CN206520678U - A kind of mobile robot chassis - Google Patents
A kind of mobile robot chassis Download PDFInfo
- Publication number
- CN206520678U CN206520678U CN201720212012.XU CN201720212012U CN206520678U CN 206520678 U CN206520678 U CN 206520678U CN 201720212012 U CN201720212012 U CN 201720212012U CN 206520678 U CN206520678 U CN 206520678U
- Authority
- CN
- China
- Prior art keywords
- electric cylinder
- supporting plate
- frame
- mobile robot
- support
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model is related to chassis design field, more particularly to a kind of mobile robot chassis, including frame, a driving wheel is respectively arranged in the lower section both sides of frame, the motor driving fixed in frame of two driving wheels, the rear of frame is extended with supporting plate, the arranged beneath electric cylinder of supporting plate, connecting shaft in electric cylinder between the lower end of leading screw and two driven pulleys is connected, return spring is connected between the connecting shaft and supporting plate, electric cylinder passes through controller control, the utility model mainly utilizes controller, electric cylinder realizes the control to driven pulley, when robot starts to walk to accelerate, control the leading screw elongation of electric cylinder, two driven pulleys rise, two frictional force between driven pulley and ground reduces；When robot speed is very fast, by controlling electric cylinder to control two liftoff certain altitudes of driven pulley, 2 points of support poised states is formed, the abrasion of driven pulley can be so substantially reduced, reduce the energy loss of driving wheel.
Description
Technical field
The utility model is related to chassis design field, more particularly to a kind of mobile robot chassis.
Background technology
Currently, existing mobile robot chassis can be roughly divided into four-wheel four-drive formula, the drive formula of four-wheel two, the drive of three-wheel two
The mobile robot chassis that three kinds of designs of formula, wherein three-wheel two drive formula turns to the spies such as flexible, mobility strong because it has
Point is widely applied to above miniature movable type robot, and has in narrow and small working space very high application.But the three-wheel
Also there are two point defects on the mobile robot chassis of two drive formulas：1) because driven pulley is generally designed using universal wheel, turning to
Random dancing is had in journey, the treadwear of driven pulley is so added；2) because driven pulley is generally set using universal wheel
Meter, has arbitrarily pull phenomenon in the process of moving, so add the energy loss of driving wheel.
Utility model content
The purpose of this utility model be the driven pulley for overcoming prior art to exist easily wear and tear, the energy loss of driving wheel it is big
Defect there is provided a kind of mobile robot chassis, can reduce the abrasion of driven pulley, reduce the energy loss of driving wheel.
The utility model solves the technical scheme that its technical problem used：A kind of mobile robot chassis, including
A driving wheel, the motor driving fixed in frame of two driving wheels, frame are respectively arranged in frame, the lower section both sides of frame
Rear be extended with supporting plate, the arranged beneath electric cylinder of supporting plate, electric cylinder between the lower end of leading screw and two driven pulleys
Connecting shaft be connected, return spring is connected between the connecting shaft and supporting plate, electric cylinder passes through controller control.
Beneficial effect：The utility model mainly realizes the control to driven pulley using controller, electric cylinder, when robot rises
When step accelerates, the leading screw elongation of control electric cylinder, two driven pulleys rise, and two frictional force between driven pulley and ground subtracts
It is small；When robot speed is very fast, by controlling electric cylinder to control two liftoff certain altitudes of driven pulley, 2 points of supports are formed flat
Weighing apparatus state, can so be substantially reduced the abrasion of driven pulley, reduce the energy loss of driving wheel.
Brief description of the drawings
Fig. 1 is dimensional structure diagram of the present utility model；
Fig. 2 is side view of the present utility model.
In figure:10- frames, 11- supporting plates；20- driving wheels；30- motors；40- electric cylinders；50- driven pulleys；60-
Return spring；70- first supports；80- second supports, 81- bar-shaped troughs.
Embodiment
With reference to Fig. 1, Fig. 2, the utility model will be further described.
