CN214165158U - Driving device for robot chassis - Google Patents
Driving device for robot chassis Download PDFInfo
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- CN214165158U CN214165158U CN202022748026.8U CN202022748026U CN214165158U CN 214165158 U CN214165158 U CN 214165158U CN 202022748026 U CN202022748026 U CN 202022748026U CN 214165158 U CN214165158 U CN 214165158U
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- 230000007246 mechanism Effects 0.000 claims description 20
- 238000013016 damping Methods 0.000 claims description 17
- 230000005540 biological transmission Effects 0.000 claims description 13
- 230000035939 shock Effects 0.000 claims description 11
- 230000033001 locomotion Effects 0.000 abstract description 12
- 238000000034 method Methods 0.000 abstract description 5
- 230000008569 process Effects 0.000 abstract description 4
- 230000009467 reduction Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
- 230000003245 working effect Effects 0.000 description 1
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Abstract
The utility model discloses a drive arrangement for robot chassis, concretely relates to robotechnology field, which comprises a base, the top fixedly connected with top cap on chassis, the both sides fixedly connected with on chassis extends the concave plate, just the inside fixedly connected with power unit on chassis, the inside on chassis is equipped with the body frame, just the top fixed mounting of body frame has the thing piece of carrying, the both sides of carrying the thing piece are equipped with buffer gear, buffer gear's other end fixed connection is in the inside of extending the concave plate. The utility model discloses give the high-efficient stable power in chassis, can adapt to the operational environment of various complicacies to can realize various motions high performance, compact structure, control is simple, and obstacle-surmounting ability is strong, has strengthened the flexibility on chassis, can also effectual reduction chassis and the vibrations of wheel in the motion process, increased the stationarity of motion, and have stronger anti ability of heeling.
Description
Technical Field
The utility model relates to a robotechnology field, more specifically say, the utility model relates to a drive arrangement for robot chassis.
Background
With the development of the technology, the robot technology is mature, the application field of the robot is increasingly wide, the robot can be applied to a logistics system as a carrying moving vehicle, and can also be used for machining and the like, and the robot is generally provided with a chassis device for driving, walking, carrying and the like.
But when in actual use, current chassis device bears great weight motion effect not good, this application range that has greatly restricted the chassis, and the drive flexibility of chassis is lower, and the roughness requirement on ground is higher, when the uneven situation of pothole appears in the road surface, the wheel idle running problem such as skidding very easily appears, consuming time power, and the chassis is in the motion process, can produce vibrations by a wide margin, can not effectively absorb the vibrations energy that produces, the shock attenuation is inefficient, influence the working effect easily, thereby reduce work efficiency. Therefore, further optimization and improvement are necessary.
SUMMERY OF THE UTILITY MODEL
In order to overcome the above-mentioned defects of the prior art, the embodiments of the present invention provide a driving device for a robot chassis to solve the problems proposed in the above-mentioned background art.
In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a drive arrangement for robot chassis, includes the chassis, the top fixedly connected with top cap on chassis, the both sides fixedly connected with on chassis extends the concave plate, just the inside fixedly connected with power unit on chassis, the inside on chassis is equipped with the body frame, just the top fixed mounting of body frame has the thing piece of carrying, the both sides of carrying the thing piece are equipped with buffer gear, buffer gear's other end fixed connection is in the inside of extending the concave plate, the both sides on chassis rotate through the bearing and are connected with a pivot and No. two pivots, the both ends of a pivot and No. two pivots are fixedly connected with drive wheel and leading wheel respectively, the surface transmission of drive wheel and leading wheel is connected with drive mechanism, the both sides on chassis are seted up flutedly, fixedly connected with damper on the recess is close to one side inner wall of body frame.
Furthermore, the power mechanism comprises a driving motor fixedly connected inside the chassis, an output shaft of the driving motor is fixedly connected with a driving helical gear, a driven helical gear is fixedly sleeved in the middle of the surface of the first rotating shaft, and the driving helical gear is meshed with the surface of the driven helical gear.
Furthermore, drive mechanism includes that the transmission is connected at the annular track on drive wheel and leading wheel surface, the internal transmission of annular track is connected with thrust wheel and holds in the palm the band pulley, the bottom of holding in the band pulley articulates there is vertical connecting rod, vertical connecting rod fixed connection is in the inside that extends the notch board.
