CN106364258A - Turning wheels, chassis device and robot - Google Patents
Turning wheels, chassis device and robot Download PDFInfo
- Publication number
- CN106364258A CN106364258A CN201610797712.XA CN201610797712A CN106364258A CN 106364258 A CN106364258 A CN 106364258A CN 201610797712 A CN201610797712 A CN 201610797712A CN 106364258 A CN106364258 A CN 106364258A
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- CN
- China
- Prior art keywords
- roller
- runner
- wheel body
- wheel
- described roller
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Rolls And Other Rotary Bodies (AREA)
Abstract
The invention provides turning wheels, a chassis device and a robot. Each turning wheel comprises a main wheel body and further comprises a plurality of rolling wheels, wherein the multiple rolling wheels are installed on the peripheral wall of the main wheel body at intervals in the circumferential direction of the main wheel body, and rolling wheel bodies of the rolling wheels are rotationally arranged relative to the main wheel body; the main wheel body is provided with supporting parts for supporting the rolling wheels; the rolling wheels comprise rolling shafts; the rolling wheel bodies are rotationally installed on the rolling shafts, and the rolling shafts are arc-shaped rods and are detachably arranged on the supporting parts in a penetrating mode; and the rotating axes of the rolling wheels are perpendicular to the rotating axis of the main wheel body, and the peripheral walls of the multiple rolling wheels all protrude from the peripheral wall of the main wheel body. By means of the turning wheels, the problem that the movement flexibility of chassis devices of robots in the prior art is poor is solved.
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 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.
At present, robot includes base, and robot relies on base to move on the ground.Base has wheel carrier, and base utilizes
This wheel carrier moves on the ground or rotates.
However, the wheel carrier of robot base of the prior art is unidirectional wheel carrier, it is multi-corner star-shape frame and one-way wheel
In conjunction with although can realize wheel carrier revolution and one-way wheel rotation, but wheel carrier direction of advance must consistent with one-way wheel, move
Motility 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 the first aspect of the invention, there is provided a kind of runner, including wheel body, turn
Wheel also includes: multiple rollers, multiple rollers along along circumferentially spaced the periphery wall being arranged on wheel body of wheel body, roller
Roller body with respect to wheel body rotatably arranged with；Wherein, wheel body has the supporting part for back-up roller wheel, and roller includes
Roller bearing, rotationally on being arranged on roller bearing, roller bearing is bow to roller body, and roller bearing is removably located on supporting part；
The rotation axiss of roller are vertical with the rotation axiss of wheel body, and the periphery wall of multiple rollers all protrudes 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, supporting part is multiple, multiple supporting parts along wheel body circumferentially, adjacent two supports of roller
Between portion.
Further, roller bearing is multiple, and multiple roller bearings are arranged around the axis of wheel body, and each roller bearing is provided with least
One roller body.
Further, roller bearing is erected on adjacent two supporting part, and roller bearing is provided with multiple roller body.
Further, runner also includes separator, and separator is arranged between two neighboring roller body so that adjacent two
Individual roller body is separately.
Further, separator is body, and separator is set on roller bearing.
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；Separator two ends are supported with the inner ring body of the spring bearing in corresponding roller body respectively
Connect.
Further, the end face of separator has, between the section of separator axis, angle of fitting.
Further, runner includes taking turns core print seat, and wheel body is one or more, and each wheel body is installed on wheel core print seat.
Further, wheel core print seat includes shaft and the flange portion being arranged on shaft, wheel core print seat pass through flange portion with
Wheel body connects.
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 axiss of roller are vertical with the rotation axiss of wheel body, so, in roller
In the presence of, 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 structural representation of the embodiment of the runner according to the present invention；
Fig. 2 shows the front view of the runner in Fig. 1；
Fig. 3 shows the structural representation of the separator of the runner in Fig. 1；
Fig. 4 shows the structural representation of the roller of the runner in Fig. 1；
Fig. 5 shows the structural representation of the roller bearing in the roller of the runner in Fig. 1；And
Fig. 6 shows the structural representation of the wheel core print seat of the runner in Fig. 1.
Wherein, above-mentioned accompanying drawing includes the following drawings labelling:
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, separator；41st, end face.
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. 6, this runner also includes: multiple rollings
Wheel 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
Body 21 with respect to wheel body 10 rotatably arranged with；Wherein, wheel body 10 has the supporting part 11 for back-up roller wheel 20, rolling
Wheel 20 includes roller bearing 22, and rotationally on being arranged on roller bearing 22, roller bearing 22 is bow to roller body 21, and roller bearing 22 is detachable
Be located on supporting part 11；The rotation axiss of roller 20 are vertical with the rotation axiss of wheel body 10, the periphery of multiple rollers 20
Wall 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 axiss of the rotation axiss of roller 20 and wheel body 10
Vertically, so, in the presence of roller 20, runner just can move along the axis of wheel body 10, and then improves the fortune of runner
Dynamic motility, 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, supporting part 11 be multiple, multiple supporting parts 11 along wheel body 10 circumferentially, roller 20 phase
Between two adjacent supporting parts 11.
In the present embodiment, roller bearing 22 is multiple, and multiple roller bearings 22 are arranged around the axis of wheel body 10, on each roller bearing 22
It is provided with least one roller body 21.Preferably, multiple rollers 20 are distributed on the periphery wall of wheel body 10.
In the present embodiment, roller bearing 22 is erected on adjacent two supporting part 11, and roller bearing 22 is provided with multiple rollers
Body 21.As such, it is possible to simplify the manufacture process of roller 20, improve the manufacture efficiency of roller 20.
In the present embodiment, runner also includes separator 40, and separator 40 is arranged between two neighboring roller body 21
So that two neighboring roller body 21 is separately.
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.
In order to realize the installation of separator 40, as shown in figure 3, separator 40 is body, separator 40 is set in roller bearing 22
On.As such, it is possible to more easily separator 40 is arranged on roller bearing 22.
Rotate around roller bearing 22 to realize roller body 21, roller 20 also includes spring bearing 23, spring bearing 23 is arranged
On the inwall of roller body 21, roller body 21 is arranged on roller bearing 22 by spring bearing 23；Separator 40 two ends are respectively
Abut with the inner ring body of the spring bearing 23 in corresponding roller body 21.
In order that separator 40 is fitted with the end face of roller body 21 and the end face of supporting part 11, as Fig. 2 and Fig. 3 institute
Show, the end face 41 of separator 40 has, between the section of separator 40 axis, angle of fitting.Now, separator 40
Section along its axis is taper surface.
In the present embodiment, runner includes taking turns core print seat 30, and wheel body 10 is one or more, and each wheel body 10 is installed in
On wheel core print seat 30.
In the present embodiment, as shown in fig. 6, wheel core print seat 30 includes shaft 31 and the flange portion being arranged on shaft 31
32, wheel core print seat 30 is connected with wheel body 10 by flange portion 32.
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 axiss of roller are vertical with the rotation axiss of wheel body, so, in roller
In the presence of, 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 (14)
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；
Wherein, described wheel body (10) has the supporting part (11) for supporting described roller (20), and described roller (20) includes
Roller bearing (22), rotationally on being arranged on described roller bearing (22), described roller bearing (22) is bow to described roller body (21),
Described roller bearing (22) is removably located on described supporting part (11)；
The rotation axiss of described roller (20) are vertical with the rotation axiss of described wheel body (10), outside multiple described rollers (20)
Perisporium 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 supporting part (11) is multiple, multiple described supporting parts
(11) along described wheel body (10) circumferentially, between two adjacent described supporting parts (11) of described roller (20).
4. runner according to claim 3 is it is characterised in that described roller bearing (22) is multiple, multiple described roller bearings (22)
Around the axis setting of described wheel body (10), each described roller bearing (22) is provided with least one described roller body
(21).
5. runner according to claim 1 is it is characterised in that described roller bearing (22) is erected at the described support of adjacent two
In portion (11), described roller bearing (22) is provided with multiple described roller body (21).
6. runner according to claim 5 is it is characterised in that described runner also includes separator (40), described separator
(40) be arranged between two neighboring described roller body (21) so that two neighboring described roller body (21) separately.
7. runner according to claim 6 it is characterised in that described separator (40) be body, described separator (40)
It is set on described roller bearing (22).
8. runner according to claim 6 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)；Described separator (40) two ends respectively with the institute in corresponding described roller body (21)
The inner ring body stating spring bearing (23) abuts.
9. runner according to claim 6 it is characterised in that the end face (41) of described separator (40) with perpendicular to described
Between the section of separator (40) axis, there is laminating angle.
10. runner according to claim 1 is it is characterised in that described runner includes taking turns core print seat (30), described wheel body
(10) it is one or more, each described wheel body (10) is installed on described wheel core print seat (30).
11. runners according to claim 10 are it is characterised in that described wheel core print seat (30) includes shaft (31) and setting
Flange portion (32) on described shaft (31), described wheel core print seat (30) is by described flange portion (32) and described wheel body
(10) connect.
A kind of 12. 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 11.
13. base apparatus according to claim 12 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 14. robots, including base apparatus it is characterised in that described base apparatus are described in claim 12 or 13
Base apparatus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610797712.XA CN106364258A (en) | 2016-08-31 | 2016-08-31 | Turning wheels, chassis device and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610797712.XA CN106364258A (en) | 2016-08-31 | 2016-08-31 | Turning wheels, chassis device and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106364258A true CN106364258A (en) | 2017-02-01 |
Family
ID=57898801
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610797712.XA Pending CN106364258A (en) | 2016-08-31 | 2016-08-31 | Turning wheels, chassis device and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106364258A (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 |
| 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 |
| US20130257138A1 (en) * | 2012-03-29 | 2013-10-03 | Feng-Jung Chang | Multi-directional driving mechanism of a spheric wheel |
| CN104395101A (en) * | 2012-06-12 | 2015-03-04 | 法国新生活公司 | 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 |
| CN206012205U (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 CN201610797712.XA patent/CN106364258A/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 |
| 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 |
| US20130257138A1 (en) * | 2012-03-29 | 2013-10-03 | Feng-Jung Chang | Multi-directional driving mechanism of a spheric wheel |
| CN104395101A (en) * | 2012-06-12 | 2015-03-04 | 法国新生活公司 | 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 |
| CN206012205U (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 | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170201 |