CN206691249U - Chassis assembly and with its robot and detection vehicle - Google Patents
Chassis assembly and with its robot and detection vehicle Download PDFInfo
- Publication number
- CN206691249U CN206691249U CN201720445361.6U CN201720445361U CN206691249U CN 206691249 U CN206691249 U CN 206691249U CN 201720445361 U CN201720445361 U CN 201720445361U CN 206691249 U CN206691249 U CN 206691249U
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- CN
- China
- Prior art keywords
- chassis assembly
- supporting leg
- wheel stand
- running gear
- carrier
- 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.)
- Expired - Fee Related
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Abstract
The utility model discloses a kind of chassis assembly, including carrier and the multiple running gears being arranged on carrier, running gear is at least provided with four, supporting leg, the wheel stand of rotatable setting, the steering motor for being arranged on supporting leg and being used for the power that generation rotates wheel stand and the road wheel being arranged on wheel stand that running gear includes being connected with carrier.Chassis assembly of the present utility model, it is simple in construction, reliability is high, processing and manufacturing is easy, and steering is convenient, flexible, has preferable driving performance, robot is not only only applicable to move freely, suitable for moving freely for any inconvenient mobile object, it greatly facilitates the movement of those heavy not easily shifted machines, and robot and detection vehicle with chassis assembly is also disclosed in the utility model.
Description
Technical field
The utility model belongs to automotive field, specifically, the utility model is related to a kind of chassis assembly and tool
There are its robot and detection vehicle.
Background technology
With the progress and development of society, robot plays more and more important effect in our life, but machine
Technology maturation also far from enough that device portrait people equally freely walks about, so far robot move freely or today's society
A great problem.
Although robot is increasingly advanced, robot still can not freely walk about as people.Chassis assembly is
An important feature in robot, the quality of its performance directly influence the stationarity of robot, control stability and safety
Property.And existing chassis assembly structure is more complicated, manufacturing cost is high, and the production cycle is longer, and it is preferable to be only used for road conditions
Road traveling, do not reach preferably traveling effect.
Utility model content
The utility model is intended at least solve one of technical problem present in prior art.Therefore, the utility model carries
For a kind of chassis assembly and there is its detection vehicle and robot, it is therefore an objective to improve driving performance.
To achieve these goals, the technical scheme that the utility model is taken is：Chassis assembly, including carrier and setting
In multiple running gears on carrier, running gear at least provided with four, supporting leg that running gear includes being connected with carrier,
The wheel stand of rotatable setting, it is arranged on supporting leg and for producing the steering motor for the power for rotating wheel stand and setting
The steerable drive wheel being placed on wheel stand.
Four rectangular distributions of running gear.
The carrier includes multiple connecting shafts, the both ends of each connecting shaft supporting leg with a running gear respectively
At least two sidepieces are connected axis connection with two in connection and each supporting leg.
The connecting shaft sets four, the both ends of each connecting shaft be connected respectively with the supporting leg of a running gear and
Each supporting leg is connected axis connection with two.
The carrier also including the first installing plate with the connection axis connection and is arranged above the first installing plate
The second installing plate, the first installing plate and the second installing plate are connected by support column.
The steering motor is arranged at the inside of the supporting leg, and the wheel stand is arranged at the lower section of supporting leg, described turn
The lower end of wheel stand is arranged to driving wheel, the rotation centerline of wheel stand mutually hangs down with the rotation centerline of steerable drive wheel
Directly, the material of wheel stand is spring steel plate.
The running gear also includes being arranged inside the supporting leg and connected with the steering motor and the wheel stand
The adapter sleeve connect.
The supporting leg includes the shell body of inner hollow, is arranged at the upper cover plate of shell body upper end, is arranged under shell body
The lower cover at end and the median septum being arranged inside shell body, the steering motor are arranged on median septum, the adapter sleeve with
Bearing is provided between median septum and lower cover.
The utility model additionally provides a kind of robot, including above-mentioned chassis assembly.
The utility model additionally provides a kind of detection vehicle, including above-mentioned chassis assembly.
Chassis assembly of the present utility model, simple in construction, reliability is high, and processing and manufacturing is easy, and steering is convenient, flexible, has
Preferable driving performance, not only it is only applicable to robot and moves freely, suitable for freely moves for any inconvenient mobile object
Dynamic, it greatly facilitates the movement of those heavy not easily shifted machines.
