CN107584982A - A kind of self-propelled wheel-type robot all terrain undercarriage structure - Google Patents
A kind of self-propelled wheel-type robot all terrain undercarriage structure Download PDFInfo
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- CN107584982A CN107584982A CN201710800580.6A CN201710800580A CN107584982A CN 107584982 A CN107584982 A CN 107584982A CN 201710800580 A CN201710800580 A CN 201710800580A CN 107584982 A CN107584982 A CN 107584982A
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- weight tray
- top plate
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- wheel
- terrain
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Abstract
The present invention relates to a kind of self-propelled wheel-type robot all terrain undercarriage structure, including weight tray, carry top plate, protection side panel, strengthen keel, riser guide, power-driven mechanism, power transmission shaft and walking wheel, weight tray is immediately below carrying top plate, weight tray, carrying top plate is coaxially distributed and is connected with each other by strengthening keel, protection side panel is some, weight tray, carry top plate, protection side panel collectively forms the bearing cavity for closed structure, riser guide is in bearing cavity, transmission axis hole front end is connected with walking wheel, end is located in bearing cavity to be connected with each other with power-driven mechanism.One aspect of the present invention can effectively polytype robot operation operation needs, on the other hand place fluctuations and ground obstacle can be run according to robot, flexibly to being highly adjusted between robot chassis and ground, so as to greatly improve passing through property during robot operation.
Description
Technical field
The present invention relates to a kind of robot device, is exactly a kind of self-propelled wheel-type robot all terrain undercarriage knot
Structure.
Background technology
Current to find in actual use to possess autonomous operation powerful machines people more and more, current these autonomous are transported
The walking mechanism multidigit typical circular wheel or crawler wheel construction of row robot, although with good locomotor activity,
In the process of running, there is the defects of structure fixation in the chassis structure of current this robot, current self-propelled so as to cause
It is relatively poor to the place adaptability that fluctuates larger when robot is run, to ground obstacle adaptibility to response deficiency, because
Needed during this operation frequently to robot running route adjustment, to overcome, place rises and falls and barrier causes and robot chassis
Collide, so as to cause the operation stability and the equal relative deficiency of reliability of current self-propelled robot, while also exist
Flexibility and efficiency when carried out to barrier avoidance operation is relatively low, and for this phenomenon, there is an urgent need to develop
A kind of robot chassis, to meet the needs of actual use.
The content of the invention
In view of the shortcomings of the prior art, the present invention provides a kind of self-propelled wheel-type robot all terrain undercarriage knot
Structure, the inventive structure is simple, flexible and convenient to use, and versatility is good, on the one hand effectively can run operation by polytype robot
Need, on the other hand place fluctuations and ground obstacle can be run according to robot, flexibly to robot chassis and ground
Highly be adjusted between face, during so as to greatly improve robot operation by property, and when improving robot obstacle-avoiding operation
Efficiency, so as to effectively improve robot reliability of operation and flexibility.
To achieve these goals, the present invention is to realize by the following technical solutions：
A kind of self-propelled wheel-type robot all terrain undercarriage structure, including it is weight tray, carrying top plate, protection side panel, strong
Change keel, riser guide, power-driven mechanism, power transmission shaft and walking wheel, weight tray is immediately below carrying top plate, carrying
Bottom plate, carrying top plate are coaxially distributed and are connected with each other by strengthening keel, and protection side panel is some, around weight tray and load-supporting roof
Plate axis connects and composes closed hoop structure from beginning to end successively, and is connected with each other respectively with weight tray and carrying top plate, carries bottom
Plate, carrying top plate, protection side panel collectively form the bearing cavity for closed structure, riser guide at least two, in bearing cavity
And bearing cavity both sides are symmetrically distributed in bearing cavity center line, top plate is vertical connects with weight tray, carrying respectively at riser guide both ends
Connect, the distribution parallel with protection side panel of riser guide leading flank, and protection side panel sets open-work with riser guide corresponding position, is driven
Axle is slidably connected in open-work and with open-work, and power transmission shaft front end is located at outside bearing cavity to be connected with walking wheel, and end, which is located at, holds
Carry intracavitary to be connected with each other with power-driven mechanism, power-driven mechanism is slidably connected in bearing cavity with riser guide.
Further, uniform at least two range unit of described weight tray lateral surface, range unit is made around carrying
Bottom plate axis is distributed, and range unit axis and weight tray vertical distribution.
Further, it is connected with each other between described weight tray, carrying top plate by least two bearing springs, it is described
Bearing spring is distributed around carrying cavity axis and is in respectively 0 ° -60 ° angles with carrying cavity axis.
Further, described reinforcing keel are frame structure, mutually sliding by slide rail between weight tray, carrying top plate
Dynamic connection.
Further, mutually it is slidably connected by sliding block between described riser guide and power-driven mechanism, described cunning
Block both ends are all provided with elastic cushion block.
