CN220147452U - Wheeled mobile robot - Google Patents
Wheeled mobile robot Download PDFInfo
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- CN220147452U CN220147452U CN202321684997.8U CN202321684997U CN220147452U CN 220147452 U CN220147452 U CN 220147452U CN 202321684997 U CN202321684997 U CN 202321684997U CN 220147452 U CN220147452 U CN 220147452U
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- 230000007246 mechanism Effects 0.000 claims abstract description 31
- 230000004888 barrier function Effects 0.000 claims abstract description 11
- 230000001681 protective effect Effects 0.000 claims description 7
- 239000000523 sample Substances 0.000 claims description 5
- 230000001105 regulatory effect Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Abstract
The utility model discloses a wheeled mobile robot, in particular to the technical field of robots, which comprises a machine body, wherein an organic frame is fixedly arranged at the bottom end of the machine body, barrier crossing mechanisms are fixedly arranged at four corners of the machine frame, single-row mechanisms are arranged at the bottoms of the barrier crossing mechanisms, mounting frames are fixedly arranged at the front end and the rear end of the machine body, and an anti-collision frame is fixedly arranged at one side of the mounting frames, which is far away from the machine body; the obstacle crossing mechanism comprises a first rotating seat which is fixedly arranged on a machine frame, and a first obstacle crossing frame is rotatably arranged on one side, far away from the machine frame, of the first rotating seat.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a wheeled mobile robot.
Background
The mobile robot is a robot system with a mobile function, which consists of a sensor, a remote control operator, an automatic controller and other mechanisms, can replace people to work in dangerous or severe environments, and has greater maneuverability and flexibility than the common robot. The mobile robots are divided into ground, air, water surface and underwater, and the moving mechanisms of the mobile robots are of wheeled type, crawler type, foot type, mixed type, special type and the like;
the conventional wheeled mobile robot still has some problems when in use: the wheel type mobile robot moves by a plurality of wheels and ground contact, but the wheel mounting structure is mostly a fixed structure, when the obstacle is encountered below, obstacle crossing can not be performed, the obstacle avoidance is needed, the moving distance is increased, the whole use effect is general, and therefore, we propose a wheel type mobile robot for solving the problem.
Disclosure of Invention
The present utility model is directed to a wheeled mobile robot to solve the above-mentioned problems.
In order to achieve the above purpose, the present utility model provides the following technical solutions: the wheel type mobile robot comprises a machine body, wherein an organic frame is fixedly arranged at the bottom end of the machine body, barrier crossing mechanisms are fixedly arranged at four corners of the machine frame, single-row mechanisms are arranged at the bottoms of the barrier crossing mechanisms, mounting frames are fixedly arranged at the front end and the rear end of the machine body, and an anti-collision frame is fixedly arranged at one side, far away from the machine body, of the mounting frames;
the first rotating seat is fixedly arranged on the machine frame, a first obstacle crossing frame is rotatably arranged on one side, far away from the machine frame, of the first rotating seat, a second rotating seat is rotatably arranged on one side, far away from the first obstacle crossing frame, of the first rotating seat, a second obstacle crossing frame is rotatably arranged on one side, far away from the first obstacle crossing frame, of the second rotating seat, a bottom frame is arranged on one end, far away from the second rotating seat, of the second obstacle crossing frame, a first shaft is fixedly arranged on one end, close to the bottom frame, of the second obstacle crossing frame, the first shaft is rotatably arranged on the bottom frame, a fixed bottom plate is fixedly arranged at the bottom end of the bottom frame, a third rotating seat is fixedly arranged at the opposite ends of the first obstacle crossing frame and the second obstacle crossing frame, a fourth rotating seat is rotatably arranged on the third rotating seat, and a telescopic cylinder is fixedly arranged between the two fourth rotating seats;
the single-row mechanism comprises a U-shaped frame, a second shaft is fixedly arranged in the middle of the top end of the U-shaped frame, the second shaft is rotatably arranged on one side, far away from the bottom frame, of the fixed bottom plate, a movable shaft is rotatably arranged at the bottom of the U-shaped frame, a travelling wheel is fixedly arranged in the middle of the movable shaft, a driving motor is fixedly arranged at the side end of the U-shaped frame, and the driving end of the driving motor and the end part of the movable shaft are coaxially and fixedly arranged.
Preferably, a first motor is fixedly arranged at the side end of the bottom frame, and the driving end of the first motor and the end part of the first shaft are coaxially and fixedly arranged.
Preferably, a second motor is fixedly installed on one side, far away from the bottom frame, of the top end of the fixed bottom plate, and the driving end of the second motor and the top end of the second shaft are coaxially and fixedly installed.
