CN207482047U - Ground adaptive universal type chassis and robot - Google Patents
Ground adaptive universal type chassis and robot Download PDFInfo
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- CN207482047U CN207482047U CN201721098058.XU CN201721098058U CN207482047U CN 207482047 U CN207482047 U CN 207482047U CN 201721098058 U CN201721098058 U CN 201721098058U CN 207482047 U CN207482047 U CN 207482047U
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- chassis
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Abstract
The utility model provides a kind of ground adaptive universal type chassis, belong to robotic technology field, including chassis body, two connecting rods, one crossbeam, two driving wheels and four universal wheels, two connecting rods are symmetrically divided into the left and right sides of chassis body and are rotatablely connected respectively with chassis body, crossbeam is set between two connecting rods and is rotatablely connected with chassis body, two driving wheels are symmetrically disposed on the rear end of two connecting rods and are connect respectively with two link rotatables, two universal wheels therein are rotationally connected with the both ends of crossbeam, in addition two universal wheels are rotationally connected with the front end of two connecting rods respectively.Ground adaptive universal type chassis provided by the utility model, it is that the adaptive equalization established between driving wheel and universal wheel using connecting rod adjusts relationship, two driving wheels and four universal wheels is made to have the ability on certain automatic adaptation ground in broken terrain, and then the robot using the chassis is allow to smoothly pass various protrusions and the ground of pit.The utility model additionally provides a kind of robot.
Description
Technical field
The utility model belongs to robotic technology field, is to be related to a kind of ground adaptive universal type bottom more specifically
Disk and the robot with the chassis.
Background technology
Existing general robot chassis is mainly the resilient suspension system that is formed using elements such as spring dampings to improve
The passability on robot chassis, when encountering ground protrusion, spring-compressed, when encountering pit, spring extends, but this side
Formula for chassis passability improvement effect than relatively limited, for load generally have more specific section, and suspension
Selection and Design is complex, and practical application effect is general.
Utility model content
The purpose of this utility model is to provide a kind of ground adaptive universal type chassis, to solve to exist in the prior art
Chassis passability it is bad, carrying adaptability it is poor the technical issues of.
To achieve the above object, the technical solution adopted in the utility model is：A kind of ground adaptive universal type bottom is provided
Disk, including：
Chassis body；
Two connecting rods are symmetrically divided into the left and right sides of the chassis body and are located at the front end of the chassis body, and two
A connecting rod is rotatablely connected respectively with the chassis body；
One crossbeam is set between two connecting rods and positioned at the rear end of the chassis body, the crossbeam and institute
State chassis body rotation connection；
Two driving wheels are symmetrically disposed on the rear end of two connecting rods and are connect respectively with two link rotatables；
Four universal wheels, two universal wheels therein are rotationally connected with the both ends of the crossbeam, two institutes in addition
State the front end that universal wheel is rotationally connected with two connecting rods respectively.
Further, the chassis body includes horizontal chassis and the housing being set on the horizontal chassis, two institutes
Connecting rod, a crossbeam are stated with the housing in the same side of the horizontal chassis, two connecting rods are rotatablely connected respectively
In two outsides of the housing, the crossbeam is located at the lower section of the housing and is connect with the housing into rotation, the horizontal base
The second through-hole that the first through hole and four universal wheels that the driving wheel passes through there are two settings on disk pass through.
Further, two connecting rods are respectively arranged with bearing holder (housing, cover), across the both ends difference of the connecting shaft of the housing
It is rotatablely connected with the bearing holder (housing, cover).
Further, switch block on one is fixedly connected with below the housing, the upper switch block is rotatablely connected switch block, institute
Crossbeam is stated to be fixedly connected with the lower switch block.
Further, the first through hole is square hole.
Further, second through-hole is circular hole.
Further, it is less than positioned at the centre-to-centre spacing of two universal wheels of the horizontal chassis front end and is located at the level
The centre-to-centre spacing of two universal wheels of the extreme end of chassis.
Further, the line of centres of two driving wheels, two universal wheels therein the line of centres and
In addition the line of centres of two universal wheels is mutually parallel.
