CN106274276A - Runner, base apparatus and robot - Google Patents
Runner, base apparatus and robot Download PDFInfo
- Publication number
- CN106274276A CN106274276A CN201610783344.3A CN201610783344A CN106274276A CN 106274276 A CN106274276 A CN 106274276A CN 201610783344 A CN201610783344 A CN 201610783344A CN 106274276 A CN106274276 A CN 106274276A
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- CN
- China
- Prior art keywords
- runner
- roller
- wheel body
- described roller
- wheel
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/12—Roller-type wheels
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Rollers For Roller Conveyors For Transfer (AREA)
Abstract
The invention provides a kind of runner, base apparatus and robot, runner includes wheel body, runner also includes: multiple rollers, and multiple rollers are arranged on the periphery wall of wheel body along the circumferentially spaced of wheel body, the roller body of roller relative to wheel body rotatably arranged with；Wherein, the periphery wall of roller body is provided with anti-slip veins；The rotation axis of roller is vertical with the rotation axis of wheel body, and the periphery wall of multiple rollers all protrudes from the periphery wall of wheel body.The problem that the kinematic dexterity of the base apparatus that the runner in the present invention solves robot of the prior art is poor.
Description
Technical field
The present invention relates to intelligent machine field, in particular to a kind of runner, base apparatus and robot.
Background technology
Robot is the installations automatically performing work, and it both can accept mankind commander, can run again and compile in advance
The program of row, its task is to assist or replace the work of the mankind, such as, produce the work of industry, building industry, or danger.
Robot includes base, and robot relies on base apparatus to move on the ground.Base apparatus has wheel carrier, and chassis fills
Put and utilize this wheel carrier move on the ground or rotate.
But, the wheel carrier of robot base device of the prior art is unidirectional wheel carrier, and it is multi-corner star-shape frame and unidirectional
The combination of wheel, although wheel carrier revolution and the rotation of one-way wheel can be realized, but wheel carrier direction of advance must be consistent with one-way wheel,
Kinematic dexterity receives certain restriction, and then makes the kinematic dexterity of robot poor.
Summary of the invention
A kind of runner of offer, base apparatus and robot are provided, of the prior art to solve
The problem that the kinematic dexterity of the base apparatus of robot is poor.
To achieve these goals, according to an aspect of the invention, it is provided a kind of runner, including wheel body, runner
Also including: multiple rollers, multiple rollers are arranged on the periphery wall of wheel body along the circumferentially spaced of wheel body, the rolling of roller
Wheel body relative to wheel body rotatably arranged with；Wherein, the periphery wall of roller body is provided with anti-slip veins；The rotation of roller
Axis is vertical with the rotation axis of wheel body, and the periphery wall of multiple rollers all protrudes from the periphery wall of wheel body.
Further, anti-slip veins includes multiple first cut, axially extending along roller body of each first cut.
Further, anti-slip veins includes multiple second cut, circumferentially extending along roller body of each second cut.
Further, the bus of roller body is circular arc, and the periphery wall of multiple roller body forms circular support profile.
Further, wheel body being provided with installation groove, roller is arranged in installation groove.
Further, roller includes that roller bearing, roller body are set on roller bearing, and roller bearing is connected with wheel body rotationally.
Further, roller includes roller bearing, and roller body is being arranged on roller bearing rotationally, and roller bearing is removable with wheel body
Connect with unloading.
Further, roller also includes spring bearing, and spring bearing is arranged on the inwall of roller body, and roller body is led to
Cross spring bearing to be arranged on roller bearing.
Further, roller bearing being provided with limiting section, limiting section is arranged on the both sides of roller body.
Further, runner also includes taking turns core print seat, and wheel core print seat includes shaft and the flange portion being arranged on shaft, wheel
Core print seat is connected with wheel body by flange portion.
According to the second aspect of the invention, it is provided that a kind of base apparatus, including chassis plate be arranged in chassis plate
Runner, runner is above-mentioned runner.
Further, chassis plate being provided with multiple runner, multiple runners are arranged in along the circumferentially spaced of chassis plate
In chassis plate.
According to the third aspect of the present invention, it is provided that a kind of robot, including base apparatus, base apparatus is above-mentioned
Base apparatus.
