purpose of the utility model is realized like this:

the utility model provides a drive mechanism who removes robot, includes fixed chassis, motor and drive wheel, follows the driving wheel, adorns the motor admittedly on fixed chassis, installs the drive wheel under the fixed chassis, and the motor passes through the rotation of cog belt drive wheel, follows the driving wheel and driven its characterized in that: the wheels under the fixed chassis are symmetrically arranged in two groups, one group is a plane wheel group, the front end of the plane wheel group is connected with the driving wheel in series, the rear end of the plane wheel group is connected with the driven wheel in series, a side wheel group is obliquely arranged outside each plane wheel group, and the wheels of the side wheel group correspond to the plane wheel group.

And the plane wheel sets are arranged in series, each set consists of 2-8 wheels, one end of each wheel set is connected with the driving wheel through a toothed belt to obtain power, and wheels of the wheel sets are linked through the toothed belts among each other to finally drive the driven wheels to rotate.

And the outer side of the side wheel set is provided with a side wheel shaft through a shaft bracket fixedly arranged on a fixed chassis side frame in an inclined manner, the inclined angle of the side frame is 30-60 degrees relative to the horizontal, the side wheel shaft on the inner side of the side wheel set is a universal shaft, and a hinge joint is hinged between the universal shaft and a wheel shaft of a wheel of the corresponding plane wheel set, so that when the adjacent plane wheel set rotates, the side wheel set is flexibly driven to rotate synchronously through the universal shaft and the hinge joint.

And the driving wheel and the driven wheel are tilted at an angle of 15-30 degrees with the plane wheel set.

And the driving wheels of the two groups of plane wheel sets are arranged in a staggered manner.

The utility model has the advantages that:

1. the utility model is provided with two sets of symmetrical plane wheel sets and two sets of side wheel sets which incline outwards, the areas of the front, back, left and right sides, the lower bottom and the contact ground are large, the friction force is also increased, so that the robot can freely run on the plane and the inclined plane, the rolling is avoided, and the running is smooth and reasonable; each driving mechanism of the transmission mechanism is provided with two symmetrical groups of motors to form differential speed, can realize actions such as forward movement, backward movement, rotation, turning and the like through electronic control, and can be used for mobile robots with motion modes such as remote control cars, satellite navigation, laser navigation and the like.

2. The utility model discloses to every group plane wheel group and side wheel group, adopt solitary motor to drive to through the synchronous linkage operation of tooth area, the side wheelset passes through the linkage of flexible universal joint with the drive transmission of plane wheel group, and the ingenious science of overall structure has reduced the weight of robot self, has improved robot's operating efficiency.

3. The utility model discloses a drive wheel of two sets of plane wheel groups is the wrong direction setting, can make the mobile robot all have active drive's power in the front and back, and drive power is big, has effectively improved the obstacle climbing ability of fleing of robot.

Drawings

FIG. 1 is a front view of the structure of the present invention;

FIG. 2 is a top view of FIG. 1;

FIG. 3 is a left side view of FIG. 1;

fig. 4 is a schematic perspective view of an angle of the present invention;

fig. 5 is a schematic perspective view of another angle of the present invention.

Detailed Description

The embodiments of the present invention will be further explained with reference to the accompanying drawings: the following examples are illustrative and not intended to be limiting, and the scope of the present invention is not limited by the following examples.

A transmission mechanism of a mobile robot comprises a fixed chassis 1, a motor 12, a driving wheel 2 and a driven wheel 9, wherein the motor is fixedly arranged on the fixed chassis, the driving wheel is arranged below the fixed chassis, the motor drives the driving wheel to rotate through a toothed belt 3, and the driven wheel is driven, so that the mobile robot can walk.