Further, described walking wheel shares for any one in circular wheel and crawler type vehicle wheel or two kinds.
Further, described through-hole position sets elastic sealing strip.
The present invention is simple in construction, and flexible and convenient to use, versatility is good, on the one hand effectively can run work by polytype robot
The needs of industry, on the other hand place fluctuations and ground obstacle can be run according to robot, flexibly to robot chassis
Highly be adjusted between ground, so as to greatly improve robot operation when by property, and improve robot obstacle-avoiding work
Efficiency during industry, so as to effectively improve robot reliability of operation and flexibility.
Brief description of the drawings
Describe the present invention in detail with reference to the accompanying drawings and detailed description.
Fig. 1 is overlooking the structure diagram of the present invention.
Embodiment
To be easy to understand the technical means, the inventive features, the objects and the advantages of the present invention, below
With reference to embodiment, the present invention is expanded on further.
A kind of self-propelled wheel-type robot all terrain undercarriage structure as described in Figure 1, including weight tray 1, carrying top plate
2nd, protection side panel 3, reinforcing keel 4, riser guide 5, power-driven mechanism 6, power transmission shaft 7 and walking wheel 8, weight tray 1
Immediately below carrying top plate 2, weight tray 1, carrying top plate 2 are coaxially distributed and are connected with each other by strengthening keel 4, protection side panel
3 is some, and closed hoop structure is connected and composed from beginning to end successively around weight tray 1 and the carrying axis of top plate 2, and respectively with carrying bottom
Plate 1 and carrying top plate 2 are connected with each other, and weight tray 1, carrying top plate 2, protection side panel 3 collectively form the carrying for closed structure
Chamber 9, riser guide 5 at least two, the both sides of bearing cavity 9 are symmetrically distributed in bearing cavity 9 and with the center line of bearing cavity 9, risen
It is parallel with protection side panel 3 with weight tray 1, the carrying vertical connection of top plate 2, the leading flank of riser guide 5 respectively that the both ends of guide rail 5 drop
Distribution, and protection side panel 3 and the corresponding position of riser guide 5 set open-work 10, power transmission shaft 7 in open-work 10 and with open-work 10
It is slidably connected, the front end of power transmission shaft 7 is located at outside bearing cavity 9 to be connected with walking wheel 8, and end is located in bearing cavity 9 and power drive
Mechanism 6 is connected with each other, and power-driven mechanism 6 is slidably connected in bearing cavity 9 with riser guide 5.
In the present embodiment, described uniform at least two range unit 11 of the lateral surface of weight tray 1, the ring of range unit 11 is done
It is distributed around the axis of weight tray 1, and the axis of range unit 11 and the vertical distribution of weight tray 1.
In the present embodiment, interconnected between described weight tray 1, carrying top plate 2 by least two phases of bearing spring 12
Connect, described bearing spring 12 is around the distribution of the axis of bearing cavity 9 and is in respectively 0 ° -60 ° angles with the axis of bearing cavity 9, described
Reinforcing keel 4 be frame structure, be mutually slidably connected by slide rail 13 between weight tray 1, carrying top plate 2, described liter
Mutually it is slidably connected by sliding block 14 between drop guide rail 5 and power-driven mechanism 6, the described both ends of sliding block 14 are all provided with elastic cushion block
15。
In addition, described walking wheel 8 shares for any one in circular wheel and crawler type vehicle wheel or two kinds, it is described
Open-work 10 at set elastic sealing strip 16.
The present invention completes the assembling operation of each parts in the present invention when specifically used first, then that machine is man-machine
Body is installed on the carrying top plate of the present invention, you can completes equipment assembling；
In robot running, when surface relief or obstacle height cause collision to robot chassis, then by
Riser guide driving power drive mechanism carries out raising and lowering operation along riser guide direction, and in power-driven mechanism position
During adjustment, because wheel position is fixed, therefore realize that load floor likes surface to be carried out with power-driven mechanism position adjustment
Upper and lower displacement is adjusted, and purpose of the robot chassis by property is improved so as to reach.
The present invention is simple in construction, and flexible and convenient to use, versatility is good, on the one hand effectively can run work by polytype robot
The needs of industry, on the other hand place fluctuations and ground obstacle can be run according to robot, flexibly to robot chassis
Highly be adjusted between ground, so as to greatly improve robot operation when by property, and improve robot obstacle-avoiding work
Efficiency during industry, so as to effectively improve robot reliability of operation and flexibility.
It should be understood by those skilled in the art that the present invention is not limited to the above embodiments.Above-described embodiment and explanation
Merely illustrating the principles of the invention described in book.Without departing from the spirit and scope of the present invention, the present invention also has
Various changes and modifications.These changes and improvements all fall within the protetion scope of the claimed invention.The claimed scope of the invention
By appended claims and its equivalent thereof.
