CN107323554A - Robot chassis and robot - Google Patents
Robot chassis and robot Download PDFInfo
- Publication number
- CN107323554A CN107323554A CN201710687213.XA CN201710687213A CN107323554A CN 107323554 A CN107323554 A CN 107323554A CN 201710687213 A CN201710687213 A CN 201710687213A CN 107323554 A CN107323554 A CN 107323554A
- Authority
- CN
- China
- Prior art keywords
- cross
- robot
- robot chassis
- drive device
- bottom plate
- 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
- 230000033001 locomotion Effects 0.000 claims description 10
- 230000009184 walking Effects 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
Abstract
The present invention provides a kind of robot chassis, including bottom plate, at least two road wheels, cross-member, each road wheel of at least two road wheel is operated alone by a first driving means, the cross-member is fixed on the bottom plate, the first driving means are rotatably connected with the bottom plate, are connected between the cross-member and the first driving means for driving the first driving means relative to the second drive device that the bottom plate is rotated.The present invention has good shock-absorbing function.
Description
Technical field
The present invention relates to robot chassis and robot.
Technical background
Data display, at present, at least 48 countries are in development robot in the world, wherein 25 national involved services
Humanoid robot is developed.In Japan, North America and Europe, so far the left fund of 7 type meter 40 service humanoid robot enter experiment and
Half commercial applications.In recent years, global service robot market keeps faster growth rate.The chassis of robot is robot
The important component of walking, the chassis of existing robot does not have damping effect.
The content of the invention
The present invention is directed to above technical problem there is provided robot chassis and robot, with good shock-absorbing function.
First aspect present invention provides a kind of robot chassis, including bottom plate, at least two road wheels, cross-member, described
Each road wheel of at least two road wheels is operated alone by a first driving means, and the cross-member is fixed on the bottom
On plate, the first driving means are rotatably connected with the bottom plate, connect between the cross-member and the first driving means
It is connected to for driving the first driving means relative to the second drive device that the bottom plate is rotated.
Further, at least two road wheel is four road wheels.
Further, the robot chassis also includes at least one accessory whorl, each accessory whorl of at least one accessory whorl
The 3rd drive device for driving the accessory whorl lifting/put down is respectively connected between the cross-member.
Further, at least one described accessory whorl is two accessory whorls, and described two accessory whorls are separately positioned on the robot
The rear and front end of the direction of motion on chassis.
Further, the robot chassis also includes at least one attitude transducer, at least one posture sensing
Device is arranged on the lower section of the bottom plate.
Further, at least one described attitude transducer includes at least one pair of attitude transducer, at least one pair of described appearance
State sensor is identical with the quantity of the accessory whorl, in the both sides of the direction of motion perpendicular to the robot chassis of the accessory whorl
It is respectively arranged with an attitude transducer.
Further, the cross-member includes first crossbeam frame and second cross beam frame, the first crossbeam frame and described the
Two cross beam frames are in cross, and second drive device is fixed by the first crossbeam frame, and the 3rd drive device passes through
The second cross beam frame is fixed.
Further, one end of second drive device is rotatably mounted on the cross-member, and described second drives
The other end of dynamic device is rotationally fixed with the first driving means.
Second aspect of the present invention provides a kind of robot, and the robot includes robot chassis as described above.
A kind of robot chassis that the present invention is provided, including bottom plate, at least two road wheels, cross-member, described at least two
Each road wheel of individual road wheel is operated alone by a first driving means, and the cross-member is fixed on the bottom plate,
The first driving means are rotatably connected with the bottom plate, and use is connected between the cross-member and the first driving means
In the driving first driving means relative to the second drive device that the bottom plate is rotated.Therefore, can when pavement roughness
Control the road wheel to be rotated relative to bottom plate by controlling the motion of the second drive device and make the corresponding conversion of road wheel
Vertical height tackles the ground of out-of-flatness.
Brief description of the drawings
Fig. 1 is one of dimensional structure diagram of the present invention.
Fig. 2 is the two of the dimensional structure diagram of the present invention.
Embodiment
Illustrate below in conjunction with the accompanying drawings, the present invention is introduced in detail, it will be appreciated that be following simply to introduce the specific of the present invention
Embodiment, and do not lie in restriction protection scope of the present invention.
