CN106426214B - Service robot hangs chassis - Google Patents
Service robot hangs chassis Download PDFInfo
- Publication number
- CN106426214B CN106426214B CN201611046010.4A CN201611046010A CN106426214B CN 106426214 B CN106426214 B CN 106426214B CN 201611046010 A CN201611046010 A CN 201611046010A CN 106426214 B CN106426214 B CN 106426214B
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- China
- Prior art keywords
- chassis
- motor
- suspension
- fixed seat
- service robot
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a kind of service robots to hang chassis, including bottom plate, wheel hub motor, suspension and sensing device；The suspension includes 2 wheel hub motors, L-type motor mounting rack and connecting rod；2 wheel hub motors are symmetricly set on chassis both sides, and the output shaft of wheel hub motor is fixedly clamped by motor upper fixed seat and motor lower fixed seat；The long side of each L-type motor mounting rack is fixed on motor lower fixed seat, and 2 fixed bolts for being cased with compressed spring are additionally provided between the short side and bottom plate of the L-type motor mounting rack of every side；2 suspension strut seats are respectively fixed with above and below bottom plate, the both ends of connecting rod are hinged by axis pin with suspension strut seat and motor lower fixed seat respectively；Sensing device is arranged on chassis.Suspension can guarantee that driving wheel is bonded ground completely, keep robot motion more safe and reliable, and movement is more steady reliable.And suspension uses parallelogram lindage, and it is easy for installation by axis pin connecting components, it is of low cost.
Description
Technical field
The invention belongs to robotic technology fields more particularly to a kind of service robot to hang chassis.
Background technology
Currently, robot has been widely used in the every field such as civil, military and industrial production, with society
It continues to develop, demand type also more and be more also on the increase by diversity, the type of robot.
Service robot belongs to a kind of specialized robot, can substantially be divided into professional domain server according to its purposes performance
Two class of device people and individual/home-services robot, service robot have wide range of applications, are mainly engaged in maintaining, repair
The work such as reason, transport, cleaning, security personnel, rescue, monitoring.
Wherein, it completes traveling action and belongs to the Essential Performance Requirements of service robot, and the safety and stability in traveling process
Property then depend on robot chassis structure and chassis connection travel wheel.Currently, common service robot mostly uses greatly admittedly
Fixed pattern chassis design, when connecting travel wheel, travel wheel is merely capable of driving chassis movement, in a few thing on the chassis of robot
The poor occasion of environment, when having the uneven or small barrier in slope such as ground driving wheel can not close proximity to ground, to provide
One safe and stable travel condition.Therefore, the chassis structure of service robot and travel wheel often influence whether its entirety
Performance is unfavorable for service robot and smoothly completes to work accordingly.
Invention content
In view of the problems of the existing technology, the present invention provides a kind of service robot suspension chassis, can make driving wheel
Fitting ground completely, keeps robot motion more safe and reliable, moves more steady, strong applicability.
The above-mentioned technical problem of the present invention is mainly to be addressed by following technical proposals：
A kind of service robot suspension chassis, including bottom plate, wheel hub motor, suspension and sensing device；The suspension
System includes 2 wheel hub motors, 2 L-type motor mounting racks and connecting rod；2 wheel hub motors are symmetrically arranged the two of chassis
The output shaft of side, wheel hub motor is fixedly clamped by motor upper fixed seat and motor lower fixed seat；The length of each L-type motor mounting rack
Side is fixed on motor lower fixed seat, and being additionally provided with 2 between the short side and bottom plate of the L-type motor mounting rack of every side is cased with compression
The fixed bolt of spring；Be respectively fixed with 2 suspension strut seats above and below bottom plate, the both ends of connecting rod respectively with suspension
Support base and motor lower fixed seat are hinged by axis pin；Sensing device is arranged on chassis.
Further, the connecting rod is cased with copper sheathing on suspension strut seat and the axis pin of motor lower fixed seat hinged place,
Copper sheathing can be replaced with rolling bearing.
Further, further include power supply, after the power supply is fixed on bottom plate by 4 long threaded rods and two fixed mounting plates
End.
Further, the sensing device includes magnetic navigation sensor, RFID radio-frequency cards and sensor mount, described
Magnetic navigation sensor is fixed on the front end on chassis by sensor mount, RFID radio-frequency cards are fixedly mounted on the central position on chassis
It sets.
Further, universal wheel is equipped at four angles of the lower section of bottom plate, and the minimum point of universal wheel compares wheel hub motor
Minimum point it is high.
Further, it is provided with plain cushion between the axis pin and connecting rod.
Further, the copper sheathing being arranged on the connecting rod and suspension strut seat and the axis pin of motor lower fixed seat hinged place is also
Can be rolling bearing, or directly hinged using axis pin.
The beneficial effects of the invention are as follows：So that driving wheel is bonded ground completely by suspension, will not ground not usually
There is driving wheel liftoff the case where causing robot that can not move, keeps robot motion more safe and reliable, movement is more steady,
Strong applicability.And suspension uses parallelogram lindage, each component is connected by axis pin, easy for installation, cost
It is cheap.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is that a kind of service robot of the present invention hangs the dimensional structure diagram on chassis；
Fig. 2 is that a kind of service robot of the present invention hangs another view stereo structural schematic diagram on chassis；
Fig. 3 is that a kind of service robot of the present invention hangs the suspension dimensional structure diagram on chassis；
Fig. 4 is that a kind of service robot of the present invention hangs the broken section structural schematic diagram on chassis.
Specific implementation mode
The preferred embodiment of the present invention is described in detail below in conjunction with the accompanying drawings, so that advantages and features of the invention energy
It is easier to be readily appreciated by one skilled in the art, so as to make a clearer definition of the protection scope of the present invention.
Shown in Fig. 4, a kind of service robot suspension of present invention chassis includes mainly：Bottom plate 6, power supply 9, wheel
Hub motor 1, universal wheel 15, suspension and sensing device；The suspension is a set of parallel four-bar symmetrically arranged on the left and the right
The system that mechanism is formed by connecting, including 2 12,2 L-types of motor lower fixed seat of motor upper fixed seat 2,2 of wheel hub motor 1,2
4,4, the connecting rod fixed bolt 14 of compressed spring 13,4 of suspension strut seat 5,8 of motor mounting rack 3,4；2 wheel hubs
Motor 1 is arranged symmetrically in the both sides on chassis 6, and the output shaft of the wheel hub motor 1 is by fixed under motor upper fixed seat 2 and motor
Seat 12 is fixedly clamped；The long side of the L-type motor mounting rack 3 and the end face of motor lower fixed seat 12 are fixed, the L-type motor peace
It shelves and is additionally provided with 2 fixed bolts for being cased with compressed spring 13 14 between 3 short sides and bottom plate 6；4 suspension strut seats 5
It is mounted by means of bolts on the centre position of about 6 both sides of bottom plate；The both ends of the connecting rod 4 respectively with suspension strut seat 5 and
Motor lower fixed seat 12 is hinged by axis pin 18, the pin of the connecting rod 4 and 12 hinged place of suspension strut seat 5 and motor lower fixed seat
Copper sheathing 17 is cased on axis 18；The sensing device includes magnetic navigation sensor 8, RFID radio-frequency cards 16 and sensor mount 7,
The magnetic navigation sensor 8 is fixed on the front end on chassis 6 by sensor mount 7, RFID radio-frequency cards 16 are fixedly mounted on bottom
On the middle position of disk 6；The power supply 9 is fixed on the rear end of bottom plate 6 by 4 long threaded rods 11 and two fixed mounting plates 10.
The universal wheel 15 is fixedly mounted on four Angle Positions of bottom plate 6.
Plain cushion 19 is provided between the axis pin 18 and connecting rod 4.
The connecting rod 4 is gone back with the copper sheathing 17 being arranged on the axis pin 18 of 12 hinged place of suspension strut seat 5 and motor lower fixed seat
Rolling bearing can be changed into, or directly use axis pin 18 hinged.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
The change or replacement expected without creative work, should be covered by the protection scope of the present invention.Therefore, of the invention
Protection domain should be determined by the scope of protection defined in the claims.
Claims (7)
1. a kind of service robot hangs chassis, it is characterised in that：Including chassis（6）, wheel hub motor（1）, suspension and biography
Induction device；The suspension includes 2 wheel hub motors（1）, 2 L-type motor mounting racks（3）And connecting rod（4）；2 wheel hubs
Motor（1）It is symmetrical to be arranged on chassis（6）Both sides, wheel hub motor（1）Output shaft by motor upper fixed seat（2）Under motor
Fixed seat（12）It is fixedly clamped；Each L-type motor mounting rack（3）Long side be fixed on motor lower fixed seat（12）On, in every side
L-type motor mounting rack（3）Short side and chassis（6）Between be additionally provided with 2 and be cased with compressed spring（13）Fixed bolt
（14）；2 suspension strut seats are respectively fixed with above and below chassis（5）, connecting rod（4）Both ends respectively with suspension strut
Seat（5）With motor lower fixed seat（12）Pass through axis pin（18）It is hinged；Sensing device is arranged on chassis（6）On.
2. a kind of service robot according to claim 1 hangs chassis, it is characterised in that：The connecting rod（4）With suspension
Support base（5）With motor lower fixed seat（12）The axis pin of hinged place（18）On be cased with copper sheathing（17）.
3. a kind of service robot according to claim 1 hangs chassis, it is characterised in that：The connecting rod（4）With suspension
Support base（5）With motor lower fixed seat（12）The axis pin of hinged place（18）On be cased with rolling bearing.
4. a kind of service robot according to claim 1 hangs chassis, it is characterised in that：It further include power supply（9）, described
Power supply（9）By 4 long threaded rods（11）With two fixed mounting plates（10）It is fixed on chassis（6）Rear end.
5. a kind of service robot according to claim 1 hangs chassis, it is characterised in that：The sensing device includes magnetic
Navigation sensor（8）, RFID radio-frequency cards（16）And sensor mount（7）, the magnetic navigation sensor（8）Pass through sensor
Mounting bracket（7）It is fixed on chassis（6）Front end, RFID radio-frequency cards（16）It is fixedly mounted on chassis（6）Middle position.
6. a kind of service robot according to claim 1 hangs chassis, it is characterised in that：On chassis（6）Lower section
Universal wheel is equipped at four angles（15）, and universal wheel（15）Minimum point compare wheel hub motor（1）Minimum point it is high.
7. a kind of service robot according to claim 1 hangs chassis, it is characterised in that：The axis pin（18）With connecting rod
（4）Between be provided with plain cushion（19）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611046010.4A CN106426214B (en) | 2016-11-22 | 2016-11-22 | Service robot hangs chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611046010.4A CN106426214B (en) | 2016-11-22 | 2016-11-22 | Service robot hangs chassis |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106426214A CN106426214A (en) | 2017-02-22 |
| CN106426214B true CN106426214B (en) | 2018-10-30 |
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ID=58218056
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611046010.4A Active CN106426214B (en) | 2016-11-22 | 2016-11-22 | Service robot hangs chassis |
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| Country | Link |