A driving wheel 20, two are respectively arranged in a kind of mobile robot chassis, including frame 10, the lower section both sides of frame 10
Individual driving wheel 20 motor 30 fixed in frame 10 drives, and the rear of frame 10 is extended with supporting plate 11, supporting plate 11
Arranged beneath electric cylinder 40, the connecting shaft in electric cylinder 40 between the lower end of leading screw and two driven pulleys 50 is connected, the company
Return spring 60 is connected between spindle and supporting plate 11, electric cylinder 40 passes through controller control.
As in Fig. 2, the direction of travel of robot is to the right, when robot starts to walk to accelerate, controller controls electric cylinder 40
Leading screw elongation, c angles increase in Fig. 2, and robot produces a top rake a, and two driven pulleys 50 rise, two driven pulleys 50
Frictional force between ground reduces, and not only causes robot to accelerate fast, and can reduce the abrasion of driven pulley 50, reduces and drives
The energy loss of driving wheel 20；When robot is at the uniform velocity travelled, electric cylinder 40 does not work, the return of return spring 60, two driven pulleys
50 return to normal position, and robot does not produce a top rake, forms supported at three point stable state；When robot speed is very fast
Or when turning to, 2 points of support balances can be formed by controlling electric cylinder 40 to control two liftoff certain altitudes of driven pulley 50
State, is substantially reduced the abrasion of driven pulley 50, reduces the energy loss of driving wheel 20, improves steering flexibility；When robot system
During dynamic deceleration, the leading screw of electric cylinder 40 shrinks, and angle c reduces, and robot produces a back rake angle b, two driven pulleys 50 and ground
Frictional force increase between face, can significantly improve robot braking.
It is used as further preferred scheme：The electric cylinder 40 is two, and return spring 60 is arranged in two electric cylinders 40
Between, controller controls two electric cylinders 40 to act simultaneously, and stability is higher, and return spring 60 can play the effect of damping.
It is preferred that, the upper end of described two electric cylinders 40 and return spring 60 is fixed on supporting plate 11 by first support 70
On, the lower end of leading screw and return spring 60 in two electric cylinders 40 passes through the company between second support 80 and two driven pulleys 50
Spindle is connected.
Further, the second support 80 is plate-like, and bar-shaped trough 81, bar are opened up on one end end face of second support 80
Open up and opened up in mounting hole, the plate face of the other end of second support 80 between two driven pulleys 50 on the both sides cell wall of shape groove 81
Connecting shaft the through hole that coordinates of axle body, the lower end of leading screw and return spring 60 in two electric cylinders 40 is respectively perpendicular connection one
Individual connecting pole, connecting pole is arranged vertically between the both sides cell wall of bar-shaped trough 81 and is connected by screw fixation.
Further, the first support 70, which is taken, puts on the upper face of supporting plate 11 and is connected by screw fixation, position
Open up what is passed through for the upper end of two electric cylinders 40 and return spring 60 in the plate face of supporting plate 11 below first support 70
Bar hole.
It should be appreciated that specific embodiment described above is only used for explaining the utility model, it is not used to limit this reality
With new.The obvious changes or variations extended out by spirit of the present utility model is still in protection of the present utility model
Among scope.
Claims (5)
1. a kind of mobile robot chassis, it is characterised in that：Including frame (10), the lower section both sides of frame (10) respectively arrange one
Individual driving wheel (20), motor (30) driving fixed in frame (10) of two driving wheels (20), the rear of frame (10)
It is extended with supporting plate (11), the arranged beneath electric cylinder (40) of supporting plate (11), electric cylinder (40) lower end of leading screw and two
Connecting shaft between driven pulley (50) is connected, and return spring (60), electric cylinder are connected between the connecting shaft and supporting plate (11)
(40) controller control is passed through.
2. mobile robot chassis according to claim 1, it is characterised in that：The electric cylinder (40) is two, is returned
Position spring (60) is arranged between two electric cylinders (40).