Brief description of the drawings
This specification includes the following drawings, and shown content is respectively：
Fig. 1 is the structural representation of the utility model chassis assembly；
Fig. 2 is the structural representation of running gear；
Fig. 3 is the structural representation of supporting leg；
Fig. 4 is the sectional view of running gear；
Fig. 5 is the sectional view of wheel stand and adapter sleeve；
In figure mark for：1st, steerable drive wheel；2nd, wheel stand；3rd, lower cover；4th, shell body；5th, upper cover plate；6th, support
Post；7th, the first installing plate；8th, the second installing plate；9th, mounting hole；10th, connecting shaft；11st, steering motor；12nd, bearing；13rd, boss；
14th, median septum；15th, screw；17th, key.
Embodiment
Below against accompanying drawing, by the description to embodiment, specific embodiment of the present utility model is made further detailed
Thin explanation, it is therefore an objective to help those skilled in the art have to design of the present utility model, technical scheme it is more complete, accurate and
Deep understanding, and contribute to its implementation.
As shown in Figures 1 to 5, the utility model provides a kind of chassis assembly, including carrier and is arranged at carrier
On multiple running gears, running gear supporting leg that running gear includes being connected with carrier, rotatable set at least provided with four
The wheel stand 2 put, it is arranged on supporting leg and for producing the steering motor 11 for the power for rotating wheel stand 2 and being arranged at
Steerable drive wheel 1 on wheel stand 2.
Specifically, as shown in figure 1, four rectangular distributions of running gear, carrier and four running gears are fixed and connected
Connect, form the chassis assembly that voluntarily can be travelled and turn to.
As shown in figure 1, carrier includes multiple connecting shafts 10, the first installing plate 7 being connected with connecting shaft 10 and set
The second installing plate 8 above the first installing plate 7, the supporting leg of the both ends of each connecting shaft 10 respectively with a running gear are connected
And at least two sidepieces are connected with two connecting shafts 10 on each supporting leg.
As shown in figure 1, as preferable, connecting shaft 10 sets four, the both ends of each connecting shaft 10 respectively with a row
The supporting leg of walking apparatus is connected and each supporting leg is connected with two connecting shafts 10.Four connecting shafts 10 are rectangular to be distributed and corresponds to respectively
One side of rectangle, it is oppositely arranged two-by-two in four connecting shafts 10 and parallel.First installing plate 7 is horizontal parallel two
In individual connecting shaft 10 and the both ends connecting shaft 10 parallel with the two of the first installing plate 7 is fixedly connected, and the second installing plate 8 is horizontal
Put and connected in the top of the first installing plate 7 and the first installing plate 7 and the second installing plate 8 by support column 6, the upper end of support column 6
It is fixedly connected with the second installing plate 8, the lower end of support column 6 is fixedly connected with the first installing plate 7, and support column 6 is simultaneously installed with first
The installing plate 8 of plate 7 and second is perpendicular.First installing plate 7 sets multiple, two neighboring first peace in the lower section of the second installing plate 8
A certain distance is separated between loading board 7, the first installing plate 7 is used for the appurtenances of installation chassis assembly, such as battery and control
Device processed, battery and control device can be mounted respectively on first installing plate 7.Second installing plate 8 is used for fitting machine
The main part of device people or the body part for detecting vehicle, are accordingly provided with mounting hole on the second installing plate 8.
As shown in Figures 2 to 4, running gear also include being arranged inside supporting leg and with steering motor 11 and wheel stand 2
The adapter sleeve of connection, supporting leg include shell body 4, are arranged at the upper cover plate 5 of the upper end of shell body 4, are arranged under the lower end of shell body 4
Cover plate 3 and the median septum 14 being arranged inside shell body 4.Shell body 4 is the rectangular case structure of both ends open and inner hollow,
Upper cover plate 5 and lower cover 3 are rectangular slab, and upper cover plate 5 closes the upper end open of shell body 4, and lower cover 3 is by shell body 4
Lower ending opening is closed.Median septum 14 is parallel with upper cover plate 5 and lower cover 3 and between upper cover plate 5 and lower cover 3, interval
The inner chamber of shell body 4 is separated into two spaces up and down by plate 14, during steering motor 11 is located at the inside of supporting leg and is fixedly installed on
On dividing plate 14, median septum 14, which has, allows the through hole that the motor shaft of steering motor 11 passes through, and the motor casing of steering motor 11 is positioned at upper
Between cover plate 5 and median septum 14.Wheel stand 2 is arranged at the lower section of supporting leg, and the upper end of wheel stand 2 is fixed with adapter sleeve to be connected
Connect, steerable drive wheel 1 is arranged at the lower end of wheel stand 2, the rotation centerline of wheel stand 2 and the rotation of steerable drive wheel 1
Center line (namely axis of steerable drive wheel 1) is perpendicular, and the length direction of wheel stand 2 is parallel with the length direction of supporting leg
And with the axis perpendicular of connecting shaft 10.When steering motor 11 operates, produce power and power is transferred to wheel stand 2, and then
Wheel stand 2 and steerable drive wheel 1 thereon are rotated, and then changes the direction of motion of chassis assembly.
As preferable, the steerable drive wheel 1 of running gear is the wheel with wheel hub motor, and steerable drive wheel 1 both may be used
It to be used as deflecting roller, can be used again as driving wheel, voluntarily travel and travel so that chassis assembly can be realized
During steering.The structure of wheel with wheel hub motor as well known in the skilled person, herein no longer
Repeat.
As shown in Figure 3 and Figure 4, the upper end of adapter sleeve is by the motor axis connection of key 17 and steering motor 11, adapter sleeve
Upper end has the centre bore for allowing motor shaft to insert, and is accordingly set on the inwall of central hole and the outer wall of motor shaft and makes key 17 embedding
The keyway entered.The upper end of wheel stand 2 is fixedly connected with the lower end of adapter sleeve, is accordingly provided with lower cover 3 and is allowed adapter sleeve
The through hole that lower end passes through.As preferable, bearing 12, bearing 12 are provided between adapter sleeve and median septum 14 and lower cover 3
For thrust ball bearing, two bearings 12 are clipped between median septum 14 and adapter sleeve and lower cover 3 and adapter sleeve respectively.Bearing 12
Setting, the upper surface of adapter sleeve is not pushed up the surface of shell and median septum 14 of steering motor 11, make adapter sleeve and wheel
Support 2 and steerable drive wheel 1 turn to flexibly, when fixing reliable and do not produce play, and lifting chassis bearing 12, lower cover 3
Setting adapter sleeve and the wheel stand of connection 2 and steerable drive wheel 1 will not be made to come off.
As preferable, as shown in figure 4, lower cover 3 is to be fixedly connected by screw 15 with shell body 4, using screw 15
Lower cover 3 is attached on shell body 4, easy disassembly.Because steering motor 11 is arranged at the inside of shell body 4, on upper cover plate 5
The heat emission hole for making the inner chamber of shell body 4 be connected with external environment is provided with, heat emission hole is along the thickness of upper cover plate 5 on upper cover plate 5
Direction is multiple through through hole and the heat emission hole arrangement set, so as to be advantageous to the radiating of steering motor 11, improves functional reliability.
As shown in Figures 1 to 4, supporting leg also includes the boss 13 set in the outside wall surface of shell body 4, and boss 13 is arranged at
On shell body 4 in two adjacent outside wall surfaces, the boss 13 in each outside wall surface of shell body 4 is solid with a connecting shaft 10 respectively
Fixed connection.As preferable, for boss 13 with connecting shaft 10 to be threadedly coupled, boss 13 is provided with screwed hole, and the two of connecting shaft 10
End sets external screw thread.
As preferable, the material of wheel stand 2 is spring steel plate, is made of to adopt spring steel plate by bending and molding
Wheel stand 2 can play cushioning effect made of spring steel plate, so as to improve the damping performance of chassis assembly.
As shown in figure 1, the battery being attached on the first installing plate 7 is used for for the steering motor 11 of running gear and built-in
The steerable drive wheel 1 of wheel hub motor is powered power, control device and battery, steering motor 11 and is arranged at steerable drive wheel 1
On wheel hub motor for electrical connection, steering motor 11 be preferably direct current generator.When chassis assembly is run, control device sends finger
Order, by controlling the wheel hub motor of steerable drive wheel 1 to operate, it can realize chassis assembly and advance and stop, being turned by control
Operated to motor 11 so that adapter sleeve rotates and drives wheel stand 2 and steerable drive wheel 1 to realize 360 ° of scopes by adapter sleeve
Interior steering, chassis assembly can be made to realize the steering in traveling., can be with when chassis assembly is travelled on rugged road surface
Damping is carried out by wheel stand 2.
As shown in figure 1, when steerable drive wheel 1 carries out one-directional rotation, the steering motor 11 rotates 0~360 ° of realization
360 ° omni-directional pivot stud.When the steerable drive wheel 1 carries out positive and negative Double-directional rotary, the rotation of steering motor 11 0~
180 ° of achievable 360 ° omni-directional pivot studs, turn to whole chassis assembly more flexible.
The utility model additionally provides a kind of detection vehicle, includes the chassis assembly of said structure.The tool of this chassis assembly
Body structure can refer to Fig. 1 to Fig. 5, will not be repeated here.Because detection vehicle of the present utility model is included in above-described embodiment
Chassis assembly, so it has all advantages of above-mentioned chassis assembly.
The utility model additionally provides a kind of robot, includes the chassis assembly of said structure.This chassis assembly it is specific
Structure can refer to Fig. 1 to Fig. 5, will not be repeated here.Include the bottom in above-described embodiment due to detection vehicle of the present utility model
Disc assembly, so it has all advantages of above-mentioned chassis assembly.
The utility model is exemplarily described above in association with accompanying drawing.Obviously, the utility model implements not
Limited by aforesaid way.As long as employ the various unsubstantialities that methodology and technical scheme of the present utility model are carried out
Improvement；Or it is not improved, above-mentioned design of the present utility model and technical scheme are directly applied into other occasions, at this
Within the protection domain of utility model.
Claims (10)
1. chassis assembly, it is characterised in that：Including carrier and the multiple running gears being arranged on carrier, running gear is extremely
Less set four, running gear include be connected with carrier supporting leg, rotatable setting wheel stand, be arranged on supporting leg and
For the steerable drive wheel for producing the steering motor for the power for rotating wheel stand and being arranged on wheel stand.
2. chassis assembly according to claim 1, it is characterised in that：Four rectangular distributions of running gear.
3. chassis assembly according to claim 1 or 2, it is characterised in that：The carrier includes multiple connecting shafts, each
The both ends of connecting shaft are connected respectively with the supporting leg of a running gear and at least two sidepieces and two on each supporting leg
Connect axis connection.
4. chassis assembly according to claim 3, it is characterised in that：The connecting shaft sets four, each connecting shaft
Both ends are connected respectively with the supporting leg of a running gear and each supporting leg is connected axis connection with two.
5. chassis assembly according to claim 3, it is characterised in that：The carrier also includes and the connection axis connection
The first installing plate and the second installing plate for being arranged above the first installing plate, the first installing plate and the second installing plate pass through branch
Dagger connects.
6. chassis assembly according to claim 3, it is characterised in that：The steering motor is arranged at the interior of the supporting leg
Portion, the wheel stand are arranged at the lower section of supporting leg, and the steerable drive wheel is arranged at the lower end of wheel stand, wheel stand
Rotation centerline and the rotation centerline of steerable drive wheel are perpendicular, and the material of wheel stand is spring steel plate.
7. chassis assembly according to claim 6, it is characterised in that：The running gear also includes being arranged at the supporting leg
Adapter sleeve that is internal and being connected with the steering motor and the wheel stand.
8. chassis assembly according to claim 7, it is characterised in that：The supporting leg includes the shell body of inner hollow, set
It is placed in the upper cover plate of shell body upper end, is arranged at the lower cover of shell body lower end and the median septum being arranged inside shell body, institute
State steering motor to be arranged on median septum, bearing is provided between the adapter sleeve and median septum and lower cover.
9. robot, including chassis assembly, it is characterised in that：The chassis assembly is any described chassis of claim 1 to 8
Assembly.
10. vehicle is detected, including chassis assembly, it is characterised in that：The chassis assembly is that claim 1 to 8 is any described
Chassis assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720445361.6U CN206691249U (en) | 2017-04-26 | 2017-04-26 | Chassis assembly and with its robot and detection vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720445361.6U CN206691249U (en) | 2017-04-26 | 2017-04-26 | Chassis assembly and with its robot and detection vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206691249U true CN206691249U (en) | 2017-12-01 |
Family
ID=60446224
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720445361.6U Expired - Fee Related CN206691249U (en) | 2017-04-26 | 2017-04-26 | Chassis assembly and with its robot and detection vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206691249U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108657309A (en) * | 2018-06-28 | 2018-10-16 | 苏州冠卓自动化科技有限公司 | A kind of dolly chassis for clean room environment monitoring |
| CN113895512A (en) * | 2021-11-18 | 2022-01-07 | 许昌许继软件技术有限公司 | Steering mechanism, robot chassis and robot |
-
2017
- 2017-04-26 CN CN201720445361.6U patent/CN206691249U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108657309A (en) * | 2018-06-28 | 2018-10-16 | 苏州冠卓自动化科技有限公司 | A kind of dolly chassis for clean room environment monitoring |
| CN113895512A (en) * | 2021-11-18 | 2022-01-07 | 许昌许继软件技术有限公司 | Steering mechanism, robot chassis and robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171201 Termination date: 20190426 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |