CN209290560U - A kind of 4 wheel driven robot chassis of the floating type avoidance in interior and service robot - Google Patents
A kind of 4 wheel driven robot chassis of the floating type avoidance in interior and service robot Download PDFInfo
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- CN209290560U CN209290560U CN201821791558.6U CN201821791558U CN209290560U CN 209290560 U CN209290560 U CN 209290560U CN 201821791558 U CN201821791558 U CN 201821791558U CN 209290560 U CN209290560 U CN 209290560U
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- wheel
- driven robot
- wheel driven
- chassis
- assembly
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Abstract
The utility model discloses a kind of 4 wheel driven robot chassis of floating type avoidance in interior, 4 wheel driven robot chassis includes top plate member, bottom deck assembly and bumper assembly.Wherein, in top plate member four driving wheels setting, improve the flexibility ratio on 4 wheel driven robot chassis, and provide more sufficient operation power；The setting of floating type bumper assembly makes 4 wheel driven robot chassis more coordinate beauty, and job stability is more preferable；Meanwhile 4 wheel driven robot chassis is equipped with sensing and control assembly, can contexture by self operation path, the basic automation and intelligence for realizing operation.As it can be seen that the utility model avoidance, obstacle climbing ability and bearing capacity are strong, good operating stability, overall appearance coordinates beautiful, intelligence degree height；In addition, the service robot includes above-mentioned 4 wheel driven robot chassis the invention also discloses a kind of service robot.
Description
Technical field
The utility model relates to service robot fields, in particular to a kind of 4 wheel driven machine of floating type avoidance in interior
Device people chassis and service robot.
Background technique
Indoor wheeled mobile robot is the hot spot and trend of future robot research application, at present interior wheel type mobile machine
The chassis of device people is usually that double drive is taken turns and one or two follower.The mobile robots with a follower are taken turns using double drives,
It is easy to cause robot to roll, therefore is only applicable to height and all smaller robot of quality；Using double drives wheel and two quilts
The mobile robot of driving wheel, chassis turning radius is excessive, so robot flexibility ratio is not high, applicable scene is limited.
Meanwhile the anticollision device, collision-prevention device of most of wheeled mobile robots carryings generallys use stroke sensor, infrared ray at present
Sensor and ultrasonic sensor carry out anticollision.Stroke sensor is limited in scope with what infrared sensor acted on, it is difficult to meet each
The obstacle in direction and it is easily destroyed overall appearance；Ultrasonic sensor is influenced vulnerable to electromagnetism etc., it is difficult to guarantee job stability.
It is limited to above-mentioned two principal element, at present the generally existing avoidance of most of wheeled mobile robots, obstacle climbing ability
Weak, the defects of poor work stability and overall appearance are uncoordinated.
Utility model content
In order to overcome weak existing wheeled mobile robot avoidance, obstacle climbing ability, poor work stability and overall appearance not
The defects of coordination, the utility model provide 4 wheel driven robot chassis and the service robot of a kind of floating type avoidance in interior, should
4 wheel driven robot chassis uses 4 wheel driven wheel and floating type avoidance, and avoidance, obstacle climbing ability and bearing capacity are strong, good operating stability
And overall appearance coordinates beauty.
Correspondingly, the utility model embodiment provides a kind of 4 wheel driven robot chassis of floating type avoidance in interior, it is described
4 wheel driven robot chassis includes top plate member, bottom deck assembly and bumper assembly, and the bottom deck assembly is connected and fixed by hexagonal prism
In the underface of top plate member, the surrounding of top plate member and bottom deck assembly is arranged in the bumper assembly；
The top plate member includes top plate and the front-wheel hub assembly, rear-wheel hub assembly, laser radar that side under the top plate is arranged
Component and charging unit seat；
The bottom deck assembly includes bottom plate and the lithium battery, servo-driver, control panel and the calculation that are arranged in above bottom plate
Method plate；
The bumper assembly is surrounded and is formed by front shroud, back cover, left cover and right cover.
Optional embodiment, the front-wheel hub assembly include front drive wheel assemblies and front driving wheel suspension dampening assembly；
The front driving wheel suspension dampening assembly is connected by front hub spring mechanism, front hub spring shaft, front hub connecting shaft, front hub
Plate and front hub fixed frame collectively constitute.
Optional embodiment, the rear-wheel hub assembly include rear drive sprocket component and rear drive sprocket suspension dampening assembly；
The rear drive sprocket suspension dampening assembly is collectively constituted by rear-wheel hub upper holder block, rear-wheel hub spring mechanism and rear-wheel hub lower lock block.
Optional embodiment, front driving wheel wheel hub, front driving wheel wheel shaft, front driving wheel are straight in the front drive wheel assemblies
Flow servo motor and the installation of front driving wheel photoelectric encoder integrated form are integrated.
Optional embodiment, rear drive sprocket wheel hub, rear drive sprocket wheel shaft, rear drive sprocket are straight in the rear drive sprocket component
Flow servo motor and the installation of rear drive sprocket photoelectric encoder integrated form are integrated.
Optional embodiment, the lithium battery provide 24V DC power supply for 4 wheel driven robot chassis.
Optional embodiment, the laser radar component include laser radar and laser radar fixing seat, the laser
Radar is fastened in laser radar fixing seat, and the sweep test of the laser radar is from the round hole that the top plate is reserved
It passes through and exposes.
Optional embodiment is provided with obstacle avoidance sensor component on the front shroud and back cover；The obstacle avoidance sensor group
Part includes anticollision spring mechanism, linear bearing, bearing block, anchor ear, photoelectric sensor and tablet.
Optional embodiment, the front shroud, back cover, it is left cover and right cover material be aluminium alloy.
In addition, the utility model also provides a kind of service robot, including 4 wheel driven robot bottom described in above-mentioned any one
The service robot of disk.
The utility model embodiment provides a kind of 4 wheel driven robot chassis of floating type avoidance in interior, the 4 wheel driven robot
Chassis is provided with two front, two rear four driving wheels, and turning radius is small, or even can realize pivot stud, and flexibility ratio is higher, and operation is dynamic
Power is more sufficient, and bearing capacity is stronger, and scene applicatory is wider；In addition, the 4 wheel driven robot chassis using front shroud, back cover, it is left cover,
Floating type bumper assembly is realized in the setting of right cover, and it is more preferable that overall appearance more coordinates beautiful and job stability；Meanwhile the 4 wheel driven
Robot chassis equipped with sensing and control assembly, can contexture by self obstacle detouring, avoidance path, the basic automation for realizing operation
And intelligence.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it is clear that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, it can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is the three-dimensional structure view on 4 wheel driven robot chassis during the utility model is implemented；
Fig. 2 is the three-dimensional structure explosive view on 4 wheel driven robot chassis in the utility model embodiment；
Fig. 3 is the three-dimensional structure view of 4 wheel driven robot chassis top plate member in the utility model embodiment；
Fig. 4 is the three-dimensional structure view of 4 wheel driven robot chassis base plate component in the utility model embodiment；
Fig. 5 is the three-dimensional structure view of 4 wheel driven robot chassis bumper assembly in the utility model embodiment.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without creative efforts
All other embodiment obtained, fall within the protection scope of the utility model.
Fig. 1 is the three-dimensional structure view on 4 wheel driven robot chassis during the utility model is implemented, and Fig. 2 is that the utility model is implemented
The three-dimensional structure explosive view on Li Zhong 4 wheel driven robot chassis.
As depicted in figs. 1 and 2, the utility model embodiment provides a kind of 4 wheel driven robot bottom of floating type avoidance in interior
Disk, 4 wheel driven robot chassis include top plate member 1, bottom deck assembly 2 and bumper assembly 3, the top plate member 1 and bottom plate group
Part 2 is connected by hexagonal prism, the bumper assembly 3 be arranged in the surrounding of top plate member 1 and bottom deck assembly 2 and by bolt,
Screw is connected with top plate member 1.
Fig. 3 is the three-dimensional structure view of 4 wheel driven robot chassis top plate member in the utility model embodiment, the top plate
Component 1 includes top plate 11, front-wheel hub assembly 12, rear-wheel hub assembly 13, laser radar component 14 and charging unit seat 15.
