CN111806597A - AGV intelligent movement chassis - Google Patents
AGV intelligent movement chassis Download PDFInfo
- Publication number
- CN111806597A CN111806597A CN202010852280.4A CN202010852280A CN111806597A CN 111806597 A CN111806597 A CN 111806597A CN 202010852280 A CN202010852280 A CN 202010852280A CN 111806597 A CN111806597 A CN 111806597A
- Authority
- CN
- China
- Prior art keywords
- mounting plate
- support
- swing arm
- support frame
- chassis
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 claims description 73
- 238000013016 damping Methods 0.000 claims description 24
- 230000035939 shock Effects 0.000 claims description 22
- 239000006096 absorbing agent Substances 0.000 claims description 15
- 238000010521 absorption reaction Methods 0.000 claims description 6
- 230000005484 gravity Effects 0.000 abstract description 5
- 238000012423 maintenance Methods 0.000 abstract 1
- 238000010009 beating Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G15/00—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/10—Mounting of suspension elements
- B60G2204/12—Mounting of springs or dampers
- B60G2204/128—Damper mount on vehicle body or chassis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/10—Damping action or damper
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/20—Stationary vehicle
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of robots, in particular to an AGV intelligent moving chassis, which aims to solve the problems that at present, a plurality of mobile robot mounting devices are provided, when the lower layer is a walking chassis, the robot is easy to have a higher gravity center, the chassis is unstable, the arrangement inside a plurality of robot chassis is unreasonable, the size is increased, and the maintenance is inconvenient, the disk body of the AGV intelligent moving chassis is provided with four driven wheels, a driving wheel is directly connected with a motor in the middle of the disk body, a motor bracket is fixed with a swing arm which is fixed on a bearing seat, and the bearing seat is fixed on the upper side of the disk body, the design structure is simple, the assembly is convenient, a driving module and the driven wheels are all fixed on the upper side of the chassis, the gravity center of the moving chassis is reduced, a laser radar, an ultrasonic sensor and a power supply control panel are, the mass is great, and the design of this kind of low gravity center removal chassis makes the robot that patrols and examines walk more steady.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an AGV intelligent moving chassis.
Background
With the continuous development of the field of robots and the increasing use requirements of people, the robots show the trend of diversified development, the lives of people are more convenient, and the robots are widely applied in working environments which many people cannot bear or do not work.
Along with the increase of demand, many delivery or patrol and examine the life that waits mobile robot gradually to walk into people, when the robot carries equipment than many, when the lower floor is the walking chassis, the focus is on the high side easily appears in the robot, the unstable condition in chassis, in addition, in order to let the robot walk more automatic, a lot of robot chassis inside is arranged unreasonablely, has not only made the volume increase to it is also inconvenient when overhauing.
Disclosure of Invention
The invention aims to solve the problems that when the existing movable robot mounting equipment is more, the lower layer is a walking chassis, the center of gravity of the robot is higher, the chassis is unstable, the internal arrangement of a plurality of robot chassis is unreasonable, the size is increased, and the overhaul is inconvenient.
In order to achieve the purpose, the AGV intelligent movement chassis comprises a lower mounting plate, a driving wheel mechanism, a driven wheel, a laser radar, an ultrasonic sensor and a power supply control plate;
the both ends symmetry at lower floor's mounting panel middle part is equipped with the notch, the four corners department of lower floor's mounting panel all is equipped with from driving wheel groove, and action wheel mechanism symmetry sets up at the both ends of lower floor's mounting panel, and every all sets up the one corner at lower floor's mounting panel from the driving wheel, and arbitrary two are symmetrical mutually from the driving wheel.
The top at lower floor's mounting panel middle part is equipped with laser radar, and the front end and the both sides of lower floor's mounting panel all are equipped with ultrasonic sensor, and the front end or the rear end of lower floor's mounting panel top are equipped with power control panel, and laser radar, ultrasonic sensor, power control panel are electric connection.
Furthermore, the driven wheel is a universal wheel and is arranged at the corner end of the lower mounting plate through a reversed V-shaped driven wheel bracket.
