CN213138483U - Driving device for chassis of autonomous mobile robot - Google Patents
Driving device for chassis of autonomous mobile robot Download PDFInfo
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- CN213138483U CN213138483U CN202021925620.3U CN202021925620U CN213138483U CN 213138483 U CN213138483 U CN 213138483U CN 202021925620 U CN202021925620 U CN 202021925620U CN 213138483 U CN213138483 U CN 213138483U
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- chassis
- mobile robot
- autonomous mobile
- driving
- frame
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Abstract
The utility model discloses a drive arrangement on autonomic mobile robot chassis, its technical scheme's main points are including chassis frame's one end both sides are equipped with drive wheel and drive respectively drive wheel pivoted drive unit. The utility model discloses a high moment of torsion density type servo motor provides power for the drive wheel, and two sets of leading independent drive units can be under the condition that does not increase motor power, can increase the climbing on chassis and hinder the ability more.
Description
[ technical field ] A method for producing a semiconductor device
The utility model relates to a drive arrangement on autonomic mobile robot chassis.
[ background of the invention ]
The service type autonomous mobile robot is mostly used in indoor environment, the indoor ground environment is relatively flat, and the requirement on a robot chassis is low. However, as the service environment of the service-type autonomous mobile robot is expanded to an outdoor environment, the robot chassis is urgently required to have better trafficability and adaptability to a complex ground environment.
The present invention is made based on such a situation.
[ Utility model ] content
The utility model aims at overcoming prior art's is not enough, provides a drive arrangement on autonomic mobile robot chassis, and the device can adapt to the complicated road surface environment under the outdoor public environment, can satisfy the requirement that has higher stability when high-speed the removal.
The utility model discloses a realize through following technical scheme:
a drive arrangement of autonomous mobile robot chassis which characterized in that: the device comprises a chassis frame 2, wherein two sides of one end of the chassis frame 2 are respectively provided with a driving wheel 101 and a driving unit 1 for driving the driving wheel 101 to rotate.
The driving device of the chassis of the autonomous mobile robot is characterized in that: the driving unit 1 comprises a driving motor 105, a speed reducer 104 connected with the driving motor 105, and a flange plate 102 driven by the speed reducer 104.
The driving device of the chassis of the autonomous mobile robot is characterized in that: a support plate 106 and a speed reducer mounting seat 103 are arranged on the chassis frame 2, the driving motor 105 is fixed on the support plate 106, and the speed reducer 104 is fixed on the speed reducer mounting seat 103.
The driving device of the chassis of the autonomous mobile robot is characterized in that: the chassis frame 2 is including fixed frame 207 the upper portion of fixed frame 207 is equipped with mounting panel 202 the lower part of fixed frame 207 is equipped with chassis support plate 201, is equipped with many fore-and-aft support diagonal 204 and controls and support diagonal 205 at the lateral part of fixed frame 207, backup pad 106 with speed reducer mount pad 103 establish on the chassis support plate 201.
The driving device of the chassis of the autonomous mobile robot is characterized in that: go up the mounting panel 202 through the bolt with fixed frame 207 fixed connection, chassis support plate 201 with fixed frame 207 welds, be equipped with battery installation bin 4 on the fixed frame 207.
The driving device of the chassis of the autonomous mobile robot is characterized in that: the drive wheel 101 is mounted on the flange 102.
The driving device of the chassis of the autonomous mobile robot is characterized in that: the drive motor 105 is a high torque density type servo motor.
Compared with the prior art, the utility model discloses there is following advantage:
1. the utility model discloses a high moment of torsion density type servo motor provides power for the drive wheel, and two sets of leading independent drive units can be under the condition that does not increase motor power, can increase the climbing on chassis and hinder the ability more.
2. The utility model discloses carry out the focus to chassis wheel base and match, reserve the battery compartment that has big space in chassis frame middle part, the battery of mountable large capacity, guarantee robot have higher anti factor of safety of tumbling when obtaining long continuation of the journey.