The front-wheel hub assembly 12 and rear-wheel hub assembly 13 it is two front, two rear the lower section of top plate 11 is set.Wherein, described
Front-wheel hub assembly 12 includes front hub spring mechanism 121, front hub spring shaft 122, front hub connecting shaft 123, front hub connection
Plate 124, front hub fixed frame 125 and front drive wheel assemblies 126.Specifically, the front hub spring mechanism 121 passes through under it
The circular mounting hole and the front hub spring shaft 122 of side are cooperatively connected, the front hub spring shaft 122 and front hub connecting plate
124 front hole location is cooperatively connected；Intermediate hole location and front hub connecting shaft 123 cooperation of the front hub connecting plate 124 connect
It connects, the front hub connecting shaft 123 and the hole location of 125 lower section of front hub fixed frame are cooperatively connected, the front hub connecting shaft 123
Front hub connecting plate 124 and front hub fixed frame 125 are connected as one；The top of the front hub fixed frame 125 passes through spiral shell
Stud structure is connected and fixed with the top plate 11, and the intermediate hole location and front hub spring mechanism 121 of fixed frame 125 are cooperatively connected；Institute
The front driving wheel axis of the rear hole location and the front drive wheel assemblies 126 of stating front hub connecting plate 124 is cooperatively connected；Particularly,
The front hub spring mechanism 121, front hub spring shaft 122, front hub connecting shaft 123, front hub connecting plate 124 and front hub
Fixed frame 125 collectively constitutes front driving wheel suspension dampening assembly, in motion process, vibration warp that front drive wheel assemblies 126 are subject to
It is transmitted on top plate 11 again after crossing 121 damping of spring mechanism.
Wherein, the rear-wheel hub assembly 13 includes rear-wheel hub upper holder block 131, rear-wheel hub spring mechanism 132, rear-wheel hub pushing
Block 133 and rear drive sprocket component 134.Specifically, the rear-wheel hub upper holder block 131 is fastened on top by bolt arrangement
The lower section of plate 11, the rear-wheel hub lower lock block 133 is cooperatively connected with rear-wheel hub upper holder block 131 by spring mechanism 132, after described
The rear drive wheel shaft of drive wheel assemblies 134 and the installation hole location of rear-wheel hub lower lock block are cooperatively connected.Particularly, on the rear-wheel hub
Briquetting 131, rear-wheel hub spring mechanism 132, rear-wheel hub lower lock block 133 collectively constitute rear drive sprocket suspension dampening assembly, are moved through
Cheng Zhong, the vibration that rear drive sprocket component 134 is subject to are transmitted on rear-wheel hub lower lock block 133, and the vibration of rear-wheel hub lower lock block is passed through
It is transmitted on rear-wheel hub upper holder block 131 and top plate 11 after 132 damping of spring mechanism.
The laser radar component 14 includes laser radar 141 and laser radar fixing seat 142, and the laser radar is fixed
Seat 142 is connected by screw to the lower section for being fixed on 11 anterior locations of top plate, and the laser radar 141 is connected solid by bolt arrangement
It is scheduled in laser radar fixing seat 142, the sweep test of the laser radar 141 passes through simultaneously from the round hole that top plate 11 is reserved
Expose, laser radar 141 can pass through laser scanning inspection to the inside for arriving robot the case where moving front without scanning.
The lower section of 11 back location of bottom plate is arranged in the charging unit seat 15, and charging unit seat 15 is charging unit (figure
In be not shown) provide installation site.
It should be noted that the front drive wheel assemblies 126 and rear drive sprocket component 134 are integrated assemblies, before described
Front driving wheel wheel hub, front driving wheel wheel shaft, front driving wheel DC servo motor and front driving wheel photoelectricity are compiled in drive wheel assemblies 126
Code device integrated form installation is integrated, rear drive sprocket wheel hub, rear drive sprocket wheel shaft, rear drive sprocket in the rear drive sprocket component 134
DC servo motor and the installation of rear drive sprocket photoelectric encoder integrated form are integrated.
Fig. 4 is the three-dimensional structure view of 4 wheel driven robot chassis base plate component in the utility model embodiment, the bottom plate
Component 2 includes bottom plate 21, lithium battery 22, servo-driver 23, control panel 24, algorithm plate 25 and hexagonal prism 26.Specifically, described
Bottom plate 21 and bottom plate 11 are connected and fixed by hexagonal prism 26；Specifically, the lithium battery 22, servo-driver 23, control panel 24
The top of bottom plate 21 is all set with algorithm plate 25.The lithium battery 22 provides 24V DC power supply for 4 wheel driven robot chassis；It is described
Servo-driver 23 is connected with the front driving wheel DC servo motor and rear drive sprocket DC servo motor.It needs to illustrate
It is that servo-driver controls servo motor generally by three kinds of position, speed and torque modes, to realize high-precision
Transmission system positioning；The control panel 24 is connected with servo-driver 23, the control panel 24, laser radar 121 and algorithm
Plate 25 is connected.
Fig. 5 is the three-dimensional structure view of 4 wheel driven robot chassis bumper assembly in the utility model embodiment, the anticollision
Component 3 includes front shroud 31, back cover 32, left cover 33 and right cover 34, and the front shroud 31, back cover 32, left cover 33 and right cover 34 surround group
At bumper assembly 3.Specifically, front shroud 31 and back cover 32 are both provided with two symmetrical anticollisions close to the side of bottom plate 21 and pass
Sensor component 35.Wherein, the obstacle avoidance sensor component 35 includes anticollision spring mechanism 351, linear bearing 352, bearing block
353, anchor ear 354, photoelectric sensor 355 and tablet 356；Described 351 one end of anticollision spring mechanism is fastened on front shroud 31
Or on back cover 32, the other end is connected with linear bearing 352；The linear bearing 352 is cooperatively connected with bearing block 353, described
Bearing block 353, which is connected by screw to, to be fixed on top plate 11；Described 352 one end of linear bearing and 351 phase of anticollision spring mechanism
Even, the other end is connected with tablet 356；The anchor ear 354 is fastened on linear bearing 352 close to 356 one end of tablet,
The photoelectric sensor 355, which is connected by screw to, to be fixed on anchor ear 354.When encountering barrier, front shroud 31 or back cover 32 by
Squeeze, it is suffered to be pressed through anticollision spring mechanism 351 and linear bearing 352 is transmitted on tablet 356, tablet 356 by
It squeezes and generates the mobile induction region to leave photoelectric sensor 355, photoelectric sensor 355 can trigger signal and will at this time
Information is fed back to the algorithm plate 25；When obstacle is eliminated, anticollision spring mechanism 351 restores to the original state, and drives 356 weight of tablet
The new induction region for entering photoelectric sensor 355, photoelectric sensor 355 equally feed back signal to algorithm plate 25.Specifically,
The left cover 32 and 33 1 the first from left of right cover it is right the two sides of top plate 11 be set and are connected by screw to be fixed on top plate 11.It is special
Other, the front shroud 31, back cover 32, left cover 33 and right 34 material of covering have light weight, intensity height, corrosion resisting property for aluminium alloy
The good feature with processing performance.
In motion process, control panel 24 is arrived in the transmission instruction of algorithm plate 25, so that servo-driver 23 drives preceding driving
Wheel assembly 126 and rear drive sprocket component 134 move；Meanwhile the external environment data feedback that laser radar 121 will test arrives
Algorithm plate 25, algorithm plate 25 carry out map structuring and navigation by analysis data, make the autonomous steady safety in 4 wheel driven robot chassis
Operation.When 4 wheel driven robot chassis encounters obstacle, the obstacle avoidance sensor component 35 being arranged on front shroud 31 or back cover 32 can be touched
It signals and feedback information is to algorithm plate 25,4 wheel driven robot chassis is by automatic planned trajectory and runs.
In addition, the utility model embodiment additionally provides a kind of service robot, which includes above-mentioned practical
Any one on 4 wheel driven robot chassis, the other assemblies of the service robot are not construed as limiting in new embodiment.
The utility model embodiment provides a kind of 4 wheel driven robot chassis of floating type avoidance in interior, the 4 wheel driven robot
Chassis is provided with two front, two rear four driving wheels, and turning radius is small, or even can realize pivot stud, and flexibility ratio is higher, and operation is dynamic
Power is more sufficient, and bearing capacity is stronger, and scene applicatory is wider；In addition, the 4 wheel driven robot chassis using front shroud, back cover, it is left cover,
Floating type bumper assembly is realized in the setting of right cover, and it is more preferable that overall appearance more coordinates beautiful and job stability；Meanwhile the 4 wheel driven
Robot chassis equipped with sensing and control assembly, can contexture by self obstacle detouring, avoidance path, the basic automation for realizing operation
And intelligence.
In addition, above to a kind of 4 wheel driven robot chassis of the floating type avoidance in interior provided by the utility model embodiment
And service robot is described in detail, and should use specific case herein to the principles of the present invention and embodiment
It is expounded, the method and its core concept of the above embodiments are only used to help understand the utility model；Meanwhile
For those of ordinary skill in the art, based on the idea of the present invention, can in specific embodiments and applications
There is change place, in conclusion the content of the present specification should not be construed as a limitation of the present invention.
Claims (10)
1. a kind of 4 wheel driven robot chassis of the floating type avoidance in interior, which is characterized in that 4 wheel driven robot chassis includes top
Board group part, bottom deck assembly and bumper assembly, the bottom deck assembly are fastened on the underface of top plate member, institute by hexagonal prism
State the surrounding that top plate member and bottom deck assembly is arranged in bumper assembly；
The top plate member includes top plate and the front-wheel hub assembly, rear-wheel hub assembly, laser radar component that side under the top plate is arranged
And charging unit seat；
The bottom deck assembly includes bottom plate and the lithium battery, servo-driver, control panel and the algorithm plate that are arranged in above bottom plate；
The bumper assembly is surrounded and is formed by front shroud, back cover, left cover and right cover.
2. 4 wheel driven robot according to claim 1 chassis, which is characterized in that the front-wheel hub assembly includes front driving wheel
Component and front driving wheel hang dampening assembly；The front driving wheel suspension dampening assembly is by front hub spring mechanism, front hub bullet
Spring axis, front hub connecting shaft, front hub connecting plate and front hub fixed frame collectively constitute.
3. 4 wheel driven robot according to claim 1 chassis, which is characterized in that the rear-wheel hub assembly includes rear drive sprocket
Component and rear drive sprocket hang dampening assembly；The rear drive sprocket suspension dampening assembly is by rear-wheel hub upper holder block, rear-wheel hub spring
Mechanism and rear-wheel hub lower lock block collectively constitute.
4. 4 wheel driven robot according to claim 2 chassis, which is characterized in that front driving wheel in the front drive wheel assemblies
Wheel hub, front driving wheel wheel shaft, front driving wheel DC servo motor and the installation of front driving wheel photoelectric encoder integrated form are integrated.
5. 4 wheel driven robot according to claim 3 chassis, which is characterized in that rear drive sprocket in the rear drive sprocket component
Wheel hub, rear drive sprocket wheel shaft, rear drive sprocket DC servo motor and the installation of rear drive sprocket photoelectric encoder integrated form are integrated.
6. 4 wheel driven robot according to claim 1 chassis, which is characterized in that the lithium battery is 4 wheel driven robot chassis
24V DC power supply is provided.
7. 4 wheel driven robot according to claim 1 chassis, which is characterized in that the laser radar component includes laser thunder
Up to laser radar fixing seat, the laser radar is fastened in laser radar fixing seat, the scanning of the laser radar
Part passes through and exposes from the round hole that the top plate is reserved.
8. 4 wheel driven robot according to claim 1 chassis, which is characterized in that be provided with anticollision on the front shroud and back cover
Sensor module；The obstacle avoidance sensor component includes anticollision spring mechanism, linear bearing, bearing block, anchor ear, photoelectric sensor
And tablet.
9. 4 wheel driven robot according to claim 1 chassis, which is characterized in that the front shroud, back cover, left cover and right cover
Material is aluminium alloy.
10. a kind of service robot, which is characterized in that including 4 wheel driven robot chassis described in claim 1 to 9 any one
Service robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821791558.6U CN209290560U (en) | 2018-11-01 | 2018-11-01 | A kind of 4 wheel driven robot chassis of the floating type avoidance in interior and service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821791558.6U CN209290560U (en) | 2018-11-01 | 2018-11-01 | A kind of 4 wheel driven robot chassis of the floating type avoidance in interior and service robot |
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| Publication Number | Publication Date |
|---|---|
| CN209290560U true CN209290560U (en) | 2019-08-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821791558.6U Expired - Fee Related CN209290560U (en) | 2018-11-01 | 2018-11-01 | A kind of 4 wheel driven robot chassis of the floating type avoidance in interior and service robot |
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| Country | Link |
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| CN (1) | CN209290560U (en) |
Cited By (1)
| 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 |
-
2018
- 2018-11-01 CN CN201821791558.6U patent/CN209290560U/en not_active Expired - Fee Related
Cited By (1)
| 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 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201201 Address after: Room 702, No.3, No.16 courtyard, Wuyi Street middle, Haizhu District, Guangzhou City, Guangdong Province 510000 Patentee after: Zhou Guangbing Patentee after: Meng Shige Patentee after: Zheng Hui Patentee after: Li Wenwei Patentee after: SOUTH CHINA ROBOTICS INNOVATION Research Institute Address before: 528315 Guangdong, Shunde, Lecong, south of the Five Ridges Town, South Central Avenue, No. 2, Central Europe, block F, block Patentee before: SOUTH CHINA ROBOTICS INNOVATION Research Institute |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190823 Termination date: 20201101 |