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Outdoor mobile chassis for mobile robot

A mobile robot and mobile chassis technology, applied in the field of mobile robots, can solve the problems of poor shock resistance and insufficient stability of the mobile chassis, and achieve the effects of increasing flexibility, improving stability, and improving shock resistance

Pending Publication Date: 2020-07-17
合肥中科深谷科技发展有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem of poor shock resistance and insufficient stability of the mobile chassis in the outdoor environment, the invention provides an outdoor mobile chassis for mobile robots

Method used

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  • Outdoor mobile chassis for mobile robot
  • Outdoor mobile chassis for mobile robot
  • Outdoor mobile chassis for mobile robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0037] see figure 1 , an outdoor mobile chassis for a mobile robot, comprising a chassis body 1, four mobile wheels 3, four reduction motors 11, a front suspension mechanism and a rear suspension mechanism, the front suspension mechanism and the rear suspension mechanism The structure of the institution is the same.

[0038] see figure 2 , the output shaft of each reduction motor 11 is fixedly connected to a corresponding moving wheel 3 through the hub connector 7 .

[0039] see Figure 4 , the suspension mechanism includes a pair of shock-absorbing adjustment suspension mechanisms with the same structure, an intermediate bracket 14 and a connecting frame 13. see image 3 , the middle bracket 14 is an inverted U-shaped bracket.

[0040] see Figure 4 , The shock-absorbing adjustment suspension mechanism includes a shock absorber 82, a pendulum mechanism and an adjustment rod mechanism. The swing bar mechanism comprises a pair of swing bars 83, a pair of connecting post...

Embodiment 2

[0049] see figure 1 , the top surface of the chassis body 1 is a plane, and a pair of guide rails 2 are fixedly installed on the top surface of the chassis body 1 along the length direction. see Figure 7 , a pair of guide rails 2 are mounted with a mechanical arm mounting plate 15 through sliding fit, and a mechanical arm 16 is fixedly installed on the mechanical arm mounting plate 15 . The end of the mechanical arm 16 is connected to the gripper 19 through the gripper connector 17 , and a visual sensor 18 is installed on one side of the gripper 19 . The mechanical arm 16 is used to control the spatial position and posture of the gripper 19, the gripper 19 is used to grasp and operate the object, and the visual sensor 18 is used to acquire the spatial position coordinates of the object. Under the more complex terrain outdoors, the four moving wheels 3 receive the active force from the uneven ground, and transmit the active force to the shock absorber 82 through the motor mo...

Embodiment 3

[0051] see Figure 8 , On the guide rail 2, an installation backing plate 20 is movably fitted, and the carrying basket 21 is fixedly installed on the installation backing plate 20. When it is necessary to carry the picked fruit in the orchard, the orchard terrain is poor in flatness, and the four mobile wheels 3 of the outdoor mobile chassis receive the support force from the ground, and the support force passes through the motor mounting bracket 85 and the U-shaped fixing frame in turn. 84 is transmitted to the shock absorber 82, and the shock absorber 82 adjusts the fluid in the damper to the damping corresponding to the terrain conditions according to the force received, and shrinks correspondingly, so that each independent suspension mechanism 8 has a corresponding The change of the shape, the change of this shape will make the four moving wheels 3 continue to be close to the ground, so that the posture of the chassis body 1 and the carrying basket 21 can still be kept st...

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Abstract

The invention relates to an outdoor mobile chassis for a mobile robot, and belongs to the technical field of mobile robots. The chassis comprises a chassis body, four moving wheels, four gear motors,a front suspension mechanism and a rear suspension mechanism; the front suspension mechanism and the rear suspension mechanism are the same suspension mechanism; each gear motor drives one moving wheel; each suspension mechanism comprises a pair of damping adjusting suspension mechanisms of the same structure, a middle support and a connecting frame; each damping adjusting suspension mechanism comprises a shock absorber, a swing rod mechanism and an adjusting rod mechanism; and two independent suspension mechanisms are formed by the pair of damping adjusting suspension mechanisms. During moving operation, the pair of shock absorbers is used for adjusting fluid damping according to different road surface bumping degrees so as to adapt to different road surface environments; and the independent suspension mechanism corresponding to each moving wheel buffers the impact of the road surface on the moving wheels, so that the shock resistance of the outdoor moving chassis is improved. The outdoor mobile chassis is suitable for carrying a manipulator to implement mechanical operation and also suitable for carrying small cargoes.

Description

technical field [0001] The invention belongs to the technical field of mobile robots, and in particular relates to an outdoor mobile chassis for mobile robots. Background technique [0002] At present, with the development of machinery, automation, and computer technology, robot technology has also made great progress. On this basis, the research and development of mobile robot technology is becoming more and more popular. The mobile chassis is used as a mobile robot platform equipped with terminal working equipment. It is a key component of whether the terminal equipment can complete the work requirements according to the design requirements. According to its working environment, it can be divided into two types: outdoor and indoor. Compared with indoor mobile chassis, the application range of outdoor mobile chassis is wider. The prospects are also broader, and correspondingly, the requirements for shock resistance and stability are higher. Most of the existing mobile chas...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J5/00B25J19/00
CPCB25J5/007B25J19/0091
Inventor 甄圣超彭鑫刘晓黎陈锋
Owner 合肥中科深谷科技发展有限公司
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