[ description of the drawings ]
Fig. 1 is a top view of a chassis system for an outdoor autonomous mobile robot.
Fig. 2 is a side view of a chassis system for an outdoor autonomous mobile robot.
Fig. 3 is an overall structure diagram of a chassis system for an outdoor autonomous mobile robot.
Fig. 4 is a partial front view of a suspension and driven wheel of a chassis system for an outdoor autonomous mobile robot.
Fig. 5 is a cross-sectional view of a steering shaft of a chassis system for an outdoor autonomous mobile robot.
Fig. 6 is a partial enlarged view at the position I in a section view of a steering shaft of a chassis system for an outdoor autonomous mobile robot.
Fig. 7 is a sectional view of the steering wheel shaft of the chassis system for the outdoor autonomous mobile robot.
Fig. 8 is a partial enlarged view at the position II in a cross section at a steering wheel shaft of the chassis system for the outdoor autonomous mobile robot.
Icon: 1-a drive unit; 2-a chassis frame; 3-steering and suspension units; 101-a drive wheel; 102-flange plate; 103-a reducer mounting base; 104-a speed reducer; 105-a servo motor; 106-a support plate; 201-chassis support plate; 202-upper mounting plate; 204-front and back support diagonal ribs; 205-left and right support diagonal ribs; 207-a fixed frame; 301-driven wheel; 302-yoke; 303-supporting crank arm; 304-a shock absorber; 305-lower hinge support; 306-upper hinge support; 307-a first screw; 308-a gland; 309-a washer; 310-a baffle; 311-deep groove ball bearing; 312-circlip for shaft; 313-a steering shaft; 314-roller bearings; 315-stop cover; 316-a sleeve; 317-driven wheel hub; 318-fixed axis; 319-right deep groove ball bearing; 320-left deep groove ball bearing; 321-left step; 322-right step; 323-a second screw; 4-battery installation bin; 5-a steering structure; 6-rotating structure.
[ detailed description ] embodiments
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the drawings in the embodiments of the present invention are combined below to clear and completely describe the technical solutions in the embodiments of the present invention, and obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "front", "back", "left", "right", and the like indicate the directions or positional relationships based on the directions or positional relationships shown in the drawings, or the directions or positional relationships conventionally placed when the present invention is used, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "fixed," "connected," "mounted," and "connected" are to be construed broadly, e.g., as either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Some embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Features in the embodiments described below may be combined with each other without conflict.
Example (b):
as shown in fig. 1 to 8, the bottom basin system comprises a driving device, the driving device further comprises a chassis frame 2, and two sides of one end of the chassis frame 2 are respectively provided with a driving wheel 101 and a driving unit 1 for driving the driving wheel 101 to rotate.
As shown in fig. 3, the driving unit 1 is located at the left and right sides of the front end of the chassis frame 2, the driving unit 1 includes a driving motor 105, a speed reducer 104 connected to the driving motor 105, and a flange 102 driven by the speed reducer 104, and the driving wheel 101 is mounted on the flange 102.
As shown in fig. 3, the chassis frame 2 is provided with a support plate 106 and the reducer mounting base 103, the drive motor 105 is fixed to the support plate 106, the reducer 104 is fixed to the reducer mounting base 103, and the drive motor 105 is preferably a high-torque-density servo motor.
As shown in fig. 3, the chassis frame 2 includes a fixed frame 207, an upper mounting plate 202 is provided on the upper portion of the fixed frame 207, a chassis support plate 201 is provided on the lower portion of the fixed frame 207, a plurality of front and rear support diagonal ribs 204 and a plurality of left and right support diagonal ribs 205 are provided on the side portion of the fixed frame 207, the left and right support diagonal ribs 205 are provided on the left and right sides of the fixed frame 207, the front and rear support diagonal ribs 204 are provided on the front and rear sides of the fixed frame 207, the support plate 106 and the speed reducer mounting seat 103 are provided on the chassis support plate 201, and the drive unit 1 is mounted on the chassis support plate 201 through the speed.
Further, go up the mounting panel 202 through the bolt with fixed frame 207 fixed connection, chassis supporting plate 201 with fixed frame 207 welds, be equipped with battery installation bin 4 on the fixed frame 207. This patent has reserved a battery installation storehouse 4 in the intermediate position of chassis frame 2, the battery of mountable large capacity. In addition, abundant screw holes are reserved on each metal plate of the chassis frame 2, so that the installation and fixation of external parts can be facilitated.
As shown in fig. 1 to 3, two driven wheels 301 of the robot, to which driven wheels 301 are connected at both sides of the other end of the chassis frame 2 through steering and suspension units 3, respectively, are located at the rear end of the chassis frame 2, and each driven wheel 301 is connected to the chassis frame 2 through a set of steering and suspension units 3.
The steering and hanging unit 3 comprises a supporting crank arm 303 hinged with the chassis frame 2, a shock absorber 304 is arranged on the supporting crank arm 303, one end of the shock absorber 304 is hinged on the supporting crank arm 303, the other end of the shock absorber is hinged on the chassis frame 2 through a dumpling support 306, the upper end of the supporting crank arm 303 is hinged on the chassis frame 2 through a dumpling support 305, a fork arm 302 is arranged on the supporting crank arm 303, the fork arm 302 is arranged below the supporting crank arm 303, a steering structure 5 enabling the fork arm 302 to steer is arranged at the joint of the fork arm 302 and the supporting crank arm 303, a rotatable hub 317 is arranged at the lower part of the fork arm 302, and a driven wheel 301 is arranged on the hub 317.
The two ends of the shock absorber 304 are respectively connected with the supporting crank arm 303 and the chassis frame 2 in a hinged manner. When the chassis moves to meet uneven ground, the shock absorber 304 and the supporting crank arm 303 rotate at a small angle at the hinge joint. The shock absorber 304 may be adjusted according to the weight of the load on the chassis to ensure optimal dynamic damping performance.
As shown in fig. 5 and 6, the steering structure 5 includes a steering shaft 313 fixedly connected to the yoke 302 by a first screw 307, the steering shaft 313 is provided inside the support crank arm 303, a roller bearing 314 and a deep groove ball bearing 311 are provided between the support crank arm 303 and the steering shaft 313, respectively, outer rings of the roller bearing 314 and the deep groove ball bearing 311 are fixed to the support crank arm 303, and inner rings of the roller bearing 314 and the deep groove ball bearing 311 rotate together with the steering shaft 313.
As shown in fig. 6, the roller bearing 314 is provided above the roller bearing 314, the roller bearing 314 is a thrust roller bearing, a cover 308 and a stopper 315 for vertically positioning the steering shaft 313 are provided above and below the support crank arm 303, respectively, and a washer 309 and a shaft circlip 312 are interposed between the roller bearing 314 and the cover 308.
As shown in fig. 7 and 8, a rotating structure 6 is disposed at a connection position between the yoke 302 and the hub 317, the rotating structure 6 includes a fixed shaft 318 fixedly connected to the yoke 302, left and right deep groove ball bearings 320 and 319 are respectively disposed on left and right sides of the fixed shaft 318, inner rings of the left and right deep groove ball bearings 320 and 319 are fixed to the fixed shaft 318, and outer rings of the left and right deep groove ball bearings 320 and 319 rotate together with the hub 317.
Further, the fixed shaft 318 is fixedly connected with the fork arm 302 through the second screw 323 and the baffle 310.
The sleeve 316 is sleeved on the fixed shaft 318, the sleeve 316 is arranged between the left deep groove ball bearing 320 and the right deep groove ball bearing 319, a left step 321 which enables the left deep groove ball bearing 320 to abut against the left side of the fork arm 302 is arranged on the hub 317, and a right step 322 which enables the right deep groove ball bearing 319 to abut against the right side of the fork arm 302 is further arranged. This patent is followed wheel hub 317's of driving wheel design in bearing mounted position department has the axial step, and the guarantee wheel hub does not take place the axial float when rotating.
The embodiment of the utility model provides an outdoor autonomous mobile robot chassis structure, at the removal in-process, high moment of torsion density type servo motor 105 provides power for drive wheel 101, can be under the condition that does not increase motor power, the climbing on increase chassis reaches the ability of hindering more. The front two sets of independent driving units 1 are combined with the motion of the rear wheel suspension type universal supporting unit 3 by using a differential steering principle, so that the robot has the characteristics of excellent damping performance and flexible steering when moving at a high speed under the condition of not having too many complex structures. In addition, the problem of matching of the wheel track, the wheel base and the load center of gravity of the chassis is solved, a battery compartment with a large space is reserved in the middle of a chassis frame, a large-capacity battery can be mounted, and the robot is guaranteed to have a higher anti-tipping safety coefficient while achieving long endurance.
The present invention has been described in detail with reference to the embodiments shown in the drawings, and those skilled in the art can make various modifications to the present invention based on the above description. Therefore, certain details of the embodiments should not be construed as limitations of the invention, which are intended to be covered by the following claims.
Claims (7)
1. A drive arrangement of autonomous mobile robot chassis which characterized in that: the device comprises a chassis frame (2), wherein two sides of one end of the chassis frame (2) are respectively provided with a driving wheel (101) and a driving unit (1) for driving the driving wheel (101) to rotate.
2. The driving apparatus of the autonomous mobile robot chassis according to claim 1, wherein: the driving unit (1) comprises a driving motor (105), a speed reducer (104) connected with the driving motor (105) and a flange plate (102) driven by the speed reducer (104).
3. The driving apparatus of the autonomous mobile robot chassis according to claim 2, wherein: the chassis frame (2) is provided with a supporting plate (106) and a speed reducer mounting seat (103), the driving motor (105) is fixed on the supporting plate (106), and the speed reducer (104) is fixed on the speed reducer mounting seat (103).
4. The driving apparatus of the autonomous mobile robot chassis according to claim 3, wherein: chassis frame (2) are including fixed frame (207) the upper portion of fixed frame (207) is equipped with mounting panel (202) the lower part of fixed frame (207) is equipped with chassis backup pad (201), supports brace diagonal (204) and control and support diagonal (205) around the lateral part of fixed frame (207) is equipped with many, backup pad (106) with speed reducer mount pad (103) are established on chassis backup pad (201).
5. The driving apparatus of the autonomous mobile robot chassis according to claim 4, wherein: go up mounting panel (202) through the bolt with fixed frame (207) fixed connection, chassis supporting plate (201) with fixed frame (207) welding, be equipped with battery installation storehouse (4) on fixed frame (207).
6. The driving apparatus of the autonomous mobile robot chassis according to claim 5, wherein: the driving wheel (101) is arranged on the flange plate (102).
7. The driving apparatus of the autonomous mobile robot chassis according to claim 3, wherein: the drive motor (105) is a high torque density type servo motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021925620.3U CN213138483U (en) | 2020-09-04 | 2020-09-04 | Driving device for chassis of autonomous mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021925620.3U CN213138483U (en) | 2020-09-04 | 2020-09-04 | Driving device for chassis of autonomous mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213138483U true CN213138483U (en) | 2021-05-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021925620.3U Active CN213138483U (en) | 2020-09-04 | 2020-09-04 | Driving device for chassis of autonomous mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213138483U (en) |
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2020
- 2020-09-04 CN CN202021925620.3U patent/CN213138483U/en active Active
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: A driving device for chassis of autonomous mobile robot Effective date of registration: 20220527 Granted publication date: 20210507 Pledgee: Zhongshan Torch Huaying Investment Co.,Ltd. Pledgor: Guangdong Kunpeng intelligent machine equipment Co.,Ltd. Registration number: Y2022980006508 |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right |