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| CN (1) | CN106426214B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107414893B (en) * | 2017-09-05 | 2023-09-19 | 深圳市腾隆达智能科技有限公司 | Universal chassis of heavy-duty two-wheel differential robot |
| CN109987166A (en) * | 2017-12-29 | 2019-07-09 | 沈阳新松机器人自动化股份有限公司 | A kind of drive wheel assemblies and its robot |
| CN108608404B (en) * | 2018-04-18 | 2021-06-11 | 南京理工大学 | Light suspension type track robot chassis |
| CN108482054B (en) * | 2018-04-20 | 2020-10-23 | 深圳市证通电子股份有限公司 | Robot chassis and automated guided vehicle |
| CN108638962A (en) * | 2018-05-31 | 2018-10-12 | 李夫 | Intelligent distant control warning triangles rack device |
| CN109551498A (en) * | 2019-01-15 | 2019-04-02 | 北京史河科技有限公司 | A kind of crusing robot and its chassis |
| CN111717303A (en) * | 2020-06-19 | 2020-09-29 | 北京天骥空间科技有限公司 | Indoor efficient mobile robot platform |
| CN112809749A (en) * | 2021-01-26 | 2021-05-18 | 易枭零部件科技(襄阳)有限公司 | Novel robot chassis |
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| CN204955980U (en) * | 2015-09-17 | 2016-01-13 | 北京云迹科技有限公司 | A compressed spring type suspension and vehicle and wheeled robot for drive wheel |
| CN204955961U (en) * | 2015-09-17 | 2016-01-13 | 北京云迹科技有限公司 | A compressed spring type suspension and vehicle and wheeled robot for drive wheel |
| CN205075067U (en) * | 2015-10-19 | 2016-03-09 | 哈尔滨理工大学 | Domestic supervisory -controlled robot based on wifi network |
| CN105564177A (en) * | 2016-01-14 | 2016-05-11 | 浙江大学昆山创新中心 | Suspension device for wheeled mobile robot |
| CN105644643A (en) * | 2016-02-25 | 2016-06-08 | 四川阿泰因机器人智能装备有限公司 | Omnidirectional wheel suspension device for ground mobile robot |
| CN106004312A (en) * | 2016-06-28 | 2016-10-12 | 苏州斯锐奇机器人有限公司 | Stable mobile platform of indoor service robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6945548B2 (en) * | 2001-02-26 | 2005-09-20 | Hendrickson Usa, L.L.C. | Air spring and air spring mounting assembly |
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Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202242852U (en) * | 2011-09-17 | 2012-05-30 | 广州大学 | Electric four-wheel traveling gear for robot |
| CN202242837U (en) * | 2011-09-17 | 2012-05-30 | 广州大学 | Robot electric running gear with independent suspension |
| CN103496407A (en) * | 2013-09-27 | 2014-01-08 | 中国矿业大学 | Two-step independent cantilever band suspension chassis system |
| CN204955980U (en) * | 2015-09-17 | 2016-01-13 | 北京云迹科技有限公司 | A compressed spring type suspension and vehicle and wheeled robot for drive wheel |
| CN204955961U (en) * | 2015-09-17 | 2016-01-13 | 北京云迹科技有限公司 | A compressed spring type suspension and vehicle and wheeled robot for drive wheel |
| CN205075067U (en) * | 2015-10-19 | 2016-03-09 | 哈尔滨理工大学 | Domestic supervisory -controlled robot based on wifi network |
| CN105564177A (en) * | 2016-01-14 | 2016-05-11 | 浙江大学昆山创新中心 | Suspension device for wheeled mobile robot |
| CN105644643A (en) * | 2016-02-25 | 2016-06-08 | 四川阿泰因机器人智能装备有限公司 | Omnidirectional wheel suspension device for ground mobile robot |
| CN106004312A (en) * | 2016-06-28 | 2016-10-12 | 苏州斯锐奇机器人有限公司 | Stable mobile platform of indoor service robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106426214A (en) | 2017-02-22 |
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| TR01 | Transfer of patent right |
Effective date of registration: 20190813 Address after: 430056 Wuhan Economic and Technological Development Zone, Hubei Province, No. 101 Quanquan No. 2 Road, D205, Intelligent Manufacturing Innovation Center of Kaizhi 2045 Innovation Valley Patentee after: Wuhan Huarui Zhide Robot Technology Co., Ltd. Address before: 441053 Xiangfan City, Hubei province Xiangcheng District Long Road No. 296 Patentee before: Hubei University of Arts and Science |
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| TR01 | Transfer of patent right |