Such as a kind of robot chassis 100 of Fig. 1 and Fig. 2, including bottom plate 1, at least two road wheels 2, cross-member 3, it is described extremely
Each road wheel 2 of few two road wheels 2 is operated alone by a first driving means 4, and the cross-member 3 is fixed on described
On bottom plate 1, the first driving means 4 are rotatably connected with the bottom plate 1, the cross-member 3 and the first driving means 4
Between be connected with for driving the first driving means 4 relative to the second drive device 5 that the bottom plate 1 is rotated, the row
Walking wheel 2 can be made of pneumatic tire, and second drive device 5 can use stroke motor, and the first driving means 4 can be adopted
Use rotary drive motor.Therefore, can be by controlling the motion of the second drive device to control the road wheel when pavement roughness
Rotated relative to bottom plate and the corresponding conversion vertical height of road wheel is tackled the ground of out-of-flatness.
At least two road wheel 2 is four road wheels, steady during motion to ensure.
The robot chassis 100 also includes at least one accessory whorl 6, each accessory whorl of at least one accessory whorl 6 and institute
State the 3rd drive device 7 being respectively connected between cross-member 3 for driving the lifting of accessory whorl 6/put down, the 3rd drive device 7
The lifting of the accessory whorl 6 can be driven or put down, out-of-flatness ground can be tackled, the 3rd drive device 7 can be using row
Journey motor.
At least one described accessory whorl 6 is two accessory whorls, and described two accessory whorls are separately positioned on the robot chassis 100
The rear and front end of the direction of motion, when driving road wheel 2 to advance or retreat, can be oriented to by two accessory whorls 6 respectively.
The robot chassis 100 also includes at least one attitude transducer 8, and at least one described attitude transducer 8 is set
Put in the lower section of the bottom plate, attitude transducer 8 is used for the posture for perceiving robot chassis 100, by perceiving robot chassis
100 posture, controls the lifting of road wheel 2, completes adaptive road surface.
At least one described attitude transducer 8 includes at least one pair of attitude transducer, at least one pair of described attitude transducer
It is identical with the quantity of the accessory whorl 6, in the both sides point of the direction of motion perpendicular to the robot chassis 100 of the accessory whorl 6
It is not provided with an attitude transducer, particularly, when accessory whorl 6 is two, front and rear accessory whorl is equipped with a pair of attitude transducers,
The posture on robot chassis can preferably be perceived.
The cross-member 3 includes first crossbeam frame 31 and second cross beam frame 32, the first crossbeam frame 31 and described second
The frame of crossbeam 32 is in cross, and second drive device 5 is fixed by the first crossbeam frame 31, the 3rd drive device 7
Fixed by the second cross beam frame 32, the second drive device 5 and the 3rd drive device 7 fixed by criss-cross cross-member 3,
Ensure that bobbin movement is stable.
One end of second drive device 5 is rotatably mounted on the cross-member 3, second drive device 5
The other end rotationally fixed with the first driving means 4.
The present invention also provides a kind of robot, and the robot includes robot chassis as described above.
Embodiments of the invention are to introduce its embodiment, do not lie in and limit its protection domain.The skill of the industry
Art personnel can make some modifications under the inspiration of the present embodiment, therefore all equivalence changes done according to the scope of the claims of the present invention
Or modification, belong in scope of the patent claims of the present invention.
Claims (9)
1. a kind of robot chassis, it is characterised in that including bottom plate, at least two road wheels, cross-member, at least two row
The each road wheel for walking wheel is operated alone by a first driving means, and the cross-member is fixed on the bottom plate, described
First driving means are rotatably connected with the bottom plate, are connected between the cross-member and the first driving means for driving
The first driving means are moved relative to the second drive device that the bottom plate is rotated.
2. robot chassis according to claim 1, it is characterised in that at least two road wheel is four walkings
Wheel.
3. robot chassis according to claim 1, it is characterised in that it is secondary that the robot chassis also includes at least one
Wheel, is respectively connected between each accessory whorl and the cross-member of at least one accessory whorl for driving the accessory whorl lifting/put
Under the 3rd drive device.
