CN210101816U

CN210101816U - Wheeled mobile robot

Info

Publication number: CN210101816U
Application number: CN201920968454.6U
Authority: CN
Inventors: 梁雨凤
Original assignee: Jiangxi Manufacturing Polytechnic College
Current assignee: Jiangxi Manufacturing Polytechnic College
Priority date: 2019-06-26
Filing date: 2019-06-26
Publication date: 2020-02-21
Anticipated expiration: 2029-06-26

Abstract

The utility model discloses a wheeled mobile robot, including the robot base, the bottom intermediate position of robot base is provided with the backup pad, the bottom of backup pad is provided with the steering wheel, be equipped with a plurality of even central symmetric distribution's gyro wheel one on the steering wheel, the top both sides of backup pad all are provided with a plurality of hydraulic stem of group, just the top of hydraulic stem all be equipped with the electric hydraulic controller that robot base bottom is connected, the bottom both sides of robot base all are provided with a plurality of moving mechanism of group. Has the advantages that: the utility model discloses a cooperation of a plurality of driving motor, electric push rod, connecting rod, mount one, mount two, gear one, gear two and chain is used to make wheeled robot can have very good ability of strideing across the obstacle again in order to guarantee at the subaerial moving speed of flat, and then make its better user demand who has satisfied people.

Description

Wheeled mobile robot

Technical Field

The utility model relates to a robotechnology field particularly, relates to a wheeled mobile robot.

Background

The mobile robot used as ー of earlier developed robots mainly comprises crawler-type, snake-type, leg-type, jump-type, wheel-type and composite moving mechanisms, and in the actual production and life processes, the wheel-type mobile robot has the advantages of large bearing capacity, convenience in driving and controlling, light dead weight, high walking speed, simple mechanism, high working efficiency, flexibility and the like, so that the mobile robot is widely applied to the fields of agriculture, industry, families, space detection, anti-terrorism and explosion prevention and the like.

However, although the existing wheeled robot, such as a multi-link independent suspension type robot, has a good damping function, the structure is complex, and the obstacle crossing capability is not high, so that the existing wheeled robot cannot well meet the use requirements of people. An effective solution to the problems in the related art has not been proposed yet.

Disclosure of Invention

To the problem among the correlation technique, the utility model provides a wheeled mobile robot to overcome the above-mentioned technical problem that current correlation technique exists.

Therefore, the utility model discloses a specific technical scheme as follows:

the utility model provides a wheeled mobile robot, includes the robot base, the bottom intermediate position of robot base is provided with the backup pad, the bottom of backup pad is provided with the steering wheel, be equipped with a plurality of even central symmetric distribution's gyro wheel one on the steering wheel, the top both sides of backup pad all are provided with a plurality of hydraulic stem of group, just the top of hydraulic stem all be equipped with the electric hydraulic controller that robot base bottom is connected, the bottom both sides of robot base all are provided with a plurality of moving mechanism of group.

Furthermore, in order to enable the robot to recognize surrounding landforms, two sides of the top of the robot base are provided with camera devices.

Furthermore, in order to ensure that the wheeled robot can ensure the moving speed on a flat ground and has excellent obstacle crossing capability, the moving mechanism comprises a first fixing plate, the top of the first fixing plate is fixedly connected with the bottom of the robot base, a first fixing frame is arranged at the bottom of the first fixing plate, a first gear matched with the first fixing frame is arranged on the first fixing frame, the first gear is fixedly connected with the first fixing frame, connecting rods are arranged on the outer sides of the first fixing frame, a second fixing frame is arranged between the bottoms of the connecting rods, the second fixing frame is movably connected with the first fixing frame and the connecting rods, a second gear matched with the second fixing frame is fixedly arranged in the second fixing frame, a chain is arranged between the second gear and the first gear, and a moving wheel assembly is arranged at the bottom of the second fixing frame, the bottom of the first fixing plate is located on one side of the first fixing frame, two groups of third fixing frames are arranged on one side of the first fixing frame, the bottoms of the third fixing frames are movably connected with electric push rods, and the bottom ends of the electric push rods are movably connected with the middle of the connecting rod.

Furthermore, the first fixing frame, the second fixing frame and the third fixing frame are all U-shaped fixing frames.