Furthermore, at least one thrust wheel is arranged between the driving wheel and the guide wheel, a transverse connecting rod is hinged between the thrust wheels, the middle of one side of the transverse connecting rod is fixedly connected with a connecting rod, and the top of the connecting rod is fixedly connected to the bottom of the extending concave plate.
Further, buffer gear includes fixed block of fixed connection in year thing piece both sides, one side fixedly connected with buffer spring and buffer beam of fixed block, just the buffer beam cup joints in buffer spring's inside, buffer spring and buffer beam's the other end fixedly connected with connecting plate, the round pin axle is worn to be equipped with in the middle part of connecting plate, the surface of round pin axle articulates there is the arc dead lever, arc dead lever fixed connection is in the inside of extending the concave plate.
Furthermore, one side fixedly connected with stopper that fixed block and connecting plate are close to buffer spring, just the stopper is located the corresponding position department of buffer spring both sides.
Further, damper includes the yielding rubber of fixed connection on the recess inner wall, one side fixedly connected with shock attenuation pole that yielding rubber kept away from the chassis, the other end of shock attenuation pole articulates there is the shock attenuation gasket, the opposite side fixed connection of shock attenuation gasket is in the outside of extending the notch board.
The utility model discloses a technological effect and advantage:
1. compared with the prior art, the chassis is provided with the power mechanism and the transmission mechanism to provide efficient and stable power for the chassis, so that the chassis can adapt to various complex running environments such as muddy and gully, can realize various motions with high performance, has a compact structure, small occupied space and simple control, can effectively reduce energy consumption and reduce cost, has the advantages of wear resistance, impact resistance, long service life, reliable steering, strong obstacle crossing capability and enhanced flexibility of the chassis.
2. Compared with the prior art, through setting up buffer gear and damper, can effectual reduction chassis and the vibrations of wheel in the motion process, the stationarity of motion has been increased, the adhesive force on a plurality of wheels and chassis has been improved, the vibration inside and outside the chassis has been reduced, and have stronger anti ability of heeling, the shock attenuation rubber and the shock attenuation gasket that set up simultaneously make to be connected between wheel and the chassis inseparabler, frictional force between each other has been reduced, also improve the holistic life of damper, thereby improve shock-absorbing efficiency.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic view of the whole internal structure of the present invention.
Fig. 3 is a schematic side view of the present invention.
Fig. 4 is a schematic view of the internal structure of the chassis of the present invention.
Fig. 5 is a schematic view of the local enlarged structure at a position of the present invention.
The reference signs are: 1. a chassis; 2. a top cover; 3. a main frame; 4. an extended concave plate; 5. carrying blocks; 6. a first rotating shaft; 7. a second rotating shaft; 8. a drive wheel; 9. a guide wheel; 10. a groove; 11. a drive motor; 12. a driving bevel gear; 13. a driven helical gear; 14. an endless track; 15. a thrust wheel; 16. a belt supporting wheel; 17. a vertical connecting rod; 18. a transverse connecting rod; 19. a connecting rod; 20. a fixed block; 21. a buffer spring; 22. a buffer rod; 23. a connecting plate; 24. a pin shaft; 25. an arc-shaped fixing rod; 26. a limiting block; 27. damping rubber; 28. a shock-absorbing lever; 29. shock-absorbing pad.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. 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.
As shown in the attached fig. 1-5, the driving device for the robot chassis comprises a chassis 1, a top cover 2 fixedly connected to the top of the chassis 1, extending concave plates 4 fixedly connected to both sides of the chassis 1, and the inside fixedly connected with power unit on chassis 1, the inside on chassis 1 is equipped with body frame 3, and the top fixed mounting of body frame 3 has thing piece 5 of carrying, the both sides of carrying thing piece 5 are equipped with buffer gear, buffer gear's other end fixed connection is in the inside of extending concave plate 4, the both sides on chassis 1 are rotated through the bearing and are connected with pivot 6 and No. two pivot 7, the both ends of pivot 6 and No. two pivot 7 are fixedly connected with drive wheel 8 and leading wheel 9 respectively, the surface transmission of drive wheel 8 and leading wheel 9 is connected with drive mechanism, recess 10 is seted up to the both sides on chassis 1, fixedly connected with damper on the recess 10 is close to one side inner wall of body frame 3.
In a preferred embodiment, the power mechanism comprises a driving motor 11 fixedly connected inside the chassis 1, an output shaft of the driving motor 11 is fixedly connected with a driving bevel gear 12, a driven bevel gear 13 is fixedly sleeved in the middle of the surface of the first rotating shaft 6, and the driving bevel gear 12 is in meshed connection with the surface of the driven bevel gear 13, so that effective and stable power is provided, and heavy objects can be conveniently carried.
In a preferred embodiment, the transmission mechanism comprises an annular track 14 in transmission connection with the surfaces of the driving wheel 8 and the guide wheel 9, a thrust wheel 15 and a carrier wheel 16 are in transmission connection with the inside of the annular track 14, a vertical connecting rod 17 is hinged to the bottom of the carrier wheel 16, and the vertical connecting rod 17 is fixedly connected inside the extension concave plate 4, so that the operation environment of various muddy, gully and ladder can be adapted, various movements can be realized with high performance, the operability is enhanced, and the production efficiency is improved.
In a preferred embodiment, at least one thrust wheel 15 is arranged between the driving wheel 8 and the guide wheel 9, a transverse connecting rod 18 is hinged between the thrust wheels 15, a connecting rod 19 is fixedly connected to the middle of one side of the transverse connecting rod 18, and the top of the connecting rod 19 is fixedly connected to the bottom of the extension concave plate 4, so that the firmness of the track and the adhesion force of the annular track 14 and the ground are improved, and heavy objects can be carried for a long time in a long distance.
In a preferred embodiment, buffer gear includes fixed block 20 of fixed connection in year thing piece 5 both sides, one side fixedly connected with buffer spring 21 and buffer rod 22 of fixed block 20, and buffer rod 22 cup joints the inside at buffer spring 21, buffer spring 21 and buffer rod 22's other end fixedly connected with connecting plate 23, round pin axle 24 is worn to be equipped with at the middle part of connecting plate 23, the surface of round pin axle 24 articulates there is arc dead lever 25, arc dead lever 25 fixed connection is in the inside of extending concave plate 4, so that the buffering is inhaled and is inhaled, guarantee the stationarity of motion, and improve the holistic installation convenience of damper, be convenient for subsequent operation maintenance, improve the holistic convenience in utilization and the result of use of damper.
In a preferred embodiment, the fixing block 20 and one side of the connecting plate 23 close to the buffer spring 21 are fixedly connected with a limiting block 26, and the limiting block 26 is located at the corresponding position on the two sides of the buffer spring 21, so that the buffer spring 21 is better limited and restrained, the effect of buffering and damping is achieved, and the movement stability is increased.
In a preferred embodiment, the damping mechanism comprises damping rubber 27 fixedly connected to the inner wall of the groove 10, a damping rod 28 is fixedly connected to one side of the damping rubber 27 away from the chassis 1, a damping gasket 29 is hinged to the other end of the damping rod 28, the other side of the damping gasket 29 is fixedly connected to the outer side of the extension concave plate 4, and the damping rubber 27 and the damping gasket 29 which are arranged simultaneously enable the connection between a plurality of wheels and the chassis 1 to be more shockproof and tight, reduce the friction force between each other, and also prolong the service life of the whole damping mechanism, thereby improving the damping efficiency.
The utility model discloses the theory of operation: the driving motor 11 drives the driving bevel gear 12 and the driven bevel gear 13 to operate, the first rotating shaft 6 is stressed to drive the driving wheel 8, meanwhile, the annular crawler 14 is continuously stirred to perform winding motion, in the propelling process, on one hand, the annular crawler 14 wound from the driving wheel 8 is paved on the ground, the annular crawler 14 rolled by the supporting wheel 15 is wound by the guide wheel 7, when the power mechanism operates, the chassis 1 and the inner main frame 3 can shake, the buffer mechanisms connected to the object carrying block 5 and the extension concave plate 4 can absorb vibration energy to restrain each other, the vibration of the two is reduced, the towing wheel 16 and the supporting wheel 15 are connected to the extension concave plate 4 through the vertical connecting rod 17 and the transverse connecting rod 18, the vibration energy of the extension concave plate 4 is large, and the damping mechanism can damp between the wheel and the chassis 1.