3. mobile robot chassis according to claim 2, it is characterised in that：Described two electric cylinders (40) and return
The upper end of spring (60) is fixed in supporting plate (11) by first support (70), leading screw and return in two electric cylinders (40)
The lower end of spring (60) is connected by the connecting shaft between second support (80) and two driven pulleys (50).
4. mobile robot chassis according to claim 3, it is characterised in that：The second support (80) is plate
Opened up on shape, one end end face of second support (80) and open up mounting hole on bar-shaped trough (81), the both sides cell wall of bar-shaped trough (81), the
The through hole that the axle body of the connecting shaft between two driven pulleys (50) coordinates, two are opened up in the plate face of the other end of two supports (80)
The lower end of leading screw and return spring (60) in individual electric cylinder (40) is respectively perpendicular one connecting pole of connection, and connecting pole is arranged vertically
Between the both sides cell wall of bar-shaped trough (81) and it is connected by screw fixation.
5. mobile robot chassis according to claim 3, it is characterised in that：The first support (70), which is taken, puts in branch
On the upper face of fagging (11) and it is connected by screw in fixation, the plate face of the supporting plate (11) below first support (70)
Open up the bar hole passed through for the upper end of two electric cylinders (40) and return spring (60).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720212012.XU CN206520678U (en) | 2017-03-06 | 2017-03-06 | A kind of mobile robot chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720212012.XU CN206520678U (en) | 2017-03-06 | 2017-03-06 | A kind of mobile robot chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206520678U true CN206520678U (en) | 2017-09-26 |
Family
ID=59902557
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720212012.XU Expired - Fee Related CN206520678U (en) | 2017-03-06 | 2017-03-06 | A kind of mobile robot chassis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206520678U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112171720A (en) * | 2020-10-14 | 2021-01-05 | 福建九州宇圣科技有限公司 | Balance assembly structure of artificial intelligence education robot |
-
2017
- 2017-03-06 CN CN201720212012.XU patent/CN206520678U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112171720A (en) * | 2020-10-14 | 2021-01-05 | 福建九州宇圣科技有限公司 | Balance assembly structure of artificial intelligence education robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202896207U (en) | All-dimensional mobile chassis | |
| CN200977848Y (en) | Electric vehicle chassis | |
| CN103663163B (en) | Retinue jack | |
| CN206188308U (en) | Formula AGV lifts | |
| CN109760742B (en) | Variable tread omnidirectional four-wheel drive mobile chassis | |
| CN110758038A (en) | Novel AGV drive chassis of floating | |
| CN209683463U (en) | The two-way rail carry vehicle of trackless multiple linkage | |
| CN206520678U (en) | A kind of mobile robot chassis | |
| CN2845960Y (en) | Friction type tilting device for sand box | |
| CN208073067U (en) | A kind of car carrying mechanism | |
| CN104527876A (en) | Self-balancing monocycle with gravity-center self-adjusting function | |
| CN209600610U (en) | A kind of changeable wheel track omnidirectional four-wheel drive mobile chassis | |
| CN209290557U (en) | A kind of wheel group structure of omnidirectional moving | |
| CN108222602A (en) | A kind of automobile carrying device | |
| CN106219444A (en) | A kind of Motor Maintenance lowering or hoisting gear | |
| CN206254557U (en) | A kind of adjustable semi-automatic box nailing machine | |
| CN204568680U (en) | Friction-type stochastic control attaches together chassis | |
| CN200985237Y (en) | Energy-saving elevator | |
| CN202744021U (en) | Grain absorbing machine | |
| CN206156601U (en) | Crane trolley frame | |
| CN209191603U (en) | A kind of driving mechanism and heavy truck | |
| CN204998687U (en) | Portable electric flatbed | |
| CN201914846U (en) | Electrical simple double-girder crane | |
| CN207390461U (en) | A kind of steel plate stepping push unit | |
| CN206766166U (en) | A kind of heavy duty Stair climbing device |
Legal Events
| 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: 20170926 Termination date: 20210306 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |