CN214450235U - Small-size mobile robot dolly chassis - Google Patents
Small-size mobile robot dolly chassis Download PDFInfo
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- CN214450235U CN214450235U CN202022881942.9U CN202022881942U CN214450235U CN 214450235 U CN214450235 U CN 214450235U CN 202022881942 U CN202022881942 U CN 202022881942U CN 214450235 U CN214450235 U CN 214450235U
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Abstract
The utility model belongs to the technical field of mobile robots, in particular to a small mobile robot trolley chassis of a mobile robot, wherein front wheels and rear wheels are arranged at two sides of a chassis frame through wheel connecting pieces, a steering mechanism is arranged at the front part of the chassis frame and is connected with wheels at the front part of the chassis frame, and a battery unit and a control panel are arranged at the middle position of the chassis frame; the motor structure is arranged at the rear part of the chassis frame and is connected with wheels at the rear part of the chassis frame, and the damping unit is arranged between the chassis frame and the front wheels and the rear wheels; the control panel is respectively connected with the steering mechanism and the motor structure in a control mode. The chassis frame of the utility model adopts an integrated modular design, has compact structure, simple and stable structure and convenient assembly and disassembly; the rear wheels are driven by double motors, the front wheels are steered, the left and right motors of the rear wheels are independently controlled, and the four wheels of the trolley are independently suspended to ensure that the system is stable in ground gripping and movement. And the chassis is matched with a battery box, so that the battery is placed, and the modularized plug-in charging and the disassembly are convenient.
Description
Technical Field
The utility model discloses intellectual achievement belongs to mobile robot technical field, especially relates to a small-size mobile robot dolly chassis of mobile robot.
Background
The robot is a mechanical device which can automatically execute work through mechanical parts and an electric control part structure. For small indoor mobile robots, the chassis usually adopts a flat plate structure, and is simple in structure and poor in stability. After the trolley battery is installed on the chassis, the trolley battery can not be conveniently disassembled, taken out for maintenance or replaced basically. People need the trolley to meet the requirements of the existing mobile robot, the whole structure of the trolley is flexible and compact, the functions of the contained modules are complete, and the trolley is fast to install and disassemble.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a small-size mobile robot dolly chassis to solve any problem in the above-mentioned technical problem of prior art and other potential problems.
In order to solve the technical problem, the technical scheme of the utility model is that: a small mobile robot cart chassis, comprising: a chassis frame, a steering mechanism, a battery unit, a control panel, a motor structure, a damping unit, a front wheel and a rear wheel,
the front wheels and the rear wheels are mounted on two sides of the chassis frame through wheel connectors, and the steering mechanism is arranged in the front of the chassis frame and connected with wheels in the front of the chassis frame;
the battery and the control board are arranged in the middle of the chassis frame;
the motor structure is arranged at the rear part of the chassis frame and is connected with wheels at the rear part of the chassis frame, and the damping unit is arranged between the chassis frame and 4 wheels;
the control panel is respectively connected with the steering mechanism and the motor structure in a control mode, and the battery unit supplies power to the control panel, the steering mechanism and the motor structure.
Furthermore, the chassis frame is U-shaped, and the bottom and two sides of the chassis frame are provided with installation positioning holes, line arranging holes and heat dissipation holes;
the middle of the chassis frame is provided with a battery shell, a battery seat and a battery buckle.
Further, the wheel connecting piece comprises an upper swing arm, a lower swing arm, a connecting bearing, a coupler, a front steering cup and a rear steering cup;
one end of the upper swing arm and one end of the lower swing arm are connected with the chassis frame through pin shafts, the other ends of the upper swing arm and the lower swing arm, which are positioned at the front end of the chassis frame, are provided with front steering cups through steering supports, and the front steering cups are connected with the front wheels through connecting bearings;
and the other ends of the upper swing arm and the lower swing arm, which are positioned at the rear end of the chassis frame, are provided with rear steering cups through steering supports, and the rear steering cups are connected with the rear wheels through couplers.
Further, the steering mechanism comprises a steering engine, a steering engine bracket, a steering engine swing arm, a steering engine sliding assembly and a steering pull rod;
the steering engine is mounted on the front part of the chassis frame through a steering engine support, and a mounting hole is formed in the top of the steering engine support;
the steering engine is movably connected with 2 steering pull rods through a steering engine swing arm and a steering engine sliding assembly, and the 2 steering pull rods are respectively movably connected with the 2 front steering cups.
Further, the motor structure comprises a first motor, a second motor, a motor bracket and a motor buckle;
the first motor and the second motor are both arranged on the motor bracket and are fixed through the motor buckles, and output shafts of the first motor and the second motor are connected with the coupler;
and the first motor and the second motor are both connected with the control panel.
Further, the connecting bearing is a fisheye bearing; the coupler is a cross coupler.
Further, the shock absorption unit is a spring damping shock absorber which is installed behind the rear wheel axis of a swing arm motor of the vehicle body, one end of the spring damping shock absorber is movably connected with the motor support, and the other end of the spring damping shock absorber is movably connected with the lower swing arm.
Furthermore, the front wheels and the rear wheels are both big foot anti-skid wheels.
Further, first motor and second motor dislocation mode side by side set up on the motor support, just first motor and second motor have the brush motor for taking the code wheel direct current.
Further, the small mobile robot trolley chassis further comprises a laser radar and a camera, the laser radar is installed on the mounting hole, the camera is arranged on the trolley head of the chassis frame, and the laser radar and the camera are both connected with the control panel.
The utility model has the advantages that: due to the adoption of the structure, the chassis frame of the utility model adopts an integrated modular design, has compact structure, is simple and stable, and is convenient to install and disassemble; the double motors of the rear wheels are adopted for driving, the Ackerman steering of the front wheels is adopted, the left motor and the right motor of the rear wheels are independently controlled, and the four wheels of the trolley are independently suspended to ensure the ground gripping and the stable movement of the system. And the chassis is matched with a battery box, so that the battery is placed, and the modularized plug-in charging and the disassembly are convenient.
Drawings
Fig. 1 is the overall schematic diagram of the small mobile robot trolley chassis of the utility model.
Fig. 2 is a schematic view of a main body part of a small mobile robot trolley chassis of the utility model.
Fig. 3 is a rear view of the chassis frame of the small mobile robot trolley chassis of the utility model.
Fig. 4 is a partial top view of the head of the small mobile robot trolley chassis of the present invention.
Fig. 5 is a partial schematic view of a steering mechanism of a small mobile robot trolley chassis of the utility model.
Fig. 6 is a partial view of a battery box of a small mobile robot trolley chassis.
In the figure:
1. the steering mechanism comprises a chassis frame, 2 parts of a steering mechanism, 2 parts to 1 parts of a steering engine, 2 parts to 2 parts of a steering engine support, 2 parts to 3 parts of a steering engine swing arm, 2 parts to 4 parts of a steering engine sliding assembly, 2 parts to 5 parts of a steering pull rod, 2 parts to 6 parts of a mounting hole, 3 parts of a battery unit, 4 parts of a control board, 5 parts of a motor structure, 5 parts to 1 parts of a first motor, 5 parts to 2 parts of a second motor, 5 parts to 3 parts of a motor support, 5 parts to 4 parts of a motor buckle, 6 parts of a damping unit, 7 parts of a front wheel, 8 parts of a rear wheel, 9 parts of a wheel connecting piece, 9 parts to 1 parts of an upper swing arm, 9 parts to 2 parts of a lower swing arm, 9 parts to 3 parts of a connecting bearing, 9 parts to 4 parts of a coupler, 9 parts to 5 parts of a front steering cup, 9 parts to 6 parts of a rear steering cup, 10 parts of a vehicle head, 11 parts of a vehicle tail, 12 parts of a camera, 13 parts of a laser radar, 14 parts of a battery seat, 15. control panel support, 16 battery buckle.
Detailed Description
In order to understand the present invention more fully, the technical solution of the present invention will be further described and illustrated with reference to the following specific embodiments, but not limited thereto.
As shown in fig. 1, the utility model relates to a small-size mobile robot dolly chassis, small-size mobile robot dolly chassis includes: the device comprises a chassis frame 1, a steering mechanism 2, a battery unit 3, a control panel 4, a motor structure 5, a damping unit 6, front wheels 7 and rear wheels 8;
the front wheels 7 and the rear wheels 8 are respectively installed on two sides of the chassis frame 1 through wheel connecting pieces 9, and the steering mechanism 2 is arranged on the front portion of the chassis frame 1 and is connected with the wheel connecting pieces 9 of the front wheels 7;
the battery unit 3 and the control board 4 are arranged at the middle position of the chassis frame 1;
the motor structure 5 is arranged at the rear part of the chassis frame 1 and is connected with the rear wheel through a wheel connecting piece 9;
the damping units 6 are respectively arranged between the chassis frame 1 and the front wheels 7, and between the chassis frame 1 and the rear wheels 8;
the control panel 4 is respectively in control connection with the steering mechanism 2 and the motor structure 6, and the battery unit 3 supplies power to the control panel 4, the steering mechanism 2 and the motor structure 6.
The chassis frame 1 is U-shaped, and the bottom and two sides of the chassis frame 1 are provided with mounting positioning holes, line arranging holes and radiating holes;
a battery seat 14 is arranged in the middle of the chassis frame 1, the battery seat 14 is provided with a battery buckle 16, as shown in figure 5,
as shown in fig. 2, the wheel connecting piece 9 comprises an upper swing arm 9-1, a lower swing arm 9-2, a connecting bearing 9-3, a coupling 9-4, a front steering cup 9-5 and a rear steering cup 9-6;
one end of the upper swing arm 9-1 and one end of the lower swing arm 9-2 are connected with the chassis frame 1 through a pin shaft, the other end of the lower swing arm 9-2 of the upper swing arm 9-1, which is positioned at the front end of the chassis frame 1, is provided with a front steering cup 9-5 through a steering support, and the front steering cup 9-5 is connected with the front wheel 7 through a connecting bearing 9-3;
the other end of the lower swing arm 9-2 of the upper swing arm 9-1, which is positioned at the rear end of the chassis frame 1, is provided with a rear steering cup 9-6 through a steering bracket, and the rear steering cup 9-6 is connected with the rear wheel 8.
The steering mechanism 2 comprises a steering engine 2-1, a steering engine bracket 2-2, a steering engine swing arm 2-3, a steering engine sliding assembly 2-4 and a steering pull rod 2-5;
the steering engine 2-1 is mounted at the front part of the chassis frame 1 through a steering engine support 2-2, and a mounting hole 2-6 is formed in the top of the steering engine support 2-2;
the steering engine 2-1 is movably connected with the 2 steering pull rods 2-5 through a steering engine swing arm 2-3 and a steering engine sliding assembly 2-4, and the 2 steering pull rods 2-5 are respectively movably connected with the 2 front steering cups 9-5, as shown in fig. 3 and 4.
The motor structure 5 comprises a first motor 5-1, a second motor 5-2, a motor bracket 5-3 and a motor buckle 5-4;
the first motor 5-1 and the second motor 5-2 are both arranged on the motor bracket 5-3 and are fixed through the motor buckles 5-4, and output shafts of the first motor 5-1 and the second motor 5-2 are connected with the coupler 9-4;
and the first motor 5-1 and the second motor 5-2 are both connected with the control board 4, as shown in fig. 4.
The connecting bearing 9-3 is a fisheye bearing; the coupler 9-4 is a telescopic coupler.
The shock absorption unit 3 is a spring damping shock absorber.
The front wheels 7 and the rear wheels 8 are both big foot anti-skid wheels.
The first motor 5-1 and the second motor 5-2 are arranged on the motor bracket 5-3 in a side-by-side staggered mode, and the first motor 5-1 and the second motor 5-2 are direct-current brush motors with code discs.
The chassis of the small mobile robot trolley further comprises a laser radar 13 and a camera 12, the laser radar 13 is installed on the installation hole, the camera 12 is arranged on the trolley head 10 of the chassis frame 1, and the laser radar 13 and the camera 12 are both connected with the control panel 4.
The specific embodiment is as follows:
a small-sized mobile robot trolley chassis comprises a chassis frame 1, a steering mechanism 2, a battery unit 3, a control panel 4, a motor structure 5, a damping unit 6, front wheels 7 and rear wheels 8;
the steering engine support 2-2 is arranged on the vehicle body frame 1 through screws; the steering engine 2-1 is placed in the steering engine support 2-2 to provide steering power for the trolley, and the steering engine swing arm 2-3 is connected with two steering pull rods 2-5 through a steering engine sliding assembly 2-4 and respectively connected with a front steering cup 2-6 to realize steering of a front wheel; laser radar 13 is installed in the mounting hole on steering wheel support 14 upper portion through the laser radar connecting plate, and the barrier is kept away in the realization of location dolly.
A camera 12 and a laser radar 13 are mounted in the trolley front head 2 for trolley visual identification and navigation.
The first motor 5-1 and the second motor 5-2 are arranged at the tail part of the vehicle bottom frame 1 through the motor support 5-3, the motor buckle 5-4 is buckled on the first motor 5-1 and the second motor 5-2 for fixing, and the LED screen support is arranged above the motor buckle 5-4 and used for mounting the LED screen of the trolley. The output shafts of the first motor 5-1 and the second motor 5-2 are connected with a rear wheel 8 through a micro telescopic coupling 9-4, a lower swing arm 9-2 and an upper swing arm 9-1 of the vehicle bottom frame 1 are provided with a rear steering cup 9-6 through a steering support, the rear steering cup 9-6 is connected with the rear wheel 8, and a shock absorber unit 6 is arranged between the vehicle bottom frame 1 and the rear wheel 8 and is independently suspended to realize the shock absorption of the trolley.
The control panel 4 is installed in the middle of the body frame 1 through a control panel bracket 15, is positioned between the battery seat 17 and the motor buckle 16, and is a core control module of the trolley.
The chassis of the small mobile robot trolley provided by the embodiment of the application is described in detail above. The above description of the embodiments is only for the purpose of helping to understand the method of the present application and its core ideas; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
As used in the specification and claims, certain terms are used to refer to particular components. As one skilled in the art will appreciate, manufacturers may refer to a component by different names. This specification and claims do not intend to distinguish between components that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. "substantially" means within an acceptable error range, and a person skilled in the art can solve the technical problem within a certain error range to substantially achieve the technical effect. The description which follows is a preferred embodiment of the present application, but is made for the purpose of illustrating the general principles of the application and not for the purpose of limiting the scope of the application. The protection scope of the present application shall be subject to the definitions of the appended claims.
It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a commodity or system that includes the element.
It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
The foregoing description shows and describes several preferred embodiments of the present application, but as aforementioned, it is to be understood that the application is not limited to the forms disclosed herein, but is not to be construed as excluding other embodiments and is capable of use in various other combinations, modifications, and environments and is capable of changes within the scope of the application as described herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the application, which is to be protected by the claims appended hereto.
Claims (10)
1. A small mobile robot dolly chassis, characterized in that the small mobile robot dolly chassis comprises: a chassis frame, a steering mechanism, a battery unit, a control panel, a motor structure, a damping unit, a front wheel and a rear wheel,
the front wheels and the rear wheels are mounted on two sides of the chassis frame through wheel connectors, and the steering mechanism is arranged in the front of the chassis frame and connected with wheels in the front of the chassis frame;
the battery and the control board are arranged in the middle of the chassis frame;
the motor structure is arranged at the rear part of the chassis frame and is connected with wheels at the rear part of the chassis frame, and the damping unit is arranged between the chassis frame and 4 wheels;
the control panel is respectively connected with the steering mechanism and the motor structure in a control mode, and the battery unit supplies power to the control panel, the steering mechanism and the motor structure.
2. The small mobile robot trolley chassis according to claim 1, wherein the chassis frame is U-shaped, and the bottom and both sides of the chassis frame are provided with mounting positioning holes, wire arranging holes and heat dissipation holes;
the middle of the chassis frame is provided with a battery shell, a battery seat and a battery buckle.
3. The small mobile robotic cart chassis of claim 2, wherein the wheel connections include an upper swing arm, a lower swing arm, a connection bearing, a coupling, a front steering cup, and a rear steering cup,
one end of the upper swing arm and one end of the lower swing arm are connected with the chassis frame through pin shafts, the other ends of the upper swing arm and the lower swing arm, which are positioned at the front end of the chassis frame, are provided with front steering cups through steering supports, and the front steering cups are connected with the front wheels through connecting bearings;
and the other ends of the upper swing arm and the lower swing arm, which are positioned at the rear end of the chassis frame, are provided with rear steering cups through steering supports, and the rear steering cups are connected with the rear wheels through couplers.
4. The small mobile robot trolley chassis according to claim 3, wherein the steering mechanism comprises a steering engine, a steering engine bracket, a steering engine swing arm, a steering engine sliding assembly and a steering pull rod;
the steering engine is mounted on the front part of the chassis frame through a steering engine support, and a mounting hole is formed in the top of the steering engine support;
the steering engine is movably connected with 2 steering pull rods through a steering engine swing arm and a steering engine sliding assembly, and the 2 steering pull rods are respectively movably connected with the 2 front steering cups.
5. The small mobile robot trolley chassis of claim 4, wherein the motor structure comprises a first motor, a second motor, a motor bracket, and a motor catch;
the first motor and the second motor are both arranged on the motor bracket and are fixed through the motor buckles, and output shafts of the first motor and the second motor are connected with the coupler;
and the first motor and the second motor are both connected with the control panel.
6. The small mobile robot trolley chassis of claim 3, wherein the connection bearing is a fisheye bearing; the shaft coupling is a telescopic shaft coupling.
7. The small mobile robotic cart chassis of claim 1, wherein the shock absorbing unit is a spring-damped shock absorber.
8. The small mobile robotic cart chassis of claim 1, wherein the front wheels and rear wheels are big foot anti-skid wheels.
9. The small mobile robot trolley chassis according to claim 5, wherein the first motor and the second motor are arranged on the motor support in a side-by-side staggered manner, and the first motor and the second motor are direct current brush motors with code discs.
10. The small mobile robot trolley chassis according to claim 4, further comprising a lidar and a camera, wherein the lidar is mounted on the mounting hole, the camera is disposed on a head of the chassis frame, and both the lidar and the camera are connected to the control board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022881942.9U CN214450235U (en) | 2020-12-04 | 2020-12-04 | Small-size mobile robot dolly chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022881942.9U CN214450235U (en) | 2020-12-04 | 2020-12-04 | Small-size mobile robot dolly chassis |
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| Publication Number | Publication Date |
|---|---|
| CN214450235U true CN214450235U (en) | 2021-10-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202022881942.9U Active CN214450235U (en) | 2020-12-04 | 2020-12-04 | Small-size mobile robot dolly chassis |
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| CN (1) | CN214450235U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112590970A (en) * | 2020-12-04 | 2021-04-02 | 北京星航机电装备有限公司 | Small-size automated guided vehicle structure |
-
2020
- 2020-12-04 CN CN202022881942.9U patent/CN214450235U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112590970A (en) * | 2020-12-04 | 2021-04-02 | 北京星航机电装备有限公司 | Small-size automated guided vehicle structure |
| CN112590970B (en) * | 2020-12-04 | 2024-04-19 | 北京星航机电装备有限公司 | Small-size automated guided vehicle structure |
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Effective date of registration: 20220601 Address after: 100074, Beijing, Fengtai District, 9 North East Road, No. Patentee after: Beijing Xinghang Electro-mechanical Equipment Co.,Ltd. Patentee after: Aerospace additive technology (Beijing) Co., Ltd Address before: 100074, Beijing, Fengtai District, 9 North East Road, No. Patentee before: Beijing Xinghang Electro-mechanical Equipment Co.,Ltd. |