CN206691252U - Two wheel robot chassis structures - Google Patents
Two wheel robot chassis structures Download PDFInfo
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- CN206691252U CN206691252U CN201720297370.5U CN201720297370U CN206691252U CN 206691252 U CN206691252 U CN 206691252U CN 201720297370 U CN201720297370 U CN 201720297370U CN 206691252 U CN206691252 U CN 206691252U
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Abstract
The utility model discloses a kind of two wheel robot chassis structures, including chassis, battery, universal wheel and a pair of symmetrical active wheels, active wheels include motor, corner reductor, shaft coupling and road wheel, road wheel both sides are provided with a pair of bearing, corner reductor is fixedly connected with chassis upper surface, motor is connected to above corner reductor vertically, and road wheel is connected with corner reducing motor by shaft coupling；Center chassis is provided with orthogonal code-disc.This chassis structure forms three-wheel by a pair of road wheels and a universal wheel and supported, and has the advantages of wear-resisting, impact resistance, long lifespan, strong bearing capacity, and is realized and turned using the wheel differential driving chassis to road wheel, and radius of turn is small, and flexibility is strong.
Description
Technical field
The utility model belongs to the technical field of ground mobile robot, specifically, is related to a kind of two wheel robot bottoms
Dish structure.
Background technology
Mobile robot be it is a kind of worked under complex environment, have self-organization, autonomous operation, the intelligence of contexture by self
Energy robot, has merged computer technology, information technology, the communication technology, microelectric technique and robot technology etc..Mobile machine
People drives mobile robot to be moved on ground by the way that the component with various functions is arranged on chassis structure, by chassis structure
Dynamic, so as to reach various functions, but existing mobile robot bearing capacity and flexibility need to improve at present.
Utility model content
For deficiency above-mentioned in the prior art, the utility model provides a kind of two wheel robot chassis structures, machine
People's chassis structure bearing capacity is strong, and control is simple, energy consumption is low, and radius of turn is small, and flexibility is strong.
In order to achieve the above object, the solution of the utility model use is：Two wheel robot chassis structures, including bottom
Disk, battery and a pair of symmetrical active wheels, driven pulley opening and a pair of driving wheel openings are provided with chassis；Driving wheel
Group includes motor, corner reductor, shaft coupling and road wheel, and road wheel is arranged in driving wheel opening, and road wheel both sides are provided with
A pair of bearing, bearing block are fixedly connected with chassis upper surface, and corner reductor is fixedly connected with chassis upper surface, and motor is vertical
It is connected to above corner reductor, road wheel is connected with corner reducing motor by shaft coupling；It is provided with driven pulley opening universal
Wheel, driven pulley overthe openings are fixedly connected with installing plate, and universal wheel is fixedly connected with installing plate lower surface, on battery and installing plate
Surface is fixedly connected；Center chassis is provided with code-disc construction opening, and orthogonal code-disc, orthogonal code-disc bag are provided with code-disc construction opening
The omni-directional wheel of a pair of orthogonal distribution is included, omnidirectional's wheel side is provided with encoder.
Preferably, orthogonal code-disc also includes code-disc frame, and a pair of suspensions are fixedly connected with code-disc frame, and suspension includes horizontal point
The transverse slat of cloth, transverse slat end are provided with pilot hole, are provided with guide rod in pilot hole, guide rod upper end is provided with limit screw cap, guide rod
Lower end is fixedly connected with support frame, and compression spring is provided between transverse slat and support frame, slide rail is provided between suspension and support frame, entirely
It is arranged on to wheel in support frame, encoder is fixedly connected with support frame side.
Preferably, chassis upper surface is fixedly connected with containment vessel, and containment vessel side is removably connected with a pair of drop fronts.
Preferably, key-course supporting plate, upper strata supporting plate are provided with containment vessel, chassis upper surface is fixedly connected with for branch
Support some support section bars of key-course supporting plate and upper strata supporting plate.
Preferably, some sonacs and a pair of infrared obstacle avoidance components, infrared obstacle avoidance is distributed with containment vessel lower circumference
Component includes infrared fileter and some IR evading obstacle sensors.
Preferably, key-course support plate upper surface center is fixedly connected with gyroscope；Key-course support plate upper surface is also solid
Surely Switching Power Supply, shielded power supply and circuit board are connected with；Key-course supporting plate lower surface is fixedly connected with insulating power supply.
The beneficial effects of the utility model are that this two wheel robot chassis structure is primarily adapted for use in indoor by the flat of finishing
Site preparation face, this chassis structure form three-wheel by a pair of road wheels and a universal wheel and supported, and have wear-resisting, impact resistance, life-span
Long, the advantages of bearing capacity is strong, and realized and turned using wheel differential driving chassis to road wheel, radius of turn is small, flexibly
Property is strong；The mounting means of active wheels can eliminate active wheels in the horizontal direction with the rigging error on vertical direction, and
Road wheel can be avoided to roll caused vibration to be delivered on corner reductor, improve the working environment of corner reductor,
Improve the service life of corner reductor.
Brief description of the drawings
Fig. 1 is the stereogram of two wheel robots chassis structure of the present utility model.
Fig. 2 is that two wheel robots chassis structure of the present utility model removes the stereogram after containment vessel and drop front.
Fig. 3 is the stereogram of orthogonal code-disc of the present utility model.
Fig. 4 is the front view of active wheels of the present utility model.
In accompanying drawing：
11st, chassis；12nd, containment vessel；13rd, drop front；14th, key-course supporting plate；15th, upper strata supporting plate；16th, support type
Material；21st, battery；22nd, sonac；23rd, infrared fileter；24th, IR evading obstacle sensors；25th, gyroscope；26th, switch electricity
Source；27th, shielded power supply；28th, circuit board；29th, insulating power supply；30th, active wheels；31st, motor；32nd, corner reductor；33rd, join
Axle device；34th, road wheel；35th, bearing block；41st, universal wheel；42nd, installing plate；50th, orthogonal code-disc；51st, omni-directional wheel；52nd, encoder；
53rd, code-disc frame；54th, suspension；55th, guide rod；56th, limit screw cap；57th, support frame；58th, compression spring；59th, slide rail.
Embodiment
The utility model is further described below in conjunction with accompanying drawing：
Referring to the drawings 1- accompanying drawings 4, the utility model provides a kind of two wheel robot chassis structures, including chassis 11, battery
21 and a pair of symmetrical active wheels 30, driven pulley opening and a pair of driving wheel openings are provided with chassis 11；Driving wheel
Group 30 includes motor 31, corner reductor 32, shaft coupling 33 and road wheel 34, and road wheel 34 is arranged in driving wheel opening, OK
Walk 34 both sides of wheel and be provided with a pair of bearing 35, bearing block 35 is fixedly connected with the upper surface of chassis 11, corner reductor 32 and chassis
11 upper surfaces are fixedly connected, and motor 31 is connected to the top of corner reductor 32 vertically, and road wheel 34 and corner reducing motor 31 are logical
Shaft coupling 33 is crossed to connect；Universal wheel 41 is provided with driven pulley opening, driven pulley overthe openings are fixedly connected with installing plate 42, universal
Wheel 41 is fixedly connected with the lower surface of installing plate 42, and battery 21 is fixedly connected with the upper surface of installing plate 42；Chassis 11 is provided centrally with
Code-disc construction opening, code-disc construction opening is interior to be provided with orthogonal code-disc 50, and orthogonal code-disc 50 includes the omni-directional wheel of a pair of orthogonal distribution
51, the side of omni-directional wheel 51 is provided with encoder 52.
This structure of chassis 11 forms three-wheel by a pair of road wheels 34 and a universal wheel 41 and supported, and has wear-resisting, resistance to punching
Hit, long lifespan, strong bearing capacity the advantages of, and using this to road wheel 34 wheel differential driving chassis 11 realize turn, turn
Radius is small, and flexibility is strong；The mounting means of active wheels 30 can eliminate active wheels 30 in the horizontal direction with vertical direction
Rigging error, and can avoid road wheel 34 roll caused by vibration be delivered on corner reductor 32, improve turn
The working environment of angle reductor 32, improve the service life of corner reductor 32.
In the present embodiment, orthogonal code-disc 50 also includes code-disc frame 53, and a pair of suspensions 54 are fixedly connected with code-disc frame 53, hangs
Frame 54 includes the transverse slat of horizontal distribution, and transverse slat end is provided with pilot hole, is provided with guide rod 55 in pilot hole, the upper end of guide rod 55 is set
Limited location nut 56, the lower end of guide rod 55 are fixedly connected with support frame 57, and compression spring 58 is provided between transverse slat and support frame 57,
Slide rail 59 is provided between suspension 54 and support frame 57, omni-directional wheel 51 is arranged in support frame 57, encoder 52 and the side of support frame 57
Face is fixedly connected.Orthogonal code-disc 50 is able to record the moving coordinate of the mechanism of robot chassis 11.
In the present embodiment, the upper surface of chassis 11 is fixedly connected with containment vessel 12, and the side of containment vessel 12 is removably connected with one
To drop front 13, directly this structure can be repaired after taking drop front 13 apart.
In the present embodiment, key-course supporting plate 14, upper strata supporting plate 15 are provided with containment vessel 12, the upper surface of chassis 11 is fixed
Some support section bars 16 for support and control layer supporting plate 14 and upper strata supporting plate 15 are connected with, in key-course supporting plate 14
It is easily installed various control components.
In the present embodiment, some sonacs 22 and a pair of infrared obstacle avoidance components are distributed with the lower circumference of containment vessel 12,
Infrared obstacle avoidance component includes infrared fileter 23 and some IR evading obstacle sensors 24, sonac 22 and infrared obstacle avoidance component
The structure of robot chassis 11 avoiding obstacles in moving process can be aided in, prevents collision and causes to damage.
In the present embodiment, the upper surface center of key-course supporting plate 14 is fixedly connected with gyroscope 25；Key-course supporting plate 14
Upper surface is also fixedly connected with Switching Power Supply 26, shielded power supply 27 and circuit board 28；The lower surface of key-course supporting plate 14, which is fixed, to be connected
It is connected to insulating power supply 29.
Claims (6)
1. two wheel robot chassis structures, it is characterized in that：Including chassis (11), battery (21) and a pair of symmetrical driving wheels
Group (30), driven pulley opening and a pair of driving wheel openings are provided with chassis (11)；Active wheels (30) include motor (31), turned
Angle reductor (32), shaft coupling (33) and road wheel (34), road wheel (34) are arranged in driving wheel opening, road wheel (34) two
Side is provided with a pair of bearing (35), and bearing block (35) is fixedly connected with chassis (11) upper surface, corner reductor (32) and chassis
(11) upper surface is fixedly connected, and motor (31) is connected to above corner reductor (32) vertically, and road wheel (34) and corner slow down
Motor (31) is connected by shaft coupling (33)；Universal wheel (41) is provided with driven pulley opening, driven pulley overthe openings are fixedly connected
There is installing plate (42), universal wheel (41) is fixedly connected with installing plate (42) lower surface, battery (21) and installing plate (42) upper surface
It is fixedly connected；Chassis (11) is provided centrally with code-disc construction opening, and orthogonal code-disc (50), orthogonal code are provided with code-disc construction opening
Disk (50) includes the omni-directional wheel (51) of a pair of orthogonal distribution, and omni-directional wheel (51) side is provided with encoder (52).
2. two wheel robots chassis structure according to claim 1, it is characterized in that：Described orthogonal code-disc (50) also includes
Code-disc frame (53), a pair of suspensions (54) is fixedly connected with code-disc frame (53), suspension (54) includes the transverse slat of horizontal distribution, transverse slat
End is provided with pilot hole, is provided with guide rod (55) in pilot hole, guide rod (55) upper end is provided with limit screw cap (56), guide rod
(55) lower end is fixedly connected with support frame (57), is provided with compression spring (58) between transverse slat and support frame (57), suspension (54) with
Slide rail (59) is provided between support frame (57), omni-directional wheel (51) is arranged in support frame (57), encoder (52) and support frame
(57) side is fixedly connected.
3. two wheel robots chassis structure according to claim 1, it is characterized in that：Described chassis (11) upper surface is fixed
Containment vessel (12) is connected with, containment vessel (12) side is removably connected with a pair of drop fronts (13).
4. two wheel robots chassis structure according to claim 3, it is characterized in that：Control is provided with described containment vessel (12)
Preparative layer supporting plate (14), upper strata supporting plate (15), chassis (11) upper surface are fixedly connected with for support and control layer supporting plate
And some of upper strata supporting plate (15) support section bars (16) (14).
5. two wheel robots chassis structure according to claim 3, it is characterized in that：Described containment vessel (12) lower circumference
Be distributed with some sonacs (22) and a pair of infrared obstacle avoidance components, infrared obstacle avoidance component include infrared fileter (23) and if
Dry IR evading obstacle sensors (24).
6. two wheel robots chassis structure according to claim 4, it is characterized in that：In described key-course supporting plate (14)
Centre of surface is fixedly connected with gyroscope (25)；Key-course supporting plate (14) upper surface be also fixedly connected with Switching Power Supply (26),
Shielded power supply (27) and circuit board (28)；Key-course supporting plate (14) lower surface is fixedly connected with insulating power supply (29).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720297370.5U CN206691252U (en) | 2017-03-24 | 2017-03-24 | Two wheel robot chassis structures |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720297370.5U CN206691252U (en) | 2017-03-24 | 2017-03-24 | Two wheel robot chassis structures |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206691252U true CN206691252U (en) | 2017-12-01 |
Family
ID=60444078
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720297370.5U Active CN206691252U (en) | 2017-03-24 | 2017-03-24 | Two wheel robot chassis structures |
Country Status (1)
| Country | Link |
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| CN (1) | CN206691252U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109367653A (en) * | 2018-11-01 | 2019-02-22 | 华南智能机器人创新研究院 | A kind of 4 wheel driven robot chassis of the floating type avoidance in interior |
| CN110202484A (en) * | 2019-07-04 | 2019-09-06 | 姜涛 | Ball blast cambered surface wall-climbing device |
-
2017
- 2017-03-24 CN CN201720297370.5U patent/CN206691252U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109367653A (en) * | 2018-11-01 | 2019-02-22 | 华南智能机器人创新研究院 | A kind of 4 wheel driven robot chassis of the floating type avoidance in interior |
| CN110202484A (en) * | 2019-07-04 | 2019-09-06 | 姜涛 | Ball blast cambered surface wall-climbing device |
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