The points to be finally explained are: first, in the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounted," "connected," and "connected" should be understood broadly, and may be a mechanical connection or an electrical connection, or a communication between two elements, and may be a direct connection, and "upper," "lower," "left," and "right" are only used to indicate a relative positional relationship, and when the absolute position of the object to be described is changed, the relative positional relationship may be changed;
secondly, the method comprises the following steps: in the drawings of the disclosed embodiments of the present invention, only the structures related to the disclosed embodiments are referred to, and other structures can refer to the common design, and under the condition of no conflict, the same embodiment and different embodiments of the present invention can be combined with each other;
and finally: the above description is only for the preferred embodiment of the present invention and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A drive arrangement for a robot chassis, comprising a chassis (1), characterized in that: the top of the chassis (1) is fixedly connected with a top cover (2), two sides of the chassis (1) are fixedly connected with extension concave plates (4), the interior of the chassis (1) is fixedly connected with a power mechanism, a main frame (3) is arranged inside the chassis (1), a load block (5) is fixedly mounted at the top of the main frame (3), two sides of the load block (5) are provided with buffer mechanisms, the other end of each buffer mechanism is fixedly connected inside the extension concave plates (4), two sides of the chassis (1) are rotatably connected with a first rotating shaft (6) and a second rotating shaft (7) through bearings, two ends of the first rotating shaft (6) and the second rotating shaft (7) are respectively fixedly connected with a driving wheel (8) and a guide wheel (9), the surface transmission of the driving wheel (8) and the guide wheel (9) is connected with a transmission mechanism, two sides of the chassis (1) are provided with grooves (10), and a damping mechanism is fixedly connected to the inner wall of one side of the groove (10) close to the main frame (3).
2. A drive arrangement for a robot chassis according to claim 1, characterised in that: the power mechanism comprises a driving motor (11) fixedly connected inside the chassis (1), an output shaft of the driving motor (11) is fixedly connected with a driving helical gear (12), a driven helical gear (13) is fixedly sleeved in the middle of the surface of the first rotating shaft (6), and the driving helical gear (12) is meshed with the surface of the driven helical gear (13) to be connected.
3. A drive arrangement for a robot chassis according to claim 2, characterised in that: the transmission mechanism comprises an annular crawler (14) which is in transmission connection with the surfaces of a driving wheel (8) and a guide wheel (9), wherein the inner portion of the annular crawler (14) is in transmission connection with a thrust wheel (15) and a supporting belt wheel (16), the bottom of the supporting belt wheel (16) is hinged with a vertical connecting rod (17), and the vertical connecting rod (17) is fixedly connected inside the extending concave plate (4).
4. A drive arrangement for a robot chassis according to claim 3, characterised in that: at least one thrust wheel (15) is arranged between the driving wheel (8) and the guide wheel (9), a transverse connecting rod (18) is hinged between the thrust wheels (15), the middle of one side of the transverse connecting rod (18) is fixedly connected with a connecting rod (19), and the top of the connecting rod (19) is fixedly connected with the bottom of the extension concave plate (4).
5. A drive arrangement for a robot chassis according to claim 4, characterized in that: buffer gear includes fixed block (20) of fixed connection in year thing piece (5) both sides, one side fixedly connected with buffer spring (21) and buffer beam (22) of fixed block (20), just buffer beam (22) cup joint the inside at buffer spring (21), the other end fixedly connected with connecting plate (23) of buffer spring (21) and buffer beam (22), round pin axle (24) are worn to be equipped with at the middle part of connecting plate (23), the surface of round pin axle (24) articulates there is arc dead lever (25), arc dead lever (25) fixed connection is in the inside of extending concave plate (4).
6. A drive arrangement for a robot chassis according to claim 5, characterised in that: one side fixedly connected with stopper (26) that fixed block (20) and connecting plate (23) are close to buffer spring (21), just stopper (26) are located the corresponding position department of buffer spring (21) both sides.
7. A drive arrangement for a robot chassis according to claim 6, characterised in that: damper includes damping rubber (27) of fixed connection on recess (10) inner wall, one side fixedly connected with shock attenuation pole (28) of chassis (1) are kept away from to damping rubber (27), the other end of shock attenuation pole (28) articulates there is shock attenuation gasket (29), the opposite side fixed connection of shock attenuation gasket (29) is in the outside of extending concave plate (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022748026.8U CN214165158U (en) | 2020-11-25 | 2020-11-25 | Driving device for robot chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022748026.8U CN214165158U (en) | 2020-11-25 | 2020-11-25 | Driving device for robot chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214165158U true CN214165158U (en) | 2021-09-10 |
Family
ID=77601730
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022748026.8U Expired - Fee Related CN214165158U (en) | 2020-11-25 | 2020-11-25 | Driving device for robot chassis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214165158U (en) |
-
2020
- 2020-11-25 CN CN202022748026.8U patent/CN214165158U/en not_active Expired - Fee Related
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210910 |