Further, one end of two connecting rods has been symmetrically arranged a sole, positioned at the horizontal chassis front end
Two universal wheels be rotationally connected with the lower sections of two soles respectively.
The advantageous effect on ground adaptive universal type chassis provided by the utility model is：Compared with prior art, originally
Utility model ground adaptive universal type chassis be established using connecting rod it is adaptive between driving wheel, universal wheel and horizontal chassis
Balance adjustment relationship makes two driving wheels and four universal wheels have certain automatic adaptation ground in broken terrain
The ability highly adjusted makes each wheel that can uniformly land in synchronization, allows steadily to lead to using the robot on the chassis
The ground of various protrusions and pit is crossed, and the requirement for load is no longer sensitive, greatly extends the profit of all-purpose robot
With space, service robot, crusing robot and the factory all kinds of mobile robots such as automation trolley are may be directly applied to
Field.
Another object of the present invention, which also resides in, provides a kind of robot, including ground described in any one of the above embodiments surface self-adaption
Universal chassis.
The advantageous effect of robot provided by the utility model is：As a result of above-mentioned chassis, substantially increase
Robot smoothly passes the adaptive ability on various concave-convex ground.
Description of the drawings
It, below will be to embodiment or the prior art in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing is briefly described needed in description, it should be apparent that, the accompanying drawings in the following description is only that this practicality is new
Some embodiments of type, for those of ordinary skill in the art, without having to pay creative labor, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the dimensional structure diagram one on ground adaptive universal type chassis that the utility model embodiment provides；
Fig. 2 is the dimensional structure diagram two on ground adaptive universal type chassis that the utility model embodiment provides；
Fig. 3 is the dimensional structure diagram three on ground adaptive universal type chassis that the utility model embodiment provides；
Fig. 4 is the dimensional structure diagram four on ground adaptive universal type chassis that the utility model embodiment provides；
Fig. 5 is the dimensional structure diagram five on ground adaptive universal type chassis that the utility model embodiment provides；
Fig. 6 is the main structure diagram on ground adaptive universal type chassis that the utility model embodiment provides；
Fig. 7 is the side block diagram of Fig. 6；
Fig. 8 is the face upwarding assumption diagram of Fig. 6；
Fig. 9 is the dimensional structure diagram one of connecting rod that the utility model embodiment provides；
Figure 10 is the dimensional structure diagram two of connecting rod that the utility model embodiment provides；
Figure 11 is the dimensional structure diagram of lower switch block that the utility model embodiment provides；
Figure 12 is the structure diagram of horizontal chassis that the utility model embodiment provides；
Figure 13 is the dimensional structure diagram of housing that the utility model embodiment provides.
Wherein, each reference numeral in figure：
1- connecting shafts；2- horizontal chassis；3- connecting rods；4- driving wheels；5- crossbeams；6- universal wheels；7- housings；Switch block under 8-；
The upper switch blocks of 9-；10- bearing holder (housing, cover)s；11- soles；The second through-holes of 12-；13- first through hole.
Specific embodiment
In order to which technical problem to be solved in the utility model, technical solution and advantageous effect is more clearly understood, with
Lower combination accompanying drawings and embodiments, the present invention is further described in detail.It should be appreciated that specific reality described herein
It applies example to be only used to explain the utility model, is not used to limit the utility model.
It should be noted that when element is referred to as " being fixed on " or " being set to " another element, it can be directly another
On one element or it is connected on another element.When an element is known as " being connected to " another element, it can
To be directly to another element or be indirectly connected on another element.
It is to be appreciated that term " length ", " width ", " on ", " under ", "front", "rear", "left", "right", " vertical ",
The orientation or position relationship of the instructions such as " level ", " top ", " bottom " " interior ", " outer " are to be closed based on orientation shown in the drawings or position
System is for only for ease of description the utility model and simplifies description rather than instruction or imply that signified device or element are necessary
With specific orientation, with specific azimuth configuration and operation, therefore it is not intended that limitation to the utility model.
In addition, term " first ", " second " are only used for description purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more this feature." multiple " are meant that two or two in the description of the present invention,
More than, unless otherwise specifically defined.
Also referring to Fig. 1 to Fig. 8, now ground adaptive universal type chassis provided by the utility model is illustrated.
