CN107284169A - Robot chassis drive wheel group - Google Patents
Robot chassis drive wheel group Download PDFInfo
- Publication number
- CN107284169A CN107284169A CN201710390528.8A CN201710390528A CN107284169A CN 107284169 A CN107284169 A CN 107284169A CN 201710390528 A CN201710390528 A CN 201710390528A CN 107284169 A CN107284169 A CN 107284169A
- Authority
- CN
- China
- Prior art keywords
- wheel group
- chassis body
- drive wheel
- guideway
- chassis
- 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
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
- B60G11/14—Resilient suspensions characterised by arrangement, location or kind of springs having helical, spiral or coil springs only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/30—Rigid axle suspensions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/10—Type of spring
- B60G2202/12—Wound spring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K2001/001—Arrangement or mounting of electrical propulsion units one motor mounted on a propulsion axle for rotating right and left wheels of this axle
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot chassis drive wheel group, including chassis body (1) and two pairs of driving wheels (2) installed in the chassis body (1) bottom；Wherein, two pairs of driving wheels (2) are arranged side by side, and driving wheel described in one pair of which (2) is driven pulley, driving wheel described in another pair (2) is connected by power transmission shaft (3) with drive mechanism respectively, and the drive mechanism is connected by elastic component with the bottom face of the chassis body (1).The robot chassis drive wheel group is simple in construction, easy to assembly, good damping effect, high by property, substantially increases stability during robotic movement.
Description
Technical field
The present invention relates to robot assembly, in particular it relates to robot chassis drive wheel group.
Background technology
Why intelligent robot is intelligent robot, because it has quite flourishing " brain ".Acted as in brain
It is center, this computer is with operating its people to have direct contact.Most importantly, such computer can be carried out
The action arranged by purpose.Just because of this, we just say that this robot is only real robot, although their appearance
May be different.
Wherein, service class robot needs to feed back and exchanged with attendee in time, therefore the driving of robot
Mode serves vital effect in the two exchange, and the common robot in market is generally driving wheel and universal wheel at present
Cooperation, this type of drive by property difference and damping effect is not obvious, it is difficult to ensure stability during robot motion.
Therefore, be badly in need of to provide a kind of stabilization, by the high robot chassis drive wheel group of property.
The content of the invention
It is an object of the invention to provide a kind of robot chassis drive wheel group, the robot chassis drive wheel group structure letter
It is single, easy to assembly, good damping effect, high by property, substantially increase stability during robotic movement.
To achieve these goals, the invention provides a kind of robot chassis drive wheel group, including chassis body and peace
Two pairs of driving wheels mounted in chassis body bottom；Wherein,
Two pairs of driving wheels are arranged side by side, and one pair of which driving wheel is driven pulley, and another pair driving wheel passes through transmission respectively
Axle is connected with drive mechanism, and drive mechanism is connected by elastic component with the bottom face of chassis body.
Preferably, drive mechanism includes motor and the motor casing being located at outside motor, and power transmission shaft passes through electricity
Casing is connected with motor.
Preferably, the top end face of motor casing is extended with the axis of guide, the bottom face of chassis body towards chassis body and formed
There is the guideway being engaged with the axis of guide, the axis of guide with chassis body is connected through guideway and by elastic component.
Preferably, the top end face of motor casing is extended with the axis of guide, the bottom face of chassis body towards chassis body and formed
There is the guideway being engaged with the axis of guide；Wherein,
It is oriented to the tip of the axis and has circumferentially been outwardly formed the first backstop labial lamina, the end of guideway is circumferentially inwardly formed
There is the second backstop labial lamina, elastic component is extension spring, and extension spring is enclosed on outside the axis of guide and two ends are respectively and fixedly connected to first
On backstop labial lamina and the second backstop labial lamina.
Preferably, guideway is the guideway of shaped hollow round table, and diameter is sequentially reduced from top to bottom.
Preferably, the top of guideway is outward extended with installation labial lamina in the horizontal direction, install offered on labial lamina it is logical
The tapped blind hole corresponding with through hole is formed with hole, chassis body.
Preferably, the edge for installing labial lamina is weldingly fixed in chassis body.
Preferably, one layer of waterproof layer is coated with the outer surface of motor casing and power transmission shaft.
Preferably, driving wheel is non-inflatable tyre.
According to above-mentioned technical proposal, two pairs of driving wheels are arranged side by side the present invention, one pair of which driving wheel as driven pulley,
Another pair driving wheel is used as driving wheel.It is connected on driving wheel by power transmission shaft with drive mechanism, drive mechanism mechanism can be with
Drive driving wheel to rotate to advance or drive driving wheel steering operation to cause robot ambulation to go out curved path.Meanwhile, driving
It is connected on driving wheel by elastic component with the bottom face of chassis body, once so driving wheel runs into advance or steering procedure
Road surface uneven place or when being rolled by small barrier, the pitch force being subject to can be weakened by elastic component and even unload power so that
Robot trunk and head above chassis body keep stable, do not jolt.And in order to further improve
The percent of pass on the robot chassis, can choose the driving wheel being relatively large in diameter, so can further raise the level on chassis
Position, easily passes through the ground of barrier.Certainly, if it is desired to further improve the damping effect of wheel, also may be used
To design the damping elastic piece structure of similar driving wheel on the driven wheel.So, robot chassis drive wheel group by property more
Good, damping effect is more obvious.
Other features and advantages of the present invention will be described in detail in subsequent embodiment part.
Brief description of the drawings
Accompanying drawing is, for providing a further understanding of the present invention, and to constitute a part for specification, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings：
Fig. 1 is the structural representation of the robot chassis drive wheel group in a kind of embodiment of the invention provided.
Description of reference numerals
1- chassis body 2- driving wheels
3- power transmission shaft 4- motor casings
5- axis of guide 6- guideways
7- extension springs 8- installs labial lamina
Embodiment
The embodiment of the present invention is described in detail below in conjunction with accompanying drawing.It should be appreciated that this place is retouched
The embodiment stated is merely to illustrate and explain the present invention, and is not intended to limit the invention.
In the present invention, in the case where not making opposite explanation, " inside and outside, upper and lower " etc. is included in the noun of locality in term
Only represent orientation of the term under normal service condition, or be skilled artisan understands that be commonly called as, and be not construed as pair
The limitation of the term.
Referring to Fig. 1, the present invention provides a kind of robot chassis drive wheel group, including chassis body 1 and installed in chassis sheet
Two pairs of driving wheels 2 of the bottom of body 1；Wherein,
Two pairs of driving wheels 2 are arranged side by side, and one pair of which driving wheel 2 is driven pulley, and another pair driving wheel 2 is respectively by passing
Moving axis 3 is connected with drive mechanism, and drive mechanism is connected by elastic component with the bottom face of chassis body 1.
By above-mentioned technical proposal, two pairs of driving wheels 2 are arranged side by side, one pair of which driving wheel 2 is another as driven pulley
Driving wheel is used as to driving wheel 2.It is connected on driving wheel by power transmission shaft with drive mechanism, drive mechanism mechanism can drive
Driving wheel, which is rotated, to advance or drives driving wheel steering operation to cause robot ambulation to go out curved path.Meanwhile, in driving wheel 2
It is upper to be connected by elastic component with the bottom face of chassis body 1, once so driving wheel is encountered in advance or steering procedure
The uneven place in road surface or when being rolled by small barrier, the pitch force being subject to can be weakened by elastic component and even unload power so that peace
Keep stable mounted in the robot trunk of the top of chassis body 1 and head, do not jolt.And in order to further improve this
The percent of pass on robot chassis, can choose the driving wheel 2 being relatively large in diameter, so can further raise the horizontal position on chassis
Put, easily pass through the ground of barrier.Certainly, if it is desired to further improve the damping effect of wheel, can also
The damping elastic piece structure of similar driving wheel is designed on the driven wheel.So, 2 groups of robot chassis driving wheel by property more
Good, damping effect is more obvious.
In the present embodiment, protected to simplify the driving core of drive mechanism and the driving core is carried out to extend
Service life, it is preferable that drive mechanism includes motor and the motor casing 4 being located at outside motor, power transmission shaft 3 is passed through
Motor casing 4 is connected with motor.