Preferably, a first protection cover is fixedly arranged at one side end, close to the first motor, of the bottom frame, and the first motor is located in the first protection cover.
Preferably, a second protective cover is fixedly arranged on one side, close to the second motor, of the top end of the fixed bottom plate, and the second motor is located in the second protective cover.
Preferably, a third protective cover is fixedly arranged at one side end of the U-shaped frame, which is close to the driving motor, and the driving motor is positioned on the third protective cover.
Preferably, anti-collision radar probes are fixedly arranged on the periphery of the machine body, and a camera is fixedly arranged on the top of the front end of the machine body; and a detector is fixedly arranged at the side end of the machine body.
Compared with the prior art, the utility model has the beneficial effects that:
1. through setting up the obstacle mechanism, the cooperation is controlled every single line mechanism in the line wheel and is rotated, and the turning, the straight line walking of whole mobile robot of being convenient for just be convenient for the regulation of a plurality of line wheel spans to when meetting broad obstacle, make things convenient for whole wheeled mobile robot to go beyond the obstacle, need not to keep away the obstacle, promote whole wheeled mobile robot's result of use.
2. Through set up the crashproof frame at the front and back end of fuselage, can protect wheeled mobile robot's front and back end, prevent wheeled mobile robot front and back end from receiving the collision and causing the damage.
Drawings
In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the structure of the present utility model.
FIG. 2 is a schematic illustration of the structural connection of the barrier mechanism and the single row mechanism of the present utility model.
Fig. 3 is an enlarged view of the utility model at a in fig. 2.
In the figure: 1. a body; 2. a frame; 3. a barrier crossing mechanism; 4. a single row mechanism; 5. a mounting frame; 6. an anti-collision frame; 7. an anti-collision radar probe; 8. a camera; 9. a detector; 31. a first rotating seat; 32. a first barrier frame; 33. a second rotating seat; 34. a second barrier-spanning frame; 341. a first shaft; 35. a bottom frame; 36. a fixed bottom plate; 37. a third rotating seat; 371. a fourth rotating seat; 38. a telescopic cylinder; 301. a first motor; 302. a second motor; 303. a first shield; 304. a second shield; 41. a U-shaped frame; 42. a second shaft; 43. a movable shaft; 44. a row wheel; 45. a driving motor; 401. and a third protective cover.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
Examples: as shown in fig. 1-3, the utility model provides a wheeled mobile robot, which comprises a machine body 1, wherein an organic frame 2 is fixedly arranged at the bottom end of the machine body 1, barrier crossing mechanisms 3 are fixedly arranged at four corners of the organic frame 2, a single-row mechanism 4 is arranged at the bottom of each barrier crossing mechanism 3, mounting frames 5 are fixedly arranged at the front end and the rear end of the machine body 1, an anti-collision frame 6 is fixedly arranged at one side, far away from the machine body 1, of the mounting frames 5, and the front end and the rear end of the wheeled mobile robot can be protected by arranging the anti-collision frame 6 at the front end and the rear end of the machine body 1, so that the front end and the rear end of the wheeled mobile robot are prevented from being damaged by collision;
the obstacle crossing mechanism 3 comprises a first rotating seat 31, the first rotating seat 31 is fixedly arranged on the machine frame 2, a first obstacle crossing frame 32 is rotatably arranged at one side of the first rotating seat 31 far away from the machine frame 2, the first obstacle crossing frame 32 is convenient to rotate on the first rotating seat 31, a second rotating seat 33 is rotatably arranged at one end of the first obstacle crossing frame 32 far away from the first rotating seat 31, a second obstacle crossing frame 34 is rotatably arranged at one side of the second rotating seat 33 far away from the first obstacle crossing frame 32, the first obstacle crossing frame 32 and the second obstacle crossing frame 34 are convenient to rotate on the second rotating seat 33, a bottom frame 35 is arranged at one end of the second obstacle crossing frame 34 far away from the second rotating seat 33, a first shaft 341 is fixedly arranged at one end of the second obstacle crossing frame 34 close to the bottom frame 35, a fixed bottom plate 36 is fixedly arranged at the bottom end of the bottom frame 35, a first motor 301 is fixedly arranged at one side end of the bottom frame 35, and a first motor 301 and a first driving end of the first shaft 301 are coaxially arranged; by arranging the first shaft 341, the first motor 301 is controlled to be started to drive the bottom frame 35 to rotate at the bottom of the second obstacle crossing frame 34, and the angles of the bottom frame 35 and the fixed bottom plate 36 are compensated and adjusted;
the opposite ends of the first barrier-spanning frame 32 and the second barrier-spanning frame 34 are fixedly provided with a third rotating seat 37, the third rotating seat 37 is rotatably provided with a fourth rotating seat 371, a telescopic cylinder 38 is fixedly arranged between the two fourth rotating seats 371, the telescopic cylinder 38 is controlled to be opened and contracted, the first barrier-spanning frame 32 is driven to rotate on the first rotating seat 31 in cooperation with the rotating connection between the third rotating seat 37 and the fourth rotating seat 371, the first barrier-spanning frame 32 and the second barrier-spanning frame 34 are rotated on the second rotating seat 33, the angles of the first barrier-spanning frame 32 and the second barrier-spanning frame 34 are adjusted, and then the spans of the bottom frames 35 and the fixed bottom plates 36 in the barrier-spanning mechanisms 3 are adjusted.