Still further, the power control board is arranged on two adjacent driven wheel brackets at the front end or the rear end of the lower mounting plate.
Further, the driving wheel mechanism comprises a driving wheel, a damping mechanism and a driving mechanism;
the output end of the driving mechanism is connected with the driving wheel, the shell of the driving mechanism is connected with the damping mechanism, and the damping mechanism is connected with the lower mounting plate.
Still further, the damping mechanism comprises a damping support, a swing arm, a driving mechanism supporting plate, a driving mechanism supporting frame and two sets of damping components;
the damping support is "nearly" font, and actuating mechanism's top is strideed across to damping support's open end, and the inside symmetry of damping support's open end sets up two sets of damper, the vertical setting of damper, two sets of damper's top all with damping support connection, and two sets of damper's bottom is passed through the actuating mechanism backup pad and is connected, and actuating mechanism sets up in actuating mechanism backup pad top, and the actuating mechanism support frame is L shape, and actuating mechanism support frame one end sets up between action wheel and actuating mechanism and is connected with actuating mechanism, and the other end setting of actuating mechanism support frame is in the actuating mechanism top, and the other end of actuating mechanism support frame is connected with the one end of swing arm, and the other end setting of swing arm is at.
Further, damper includes bumper shock absorber and two U type supports, and the U type support and the shock attenuation leg joint of upper end are passed through on the top of bumper shock absorber, and the U type support and the actuating mechanism backup pad that pass through the lower extreme are connected to the bottom of bumper shock absorber.
And furthermore, the middle part of the lower mounting plate is provided with a swing arm seat, and the other ends of the swing arms are connected with the swing arm seats.
Furthermore, the swing arm seat comprises a swing arm seat bottom plate, two rotating shafts, two bearing side plates and four bearings;
every pivot all is connected with the other end of swing arm, and two pivots are parallel in same high setting side by side, and the one end of every pivot is connected with a bearing side plate through the bearing respectively, and the other end of every pivot is connected with another bearing side plate through the bearing respectively, and two bearing side plates are all fixed on swing arm seat bottom plate.
Still further, the pivot is "D" shape axle, and the pivot plane end sets up upwards to be connected with the other end of swing arm.
Furthermore, the moving chassis of the AGV intelligence also comprises a laser radar support frame, wherein the laser radar support frame comprises an upper mounting plate, a middle mounting plate, long studs, short studs, supporting pieces and a radar support frame;
the middle-layer mounting plate is fixed above the lower-layer mounting plate through a long stud, the upper-layer mounting plate is fixed above the middle-layer mounting plate through a short stud and a support piece, one end of the support piece is arranged between the upper-layer mounting plate and the middle-layer mounting plate, a through hole is formed in one end of the support piece in the vertical direction, and the other end of the support piece penetrates through the upper-layer mounting plate;
the notch is seted up to upper mounting panel middle part upper end, and laser radar sets up in the below of notch, and laser radar passes through the radar support frame and fixes, it is "nearly" style of calligraphy to reach the radar support frame, and the both ends of radar support frame are fixed respectively on a shock absorber support.
Has the advantages that: this bumper shock absorber is installed on AGV intelligent movement chassis, can adapt to the ground of different road conditions, motor support, from driving wheel support, motor support, the swing arm is all that the simple structure cost of doing with the panel beating is lower, from the driving wheel, the bearing frame, hang the upside that the mechanism all installed at the disk body, the whole focus of patrolling and examining the robot has been reduced, and laser radar, ultrasonic sensor, power control panel compactization is arranged, settle more rationally, be convenient for the dismouting repair, and reduced the volume on whole chassis, this design simple structure, high assembling convenience, all fix drive module and follow driving wheel at the chassis upside, the removal chassis focus has been reduced, especially, it is more to patrolling and examining the robot carry equipment, the quality is great, this kind of low gravity center removes chassis design and makes the walking of patrolling and examining the robot.
Drawings
FIG. 1 is a first general block diagram of the present invention;
FIG. 2 is a second overall structure of the present invention;
FIG. 3 is a sectional view showing the internal structure of the present invention;
fig. 4 is an isometric view of the internal structure of the present invention.
Detailed Description
The first embodiment is as follows: the device comprises a lower mounting plate 16, a driving wheel mechanism, a driven wheel 40, a laser radar 20, an ultrasonic sensor 37 and a power supply control board 15;
the both ends symmetry at 16 middle parts of lower floor's mounting panel is equipped with the notch, the four corners department of lower floor's mounting panel 16 all is equipped with from driving wheel groove, and action wheel mechanism symmetry sets up at the both ends of lower floor's mounting panel 16, and every all sets up the one corner at lower floor's mounting panel 16 from driving wheel 40, and arbitrary two are symmetrical from 4 driving wheels of each other.
The top at lower floor's mounting panel 16 middle part is equipped with laser radar 20, and the front end and the both sides of lower floor's mounting panel 16 all are equipped with ultrasonic sensor 37, and the front end or the rear end of lower floor's mounting panel 16 top are equipped with power control panel 15, and laser radar 20, ultrasonic sensor 37, power control panel 15 are electric connection.
The second embodiment is as follows: the driven wheel 40 is a universal wheel, and the driven wheel 40 is arranged at the corner end of the lower mounting plate 16 through a driven wheel bracket 41 in a shape like a Chinese character 'ji'.
Other embodiments are the same as the first embodiment.
The third concrete implementation mode: the power control board 15 is arranged on two adjacent driven wheel brackets 41 at the front end or the rear end of the lower mounting plate 16.
Other embodiments are the same as the second embodiment.
The fourth concrete implementation mode: the driving wheel mechanism comprises a driving wheel 7, a damping mechanism and a driving mechanism 12;
the output end of the driving mechanism 12 is connected with the driving wheel 7, the shell of the driving mechanism 12 is connected with the damping mechanism, and the damping mechanism is connected with the lower mounting plate 16.
Other embodiments are the same as the third embodiment.
The fifth concrete implementation mode: the damping mechanism comprises a damping support 17, a swing arm 10, a driving mechanism support plate 4, a driving mechanism support frame 5 and two sets of damping components;
The other embodiments are the same as the fourth embodiment.
The sixth specific implementation mode: the shock absorption assembly comprises a shock absorber 18 and two U-shaped supports 1, the top end of the shock absorber 18 is connected with a shock absorption support 17 through the U-shaped support 1 at the upper end, and the bottom end of the shock absorber 18 is connected with a driving mechanism supporting plate through the U-shaped support 1 at the lower end.
The other embodiments are the same as the fifth embodiment.
The seventh embodiment: the middle of the lower mounting plate 16 is provided with a swing arm seat, and the other end of the swing arm 10 is connected with the swing arm seat.
The other embodiments are the same as the sixth embodiment.
The specific implementation mode is eight: the swing arm seat comprises a swing arm seat bottom plate 11, two rotating shafts 3, two bearing side plates 14 and four bearings 13;
every pivot 3 all is connected with the other end of swing arm 10, and two pivots 3 are parallel in same high level and are set up side by side, and the one end of every pivot 3 is connected with a bearing side board 14 through bearing 13 respectively, and the other end of every pivot 3 is connected with another bearing side board 14 through bearing 13 respectively, and two bearing side boards 14 are all fixed on swing arm seat bottom plate 11.
The other embodiments are the same as the seventh embodiment.
The specific implementation method nine: the rotating shaft 3 is a D-shaped shaft, and the plane end of the rotating shaft 3 is arranged upwards and is connected with the other end of the swing arm 10.
The other embodiments are the same as the eighth embodiment.
The detailed implementation mode is ten: the moving chassis of the AGV intelligence further comprises a laser radar support frame, wherein the laser radar support frame comprises an upper layer mounting plate 19, a middle layer mounting plate 73, a long stud 48, a short stud 63, a supporting piece 82 and a radar support frame 22;
the middle mounting plate 73 is fixed above the lower mounting plate 16 through the long stud 48, the upper mounting plate 19 is fixed above the middle mounting plate 73 through the short stud 63 and the support member 82, one end of the support member 82 is arranged between the upper mounting plate 19 and the middle mounting plate 73, one end of the support member 82 is provided with a through hole along the vertical direction, and the other end of the support member 82 penetrates through the upper mounting plate 19;
the notch is seted up to upper mounting panel 19 middle part upper end, and laser radar 20 sets up in the below of notch, and laser radar 20 passes through radar support frame 22 and fixes, it is "nearly" style of calligraphy to reach radar support frame 22, and radar support frame 22's both ends are fixed respectively on a shock absorber support 17.
Other embodiments are the same as the ninth embodiment.
Claims (10)
1. The utility model provides a AGV intelligent movement chassis which characterized in that: the device comprises a lower mounting plate (16), a driving wheel mechanism, a driven wheel (40), a laser radar (20), an ultrasonic sensor (37) and a power supply control board (15);
notches are symmetrically formed in two ends of the middle of the lower-layer mounting plate (16), driven wheel grooves are formed in four corners of the lower-layer mounting plate (16), driving wheel mechanisms are symmetrically arranged at two ends of the lower-layer mounting plate (16), each driven wheel (40) is arranged at one corner of the lower-layer mounting plate (16), and any two driven wheels (4) are symmetrical to each other;
the top at lower floor's mounting panel (16) middle part is equipped with laser radar (20), and the front end and the both sides of lower floor's mounting panel (16) all are equipped with ultrasonic sensor (37), and the front end or the rear end of lower floor's mounting panel (16) top are equipped with power control panel (15), and laser radar (20), ultrasonic sensor (37), power control panel (15) are electric connection.
2. An AGV intelligent movement chassis according to claim 1 and further comprising: the driven wheel (40) is a universal wheel, and the driven wheel (40) is arranged at the corner end of the lower layer mounting plate (16) through a reversed V-shaped driven wheel bracket (41).
3. An AGV intelligent movement chassis according to claim 2, further comprising: the power control panel (15) is arranged on two adjacent driven wheel brackets (41) at the front end or the rear end of the lower layer mounting plate (16).
4. An AGV intelligent movement chassis according to claim 3, further comprising: the driving wheel mechanism comprises a driving wheel (7), a damping mechanism and a driving mechanism (12);
the output end of the driving mechanism (12) is connected with the driving wheel (7), the shell of the driving mechanism (12) is connected with the damping mechanism, and the damping mechanism is connected with the lower mounting plate (16).
5. An AGV intelligent movement chassis according to claim 4, further comprising: the damping mechanism comprises a damping support (17), a swing arm (10), a driving mechanism supporting plate (4), a driving mechanism supporting frame (5) and two sets of damping components;
the shock absorption support (17) is in a shape of a Chinese character 'ji', the open end of the shock absorption support (17) spans the top of the driving mechanism (12), two groups of shock absorption components are symmetrically arranged inside the open end of the shock absorption support (17), the vertical setting of damper, two sets of damper's top all is connected with shock absorber support (17), drive mechanism backup pad (4) are passed through to two sets of damper's bottom and are connected, actuating mechanism (12) set up in actuating mechanism backup pad (4) top, actuating mechanism support frame (5) are L shape, actuating mechanism support frame (5) one end sets up between action wheel (7) and actuating mechanism (12) and is connected with actuating mechanism (12), the other end setting of actuating mechanism support frame (5) is in actuating mechanism (12) top, the other end of actuating mechanism support frame (5) is connected with the one end of swing arm (10), the other end setting of swing arm (10) is at the middle part of lower mounting panel (16).
6. An AGV intelligent movement chassis according to claim 5, further comprising: the damping assembly comprises a damper (18) and two U-shaped supports (1), the top end of the damper (18) is connected with the damping support (17) through the U-shaped support (1) at the upper end, and the bottom end of the damper (18) is connected with the driving mechanism supporting plate through the U-shaped support (1) at the lower end.
7. An AGV intelligent movement chassis according to claim 6 and further comprising: the middle of the lower mounting plate (16) is provided with a swing arm seat, and the other end of the swing arm (10) is connected with the swing arm seat.
8. An AGV intelligent movement chassis according to claim 7 and further comprising: the swing arm seat comprises a swing arm seat bottom plate (11), two rotating shafts (3), two bearing side plates (14) and four bearings (13);
every pivot (3) all is connected with the other end of swing arm (10), and two pivots (3) are parallel in same high level and are set up side by side, and the one end of every pivot (3) is connected with a bearing side board (14) through bearing (13) respectively, and the other end of every pivot (3) is connected with another bearing side board (14) through bearing (13) respectively, and two bearing side boards (14) are all fixed on swing arm seat bottom plate (11).
9. The AGV intelligent movement chassis of claim 8, wherein: the rotating shaft (3) is a D-shaped shaft, and the plane end of the rotating shaft (3) is arranged upwards and is connected with the other end of the swing arm (10).
10. The moving chassis of AGV intelligence of claim 9 wherein: the moving chassis of the AGV intelligence further comprises a laser radar support frame, wherein the laser radar support frame comprises an upper layer mounting plate (19), a middle layer mounting plate (73), a long stud (48), a short stud (63), a support piece (82) and a radar support frame (22);
the middle mounting plate (73) is fixed above the lower mounting plate (16) through a long stud (48), the upper mounting plate (19) is fixed above the middle mounting plate (73) through a short stud (63) and a support member (82), one end of the support member (82) is arranged between the upper mounting plate (19) and the middle mounting plate (73), one end of the support member (82) is provided with a through hole along the vertical direction, and the other end of the support member penetrates through the upper mounting plate (19);
the notch is seted up to upper mounting panel (19) middle part upper end, and laser radar (20) set up in the below of notch, and laser radar (20) pass through radar support frame (22) and fix, it is "nearly" style of calligraphy to reach radar support frame (22), and the both ends of radar support frame (22) are fixed respectively on a shock absorber support (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010852280.4A CN111806597A (en) | 2020-08-21 | 2020-08-21 | AGV intelligent movement chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010852280.4A CN111806597A (en) | 2020-08-21 | 2020-08-21 | AGV intelligent movement chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111806597A true CN111806597A (en) | 2020-10-23 |
Family
ID=72859612
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010852280.4A Pending CN111806597A (en) | 2020-08-21 | 2020-08-21 | AGV intelligent movement chassis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111806597A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107323194A (en) * | 2017-08-16 | 2017-11-07 | 苏州索亚机器人技术有限公司 | A kind of mobile robot for installing suspended shock absorbing mechanism additional |
| US20180281517A1 (en) * | 2017-04-03 | 2018-10-04 | Robby Gordon | Universal axle-hub assembly |
| US20200017145A1 (en) * | 2018-07-13 | 2020-01-16 | Ubtech Robotics Corp | Chassis with wheels |
| CN210212568U (en) * | 2019-07-09 | 2020-03-31 | 上海云绅智能科技有限公司 | Robot chassis, robot chassis suspension device and universal wheel suspension mechanism |
| WO2020151537A1 (en) * | 2019-01-24 | 2020-07-30 | 北京海益同展信息科技有限公司 | Robot chassis and robot |
| CN212529868U (en) * | 2020-08-21 | 2021-02-12 | 黑龙江瑞物科技有限公司 | AGV intelligent movement chassis |
-
2020
- 2020-08-21 CN CN202010852280.4A patent/CN111806597A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20180281517A1 (en) * | 2017-04-03 | 2018-10-04 | Robby Gordon | Universal axle-hub assembly |
| CN107323194A (en) * | 2017-08-16 | 2017-11-07 | 苏州索亚机器人技术有限公司 | A kind of mobile robot for installing suspended shock absorbing mechanism additional |
| US20200017145A1 (en) * | 2018-07-13 | 2020-01-16 | Ubtech Robotics Corp | Chassis with wheels |
| WO2020151537A1 (en) * | 2019-01-24 | 2020-07-30 | 北京海益同展信息科技有限公司 | Robot chassis and robot |
| CN210212568U (en) * | 2019-07-09 | 2020-03-31 | 上海云绅智能科技有限公司 | Robot chassis, robot chassis suspension device and universal wheel suspension mechanism |
| CN212529868U (en) * | 2020-08-21 | 2021-02-12 | 黑龙江瑞物科技有限公司 | AGV intelligent movement chassis |
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