Furthermore, in order to facilitate the realization of the connection between the electric push rod and the connecting rod, the bottom of the electric push rod is provided with a U-shaped block, and the U-shaped block is movably connected with the middle part of the connecting rod through a first rotating shaft.

Further, in order to reduce the vibration of the wheeled robot when moving, the moving wheel assembly comprises a second fixed plate, the tops of the second fixed plate are fixedly connected with the bottom of the second fixed frame, vertical plates are arranged on two sides of the bottom of the second fixed plate, sliding grooves are formed in the middle of the vertical plates, sliding blocks matched with the sliding grooves are arranged inside the sliding grooves, springs are arranged between the tops and the bottoms of the sliding blocks and the sliding grooves, bearings are arranged in the middle of the sliding blocks in a clamped mode, a second rotating shaft is arranged between the bearings, one end of the second rotating shaft is connected with a driving motor located on one side of the sliding blocks, and second idler wheels are arranged on the second rotating shaft.

The utility model has the advantages that:

1. the utility model discloses a moving mechanism's use for wheeled robot can realize the quick travel under a plurality of driving motor's effect, but also can use through the cooperation of electric putter, connecting rod, mount one, mount two, gear one, gear two and chain, makes wheeled robot have the ability of better strideing across the barrier, thereby makes the utility model discloses can guarantee at flat subaerial travelling speed, have the ability of very good strideing across the barrier again, and then make its better user demand who has satisfied people.

2. The utility model discloses a remove the use of wheel subassembly for the robot can play fine buffering effect through the effect of spring when removing, thereby has improved the mobility stability of robot effectively.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a wheeled mobile robot according to an embodiment of the present invention.

Fig. 2 is a bottom view of a steering wheel in a wheeled mobile robot according to an embodiment of the present invention.

Fig. 3 is a schematic structural diagram of a moving mechanism in a wheeled mobile robot according to an embodiment of the present invention.

Fig. 4 is a schematic view illustrating installation of a first fixing frame and a third fixing frame in a wheeled mobile robot according to an embodiment of the present invention.

Fig. 5 is a front view of a wheel assembly in a wheeled mobile robot according to an embodiment of the present invention.

Fig. 6 is a perspective view of a moving wheel assembly in the wheeled mobile robot according to the embodiment of the present invention (with the second roller removed).

In the figure:

1. a robot base; 2. a support plate; 3. a steering wheel; 4. a first roller; 5. a hydraulic lever; 6. an electric hydraulic regulator; 7. a moving mechanism; 701. a first fixing plate; 702. a first fixing frame; 703. a first gear; 704. a connecting rod; 705. a second fixing frame; 706. a second gear; 707. a chain; 708. a moving wheel assembly; 7080. a second fixing plate; 7081. a vertical plate; 7082. a sliding groove; 7083. a slider; 7084. a spring; 7085. a second rotating shaft; 7086. a drive motor; 7087. a second roller; 709. a third fixing frame; 710. an electric push rod; 711. a U-shaped block; 8. An image pickup device.

Detailed Description

For further explanation of the embodiments, the drawings are provided as part of the disclosure and serve primarily to illustrate the embodiments and, together with the description, to explain the principles of operation of the embodiments, and to provide further explanation of the invention and advantages thereof, it will be understood by those skilled in the art that various other embodiments and advantages of the invention are possible, and that elements in the drawings are not to scale and that like reference numerals are generally used to designate like elements.

According to the utility model discloses an embodiment provides a wheeled mobile robot.

Now combine the attached drawing and detailed description to the utility model discloses it further explains, as shown in fig. 1-6, according to the utility model discloses a wheeled mobile robot, including robot base 1, robot base 1's bottom intermediate position is provided with backup pad 2, backup pad 2's bottom is provided with steering wheel 3, be equipped with a plurality of even central symmetric distribution's gyro wheel 4 on the steering wheel 3, the top both sides of backup pad 2 all are provided with a plurality of hydraulic stem 5 of group, just the top of hydraulic stem 5 all be equipped with the electric hydraulic regulator 6 that robot base 1 bottom is connected, robot base 1's bottom both sides all are provided with a plurality of moving mechanism 7 of group.

By means of the technical scheme, through the use of the moving mechanism 7, the wheeled robot can ensure the moving speed on the flat ground and has excellent obstacle crossing capability. In addition, through the use of the moving wheel assembly 708, the robot can play a good role in buffering through the action of the spring 7084 while moving, so that the moving stability of the robot is effectively improved.

In one embodiment, the robot base 1 is provided with camera devices 8 on both sides of the top. Through the use of the camera device 8, the robot can recognize the surrounding environment and landform.

In one embodiment, the moving mechanism 7 includes a first fixing plate 701, the top of the first fixing plate 701 is fixedly connected with the bottom of the robot base 1, a first fixing frame 702 is disposed at the bottom of the first fixing plate 701, a first gear 703 matched with the first fixing frame 702 is disposed on the first fixing frame 702, the first gear 703 is fixedly connected with the first fixing frame 702, connecting rods 704 are disposed on the outer sides of the first fixing frames 702, a second fixing frame 705 is disposed between the bottoms of the connecting rods 704, the second fixing frame 705 and the first fixing frame 702 are movably connected with the connecting rods 704, a second gear 706 matched with the second fixing frame 705 are fixedly disposed inside the second fixing frame 705, a chain 707 is disposed between the second gear 706 and the first gear 703, a moving wheel assembly 708 is disposed at the bottom of the second fixing frame 705, two sets of three fixing frames 709 are disposed at the bottom of the first fixing plate 701 and on one side of the first fixing frame 702, the bottom of mount three 709 is swing joint has electric push rod 710, the bottom of electric push rod 710 all with the middle part swing joint of connecting rod 704. Through the use of moving mechanism 7 for wheeled robot can realize the rapid draing under a plurality of driving motor 7086's effect, but also can be through the cooperation use of electric putter 710, connecting rod 704, mount 702, mount two 705, gear 703, gear two 706 and chain 707, makes wheeled robot have the better ability of strideing across the barrier, thereby makes the utility model discloses can guarantee the translation rate on flat ground, have very good ability of strideing across the barrier again, and then make its better user demand who has satisfied people.

In one embodiment, the first fixture 702, the second fixture 705, and the third fixture 709 are all U-shaped fixtures.

In one embodiment, the bottom of each of the electric push rods 710 is provided with a U-shaped block 711, and each of the U-shaped blocks 711 is movably connected with the middle of the connecting rod 704 through a first rotating shaft. The connection between the remaining connecting rods 704 of the electric push rod 710 is facilitated by the use of the U-shaped block 711.

In one embodiment, the moving wheel assembly 708 includes a second fixed plate 7080, the top of the second fixed plate 7080 is fixedly connected to the bottom of the second fixed frame 705, vertical plates 7081 are disposed on two sides of the bottom of the second fixed plate 7080, sliding grooves 7082 are formed in the middle of the vertical plates 7081, sliding blocks 7083 matched with the sliding grooves 7082 are disposed inside the sliding grooves 7082, springs 7084 are disposed between the top and the bottom of the sliding blocks 7083 and the sliding grooves 7082, bearings are clamped in the middle of the sliding blocks 7083, a second rotating shaft 7085 is disposed between the bearings, one end of the second rotating shaft 7085 is connected to a driving motor 7086 located on one side of the sliding blocks 7083, and a second roller 7087 is disposed on the second rotating shaft 7085. Through the use of the moving wheel assembly 708, the robot can play a good role in buffering through the action of the spring 7084 while moving, so that the moving stability of the robot is effectively improved. During specific application, in order to ensure that the sliding block 7083 can stably move up and down in the sliding groove 7082, limiting grooves are formed in two sides of the inside of the sliding groove 7082, and limiting strips matched with the limiting grooves are arranged on two sides of the sliding block 7083.

The working principle is as follows: when the robot is positioned on a flat ground, the driving motor 7086 rotates to drive the second rotating shaft 7085 to rotate, so that the second roller 7087 drives the robot to move, the steering of the robot can be realized through the matching use of the steering wheel 3 and the first roller 4, when the robot is located on a rough ground or encounters an obstacle, the operation is stopped by controlling the driving motor 7086, so that the second roller 7087 is locked, and meanwhile, the hydraulic rod 5 is controlled to contract by the electric hydraulic regulator 6, so that the support plate 2 drives the steering wheel 3 to move upwards, the first roller 4 is separated from the ground, and by controlling the extension and contraction of the four groups of electric push rods 710, so that the connecting rod 704 drives the second fixing frame 705 to swing back and forth, thereby enabling the movable wheel assembly 708 to swing back and forth, and the movement of the robot on the rugged ground is realized through the matched oscillation of the four groups of moving wheel assemblies 708.

In conclusion, with the aid of the technical scheme of the utility model, through the use of moving mechanism 7 for wheeled robot can realize quick travel under a plurality of driving motor 7086's effect, and can also use through the cooperation of electric putter 710, connecting rod 704, mount 702, mount two 705, gear 703, gear two 706 and chain 707, makes wheeled robot have better ability of strideing across the barrier, thereby makes the utility model discloses can guarantee the translation rate on flat ground promptly, have very good ability of strideing across the barrier again, and then make its better user demand who has satisfied people.

Furthermore, the utility model discloses a remove the use of wheel subassembly 708 for the robot can play fine buffering effect through the effect of spring 7084 when removing, thereby has improved the mobility stability of robot effectively.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "disposed," "connected," "fixed," "screwed" and the like are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through an intermediate medium, and may be connected through the inside of two elements or in an interaction relationship between two elements, unless otherwise specifically defined, and the specific meaning of the above terms in the present invention will be understood by those skilled in the art according to specific situations.

The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a wheeled mobile robot, its characterized in that, includes robot base (1), the bottom intermediate position of robot base (1) is provided with backup pad (2), the bottom of backup pad (2) is provided with steering wheel (3), be equipped with a plurality of even central symmetric distribution's gyro wheel (4) on steering wheel (3), the top both sides of backup pad (2) all are provided with a plurality of hydraulic stem (5) of group, just the top of hydraulic stem (5) all be equipped with electric hydraulic regulator (6) that robot base (1) bottom is connected, the bottom both sides of robot base (1) all are provided with a plurality of moving mechanism (7) of organizing.

2. A wheeled mobile robot as claimed in claim 1, characterised in that camera means (8) are provided on both sides of the top of the robot base (1).

3. The wheeled mobile robot as claimed in claim 1, wherein the moving mechanism (7) comprises a first fixing plate (701), the top of the first fixing plate (701) is fixedly connected with the bottom of the robot base (1), a first fixing frame (702) is arranged at the bottom of the first fixing plate (701), a first gear (703) matched with the first fixing frame (702) is arranged on the first fixing frame (702), the first gear (703) is fixedly connected with the first fixing frame (702), connecting rods (704) are arranged on the outer sides of the first fixing frame (702), a second fixing frame (705) is arranged between the bottoms of the connecting rods (704), the second fixing frame (705) and the first fixing frame (702) are movably connected with the connecting rods (704), and a second gear (706) matched with the second fixing frame (705) is fixedly arranged inside the second fixing frame (705), a chain (707) is arranged between the second gear (706) and the first gear (703), a moving wheel assembly (708) is arranged at the bottom of the second fixing frame (705), two sets of third fixing frames (709) are arranged at the bottom of the first fixing plate (701) and at one side of the first fixing frame (702), an electric push rod (710) is movably connected to the bottom of the third fixing frame (709), and the bottom end of the electric push rod (710) is movably connected with the middle of the connecting rod (704).

4. A wheeled mobile robot as claimed in claim 3, wherein said first mount (702), said second mount (705) and said third mount (709) are U-shaped mounts.

5. A wheeled mobile robot as claimed in claim 3, characterised in that the bottom of each electric push rod (710) is provided with a U-shaped block (711), and each U-shaped block (711) is movably connected with the middle part of the connecting rod (704) through a first rotating shaft.

6. A wheeled mobile robot as claimed in claim 3, characterised in that said mobile wheel assembly (708) comprises a second fixed plate (7080), the top of the second fixing plate (7080) is fixedly connected with the bottom of the second fixing frame (705), vertical plates (7081) are arranged on two sides of the bottom of the second fixing plate (7080), sliding grooves (7082) are formed in the middle of the vertical plates (7081), the sliding grooves (7082) are internally provided with sliding blocks (7083) matched with the sliding grooves, springs (7084) are arranged between the top and the bottom of the sliding block (7083) and the sliding groove (7082), bearings are clamped in the middle of the sliding block (7083), and a second rotating shaft (7085) is arranged between the bearings, one end of the second rotating shaft (7085) is connected with a driving motor (7086) positioned on one side of the sliding block (7083), and a second roller (7087) is arranged on the second rotating shaft (7085).