Runner in the present invention includes wheel body and multiple roller, owing to the roller body of multiple rollers is along week of wheel body
To arranging the periphery of wheel body at intervals, and the rotation axis of roller is vertical with the rotation axis of wheel body, so, at roller
Effect, runner just can move along the axis of wheel body, and then improve the kinematic dexterity of runner, solve prior art
In the poor problem of the kinematic dexterity of base apparatus of robot.
Accompanying drawing explanation
The Figure of description of the part constituting the application is used for providing a further understanding of the present invention, and the present invention shows
Meaning property embodiment and explanation thereof are used for explaining the present invention, are not intended that inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 shows the structural representation of the embodiment of the runner according to the present invention；
Fig. 2 shows the axonometric chart of the runner in Fig. 1；
Fig. 3 shows the structural representation of an embodiment of the roller of the runner in Fig. 1；
Fig. 4 shows the structural representation of second embodiment of the roller of the runner in Fig. 1；And
Fig. 5 shows the structural representation of the wheel body of the runner in Fig. 1.
Wherein, above-mentioned accompanying drawing includes the following drawings labelling:
10, wheel body；11, groove is installed；20, roller；21, roller body；211, the first cut；212, the second cut；
22, roller bearing；23, spring bearing；30, wheel core print seat；31, shaft；32, flange portion.
Detailed description of the invention
It should be noted that in the case of not conflicting, the embodiment in the application and the feature in embodiment can phases
Combination mutually.Describe the present invention below with reference to the accompanying drawings and in conjunction with the embodiments in detail.
The invention provides a kind of runner, refer to Fig. 1 to Fig. 5, this runner includes wheel body 10, and runner also includes: many
Individual roller 20, multiple rollers 20 are arranged on the periphery wall of wheel body 10 along the circumferentially spaced of wheel body 10, roller 20
Roller body 21 relative to wheel body 10 rotatably arranged with；Wherein, the periphery wall of roller body 21 is provided with anti-slip veins；Rolling
The rotation axis of wheel 20 is vertical with the rotation axis of wheel body 10, and the periphery wall of multiple rollers 20 all protrudes from outside wheel body 10
Perisporium.
Runner in the present invention includes wheel body 10 and multiple roller 20, owing to the roller body 21 of multiple rollers 20 is along wheel
The periphery that wheel body 10 is set circumferentially spacedly of main body 10, and the rotation axis of the rotation axis of roller 20 and wheel body 10
Vertically, so, in the effect of roller 20, runner just can move along the axis of wheel body 10, and then improves the motion of runner
Motility, the problem that the kinematic dexterity of the base apparatus solving robot of the prior art is poor.
The concrete structure of anti-slip veins is, as it is shown on figure 3, anti-slip veins includes multiple first cut 211, each first cut
211 axially extending along roller body 21.Preferably, multiple first cuts 211 are along the circumferentially-spaced layout of roller body 21.
As shown in Figure 4, anti-slip veins includes multiple second cut 212, and multiple second cuts 212 are along the circumference of roller body 21
Extend.Preferably, multiple second cuts 212 are arranged along the axially spaced-apart of roller body 21.Concrete body, anti-slip veins includes multiple the
One cut 211 and multiple second cut 212.
In order to ensure the normal rotation of runner, as shown in Figures 1 to 4, the bus of roller body 21 is circular arc, multiple rollings
The periphery wall of wheel body 21 forms circular support profile.So, the axis projection outline of each roller body 21 is circular, whole
The radius of individual runner is the radius of this axis projection profile.The center of circle of this circular support profile overlaps with the center of circle of wheel body.Excellent
Selection of land, this roller body is rubber bodies.
Preferably, multiple rollers 20 are distributed on the periphery wall of wheel body 10.
Rotor design meets when rotating and ground contact roller 20 seamless switching in theory, does not results in vibration；Wheel is main
Body 10 is Al-alloy metal wheel hub, and light weight, intensity are good, precision is high, aesthetic in appearance；Roller body 21 kinetic characteristic of rubber type
Well, frictional force is big, wear-resisting.
For the ease of the installation of roller 20, as it is shown in figure 5, be provided with installation groove 11 on wheel body 10, roller 20 is installed
In groove 11 is installed.As such, it is possible to the rotation realizing roller 20 more easily is installed.
In one embodiment of the invention, roller 20 includes that roller bearing 22, roller body 21 are set on roller bearing 22, roller bearing
22 are connected with wheel body 10 rotationally.Roller bearing 22 herein is straight-bar.