The utility model discloses an innovation point is:

the wheels under the fixed chassis are two symmetrical groups, one group is a plane wheel group 7, the front end of the plane wheel group is connected with the driving wheel in series, the rear end of the plane wheel group is connected with the driven wheel in series, and a side wheel group 6 is obliquely arranged outside each plane wheel group. The planar wheel sets are arranged in series, each set generally comprises 2-8, in the embodiment, each set comprises 3, one end of each wheel set is connected with a shaft of the driving wheel through a toothed belt 11 to obtain power, wheels of the wheel sets are linked through the toothed belts of the shafts between the wheels, and finally the driven wheels are driven to rotate; the wheels of the side wheel set are arranged corresponding to the plane wheel set, the outer side of the side wheel set is provided with a side wheel shaft 4 through a shaft bracket 5 fixedly arranged on a fixed chassis side frame 8 in an inclined mode, the inclined angle of the side frame is set according to the actual situation, the included angle between the inclined angle of the side frame and the horizontal plane is generally 30-60 degrees, the optimum included angle is 45 degrees, the side wheel shaft on the inner side of the side wheel set is a universal shaft 10, and a hinge joint 13 is hinged between the universal shaft and the wheel shaft of the wheel of the corresponding plane wheel set, so that when the adjacent plane wheel set rotates, the side wheel set can be flexibly driven to synchronously rotate through the universal shaft.

In the embodiment, the fixed chassis is of a truss structure, so that the weight of the whole machine can be effectively reduced; the axle brackets of the plane wheel set and the side wheel set are fixedly arranged at the bearing part of the truss, and the fixing is firm and stable.

In this embodiment, the driving wheel and the driven wheel are tilted at a certain angle, generally 15 to 30 degrees, with respect to the plane wheel set, so as to facilitate the forward movement and obstacle crossing.

In this embodiment, the driving wheels of the two sets of planar wheel sets are arranged in a staggered manner, that is, the driving wheels of one set of planar wheel set are in front, and the driving wheels of the other set are in back, so that the mobile robot can have active driving power in front and back, and the climbing, obstacle crossing and escape capabilities of the mobile robot are improved.

In this embodiment, the transmission of the toothed belt may be synchronous belt transmission or sprocket transmission.

Claims

1. The utility model provides a drive mechanism who removes robot, includes fixed chassis, motor and drive wheel, follows the driving wheel, adorns the motor admittedly on fixed chassis, installs the drive wheel under the fixed chassis, and the motor passes through the rotation of cog belt drive wheel, follows the driving wheel and driven its characterized in that: the wheels under the fixed chassis are symmetrically arranged in two groups, one group is a plane wheel group, the front end of the plane wheel group is connected with the driving wheel in series, the rear end of the plane wheel group is connected with the driven wheel in series, a side wheel group is obliquely arranged outside each plane wheel group, and the wheels of the side wheel group correspond to the plane wheel group.

2. The transmission mechanism of a mobile robot according to claim 1, characterized in that: the planar wheel sets are arranged in series, each set is composed of 2-8 wheels, one end of each wheel set is connected with the driving wheel through the toothed belt to obtain power, and wheels of the wheel sets are linked through the toothed belts among the wheels to finally drive the driven wheels to rotate.

3. The transmission mechanism of a mobile robot according to claim 1, characterized in that: the outer sides of the side wheel sets are provided with side wheel shafts through shaft brackets fixedly arranged on side frames of the fixed chassis in an inclined mode, the inclined angle of each side frame is 30-60 degrees to the horizontal, the side wheel shaft on the inner side of each side wheel set is a universal shaft, and a hinge joint is hinged between each universal shaft and a wheel shaft of a wheel of the corresponding plane wheel set, so that when the adjacent plane wheel sets rotate, the side wheel sets are driven to rotate synchronously through the universal shafts and the hinge joints flexibly.

4. The transmission mechanism of a mobile robot according to claim 1, characterized in that: the driving wheel and the driven wheel are tilted at an angle of 15-30 degrees with the plane wheel set.

5. The transmission mechanism of a mobile robot according to claim 1, characterized in that: the driving wheels of the two groups of plane wheel sets are arranged in a staggered mode.