CN208323359U - A kind of robot chassis - Google Patents
A kind of robot chassis Download PDFInfo
- Publication number
- CN208323359U CN208323359U CN201820764638.6U CN201820764638U CN208323359U CN 208323359 U CN208323359 U CN 208323359U CN 201820764638 U CN201820764638 U CN 201820764638U CN 208323359 U CN208323359 U CN 208323359U
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- CN
- China
- Prior art keywords
- swing rod
- connector
- driving wheel
- robot chassis
- driver
- 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 relates to a kind of robot chassis include pedestal, the universal wheel for being mounted on base bottom, at least one driving wheel, at least one elastic buffering mechanism and at least one be mounted on the base the driver in portion, driver connects by the core wheel of connector and driving wheel and driving wheel is driven to rotate；It is rotatably connected on connector in the middle part of elastic buffering mechanism, on pedestal, the other end is rotatably connected on pedestal one end elastic connection, and the utility model elastic buffering mechanism has certain pretightning force, plays cushioning effect in robot driving process.
Description
Technical field
The utility model relates to robot field more particularly to a kind of robot chassis.
Background technique
Intelligent robot technology quickly grows in civil field in recent years.It is especially the most universal with wheeled robot.It is wheeled
There are three-wheel, point of four-wheel and more wheels in robot again.Three wheel robots are widely used in small in size, and underslung robot such as sweeps the floor
Robot, small-sized supervisory-controlled robot etc..
Three-wheel robot base is generally configured to: the driving wheel of front two, latter one universal wheel.One is determined by 3 points
For plan view it is found that three wheels land always, existing three-wheel robot base is not provided with buffering.
Utility model content
Technical problem to be solved in the utility model is in view of the deficiencies of the prior art, to provide a kind of robot chassis,
At least one to solve the above technical problems.
The technical solution that the utility model solves above-mentioned technical problem is as follows: a kind of robot chassis, including pedestal, installation
The universal wheel of base bottom, at least one driving wheel, at least one elastic buffering mechanism and at least one be mounted on the base
The driver in portion, driver connect by the core wheel of connector and driving wheel and driving wheel are driven to rotate；In elastic buffering mechanism
Portion is rotatably connected on connector, and on pedestal, the other end is rotatably connected on pedestal one end elastic connection.
The beneficial effects of the utility model are: driver connects by the core wheel of connector and driving wheel and drives driving wheel
Rotation, elastic buffering mechanism elastic buffering mechanism have certain pretightning force, play cushioning effect in robot driving process.
Based on the above technical solution, the utility model can also do following improvement.
Further, elastic buffering mechanism includes swing rod and elastic component, and one end of swing rod is rotatably connected on pedestal, swing rod
The other end is rotatably connected on the connector, and the top of the other end of the swing rod and one end of elastic component connect, elasticity
The other end of part is connected on pedestal.
Using the beneficial effect of above-mentioned further scheme is: swing rod can provide support force for rigid member, and elastic component has
Certain pretightning force, elastic component and swing rod composition elastic buffering mechanism play the role of elastic shock attenuation.
Further, pedestal is equipped with swing link bracket, and one end of swing rod is rotatablely connected by pendulum shaft and swing link bracket；Swing rod
The other end and connector be rotatablely connected.
Beneficial effect using above-mentioned further scheme is: swing rod can be around pendulum shaft in certain angle range inward turning
Turn.
Further, swing link bracket is equipped with limited block, and limited block is located at the lower section of swing rod, and limited block is equipped with boss, convex
Platform and limited block limit cooperate.
Beneficial effect using above-mentioned further scheme is: swing rod is limited by convex with limited block cooperation, it is ensured that robot
In obstacle detouring or when jolting, swing rod and driving wheel are not up to dead-centre position, avoid result in the too low collision ground of pedestal.
Further, it is rotatablely connected between swing rod and connector by bearing.
Beneficial effect using above-mentioned further scheme is: the rotation of bearing support connecting rod and swing rod, and reduction rotated
Coefficient of friction in journey.
Further, driver is connected on pedestal by fixed bracket；Fixed bracket is fixedly connected with driver.
Further, fixed bracket is arranged in driver and is fixedly connected close to the side of driving wheel and with the swing rod；It is described
The part that swing rod is rotatably connected on the connector is recessed to form the installation bearing to the direction close to the driving wheel
Space.
Beneficial effect using above-mentioned further scheme is: fixed bracket plays the role of supporting driver；Swing rod rotation
The part for being connected to connector is recessed to form the space of the installation bearing to the direction close to the driving wheel, facilitates installation
And maintenance, while the rotation connection of swing rod and pedestal, limit the size that driving wheel and pedestal relatively move.
Further, cushion is equipped between fixed bracket and swing rod.
Beneficial effect using above-mentioned further scheme is: influence of the vibration of buffer motor to swing rod, while playing guarantor
Protect the effect of swing rod, bearing and motor.
Further, the core wheel of connector and driving wheel passes through screw in compression.
Further, one end that the connector is connect with the core wheel of the driving wheel is taper.
Beneficial effect using above-mentioned further scheme is: easy to installation and maintenance and disassembly.
Detailed description of the invention
Fig. 1 is a kind of robot chassis scheme of installation of the utility model；
Fig. 2 is a kind of robot chassis sectional view of the utility model；
Fig. 3 is a kind of robot chassis schematic partial cross-sectional view of the utility model.
In attached drawing, parts list represented by the reference numerals are as follows:
1- driving wheel；2- swing rod；3- pedestal；4- driver；5- elastic component；6- limited block；7- universal wheel；8- bearing；9-
Connector；10- screw；11- pendulum shaft；12- boss；13- fixes bracket；14- cushion；15- swing link bracket.
Specific embodiment
The principles of the present invention and feature are described below in conjunction with attached drawing, example is served only for explaining that this is practical
It is novel, it is not intended to limit the scope of the utility model.
Embodiment 1:
As shown in Figure 1-3, a kind of robot chassis, including pedestal 3, the universal wheel 7 for being mounted on 3 bottom of pedestal, at least one
A driving wheel 1, at least one elastic buffering mechanism and at least one be mounted on the driver 4 on 3 top of pedestal, driver 4 passes through
Connector 9 connect with the core wheel of driving wheel 1 and driving wheel 1 is driven to rotate；Connector 9 is rotatably connected in the middle part of elastic buffering mechanism
On, on the base 3, the other end is rotatablely connected on the base 3 one end elastic connection.Specifically, driver 4 is direct current deceleration electricity
Machine.
Preferably, including two driving wheels, 1, two elastic buffering mechanism and two drivers 4, on a driving wheel 1 point
It An Zhuan not an elastic buffering mechanism and a driver 4.
The beneficial effect of the present embodiment is: three-wheel layout, two driving wheels 1 are preceding, and a universal wheel 7 is in rear, driver 4
It is connect by connector 9 with the core wheel of driving wheel 1 and driving wheel 1 is driven to rotate, elastic buffering mechanism elastic buffering mechanism has one
Fixed pretightning force plays cushioning effect in robot driving process.
Embodiment 2:
As shown in Figure 1-3, a kind of robot chassis, including pedestal 3, the universal wheel 7 for being mounted on 3 bottom of pedestal, at least one
A driving wheel 1, at least one elastic buffering mechanism and at least one be mounted on the driver 4 on 3 top of pedestal, driver 4 passes through
Connector 9 connect with the core wheel of driving wheel 1 and driving wheel 1 is driven to rotate；Connector 9 is rotatably connected in the middle part of elastic buffering mechanism
On, on the base 3, the other end is rotatablely connected on the base 3 one end elastic connection.
Specifically, driver 4 is DC speed-reducing.
Preferably, including two driving wheels, 1, two elastic buffering mechanism and two drivers 4, on a driving wheel 1 point
It An Zhuan not an elastic buffering mechanism and a driver 4.
It is understood that three-wheel is laid out, two driving wheels 1 are preceding, and for a universal wheel 7 rear, driver 4 passes through connection
Part 9 connect with the core wheel of driving wheel 1 and driving wheel 1 is driven to rotate, and elastic buffering mechanism elastic buffering mechanism has certain preload
Power plays cushioning effect in robot driving process.
