CN106335319A - Rotating wheel, base plate device and robot - Google Patents
Rotating wheel, base plate device and robot Download PDFInfo
- Publication number
- CN106335319A CN106335319A CN201610782165.8A CN201610782165A CN106335319A CN 106335319 A CN106335319 A CN 106335319A CN 201610782165 A CN201610782165 A CN 201610782165A CN 106335319 A CN106335319 A CN 106335319A
- Authority
- CN
- China
- Prior art keywords
- roller
- runner
- wheel
- supporting part
- wheel body
- 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.)
- Pending
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Rollers For Roller Conveyors For Transfer (AREA)
Abstract
The invention provides a rotating wheel, a base plate device and a robot, wherein the rotating wheel comprises a wheel main body and also comprises a plurality of rolling wheels and a fixing element; the plurality of rolling wheels are separately arranged on the outer peripheral wall of the wheel main body in a separated way in the circumferential direction of the wheel main body; a rolling wheel main body of each rolling wheel is arranged in a way capable of rotating relative to the wheel main body; the fixing element is detachably arranged on the wheel main body; the rolling wheels are fixed on the wheel main body through fixing elements; the rotating axial line of each rolling wheel is vertical to the rotating axial line of the wheel main body; the outer peripheral wall of each of the plurality of rolling wheels is projected out of the outer peripheral wall of the wheel main body. The rotating wheel provided by the invention solves the problem of poor moving flexibility of the base plate device of the robot in the prior art.
Description
Technical field
The present invention relates to intelligence machine field, in particular to a kind of runner, base apparatus and robot.
Background technology
Robot is the installations automatically executing work, and it both can accept mankind commander, and can run again and compile in advance
The program of row, its task is to assist or replace the work of the mankind, for example, produce industry, building industry, or the work of danger.
Robot includes base, and robot relies on base apparatus to move on the ground.Base apparatus have wheel carrier, and chassis fills
Put and moved on the ground using this wheel carrier or rotate.
However, the wheel carrier of robot base device of the prior art is unidirectional wheel carrier, it is multi-corner star-shape frame and unidirectional
The combination of wheel is 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, so make robot kinematic dexterity poor.
Content of the invention
Present invention is primarily targeted at providing a kind of runner, base apparatus and robot, of the prior art to solve
The poor problem of the kinematic dexterity of the base apparatus of robot.
To achieve these goals, according to an aspect of the invention, it is provided a kind of runner, including wheel body, runner
Also include: multiple rollers, multiple rollers along along circumferentially spaced the periphery wall being arranged on wheel body of wheel body, the rolling of roller
Wheel body with respect to wheel body rotatably arranged with；Fixture, fixture is removably mounted on wheel body, and roller passes through solid
Determine on the fixing wheel body of part；Wherein, the rotation axis of roller and the rotation axis of wheel body are vertical, and the periphery wall of multiple rollers is equal
Protrude from the periphery wall of wheel body.
Further, the bus of roller body is circular arc, and the periphery wall of multiple roller body forms circular support profile.
Further, wheel body has supporting part, and roller is arranged on supporting part, and fixture is removably connected with supporting part
Connect to be fixed on roller on supporting part.
Further, roller includes roller bearing, and roller body is rotatably arranged on roller bearing, and supporting part is provided with fixation
Groove, roller bearing is arranged in fixing groove, and fixture blocks in the outside of fixing groove with fixed roller.
Further, supporting part and fixture are multiple, and multiple supporting parts are along the circumferentially-spaced arrangement of wheel body, multiple
Fixture is arranged on supporting part correspondingly.
Further, runner includes looped rod, and looped rod is erected on each support bar, and each roller bearing is respectively looped rod
The bar segment between two neighboring supporting part accordingly.
Further, fixture includes first clamping plate, second clamping plate and the connecting plate connecting first clamping plate and second clamping plate,
Supporting part is folded between first clamping plate and second clamping plate.
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, runner includes taking turns core print seat, and wheel core print seat includes shaft and the flange portion being arranged on shaft, core wheel
Seat is connected with wheel body by flange portion.
According to the second aspect of the invention, there is provided a kind of base apparatus, including chassis plate and being arranged in chassis plate
Runner, runner is above-mentioned runner.
Further, chassis plate is provided with multiple runners, multiple runners are arranged in along the circumferentially spaced of chassis plate
In chassis plate.
According to the third aspect of the present invention, there is provided a kind of robot, including base apparatus, base apparatus are above-mentioned
Base apparatus.
Runner in the present invention includes wheel body and multiple roller, due to multiple rollers roller body along wheel body week
To the periphery arranging wheel body at intervals, and the rotation axis of roller is vertical with the rotation axis of wheel body, so, in roller
Effect, runner just can move along the axis of wheel body, and then improves the kinematic dexterity of runner, solves prior art
In the base apparatus of robot the poor problem of kinematic dexterity.
Brief description
The Figure of description constituting the part of the application is used for providing a further understanding of the present invention, and the present invention shows
Meaning property embodiment and its illustrate for explaining the present invention, does not constitute inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 shows the front view of the embodiment of the runner according to the present invention；
Fig. 2 shows the stereogram of the embodiment of the runner in Fig. 1；
Fig. 3 shows the structural representation of the fixture of the runner in Fig. 1；And
Fig. 4 shows the structural representation of the roller of the runner in Fig. 1.
Wherein, above-mentioned accompanying drawing include the following drawings mark:
10th, wheel body；11st, supporting part；20th, roller；21st, roller body；22nd, roller bearing；23rd, spring bearing；30th, core wheel
Seat；31st, shaft；32nd, flange portion；40th, fixture；41st, first clamping plate；42nd, second clamping plate；43rd, connecting plate.
Specific embodiment
It should be noted that in the case of not conflicting, the embodiment in the application and the feature in embodiment can phases
Mutually combine.To 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, including wheel body 10, refer to Fig. 1 to Fig. 4, runner also includes: multiple rollers
20, multiple rollers 20 along along circumferentially spaced the periphery wall being arranged on wheel body 10 of wheel body 10, the roller of roller 20 this
Body 21 with respect to wheel body 10 rotatably arranged with；Fixture 40, fixture 40 is removably mounted on wheel body 10, roller
20 by the fixing wheel body 10 of fixture 40；Wherein, the rotation axis of roller 20 is vertical with the rotation axis of wheel body 10, many
The periphery wall of individual roller 20 all protrudes from the periphery wall of wheel body 10.
Runner in the present invention includes wheel body 10 and multiple roller 20, because 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
Flexibility, solves the problems, such as that the kinematic dexterity of the base apparatus of robot of the prior art is poor.
In order to ensure the normal rotation of runner, as shown in Figure 1, Figure 2 and Figure 4, the bus of roller body 21 is circular arc, many
The periphery wall of individual roller body 21 forms circular support profile.So, the axis projection outline of each roller body 21 is circle
Shape, the radius of whole runner is the radius of this axis projection profile.The center of circle of this circular support profile is heavy with the center of circle of wheel body
Close.Preferably, this roller body is rubber bodies.
In the present embodiment, wheel body 10 has supporting part 11, and roller 20 is arranged on supporting part 11, fixture 40 with
Support part 11 detachably connected so that roller 20 to be fixed on supporting part 11.
Preferably, multiple rollers 20 are distributed on the periphery wall of wheel body 10.
Rotor design meets during rotation and ground contact roller 20 seamless switching in theory, does not result in vibration；Wheel master
Body 10 is Al-alloy metal wheel hub, and light weight, intensity are good, high precision, aesthetic in appearance；Roller body 21 kinetic characteristic of rubber type
Good, frictional force is big, wear-resisting.
For the ease of the installation of roller 20, as depicted in figs. 1 and 2, roller 20 includes roller bearing 22, and roller body 21 is rotatable
Be arranged on roller bearing 22, supporting part 11 is provided with fixing groove, roller bearing 22 is arranged in fixing groove, fixture 40 blocks solid
The outside determining groove is with fixed roller 22.As such, it is possible to the rotation more easily realizing roller 20 is installed.
As depicted in figs. 1 and 2, supporting part 11 and fixture 40 are multiple, and multiple supporting parts 11 are along the week of wheel body 10
To arranged for interval, multiple fixtures 40 are arranged on supporting part 11 correspondingly.Formation between two neighboring supporting part 11
Groove is installed, roller 20 is arranged in installation groove.
Specifically, runner includes ring bodies, and ring bodies is erected on each supporting part 11, and each roller bearing 22 is respectively ring-type
The bar segment between two neighboring supporting part 11 accordingly of body.Now, roller bearing 22 is arranged around wheel body 10.By roller bearing 22
It is set to the mode of annular, the assembling difficulty of roller can be reduced.Now, the radian of the roller bearing section in roller body 21 is relatively
Little it is ensured that the normal rotation of roller body 21.
In one embodiment, fixing groove is arranged on the side wall of the axis direction along wheel body 10 of supporting part 11.
In another embodiment, fixing groove is arranged on the side wall of the circumference along wheel body 10 of supporting part 11.
The concrete structure of fixture 40 is, as shown in figure 3, fixture 40 includes first clamping plate 41, second clamping plate 42 and connects
Connect the connecting plate 43 of first clamping plate 41 and second clamping plate 42, supporting part 11 is folded between first clamping plate 41 and second clamping plate 42.
As such, it is possible to more easily realize the installation of fixture 40.Preferably, the company of being provided with first clamping plate 41 and second clamping plate 42
Connect hole, first clamping plate 41 and second clamping plate 42 are connected with supporting part 11 by being located in the securing member connecting in the hole.
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
The center in the hole of body 21 is provided with copper sheathing.
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 spring bearing 23, and spring bearing 23 is 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 is 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 spacing effect of pair roller body 21.
As depicted in figs. 1 and 2, runner includes taking turns core print seat 30, and wheel core print seat 30 includes shaft 31 and is arranged on shaft 31
On flange portion 32, wheel core print seat 30 be connected with wheel body 10 by flange portion 32.Preferably, wheel body 10 can be one or many
Individual, each wheel body 10 is provided with roller 20.
Wheel core print seat 30 in the present invention has centre bore and keyway, using this centre bore and keyway as auxiliary mounting structure.
Wheel body 10 has centre bore, and wheel body 10 is set on shaft 31 by this centre bore.
Runner in the present invention during wheel body 10 rolls forward, simultaneously roller 20 can under external force around
Its central axis roll, and can reach, when this two motions are combined together, the effect that runner rolls along oblique line.When with this
Runner constitute Chinese character pin-shaped structure as dolly chassis when, can accomplish that chassis any time any direction rotates.
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 include above-mentioned runner, and this runner can also may be used around the axial rotation of wheel body 10
With in the presence of roller 20 along the axial movement of wheel body 10, thus improving the kinematic dexterity of base apparatus.
In the present embodiment, chassis plate is provided with multiple runners, 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 motor, between 3 groups of runners
It is mutually 120 degree of angle, this triangular structure can ensure that whole driving platform is done centered on the axle center of 3 groups of runner cinctures
Itself rotary motion, can coordinate robotically-driven platform linear motion to adjust the appearance of robot during reaching impact point
State, thus reach the attitude angle needed for final state.
Each group runner includes at least multiple wheel bodies, is arranged in chassis plate by taking turns 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 are above-mentioned base apparatus.The present invention
In the base device structure optimization of robot, flexibly, can move along a straight line to any direction, the whole platform weight of itself
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, due to multiple rollers roller body along wheel body week
To the periphery arranging wheel body at intervals, and the rotation axis of roller is vertical with the rotation axis of wheel body, so, in roller
Effect, runner just can move along the axis of wheel body, and then improves the kinematic dexterity of runner, solves prior art
In the base apparatus of robot the poor problem of kinematic dexterity.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.All within the spirit and principles in the present invention, made any repair
Change, equivalent, improvement etc., should be included within the scope of the present invention.
Claims (12)
1. a kind of 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 described wheel master along the circumferentially spaced of described wheel body (10)
On the periphery wall of body (10), the roller body (21) of described roller (20) with respect to described wheel body (10) rotatably arranged with；
Fixture (40), described fixture (40) is removably mounted on described wheel body (10), and described roller (20) is passed through
On the fixing described wheel body (10) of described fixture (40)；
Wherein, the rotation axis of described roller (20) is vertical with the rotation axis of described wheel body (10), multiple described rollers
(20) periphery wall all protrudes from the periphery wall of described wheel body (10).
2. runner according to claim 1 is 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.
3. runner according to claim 1 is it is characterised in that described wheel body (10) has supporting part (11), described rolling
Wheel (20) is arranged on described supporting part (11), described fixture (40) and described supporting part (11) detachably connected with by institute
State roller (20) to be fixed on described supporting part (11).
4., it is characterised in that described roller (20) includes roller bearing (22), described roller is originally for runner according to claim 3
Body (21) is rotatably arranged on described roller bearing (22), and described supporting part (11) is provided with fixing groove, described roller bearing (22)
It is arranged in described fixing groove, described fixture (40) is blocked in the outside of described fixing groove with fixing described roller bearing (22).
5. runner according to claim 4 it is characterised in that described supporting part (11) and described fixture (40) be many
Individual, multiple described supporting parts (11) along the circumferentially-spaced arrangement of described wheel body (10), a pair of multiple described fixture (40)
It is arranged on described supporting part (11) with answering.
6. it is characterised in that described runner includes looped rod, described looped rod is erected at runner according to claim 5
On each described supporting part (11), each described roller bearing (22) be respectively described looped rod positioned at two neighboring accordingly described
Bar segment between supporting part (11).
7. runner according to claim 3 it is characterised in that described fixture (40) include first clamping plate (41), second
Clamping plate (42) and the connecting plate (43) connecting described first clamping plate (41) and described second clamping plate (42), described supporting part (11) folder
It is located between described first clamping plate (41) and described second clamping plate (42).
8. runner according to claim 4 is 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).
9. runner according to claim 1 is it is characterised in that described runner includes taking turns core print seat (30), described wheel core print seat
(30) shaft (31) and the flange portion (32) being arranged on described shaft (31) are included, described wheel core print seat (30) is passed through described
Flange portion (32) is connected with described wheel body (10).
10. a kind of base apparatus, including chassis plate and the runner that is arranged in described chassis plate it is characterised in that described runner
Runner any one of claim 1 to 9.
11. base apparatus according to claim 10 are it is characterised in that be provided with multiple described turns in described chassis plate
Wheel, multiple described runners are arranged in described chassis plate along the circumferentially spaced of described chassis plate.
A kind of 12. robots, including base apparatus it is characterised in that described base apparatus are described in claim 10 or 11
Base apparatus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610782165.8A CN106335319A (en) | 2016-08-31 | 2016-08-31 | Rotating wheel, base plate device and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610782165.8A CN106335319A (en) | 2016-08-31 | 2016-08-31 | Rotating wheel, base plate device and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106335319A true CN106335319A (en) | 2017-01-18 |
Family
ID=57823783
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610782165.8A Pending CN106335319A (en) | 2016-08-31 | 2016-08-31 | Rotating wheel, base plate device and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106335319A (en) |
Citations (7)
| 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 |
| CN2855792Y (en) * | 2005-11-30 | 2007-01-10 | 中国人民解放军国防科学技术大学 | All direction wheel |
| 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 |
| CN102700358A (en) * | 2012-06-19 | 2012-10-03 | 杭州电子科技大学 | Multi-row type omnidirectional 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 |
| CN206012204U (en) * | 2016-08-31 | 2017-03-15 | 珠海格力智能装备有限公司 | Runner, base apparatus and robot |
-
2016
- 2016-08-31 CN CN201610782165.8A patent/CN106335319A/en active Pending
Patent Citations (7)
| 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 |
| CN2855792Y (en) * | 2005-11-30 | 2007-01-10 | 中国人民解放军国防科学技术大学 | All direction 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 |
| 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 |
| CN102700358A (en) * | 2012-06-19 | 2012-10-03 | 杭州电子科技大学 | Multi-row type omnidirectional 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 |
| CN206012204U (en) * | 2016-08-31 | 2017-03-15 | 珠海格力智能装备有限公司 | Runner, base apparatus 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: 20170118 |
|
| RJ01 | Rejection of invention patent application after publication |