4. robot chassis according to claim 3, it is characterised in that at least one described accessory whorl is two accessory whorls, institute
State the rear and front end that two accessory whorls are separately positioned on the direction of motion on the robot chassis.
5. robot chassis according to claim 3, it is characterised in that the robot chassis also includes at least one appearance
State sensor, at least one described attitude transducer is arranged on the lower section of the bottom plate.
6. robot chassis according to claim 5, it is characterised in that at least one described attitude transducer is included at least
A pair of attitude transducers, at least one pair of described attitude transducer is identical with the quantity of the accessory whorl, the accessory whorl perpendicular to
The both sides of the direction of motion on the robot chassis are respectively arranged with an attitude transducer.
7. robot chassis according to claim 3, it is characterised in that the cross-member includes first crossbeam frame and second
Cross beam frame, the first crossbeam frame and the second cross beam frame are in cross, and second drive device is horizontal by described first
Roof beam structure is fixed, and the 3rd drive device is fixed by the second cross beam frame.
8. robot chassis according to claim 1, it is characterised in that one end of second drive device is rotationally
It is fixed on the cross-member, the other end of second drive device is rotationally fixed with the first driving means.
9. a kind of robot, it is characterised in that the robot includes the robot bottom described in any one of claim 1-8
Disk.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710687213.XA CN107323554A (en) | 2017-08-11 | 2017-08-11 | Robot chassis and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710687213.XA CN107323554A (en) | 2017-08-11 | 2017-08-11 | Robot chassis and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107323554A true CN107323554A (en) | 2017-11-07 |
Family
ID=60226427
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710687213.XA Pending CN107323554A (en) | 2017-08-11 | 2017-08-11 | Robot chassis and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107323554A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060243499A1 (en) * | 2005-03-14 | 2006-11-02 | Yuji Hosoda | Moving robot |
| CN102390462A (en) * | 2011-09-17 | 2012-03-28 | 广州大学 | Robot traveling device with liftable frame |
| CN203324818U (en) * | 2013-07-12 | 2013-12-04 | 华北电力大学 | Intelligent automatically-wall-switching robot based on multisensor fusion technology |
| CN205220844U (en) * | 2015-11-02 | 2016-05-11 | 国网山东省电力公司电力科学研究院 | Transformer substation independently gets over barrier and patrols and examines robot |
| CN205644272U (en) * | 2016-03-31 | 2016-10-12 | 苏州大学 | Mail steamer self stabilization serving trolley |
| CN205930207U (en) * | 2016-08-27 | 2017-02-08 | 大连铁丰轨道交通装备有限责任公司 | Electronic combined car |
| CN106584052A (en) * | 2016-12-07 | 2017-04-26 | 中冶京诚工程技术有限公司 | Underground comprehensive pipe rack mounting robot |
| CN207257822U (en) * | 2017-08-11 | 2018-04-20 | 广东奥讯智能设备技术有限公司 | Robot chassis and robot |
-
2017
- 2017-08-11 CN CN201710687213.XA patent/CN107323554A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060243499A1 (en) * | 2005-03-14 | 2006-11-02 | Yuji Hosoda | Moving robot |
| CN102390462A (en) * | 2011-09-17 | 2012-03-28 | 广州大学 | Robot traveling device with liftable frame |
| CN203324818U (en) * | 2013-07-12 | 2013-12-04 | 华北电力大学 | Intelligent automatically-wall-switching robot based on multisensor fusion technology |
| CN205220844U (en) * | 2015-11-02 | 2016-05-11 | 国网山东省电力公司电力科学研究院 | Transformer substation independently gets over barrier and patrols and examines robot |
| CN205644272U (en) * | 2016-03-31 | 2016-10-12 | 苏州大学 | Mail steamer self stabilization serving trolley |
| CN205930207U (en) * | 2016-08-27 | 2017-02-08 | 大连铁丰轨道交通装备有限责任公司 | Electronic combined car |
| CN106584052A (en) * | 2016-12-07 | 2017-04-26 | 中冶京诚工程技术有限公司 | Underground comprehensive pipe rack mounting robot |
| CN207257822U (en) * | 2017-08-11 | 2018-04-20 | 广东奥讯智能设备技术有限公司 | Robot chassis and robot |
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|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20171107 |
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| WD01 | Invention patent application deemed withdrawn after publication |