Preferably, elastic buffering mechanism includes swing rod 2 and elastic component 5, and one end rotation connection of swing rod 2 on the base 3, is put
The other end of bar 2 is rotatably connected on the connector, and the top of the other end of the swing rod and one end of elastic component 5 connect
It connects, the other end connection of elastic component 5 is on the base 3.
Specifically, elastic component 5 is tension spring.Tension spring, swing rod 2 and pedestal 3 are formed between stable three-legged structure and three mutually
Effect.
It is understood that swing rod 2 is that rigid member can provide support force, elastic component 5 has certain pretightning force, elasticity
Part 5 and swing rod 2 form elastic buffering mechanism and play the role of elastic shock attenuation.
Preferably, pedestal 3 is equipped with swing link bracket 15, and one end of swing rod 2 is rotated by pendulum shaft 11 and swing link bracket 15
Connection；The other end and connector 9 of swing rod 2 are rotatablely connected.
It is understood that swing rod 2 can rotate within the scope of certain angle around pendulum shaft 11, swing rod 2 is around swing rod
When axis 11 is rotated up, tension spring generates pulling force to swing rod 2, and when swing rod 2 is rotated down around pendulum shaft 11, tension spring generates swing rod 2
Thrust.
Preferably, swing link bracket 15 is equipped with limited block, and limited block is located at the lower section of swing rod 2, and limited block is equipped with boss
12, boss 12 and limited block limit cooperate.
It is understood that swing rod 2 is limited by the convex cooperation with limited block, it is ensured that robot is in obstacle detouring or when jolting, pendulum
Bar 2 and driving wheel 1 are not up to dead-centre position, avoid result in the too low collision ground of pedestal 3.
Preferably, it is rotatablely connected between swing rod 2 and connector 9 by bearing 8.
It is understood that the rotation of bearing 8 supporting linkage and swing rod 2, reduces the coefficient of friction in rotation process.
Preferably, driver 4 passes through fixed bracket 13 and abuts on the base 3；Fixed bracket 13 and the fixed company of driver 4
It connects.
Preferably, fixed bracket 13 is arranged in driver 4 close to the side of driving wheel 1 and is fixedly connected with swing rod；Swing rod
The part for being rotatably connected on connector is recessed to form the space of an installation bearing to the direction close to driving wheel.
It is understood that fixed bracket 13 plays the role of supporting driver 4；Swing rod is rotatably connected on the portion of connector
Divide and be recessed to form the space of the installation bearing to the direction close to the driving wheel, is easy to install and maintain, while swing rod 2
With the rotation connection of pedestal 3, the size that driving wheel 1 and pedestal 3 relatively move has been limited.
Preferably, cushion 14 is equipped between fixed bracket 13 and swing rod 2.
It is understood that influence of the vibration of buffer motor to swing rod 2, while playing protection swing rod 2, bearing 8 and electricity
The effect of machine.
Preferably, the core wheel of connector 9 and driving wheel 1 is compressed by screw 10, connector 9 connect with driving wheel 1 one
End is taper, and driver 4 is connected with connector 9 by D type hole, easy to installation and maintenance and disassembly.
When robot jolts or surmounts an obstacle during the motion, driving wheel 1 drives swing rod 2 along swing rod
Axis 11 rotates, the cooperation of boss 12 and limited block on swing rod 2 so that chassis too low will not avoid chassis and ground contact-impact,
Tension spring generates active force to swing rod 2, buffers the vibration of swing rod 2 and then carries out buffering to driving wheel 1 and driver 4 and realizes to machine
The buffer function on people chassis.
In the description of this specification, reference term " embodiment one ", " embodiment two ", " example ", " specific example " or
The description of " some examples " etc. means that specific method, device or feature described in conjunction with this embodiment or example are contained in this reality
With at least one novel embodiment or example.In the present specification, schematic expression of the above terms are necessarily directed to
Be identical embodiment or example.Moreover, description specific features, method, apparatus or feature can any one or it is more
It can be combined in any suitable manner in a embodiment or example.In addition, without conflicting with each other, those skilled in the art can
The feature of different embodiments or examples described in this specification and different embodiments or examples to be combined.
The above is only the preferred embodiment of the present invention, is not intended to limit the utility model, all practical at this
Within novel spirit and principle, any modification, equivalent replacement, improvement and so on should be included in the guarantor of the utility model
Within the scope of shield.
Claims (10)
1. a kind of robot chassis, which is characterized in that including pedestal, the universal wheel that is mounted on the base bottom, at least one
Driving wheel, at least one elastic buffering mechanism and at least one be mounted on the base the driver in portion, the driver is logical
Connector is crossed to connect with the core wheel of the driving wheel and the driving wheel is driven to rotate；Rotation connects in the middle part of the elastic buffering mechanism
It connects on the connector, on the base, the other end is rotatablely connected on the base one end elastic connection.
2. a kind of robot chassis according to claim 1, which is characterized in that the elastic buffering mechanism includes swing rod and bullet
Property part, the swing rod one end rotation connection on the base, the other end of the swing rod is rotatably connected on the connector
On, and the top of the other end of the swing rod is connect with one end of the elastic component, the other end of the elastic component is connected to institute
It states on pedestal.
3. a kind of robot chassis according to claim 2, which is characterized in that the pedestal is equipped with swing link bracket, described
One end of swing rod is rotatablely connected by pendulum shaft and the swing link bracket；The other end of the swing rod and connector rotation connect
It connects.
4. a kind of robot chassis according to claim 3, which is characterized in that the swing link bracket is equipped with limited block, institute
The lower section that limited block is located at the swing rod is stated, the limited block is equipped with boss, and the boss and limited block limit cooperate.
5. a kind of robot chassis according to claim 3, which is characterized in that pass through between the swing rod and the connector
Bearing rotation connection.
6. a kind of robot chassis according to claim 5, which is characterized in that the driver is connected to by fixed bracket
On the pedestal；The fixed bracket is fixedly connected with the driver.
7. a kind of robot chassis according to claim 6, which is characterized in that the fixed bracket is arranged in the driver
The side of the close driving wheel is simultaneously fixedly connected with the swing rod；The swing rod be rotatably connected on the part of the connector to
Direction close to the driving wheel is recessed to form the space of the installation bearing.
8. a kind of robot chassis according to claim 7, which is characterized in that set between the fixed bracket and the swing rod
There is cushion.
9. a kind of robot chassis according to claim 1, which is characterized in that the core wheel of the connector and the driving wheel
Pass through screw in compression.
10. a kind of robot chassis according to claim 1, which is characterized in that the wheel of the connector and the driving wheel
One end of core connection is taper.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820764638.6U CN208323359U (en) | 2018-05-22 | 2018-05-22 | A kind of robot chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820764638.6U CN208323359U (en) | 2018-05-22 | 2018-05-22 | A kind of robot chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208323359U true CN208323359U (en) | 2019-01-04 |
Family
ID=64774800
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820764638.6U Expired - Fee Related CN208323359U (en) | 2018-05-22 | 2018-05-22 | A kind of robot chassis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208323359U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110331478A (en) * | 2019-07-11 | 2019-10-15 | 经纬智能纺织机械有限公司 | A kind of support claw mechanism of high speed ring throstle |
| CN110371192A (en) * | 2019-08-05 | 2019-10-25 | 创新工场(北京)企业管理股份有限公司 | A kind of robot chassis system and robot |
| US20220250429A1 (en) * | 2019-07-23 | 2022-08-11 | FB Industry Automation GmbH | Driverless transport system |
| WO2023045098A1 (en) * | 2021-09-22 | 2023-03-30 | 美智纵横科技有限责任公司 | Obstacle crossing structure for floor sweeping robot and floor sweeping robot having same |
-
2018
- 2018-05-22 CN CN201820764638.6U patent/CN208323359U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110331478A (en) * | 2019-07-11 | 2019-10-15 | 经纬智能纺织机械有限公司 | A kind of support claw mechanism of high speed ring throstle |
| US20220250429A1 (en) * | 2019-07-23 | 2022-08-11 | FB Industry Automation GmbH | Driverless transport system |
| CN110371192A (en) * | 2019-08-05 | 2019-10-25 | 创新工场(北京)企业管理股份有限公司 | A kind of robot chassis system and robot |
| WO2023045098A1 (en) * | 2021-09-22 | 2023-03-30 | 美智纵横科技有限责任公司 | Obstacle crossing structure for floor sweeping robot and floor sweeping robot having same |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190104 Termination date: 20190522 |