The single-row mechanism 4 comprises a U-shaped frame 41, a second shaft 42 is fixedly arranged in the middle of the top end of the U-shaped frame 41, the second shaft 42 is rotatably arranged on one side, far away from the bottom frame 35, of the fixed bottom plate 36, a movable shaft 43 is rotatably arranged at the bottom of the U-shaped frame 41, a travelling wheel 44 is fixedly arranged in the middle of the movable shaft 43, a driving motor 45 is fixedly arranged at the side end of the U-shaped frame 41, the driving end of the driving motor 45 and the end part of the movable shaft 43 are coaxially and fixedly arranged, the driving motor 45 is controlled to be started to drive the corresponding movable shaft 43 and the travelling wheel 44 to rotate, and accordingly the travelling wheel 44 in each single-row mechanism 4 is independently controlled to rotate, so that the whole movable robot can conveniently turn and walk linearly.
The second motor 302 is fixedly installed on one side, far away from the bottom frame 35, of the top end of the fixed bottom plate 36, the driving end of the second motor 302 and the top end of the second shaft 42 are coaxially and fixedly installed, the second motor 302 is controlled to be started, the corresponding second shaft 42 is driven to drive the U-shaped frame 41 and the traveling wheels 44 to rotate, the traveling angle of the traveling wheels 44 is convenient to change, and when the spans of the bottom frame 35 and the fixed bottom plate 36 in the obstacle crossing mechanisms 3 are adjusted, the traveling wheels 44 can be rotated, the traveling wheels 44 and the span adjusting track are identical, the span of the traveling wheels 44 is convenient to adjust, the whole wheel type mobile robot is convenient to surmount obstacles when a wider obstacle is met, the obstacle is not required to be avoided, and the using effect of the whole wheel type mobile robot is improved.
The first protection cover 303 is fixedly arranged at one side end, close to the first motor 301, of the bottom frame 35, the first motor 301 is located in the first protection cover 303, and the first motor 301 is protected by the first protection cover 303.
A second protection cover 304 is fixedly installed on one side, close to the second motor 302, of the top end of the fixed bottom plate 36, the second motor 302 is located in the second protection cover 304, and the second motor 302 is protected by the second protection cover 304.
A third protection cover 401 is fixedly arranged at one side end of the U-shaped frame 41, which is close to the driving motor 45, the driving motor 45 is positioned on the third protection cover 401, and the driving motor 45 is protected by arranging the third protection cover 401.
The anti-collision radar probe 7 is fixedly arranged around the machine body 1, the camera 8 is fixedly arranged at the top of the front end of the machine body 1, the whole wheeled mobile robot is prevented from being collided by arranging the anti-collision radar probe 7, the camera 8 is matched for shooting, and the safety of the whole wheeled mobile robot during walking is improved; a detector 9 is fixedly arranged at the side end of the machine body 1.
Working principle: when the robot is used, the driving motor 45 is controlled to be started to drive the corresponding movable shaft 43 and the corresponding row wheel 44 to rotate, so that the row wheel 44 in each single-row mechanism 4 is independently controlled to rotate, and the whole mobile robot can conveniently turn and walk linearly;
when encountering a wider obstacle, the telescopic cylinder 38 is controlled to be opened for telescopic operation, the third rotating seat 37 and the fourth rotating seat 371 are matched for rotating connection, the first obstacle crossing frame 32 is driven to rotate on the first rotating seat 31, the first obstacle crossing frame 32 and the second obstacle crossing frame 34 are driven to rotate on the second rotating seat 33, the angles of the first obstacle crossing frame 32 and the second obstacle crossing frame 34 are regulated, the spans of the bottom frames 35 and the fixed bottom plates 36 in the obstacle crossing mechanisms 3 are regulated, the spans of the traveling wheels 44 are regulated, meanwhile, the second motor 302 is controlled to be opened, the corresponding second shaft 42 drives the U-shaped frame 41 and the traveling wheels 44 to rotate, the traveling wheels 44 and the span regulating track are identical, the regulation of the spans of the traveling wheels 44 is facilitated, the first motor 301 is controlled to be opened to drive the bottom frame 35 to rotate on the bottom of the second obstacle crossing frame 34, the angles of the bottom frame 35, the fixed bottom plates 36 and the traveling wheels 44 are compensated, the whole traveling robot is convenient to directly carry out obstacle crossing, and the using effect of the whole traveling robot is not required to be avoided.
Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. A wheeled mobile robot comprising a body (1), characterized in that: the device comprises a machine body (1), wherein an organic frame (2) is fixedly arranged at the bottom end of the machine body (1), barrier crossing mechanisms (3) are fixedly arranged at four corners of the machine frame (2), single-row mechanisms (4) are arranged at the bottoms of the barrier crossing mechanisms (3), mounting frames (5) are fixedly arranged at the front end and the rear end of the machine body (1), and an anti-collision frame (6) is fixedly arranged at one side, far away from the machine body (1), of the mounting frames (5);
the obstacle crossing mechanism (3) comprises a first rotating seat (31), the first rotating seat (31) is fixedly arranged on the machine frame (2), a first obstacle crossing frame (32) is rotatably arranged on one side, far away from the machine frame (2), of the first rotating seat (31), a second rotating seat (33) is rotatably arranged on one end, far away from the first rotating seat (31), of the first obstacle crossing frame (32), a second obstacle crossing frame (34) is rotatably arranged on one side, far away from the first obstacle crossing frame (32), of the second rotating seat (33), a bottom frame (35) is arranged on one end, far away from the second rotating seat (33), of the second obstacle crossing frame (34), a first shaft (341) is fixedly arranged on one end, close to the bottom frame (35), of the second obstacle crossing frame (34), a fixed bottom plate (36) is fixedly arranged on the bottom end of the bottom frame (35), a second cylinder (37) is rotatably arranged on the second rotating seat (37), and a telescopic cylinder (371) is fixedly arranged on the second rotating seat (37);
the single-row mechanism (4) comprises a U-shaped frame (41), a second shaft (42) is fixedly arranged in the middle of the top end of the U-shaped frame (41), the second shaft (42) is rotatably arranged on one side, far away from the bottom frame (35), of the fixed bottom plate (36), a movable shaft (43) is rotatably arranged at the bottom of the U-shaped frame (41), a travelling wheel (44) is fixedly arranged in the middle of the movable shaft (43), a driving motor (45) is fixedly arranged at the side end of the U-shaped frame (41), and the driving end of the driving motor (45) and the end part of the movable shaft (43) are coaxially and fixedly arranged.
2. A wheeled mobile robot according to claim 1, characterized in that: the side end of the bottom frame (35) is fixedly provided with a first motor (301), and the driving end of the first motor (301) and the end part of the first shaft (341) are coaxially and fixedly arranged.
3. A wheeled mobile robot according to claim 1, characterized in that: a second motor (302) is fixedly arranged on one side, far away from the bottom frame (35), of the top end of the fixed bottom plate (36), and the driving end of the second motor (302) and the top end of the second shaft (42) are coaxially and fixedly arranged.
4. A wheeled mobile robot according to claim 2, characterized in that: a first protection cover (303) is fixedly arranged at one side end, close to the first motor (301), of the bottom frame (35), and the first motor (301) is located in the first protection cover (303).
5. A wheeled mobile robot according to claim 3, characterized in that: a second protective cover (304) is fixedly arranged on one side, close to the second motor (302), of the top end of the fixed bottom plate (36), and the second motor (302) is located in the second protective cover (304).
6. A wheeled mobile robot according to claim 1, characterized in that: a third protection cover (401) is fixedly arranged at one side end of the U-shaped frame (41) close to the driving motor (45), and the driving motor (45) is located on the third protection cover (401).
7. A wheeled mobile robot according to claim 1, characterized in that: the anti-collision radar device is characterized in that anti-collision radar probes (7) are fixedly mounted on the periphery of the machine body (1), and a camera (8) is fixedly mounted at the top of the front end of the machine body (1).
8. A wheeled mobile robot according to claim 1, characterized in that: a detector (9) is fixedly arranged at the side end of the machine body (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321684997.8U CN220147452U (en) | 2023-06-30 | 2023-06-30 | Wheeled mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321684997.8U CN220147452U (en) | 2023-06-30 | 2023-06-30 | Wheeled mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220147452U true CN220147452U (en) | 2023-12-08 |
Family
ID=89011482
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321684997.8U Active CN220147452U (en) | 2023-06-30 | 2023-06-30 | Wheeled mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220147452U (en) |
-
2023
- 2023-06-30 CN CN202321684997.8U patent/CN220147452U/en active Active
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