Connect because drive mechanism is joined directly together by elastic component with chassis body 1, elastic component shake during damping can cause
Slight skew occurs for the direction of motion of power transmission shaft 3 and driving wheel 2, and in order to avoid the generation of this case, it is preferable that motor
The top end face of shell 4 is extended with to be formed with the axis of guide 5, the bottom face of chassis body 1 towards chassis body 1 to match with the axis of guide 5
The guideway 6 of conjunction, the axis of guide 5 with chassis body 1 is connected through guideway 6 and by elastic component.
So, pass through the mutual cooperation of the axis of guide 5 and guideway 6 so that no matter damping when elastic component (such as glue stick, bullet
Spring etc.) how to shake, the axis of guide 5 is moved in the restriction range of guideway 6 all the time, and the motor casing 4 being connected with the axis of guide 5
Nature will not optional turning, offset by likewise, the direction of motion of power transmission shaft 3 and driving wheel 2 would not also be loosened.
In another embodiment, preferably the top end face of motor casing 4 is extended with the axis of guide 5, chassis towards chassis body 1
The guideway 6 being engaged with the axis of guide 5 is formed with the bottom face of body 1；Wherein,
The end of the axis of guide 5 has circumferentially been outwardly formed the first backstop labial lamina, the end of guideway 6 circumferentially inside shape
Into there is the second backstop labial lamina, elastic component is extension spring 7, and extension spring 7 is enclosed on the outside of the axis of guide 5 and two ends are respectively and fixedly connected to
On first backstop labial lamina and the second backstop labial lamina.
In this way, extension spring 7 is arranged between the first backstop labial lamina and the second backstop labial lamina, and when robot jolts, ground
Face gives driving wheel 2 one upward power, and this power is transferred to guiding of the axis of guide 5 along guideway 6 when on the axis of guide 5 and transported upwards
It is dynamic, and the upward motion of the axis of guide 5 causes the first backstop labial lamina stretches extension spring 7 elongated, now extension spring 7 is put aside
Downward convergent force.Once the power that ground applies disappears, the downward convergent force of extension spring 7 retracts the first backstop labial lamina again
In original position, such whole process extension spring 7 ground is jolted to be formed power buffering fall, realize good damping effect.
In addition, in order to mitigate the weight of guideway 6 to mitigate whole robot overall weight, it is preferable that guideway 6
For the guideway 6 of shaped hollow round table, and diameter is sequentially reduced from top to bottom.
For the ease of installing, the top for being preferably directed axle sleeve 6 is outward extended with installation labial lamina 8 in the horizontal direction, installs lip
Offered on plate 8 and be formed with the tapped blind hole corresponding with through hole in through hole, chassis body 1.
In addition, installing steadiness to further improve the robot chassis drive wheel group, it is preferable that install labial lamina 8
Edge be weldingly fixed in chassis body 1.
Because the robot chassis drive wheel group can encounter excess surface water or sewage in using running, once its bottom
Disk, which is drenched, to get rusty easily, and will shorten the service life of each structural member, in order to avoid it is above-mentioned the occurrence of, it is preferable that electricity
One layer of waterproof layer is coated with the outer surface of casing 4 and power transmission shaft 3.
It is well known that the timely sealing effectiveness of pneumatic tire is good again, due to its removably property cause it more or less can
The phenomenon leaked air, even being not easy the gas leakage being noticeable, it is shrivelled that the length of time one also results in tire, it is impossible to normal rolling
It is dynamic.And in order to solve above-mentioned technical barrier, preferably driving wheel 2 is non-inflatable tyre.
The preferred embodiment of the present invention is described in detail above in association with accompanying drawing, still, the present invention is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the present invention, a variety of letters can be carried out to technical scheme
Monotropic type, these simple variants belong to protection scope of the present invention.
It is further to note that each particular technique feature described in above-mentioned embodiment, in not lance
In the case of shield, can be combined by any suitable means, in order to avoid unnecessary repetition, the present invention to it is various can
The combination of energy no longer separately illustrates.
In addition, various embodiments of the present invention can be combined randomly, as long as it is without prejudice to originally
The thought of invention, it should equally be considered as content disclosed in this invention.
