A mobile robot electrically driven chassis transmission structure

Abstract

The utility model relates to mobile robot chassis drive technology field, and disclose a kind of mobile robot electric drive's chassis drive structure, including mounting seat, the mounting seat bottom is provided with transmission mechanism, the mounting seat bottom is provided with protection mechanism, the transmission mechanism includes fixed base, the fixed base is fixedly connected in mounting seat bottom, the fixed base top left side is fixedly connected with support frame, the support frame top is fixedly connected with servo motor, the servo motor bottom is fixedly connected with rotating rod, when using, the transmission mechanism being set, the combination design of double-shaft motor drive moving wheel, servo motor associated universal wheel, double-shaft motor directly drives two groups of moving wheels by the rotation axis of symmetrical distribution, realizes stable power output, ensures the smoothness when robot straight line travels, servo motor is linked universal wheel by rotating rod, rotating table and other components, cooperate the limiting design of rotating groove, so that universal wheel turns direction flexibly and angle is controllable.

Description

Technical Field

[0001] This utility model relates to the field of mobile robot chassis transmission technology, specifically to a chassis transmission structure for electric drive of a mobile robot. Background Technology

[0002] With the rapid development of mobile robot technology, the chassis transmission structure, as the core carrier of robot motion performance, directly affects the robot's working efficiency and applicable scenarios due to its power output stability, steering flexibility, and ease of maintenance. The following problems are commonly found in existing mobile robot chassis transmission structures:

[0003] Some transmission structures use a single power source to drive one wheel on one side, with indirect transmission via gears or belts. This can easily lead to inconsistent wheel speeds on both sides due to power loss or transmission backlash, causing the robot to deviate or wobble when moving in a straight line. This is especially noticeable in heavy-load or complex terrain environments.

[0004] Traditional steering structures often rely on a single swivel wheel or mechanical linkage mechanism, making it difficult to precisely control the steering angle. Most transmission components adopt an integrated fixed design, and when the wheel wears out, multiple related structures need to be disassembled to complete the replacement. This not only increases maintenance time, but may also lead to a decrease in the precision of component fit due to frequent disassembly, affecting transmission stability.

[0005] According to the patent application published on the Internet, the chassis transmission structure for electric drive of a mobile robot (authorization announcement number: CN215548628U) includes a "mounting plate, a first motor" and other components to achieve transmission.

[0006] Regarding the above description, the applicant believes the following issues exist:

[0007] The electric drive chassis transmission structure of this mobile robot uses a mounting plate, a first motor, etc. to achieve transmission. When in use, the first wheel set is driven by gears to turn. After turning, there is no self-locking effect, which cannot guarantee its stability. Moreover, the wheel set cannot be easily replaced when it is worn. The drive equipment is in an exposed state and is easily affected by external moisture and debris. Therefore, this structure needs to be improved. Utility Model Content

[0008] The purpose of this invention is to provide a chassis transmission structure for electric drive of a mobile robot, so as to solve the problems mentioned in the background art.

[0009] To achieve the above objectives, this utility model provides the following technical solution: a chassis transmission structure for electric drive of a mobile robot, including a mounting base, a transmission mechanism provided at the bottom of the mounting base, and a protective mechanism provided at the bottom of the mounting base;

[0010] The transmission mechanism includes a fixed base, which is fixedly connected to the bottom of a mounting base. A support frame is fixedly connected to the top left side of the fixed base. A servo motor is fixedly connected to the top of the support frame. A rotating rod is fixedly connected to the bottom of the servo motor. A rotating platform is fixedly connected to the bottom of the rotating rod. A limit frame is fixedly connected to the bottom of the rotating platform. A connecting seat is slidably connected inside the limit frame. A caster wheel is fixedly connected to the bottom of the connecting seat. The caster wheel is rotatably connected to the inside of the mounting base. A limit bracket is slidably connected to the periphery of the limit frame. The left side of the limit bracket is inserted into the connecting seat. A first fixed shaft is threadedly connected to the inside of the limit bracket. A base is fixedly connected to the top right side of the fixed base. A dual-axis motor is fixedly connected to the top of the base. A rotating shaft is fixedly connected to the front right end of the dual-axis motor. A stop is fixedly connected to the periphery of the rotating shaft. A movable wheel is slidably connected to the periphery of the rotating shaft. The movable wheel is located in front of the stop. A second fixed shaft is threadedly connected to the inside of the movable wheel.

[0011] Preferably, the mounting base has a rotating groove inside, the universal wheel is rotatably connected to the rotating groove, and the diameter of the rotating platform is smaller than the diameter of the rotating groove, so as to facilitate the rotation of the universal wheel by the rotating platform.

[0012] Preferably, the rotating rod is rotatably connected inside the support frame, and the first fixed shaft passes through the limit frame and the connecting seat, so as to ensure the stability between the limit frame, the limit frame and the connecting seat through the first fixed shaft.

[0013] Preferably, the rear side of the movable wheel is in contact with the front side of the stop block, and the movable wheel is rotatably connected to the inner side of the mounting base. The second fixed shaft passes through the interior of the rotating shaft, which facilitates the stability of the movable wheel through the second fixed shaft.

[0014] Preferably, the rotating shaft, the stop block, the moving wheel, and the second fixed shaft are provided in two sets and are symmetrically distributed on the front and rear sides of the dual-axis motor, so as to ensure the balance during movement by setting two sets.

[0015] Preferably, the protective mechanism includes a protective frame, which is slidably connected to the top of the fixed base. A connecting frame is fixedly connected to the front side of the protective frame, and the connecting frame is disposed on the front side of the mounting base. A limit shaft is threadedly connected inside the connecting frame.

[0016] Preferably, the top of the protective frame is in contact with the bottom of the mounting base, the top of the rear side of the connecting frame is in contact with the front side of the mounting base, the protective frame is concave and located on the front and left and right sides of the top of the fixed base, and is slidably connected to the periphery of the moving wheel without contacting the periphery of the moving wheel. The limiting shaft passes through the interior of the mounting base, so that the driving device can be protected by the protective mechanism.

[0017] Compared with the prior art, this utility model provides a chassis transmission structure for electric drive of a mobile robot, which has the following beneficial effects:

[0018] 1. The electric drive chassis transmission structure of this mobile robot, through a set transmission mechanism, combines a dual-axis motor driving the moving wheels and a servo motor connected to the omnidirectional wheels. The dual-axis motor directly drives two sets of moving wheels through symmetrically distributed rotating shafts, achieving stable power output and ensuring smoothness when the robot travels in a straight line. The servo motor is linked to the omnidirectional wheels through components such as rotating rods and rotating platforms. With the limiting design of the rotating groove, the omnidirectional wheels can turn flexibly and the angle is controllable. The synergistic effect of the two improves the robot's motion accuracy and maneuverability, and can meet the needs of changing direction. The omnidirectional wheels can be quickly fixed and disassembled through connecting seats, limiting frames and the first fixed shaft. The moving wheels are connected to the rotating shaft through the second fixed shaft, which greatly reduces the difficulty of component installation, inspection and replacement, and reduces maintenance time and cost.

[0019] 2. The electric drive chassis transmission structure of this mobile robot, through the set protective mechanism, has a concave protective frame covering the front top and left and right sides of the fixed base and adapted to the periphery of the moving wheels. It does not contact the running parts and can effectively block external debris from affecting the drive equipment in the transmission mechanism. At the same time, it avoids collisions that could damage the core components. The protective frame is quickly fixed to the limit shaft through the connecting bracket, which not only ensures the reliability of the protection but also does not affect the normal operation of the transmission components. It is also easy to install and disassemble, and easy to maintain and repair the drive components. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0022] Figure 2 This is a cross-sectional structural diagram of the present invention;

[0023] Figure 3 This is a schematic diagram of the transmission mechanism.

[0024] Figure 4 This is a schematic diagram of the bottom structure of the servo motor;

[0025] Figure 5 This is a schematic diagram of the front structure of a dual-axis motor;

[0026] Figure 6 This is a schematic diagram of the outer structure of the rotating shaft;

[0027] Figure 7 This is a schematic diagram of the protective mechanism.

[0028] In the diagram: 1. Mounting base; 2. Transmission mechanism; 3. Protective mechanism; 21. Fixed base; 22. Support frame; 23. Servo motor; 24. Base; 25. Dual-axis motor; 26. Rotating rod; 27. Rotating table; 28. Limiting frame; 29. ​​Connecting base; 291. Casters; 292. Limiting frame; 293. First fixed shaft; 294. Rotating shaft; 295. Stop; 296. Moving wheel; 297. Second fixed shaft; 31. Protective frame; 32. Connecting frame; 33. Limiting shaft. Detailed Implementation

[0029] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0030] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0031] This utility model provides the following technical solution: Example 1

[0032] Please see Figure 1-7 This utility model provides a technical solution: a chassis transmission structure for electric drive of a mobile robot, including a mounting base 1, a transmission mechanism 2 provided at the bottom of the mounting base 1, and a protective mechanism 3 provided at the bottom of the mounting base 1;

[0033] The transmission mechanism 2 includes a fixed base 21, which is fixedly connected to the bottom of the mounting base 1. A support frame 22 is fixedly connected to the top left side of the fixed base 21. A servo motor 23 is fixedly connected to the top of the support frame 22. A rotating rod 26 is fixedly connected to the bottom of the servo motor 23. A rotating table 27 is fixedly connected to the bottom of the rotating rod 26. A limit frame 28 is fixedly connected to the bottom of the rotating table 27. A connecting seat 29 is slidably connected inside the limit frame 28. A caster wheel 291 is fixedly connected to the bottom of the connecting seat 29. The caster wheel 291 is rotatably connected to the inside of the mounting base 1. The outer periphery of the limit frame 28 is slidably connected to... A limit frame 292 is connected, and the left side of the limit frame 292 is inserted into the connecting seat 29. The limit frame 292 is threadedly connected to a first fixed shaft 293. A base 24 is fixedly connected to the top right side of the fixed seat 21. A dual-axis motor 25 is fixedly connected to the top of the base 24. A rotating shaft 294 is fixedly connected to the front right end of the dual-axis motor 25. A stop block 295 is fixedly connected to the periphery of the rotating shaft 294. A movable wheel 296 is slidably connected to the periphery of the rotating shaft 294. The movable wheel 296 is located in front of the stop block 295. A second fixed shaft 297 is threadedly connected to the interior of the movable wheel 296.

[0034] The mounting base 1 has a rotating groove inside, and the universal wheel 291 is rotatably connected in the rotating groove. The diameter of the rotating platform 27 is smaller than the diameter of the rotating groove, so that the universal wheel 291 can be rotated by the rotating platform 27.

[0035] The rotating rod 26 is rotatably connected to the inside of the support frame 22, and the first fixed shaft 293 passes through the inside of the limiting frame 28 and the connecting seat 29, so as to ensure the stability between the limiting frame 292, the limiting frame 28 and the connecting seat 29 through the first fixed shaft 293.

[0036] The rear side of the movable wheel 296 is in contact with the front side of the stop block 295, and the movable wheel 296 is rotatably connected to the inner side of the mounting base 1. The second fixed shaft 297 passes through the interior of the rotating shaft 294, so as to ensure the stability of the movable wheel 296 through the second fixed shaft 297.

[0037] Two sets of rotating shaft 294, stop block 295, moving wheel 296 and second fixed shaft 297 are provided and symmetrically distributed on the front and rear sides of the dual-shaft motor 25, so as to ensure balance during movement by setting two sets. Example 2

[0038] Please see Figure 1-7 Furthermore, based on Embodiment 1, the protective mechanism 3 includes a protective frame 31, which is slidably connected to the top of the fixed base 21. A connecting frame 32 is fixedly connected to the front side of the protective frame 31. The connecting frame 32 is located on the front side of the mounting base 1, and a limit shaft 33 is threadedly connected inside the connecting frame 32.

[0039] The top of the protective frame 31 is in contact with the bottom of the mounting base 1, and the top of the rear side of the connecting frame 32 is in contact with the front side of the mounting base 1. The protective frame 31 is concave and is located on the top front side and left and right sides of the fixed base 21. It is slidably connected to the periphery of the moving wheel 296 but does not contact the periphery of the moving wheel 296. The limiting shaft 33 passes through the interior of the mounting base 1, so that the driving equipment can be protected through the protective mechanism 3.

[0040] In actual operation, when this device is used, the mobile robot is first fixed to the top of the mounting base 1 by external fixing equipment. According to the fixed position of the mobile robot, the corresponding fixing holes are opened on the mounting base 1. After the fixing is completed, the dual-axis motor 25 drives the moving wheels 296 fixed on the periphery of the rotating shaft 294 to move. The symmetrically distributed rotating shaft 294 directly drives the two sets of moving wheels 296 to achieve stable power output and ensure the smoothness of the robot when moving in a straight line. During the movement, the universal wheel 291 also moves. When turning is required, the servo motor 23 drives the rotating rod 26 to rotate the rotating platform 27 fixedly connected to the bottom. The rotating platform 27 can drive the limit frame 28, the connecting seat 29 and the universal wheel 291 to rotate, so as to change the movement route and realize the turning work.

[0041] When it is necessary to replace the caster wheel 291 or the movable wheel 296, first remove the limit shaft 33, then the connecting bracket 32 ​​and the protective frame 31 can be disassembled. Take out the second fixed shaft 297, so that the movable wheel 296 can be moved forward on the periphery of the rotating shaft 294 for replacement. After the replacement is completed, the new movable wheel 296 is slidably connected to the periphery of the rotating shaft 294 and contacts the front side of the stop block 295, and can be fixed again by the second fixed shaft 297.

[0042] Remove the first fixed shaft 293 and the limiting bracket 292, release the limiting of the connecting seat 29, and the caster wheel 291 can be replaced. After replacement, slide the connecting seat 29 of the new caster wheel 291 to the inside of the limiting frame 28, and slide the limiting bracket 292 to the outside of the limiting frame 28, with the inner left side inserted into the connecting seat 29. At the same time, thread the first fixed shaft 293 into the limiting frame 28, the connecting seat 29, and the limiting bracket 292 to ensure the stability of the caster wheel 291 and facilitate operation.

[0043] Furthermore, replacing the movable wheel 296 and the omnidirectional wheel 291 requires using an external jack to lift the fixed base 21 for easy replacement. During use, the servo motor 23 and the dual-axis motor 25 need to be connected to the PLC controller inside the mobile robot to achieve automated operation and collaborative work. The PLC controller and the mobile robot are existing technologies, and those skilled in the art are well aware of their operating steps, so they will not be described in detail in this case.

[0044] The dual-axis motor used in this case is model CHW-GW4058-3162. This motor is a permanent magnet DC worm gear reducer motor with a bidirectional coaxial synchronous rotation structure. The worm gear transmission itself has a self-locking characteristic, which can achieve self-locking when power is off.

[0045] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A chassis transmission structure for electric drive of a mobile robot, comprising a mounting base (1), characterized in that: The mounting base (1) is provided with a transmission mechanism (2) at the bottom and a protective mechanism (3) at the bottom. The transmission mechanism (2) includes a fixed seat (21), which is fixedly connected to the bottom of the mounting base (1). A support frame (22) is fixedly connected to the top left side of the fixed seat (21). A servo motor (23) is fixedly connected to the top of the support frame (22). A rotating rod (26) is fixedly connected to the bottom of the servo motor (23). A rotating table (27) is fixedly connected to the bottom of the rotating rod (26). A limit frame (28) is fixedly connected to the bottom of the rotating table (27). A connecting seat (29) is slidably connected inside the limit frame (28). A universal wheel (291) is fixedly connected to the bottom of the connecting seat (29). The universal wheel (291) is rotatably connected inside the mounting base (1). A limit frame (292) is slidably connected to the periphery of the limit frame (28). The left side of the limiting frame (292) is inserted into the connecting seat (29). The limiting frame (292) is threaded with a first fixed shaft (293). The top right side of the fixed seat (21) is fixedly connected to a base (24). The top of the base (24) is fixedly connected to a dual-axis motor (25). The front right side of the dual-axis motor (25) is fixedly connected to a rotating shaft (294). The outer periphery of the rotating shaft (294) is fixedly connected to a stop (295). The outer periphery of the rotating shaft (294) is slidably connected to a moving wheel (296). The moving wheel (296) is located in front of the stop (295). The inner thread of the moving wheel (296) is threaded with a second fixed shaft (297).

2. The chassis transmission structure for electric drive of a mobile robot according to claim 1, characterized in that: The mounting base (1) has a rotating groove inside, and the universal wheel (291) is rotatably connected to the rotating groove. The diameter of the rotating platform (27) is smaller than the diameter of the rotating groove.

3. The chassis transmission structure for electric drive of a mobile robot according to claim 1, characterized in that: The rotating rod (26) is rotatably connected inside the support frame (22), and the first fixed shaft (293) passes through the limit frame (28) and the connecting seat (29).

4. The chassis transmission structure for electric drive of a mobile robot according to claim 1, characterized in that: The rear side of the movable wheel (296) is in contact with the front side of the stop block (295), and the movable wheel (296) is rotatably connected to the inner side of the mounting base (1). The second fixed shaft (297) passes through the interior of the rotating shaft (294).

5. The chassis transmission structure for electric drive of a mobile robot according to claim 1, characterized in that: The rotating shaft (294), the stop block (295), the moving wheel (296) and the second fixed shaft (297) are provided in two sets and are symmetrically distributed on the front and rear sides of the dual-shaft motor (25).

6. The chassis transmission structure for electric drive of a mobile robot according to claim 1, characterized in that: The protective mechanism (3) includes a protective frame (31), which is slidably connected to the top of the fixed seat (21). A connecting frame (32) is fixedly connected to the front side of the protective frame (31). The connecting frame (32) is located on the front side of the mounting seat (1). A limit shaft (33) is threadedly connected inside the connecting frame (32).

7. The chassis transmission structure for electric drive of a mobile robot according to claim 6, characterized in that: The top of the protective frame (31) is in contact with the bottom of the mounting base (1), the top of the rear side of the connecting frame (32) is in contact with the front side of the mounting base (1), the protective frame (31) is concave and is located on the front and left and right sides of the top of the fixed base (21), and is slidably connected to the periphery of the moving wheel (296) without contacting the periphery of the moving wheel (296), and the limiting shaft (33) passes through the interior of the mounting base (1).

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