Claims (7)
- A kind of 1. self-propelled wheel-type robot all terrain undercarriage structure, it is characterised in that：Described self-propelled wheel-type robot high pass The property crossed chassis structure includes weight tray, carrying top plate, protection side panel, reinforcing keel, riser guide, power-driven mechanism, biography Moving axis and walking wheel, immediately below carrying top plate, described weight tray, carrying top plate coaxially divide described weight tray Cloth is simultaneously connected with each other by strengthening keel, and described protection side panel is some, first successively around weight tray and load-supporting roof plate axis Tail connects and composes closed hoop structure, and is connected with each other respectively with weight tray and carrying top plate, described weight tray, carrying Top plate, protection side panel collectively form the bearing cavity for closed structure, described riser guide at least two, in bearing cavity simultaneously Bearing cavity both sides are symmetrically distributed in bearing cavity center line, described riser guide both ends are hung down with weight tray, carrying top plate respectively It is direct-connected to connect, the distribution parallel with protection side panel of riser guide leading flank, and described protection side panel and riser guide corresponding position If open-work, described power transmission shaft is slidably connected in the open-work and with open-work, described power transmission shaft front end be located at bearing cavity it is outer and Walking wheel is connected, and end is located in bearing cavity to be connected with each other with power-driven mechanism, and described power-driven mechanism is embedded in and held Intracavitary is carried, and is slidably connected with riser guide.
- A kind of 2. self-propelled wheel-type robot all terrain undercarriage structure according to claim 1, it is characterised in that：Described Uniform at least two range unit of weight tray lateral surface, make range unit and be distributed around weight tray axis, and range unit Axis and weight tray vertical distribution.
- A kind of 3. self-propelled wheel-type robot all terrain undercarriage structure according to claim 1, it is characterised in that：Described It is connected with each other between weight tray, carrying top plate by least two bearing springs, described bearing spring is around carrying cavity axis Be distributed and respectively with carrying cavity axis be in 0 ° -60 ° angles.
- A kind of 4. self-propelled wheel-type robot all terrain undercarriage structure according to claim 1, it is characterised in that：Described Reinforcing keel are frame structure, are mutually slidably connected by slide rail between weight tray, carrying top plate.
- A kind of 5. self-propelled wheel-type robot all terrain undercarriage structure according to claim 1, it is characterised in that：Described Mutually it is slidably connected by sliding block between riser guide and power-driven mechanism, described sliding block both ends are all provided with elastic cushion block.
- A kind of 6. self-propelled wheel-type robot all terrain undercarriage structure according to claim 1, it is characterised in that：Described Walking wheel shares for any one in circular wheel and crawler type vehicle wheel or two kinds.
- A kind of 7. self-propelled wheel-type robot all terrain undercarriage structure according to claim 1, it is characterised in that：Described Through-hole position sets elastic sealing strip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710800580.6A CN107584982A (en) | 2017-09-07 | 2017-09-07 | A kind of self-propelled wheel-type robot all terrain undercarriage structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710800580.6A CN107584982A (en) | 2017-09-07 | 2017-09-07 | A kind of self-propelled wheel-type robot all terrain undercarriage structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107584982A true CN107584982A (en) | 2018-01-16 |
Family
ID=61051945
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710800580.6A Withdrawn CN107584982A (en) | 2017-09-07 | 2017-09-07 | A kind of self-propelled wheel-type robot all terrain undercarriage structure |
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| CN (1) | CN107584982A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109177678A (en) * | 2018-08-24 | 2019-01-11 | 安徽信息工程学院 | For robot obstacle-avoiding chassis |
| CN109177677A (en) * | 2018-08-24 | 2019-01-11 | 安徽信息工程学院 | Chassis is gone up and down for robot |
| CN109278486A (en) * | 2018-08-24 | 2019-01-29 | 安徽信息工程学院 | For the adjustable chassis of robot |
| CN111098308A (en) * | 2020-01-06 | 2020-05-05 | *** | Open-close type obstacle crossing line inspection robot based on remote control system |
-
2017
- 2017-09-07 CN CN201710800580.6A patent/CN107584982A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109177678A (en) * | 2018-08-24 | 2019-01-11 | 安徽信息工程学院 | For robot obstacle-avoiding chassis |
| CN109177677A (en) * | 2018-08-24 | 2019-01-11 | 安徽信息工程学院 | Chassis is gone up and down for robot |
| CN109278486A (en) * | 2018-08-24 | 2019-01-29 | 安徽信息工程学院 | For the adjustable chassis of robot |
| CN111098308A (en) * | 2020-01-06 | 2020-05-05 | *** | Open-close type obstacle crossing line inspection robot based on remote control system |
| CN111098308B (en) * | 2020-01-06 | 2021-08-03 | 王颐疆 | Open-close type obstacle crossing line inspection robot based on remote control system |
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180116 |
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| WW01 | Invention patent application withdrawn after publication |