In another embodiment of the present invention, as it is shown in figure 5, roller 20 includes roller bearing 22, roller body 21 is rotatable
Ground is being arranged on roller bearing 22, and roller bearing 22 is detachably connected with wheel body 10.Roller bearing 22 herein is straight-bar.Roller body 21
Rotate around this straight-bar.
In order to realize the rotation of roller body 21, in one embodiment, roller body 21 is circular tube shaped, and this roller is originally
It is provided with copper sheathing in the centre bore of body 21.
Rotate around roller bearing 22 to realize roller body 21, in another embodiment, as shown in Figure 3 and Figure 4, roller
20 also include that spring bearing 23, spring bearing 23 are arranged on the inwall of roller body 21, and roller body 21 passes through spring bearing
23 are arranged on roller bearing 22.
In order to prevent roller body 21 from moving on roller bearing 22, roller bearing 22 being provided with limiting section, limiting section is arranged on rolling
The both sides of wheel body 21.As such, it is possible to play the effect that pair roller body 21 is spacing.
As depicted in figs. 1 and 2, runner also includes taking turns core print seat 30, and wheel core print seat 30 includes shaft 31 and is arranged on shaft
Flange portion 32 on 31, wheel core print seat 30 is connected with wheel body 10 by flange portion 32.Preferably, wheel body 10 can be one or
Multiple, each wheel body 10 is provided with roller 20.
Present invention also offers a kind of base apparatus, including chassis plate and the runner being arranged in chassis plate, runner is upper
The runner stated.Base apparatus in the present invention includes above-mentioned runner, and this runner can be around the axial rotation of wheel body 10, it is possible to
With moving axially along wheel body 10 under the effect of roller 20, thus improve the kinematic dexterity of base apparatus.
In the present embodiment, chassis plate being provided with multiple runner, multiple runners are along the circumferentially spaced ground cloth of chassis plate
Put in chassis plate.The present embodiment includes 3 groups of above-mentioned runners, and 3 groups of runners respectively have a driving motor, between 3 groups of runners
Being mutually the angle of 120 degree, this triangular structure can ensure that whole driving platform does centered by the axle center of 3 groups of runner cinctures
Self rotary motion, can coordinate robotically-driven platform linear motion to adjust the appearance of robot during arriving impact point
State, thus the attitude angle needed for reaching final state.
Each group runner includes the most multiple wheel body, is arranged in chassis plate by wheel core print seat, the bearing block in runner group
On the chassis being fixed by screws in, platform is made to have good balance quality.
Invention further provides a kind of robot, including base apparatus, base apparatus is above-mentioned base apparatus.The present invention
In the base device structure optimization, flexibly of robot, can move along a straight line to any direction, the weight of whole platform self
By, on the uniform drivingly chassis of three bearing blocks, making platform have good balance quality.
As can be seen from the above description, the above embodiments of the present invention achieve following technique effect:
Runner in the present invention includes wheel body and multiple roller, owing to the roller body of multiple rollers is along week of wheel body
To arranging the periphery of wheel body at intervals, and the rotation axis of roller is vertical with the rotation axis of wheel body, so, at roller
Effect, runner just can move along the axis of wheel body, and then improve the kinematic dexterity of runner, solve prior art
In the poor problem of the kinematic dexterity of base apparatus of robot.
These are only the preferred embodiments of the present invention, be not limited to the present invention, for those skilled in the art
For Yuan, the present invention can have various modifications and variations.All within the spirit and principles in the present invention, any amendment of being made,
Equivalent, improvement etc., should be included within the scope of the present invention.
Claims (13)
1. a runner, including wheel body (10), it is characterised in that described runner also includes:
Multiple rollers (20), the plurality of roller (20) is arranged on along described wheel body (10) circumferentially spaced and described takes turns master
On the periphery wall of body (10), the roller body (21) of described roller (20) relative to described wheel body (10) rotatably arranged with；
Wherein, the periphery wall of described roller body (21) is provided with anti-slip veins；
The rotation axis of described roller (20) is vertical with the rotation axis of described wheel body (10), outside multiple described rollers (20)
Perisporium all protrudes from the periphery wall of described wheel body (10).
Runner the most according to claim 1, it is characterised in that described anti-slip veins includes multiple first cut (211), each
Axially extending along described roller body (21) of described first cut (211).
Runner the most according to claim 1 and 2, it is characterised in that described anti-slip veins includes multiple second cut (212),
Circumferentially extending along described roller body (21) of each described second cut (212).
Runner the most according to claim 1, it is characterised in that the bus of described roller body (21) is circular arc, multiple
The periphery wall of described roller body (21) forms circular support profile.
Runner the most according to claim 1, it is characterised in that be provided with installation groove (11) on described wheel body (10),
Described roller (20) is arranged in described installation groove (11).
Runner the most according to claim 1, it is characterised in that described roller (20) includes roller bearing (22), described roller is originally
Body (21) is set on described roller bearing (22), and described roller bearing (22) is connected with described wheel body (10) rotationally.
Runner the most according to claim 1, it is characterised in that described roller (20) includes roller bearing (22), described roller is originally
Body (21) is being arranged on described roller bearing (22) rotationally, and described roller bearing (22) removably connects with described wheel body (10)
Connect.
Runner the most according to claim 7, it is characterised in that described roller (20) also includes spring bearing (23), described
Spring bearing (23) is arranged on the inwall of described roller body (21), and described roller body (21) passes through described spring bearing
(23) it is arranged on described roller bearing (22).
Runner the most according to claim 7, it is characterised in that be provided with limiting section on described roller bearing (22), described spacing
Portion is arranged on the both sides of described roller body (21).
Runner the most according to claim 1, it is characterised in that described runner also includes taking turns core print seat (30), described takes turns core print seat
(30) including shaft (31) and the flange portion (32) being arranged on described shaft (31), described core print seat (30) of taking turns is by described
Flange portion (32) is connected with described wheel body (10).
11. 1 kinds of base apparatus, including chassis plate and the runner being arranged in described chassis plate, it is characterised in that described runner
Runner according to any one of claim 1 to 10.
12. base apparatus according to claim 11, it is characterised in that be provided with multiple described turn in described chassis plate
Wheel, multiple described runners are arranged in described chassis plate along the circumferentially spaced of described chassis plate.
13. 1 kinds of robots, including base apparatus, it is characterised in that described base apparatus is described in claim 11 or 12
Base apparatus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610783344.3A CN106274276A (en) | 2016-08-31 | 2016-08-31 | Runner, base apparatus and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610783344.3A CN106274276A (en) | 2016-08-31 | 2016-08-31 | Runner, base apparatus and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106274276A true CN106274276A (en) | 2017-01-04 |
Family
ID=57672714
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610783344.3A Pending CN106274276A (en) | 2016-08-31 | 2016-08-31 | Runner, base apparatus and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106274276A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5323867A (en) * | 1992-03-06 | 1994-06-28 | Eric J. Allard | Robot transport platform with multi-directional wheels |
| CN201633467U (en) * | 2009-12-07 | 2010-11-17 | 上海英集斯自动化技术有限公司 | Novel all-directional wheel |
| US20120032496A1 (en) * | 2009-04-15 | 2012-02-09 | Honda Motor Co., Ltd. | Wheel, and friction drive device and omni-directional vehicle using the same |
| CN105415969A (en) * | 2015-12-02 | 2016-03-23 | 中国人民解放军国防科学技术大学 | Omnidirectional wheel |
| CN206030946U (en) * | 2016-08-31 | 2017-03-22 | 珠海格力智能装备有限公司 | Runner, chassis device and robot |
-
2016
- 2016-08-31 CN CN201610783344.3A patent/CN106274276A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5323867A (en) * | 1992-03-06 | 1994-06-28 | Eric J. Allard | Robot transport platform with multi-directional wheels |
| US20120032496A1 (en) * | 2009-04-15 | 2012-02-09 | Honda Motor Co., Ltd. | Wheel, and friction drive device and omni-directional vehicle using the same |
| CN201633467U (en) * | 2009-12-07 | 2010-11-17 | 上海英集斯自动化技术有限公司 | Novel all-directional wheel |
| CN105415969A (en) * | 2015-12-02 | 2016-03-23 | 中国人民解放军国防科学技术大学 | Omnidirectional wheel |
| CN206030946U (en) * | 2016-08-31 | 2017-03-22 | 珠海格力智能装备有限公司 | Runner, chassis device and robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170104 |
|
| RJ01 | Rejection of invention patent application after publication |