The ground adaptive universal type chassis, including chassis body；
Two connecting rods 3 are symmetrically divided into the left and right sides of the chassis body and are located at the front end of the chassis body, and two
A connecting rod 3 is rotatablely connected respectively with the chassis body；
One crossbeam 5 is set between two connecting rods 3 and positioned at the rear end of the chassis body, the crossbeam 5 with
The chassis body rotation connection；
Two driving wheels 4 are symmetrically disposed on the rear end of two connecting rods 3 and connect respectively with two rotations of connecting rod 3
It connects；
Four universal wheels 6, two universal wheels 6 therein are rotationally connected with the both ends of the crossbeam 5, in addition two
The universal wheel 6 is rotationally connected with the front end of two connecting rods 3 respectively.
Ground adaptive universal type chassis provided by the utility model, compared with prior art, the utility model ground is certainly
It is that the adaptive equalization established between driving wheel 4, universal wheel 6 and horizontal chassis 2 using connecting rod 3 adjusts pass to adapt to universal chassis
System makes two driving wheels 4 and four universal wheels 6 have certain automatic height for adapting to ground to adjust in broken terrain
Ability, make each wheel that can uniformly land in synchronization, smoothly pass the robot using the chassis various convex
The ground with pit is played, and the requirement for load is no longer sensitive, greatly extend all-purpose robot utilizes space, can
Directly apply to service robot, crusing robot and the factory all kinds of mobile robot fields such as automation trolley.
By taking Fig. 1 as an example, since each connecting rod 3 is respectively rotation connection with chassis body, on the connecting rod 3 of both sides
The driving wheel 4 and universal wheel 6 of installation can be adjusted according to the height on the respective ground actually landed, and can be respectively relative to
Front and rear relative rotation, therefore the ability with adaptive ground, and simultaneously, two universal wheels 6 or so that crossbeam 5 connects can be opposite
Rotation.
When ground of the chassis by protrusion, two universal wheels 6 of front end contact first with raised ground, and connecting rod 3 is lifted
It rising, driving wheel 4 is still contacted with ground at this time, and entire chassis is pushed to advance, when chassis is advanced from the ground of protrusion to lowland,
Two universal wheels 6 of front end are moved down, at this point, the rotation adjustment of driving wheel 4 with the topography on ground by the turning effort of connecting rod 3
Ground is adapted to, the entire chassis of driving can be still contacted with ground and is advanced, chassis is made to continue to move ahead.
Further, also referring to Fig. 1 to Fig. 8, as ground adaptive universal type chassis provided by the utility model
A kind of specific embodiment, the chassis body includes horizontal chassis 2 and the housing 7 that is set on the horizontal chassis 2, two
A 3, crossbeams 5 of the connecting rod with the housing 7 in the same side of the horizontal chassis 2, distinguish by two connecting rods 3
Two outsides of the housing 7 are rotationally connected with, the crossbeam 5 is located at the lower section of the housing 7 and is rotated with the housing 7 and connected
It connects, the first through hole 13 and four universal wheels 6 that the driving wheel 4 passes through there are two settings on the horizontal chassis 2 pass through
The second through-hole 12.In the present embodiment, each wheel is across horizontal chassis 2, and in other examples, each wheel can also be directly connected to
It is set to the lower section of horizontal chassis 2.Figure 12 shows the schematic diagram of horizontal chassis 2.In addition, as shown in Figure 13, in embodiment,
The housing 7 includes four side plates and a bottom plate.In addition illustrate, housing is detachably secured to horizontal base by bolt
On disk.
Further, it please refers to Fig.1 to Fig. 2, Fig. 9 to Figure 10, as ground adaptive universal provided by the utility model
A kind of specific embodiment on type chassis, two connecting rods 3 are respectively arranged with bearing holder (housing, cover) 10, across the connection of the housing 7
The both ends of axis 1 are rotatablely connected respectively with the bearing holder (housing, cover) 10.Wherein, bearing is equipped in bearing holder (housing, cover) 10 so that each driving wheel 4 rotates
Flexibly.
Further, refering to Fig. 7 and Figure 11, one kind as ground adaptive universal type chassis provided by the utility model
Specific embodiment, the lower section of the housing 7 are fixedly connected with switch block 9 on one, and the upper switch block 9 is rotatablely connected switch block 8,
The crossbeam 5 is fixedly connected with the lower switch block 8.Crossbeam 5 is connect by a lower switch block 8 with housing 7, and crossbeam 5 is at lower turn
It can swing under the constraint of block 8, to adapt to the ground of different height, improve the adaptation regulating power of the extreme end of chassis.Here
Explanation is also required to, upper switch block 9 is to be fixed by the way that bolt is detachable with housing.
Further, Fig. 6 to Fig. 8 is please referred to, one as ground adaptive universal type chassis provided by the utility model
Kind specific embodiment is less than positioned at the centre-to-centre spacing of two universal wheels 6 of 2 front end of horizontal chassis and is located at the level
The centre-to-centre spacing of two universal wheels 6 of 2 rear end of chassis.Certainly, in other examples, the centre-to-centre spacing can also phase
Deng.In addition, as a specific embodiment, two universal wheels positioned at front end may be used a universal wheel and replace, that is,
A universal wheel is rotatablely installed in below the crossbeam, other forms can also be used, be not limited to cited by the present embodiment.
Further, Fig. 6 to Fig. 8 is please referred to, one as ground adaptive universal type chassis provided by the utility model
Kind of specific embodiment, the line of centres of two driving wheels 4, two universal wheels 6 therein the line of centres and
In addition the line of centres of two universal wheels 6 is mutually parallel.In the present embodiment, when each wheel is in same level, six
A wheel lands simultaneously, and the line of centres is mutually parallel, and when passing through broken terrain, since each wheel needs to adapt to height
The ground of low injustice, the then line of centres that the two of rear end take turns will not preserve parallel state with the line of centres of two driving wheels 4.
Further, refering to Fig. 1 to Fig. 2, Fig. 9 to Figure 10, as adaptive universal type in ground provided by the utility model
A kind of specific embodiment on chassis, one end of two connecting rods 3 has been symmetrically arranged a sole 11, positioned at the level
Two universal wheels 6 of 2 front end of chassis are rotationally connected with the lower section of two soles 11 respectively.In embodiment, sole
11 connecting rods 3 is are welded and fixed.
Further, it please refers to Fig.1 to Fig.4, one as ground adaptive universal type chassis provided by the utility model
Kind specific embodiment, the first through hole 13 are square hole, and the length of the square hole is more than the outer diameter of driving wheel 4, and width is more than
The wheel money of driving wheel 4 ensures that driving wheel 4 has the space rotated freely in square hole.
Further, referring to Fig. 5, one kind as ground adaptive universal type chassis provided by the utility model is specific
Embodiment, second through-hole 12 are circular hole, and the aperture of the circular hole is more than the outer diameter of universal wheel 6, ensure driving wheel 4 rectangular
There is the space rotated freely in hole.
Another object of the present invention, which also resides in, provides a kind of robot, including ground described in any one of the above embodiments surface self-adaption
Universal chassis.
Robot provided by the utility model as a result of above-mentioned chassis, substantially increases robot and smoothly passes
The adaptive ability on various bumps ground.
In a particular embodiment, chassis provided in this embodiment is also applied to service robot, crusing robot and work
The mobile robots fields such as station-service automation trolley.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
All any modification, equivalent and improvement made within the spirit and principle of utility model etc., should be included in the utility model
Protection domain within.
Claims (10)
1. ground adaptive universal type chassis, which is characterized in that including：
Chassis body；
Two connecting rods are symmetrically divided into the left and right sides of the chassis body and positioned at the front end of the chassis body, two institutes
Connecting rod is stated to be rotatablely connected with the chassis body respectively；
One crossbeam is set between two connecting rods and positioned at the rear end of the chassis body, the crossbeam and the bottom
Disc main body is rotatablely connected；
Two driving wheels are symmetrically disposed on the rear end of two connecting rods and are connect respectively with two link rotatables；
Four universal wheels, two universal wheels therein are rotationally connected with the both ends of the crossbeam, in addition two described ten thousand
It is rotationally connected with the front end of two connecting rods respectively to wheel.
2. ground adaptive universal type chassis as described in claim 1, it is characterised in that：The chassis body includes horizontal base
Disk and the housing being set on the horizontal chassis, two connecting rods, a crossbeam are with the housing in the level
The same side on chassis, two connecting rods are rotationally connected with two outsides of the housing respectively, and the crossbeam is located at the housing
Lower section and connect with the housing into rotation, setting is passed through there are two the driving wheel on the horizontal chassis first through hole and
The second through-hole that four universal wheels pass through.
3. ground adaptive universal type chassis as claimed in claim 2, it is characterised in that：Two connecting rods are respectively arranged with
Bearing holder (housing, cover) is rotatablely connected across the both ends of the connecting shaft of the housing with the bearing holder (housing, cover) respectively.
4. ground adaptive universal type chassis as claimed in claim 2, it is characterised in that：It is fixedly connected below the housing
Switch block on one, the upper switch block are rotatablely connected switch block, and the crossbeam is fixedly connected with the lower switch block.
5. ground adaptive universal type chassis as claimed in claim 2, it is characterised in that：The first through hole is square hole.
6. ground adaptive universal type chassis as claimed in claim 2, it is characterised in that：Second through-hole is circular hole.
7. ground adaptive universal type chassis as claimed in claim 2, it is characterised in that：Positioned at the horizontal chassis front end
The centre-to-centre spacing of two universal wheels is less than the centre-to-centre spacing of two universal wheels positioned at the horizontal chassis rear end.
8. ground adaptive universal type chassis as described in claim 1, it is characterised in that：The center of two driving wheels connects
The line of centres of line, the line of centres of two universal wheels therein and two other universal wheels is mutually parallel.
9. ground adaptive universal type chassis as claimed in claim 2, it is characterised in that：One end difference of two connecting rods
A sole is symmetrically arranged with, two universal wheels positioned at the horizontal chassis front end are rotationally connected with two feet respectively
The lower section of plate.
10. robot, it is characterised in that：Including ground adaptive universal type chassis as claimed in any one of claims 1-9 wherein.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721098058.XU CN207482047U (en) | 2017-08-28 | 2017-08-28 | Ground adaptive universal type chassis and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721098058.XU CN207482047U (en) | 2017-08-28 | 2017-08-28 | Ground adaptive universal type chassis and robot |
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| Publication Number | Publication Date |
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| CN207482047U true CN207482047U (en) | 2018-06-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201721098058.XU Active CN207482047U (en) | 2017-08-28 | 2017-08-28 | Ground adaptive universal type chassis and robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108583711A (en) * | 2018-06-29 | 2018-09-28 | 北京电子科技职业学院 | Chassis |
| CN109110004A (en) * | 2018-11-01 | 2019-01-01 | 苏州牧星智能科技有限公司 | A kind of robot chassis structure |
| CN109421836A (en) * | 2017-08-28 | 2019-03-05 | 深圳玩智商科技有限公司 | Ground adaptive universal type chassis and robot |
| CN111347386A (en) * | 2018-12-20 | 2020-06-30 | 沈阳新松机器人自动化股份有限公司 | Robot chassis and robot |
| CN111730609A (en) * | 2020-04-30 | 2020-10-02 | 深圳市普渡科技有限公司 | Robot with universal wheel set |
-
2017
- 2017-08-28 CN CN201721098058.XU patent/CN207482047U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109421836A (en) * | 2017-08-28 | 2019-03-05 | 深圳玩智商科技有限公司 | Ground adaptive universal type chassis and robot |
| CN108583711A (en) * | 2018-06-29 | 2018-09-28 | 北京电子科技职业学院 | Chassis |
| CN109110004A (en) * | 2018-11-01 | 2019-01-01 | 苏州牧星智能科技有限公司 | A kind of robot chassis structure |
| CN111347386A (en) * | 2018-12-20 | 2020-06-30 | 沈阳新松机器人自动化股份有限公司 | Robot chassis and robot |
| CN111730609A (en) * | 2020-04-30 | 2020-10-02 | 深圳市普渡科技有限公司 | Robot with universal wheel set |
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