Claims (9)
1. a kind of robot chassis drive wheel group, it is characterised in that including chassis body (1) and installed in the chassis body
(1) two pairs of driving wheels (2) of bottom；Wherein,
Two pairs of driving wheels (2) are arranged side by side, and driving wheel described in one pair of which (2) is driven pulley, driving described in another pair
Wheel (2) is connected by power transmission shaft (3) with drive mechanism respectively, and the drive mechanism passes through elastic component and the chassis body
(1) bottom face is connected.
2. robot chassis according to claim 1 drive wheel group, it is characterised in that the drive mechanism includes driving electricity
Machine and the motor casing (4) being located at outside the motor, the power transmission shaft (3) are driven through the motor casing (4) with described
Dynamic motor is connected.
3. robot chassis according to claim 2 drive wheel group, it is characterised in that the top end face of the motor casing (4)
It is extended with the axis of guide (5), the bottom face of the chassis body (1) to be formed with towards the chassis body (1) and is oriented to described
The guideway (6) that axle (5) is engaged, the axis of guide (5) is through the guideway (6) and passes through the elastic component and institute
Chassis body (1) is stated to be connected.
4. robot chassis according to claim 2 drive wheel group, it is characterised in that the top end face of the motor casing (4)
It is extended with the axis of guide (5), the bottom face of the chassis body (1) to be formed with towards the chassis body (1) and is oriented to described
The guideway (6) that axle (5) is engaged；Wherein,
The end of the axis of guide (5) has circumferentially been outwardly formed the first backstop labial lamina, and the end of the guideway (6) is along week
To the second backstop labial lamina has been inwardly formed, the elastic component is extension spring (7), and the extension spring (7) is enclosed on the guiding
Axle (5) is outside and two ends are respectively and fixedly connected on the first backstop labial lamina and the second backstop labial lamina.
5. the robot chassis drive wheel group according to claim 3 or 4, it is characterised in that the guideway (6) is sky
The round table-like guideway of the heart (6), and diameter is sequentially reduced from top to bottom.
6. robot chassis according to claim 5 drive wheel group, it is characterised in that the top of the guideway (6)
It is outward extended with installation labial lamina (8), the installation labial lamina (8) and is offered on through hole, the chassis body (1) in the horizontal direction
It is formed with the tapped blind hole corresponding with the through hole.
7. robot chassis according to claim 6 drive wheel group, it is characterised in that the edge of the installation labial lamina (8)
It is weldingly fixed in the chassis body (1).
8. robot chassis according to claim 2 drive wheel group, it is characterised in that the motor casing (4) and power transmission shaft
(3) one layer of waterproof layer is coated with outer surface.
9. robot chassis according to claim 1 drive wheel group, it is characterised in that the driving wheel (2) is on-inflatable
Tire.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710390528.8A CN107284169A (en) | 2017-05-27 | 2017-05-27 | Robot chassis drive wheel group |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710390528.8A CN107284169A (en) | 2017-05-27 | 2017-05-27 | Robot chassis drive wheel group |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107284169A true CN107284169A (en) | 2017-10-24 |
Family
ID=60094787
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710390528.8A Pending CN107284169A (en) | 2017-05-27 | 2017-05-27 | Robot chassis drive wheel group |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107284169A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110901321A (en) * | 2019-11-07 | 2020-03-24 | 华南农业大学 | Semi-active suspension of hillside orchard conveyor and simulation analysis method |
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| CN2128229Y (en) * | 1992-06-16 | 1993-03-17 | 李式杰 | Shock absorption health saddle for bicycle |
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| CN204955960U (en) * | 2015-09-25 | 2016-01-13 | 北京云迹科技有限公司 | A pressure spring extension spring formula suspension and vehicle and wheeled robot for drive wheel |
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2017
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| CN202879184U (en) * | 2012-10-11 | 2013-04-17 | 日东电子发展（深圳）有限公司 | Floating base mechanism used for automatic guided vehicle (AGV) and AGV motor tractor |
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| CN110901321A (en) * | 2019-11-07 | 2020-03-24 | 华南农业大学 | Semi-active suspension of hillside orchard conveyor and simulation analysis method |
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Application publication date: 20171024 |
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