CN107444518B - A kind of chassis sliding equipment for intelligent robot - Google Patents
A kind of chassis sliding equipment for intelligent robot Download PDFInfo
- Publication number
- CN107444518B CN107444518B CN201710690391.8A CN201710690391A CN107444518B CN 107444518 B CN107444518 B CN 107444518B CN 201710690391 A CN201710690391 A CN 201710690391A CN 107444518 B CN107444518 B CN 107444518B
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- China
- Prior art keywords
- chassis
- slide bar
- pulley
- sliding
- sliding equipment
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
- B60C7/00—Non-inflatable or solid tyres
- B60C7/10—Non-inflatable or solid tyres characterised by means for increasing resiliency
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/02—Resilient suspensions for a single wheel with a single pivoted arm
-
- C—CHEMISTRY; METALLURGY
- C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
- C08L—COMPOSITIONS OF MACROMOLECULAR COMPOUNDS
- C08L61/00—Compositions of condensation polymers of aldehydes or ketones; Compositions of derivatives of such polymers
- C08L61/04—Condensation polymers of aldehydes or ketones with phenols only
- C08L61/06—Condensation polymers of aldehydes or ketones with phenols only of aldehydes with phenols
-
- C—CHEMISTRY; METALLURGY
- C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
- C08K—Use of inorganic or non-macromolecular organic substances as compounding ingredients
- C08K3/00—Use of inorganic substances as compounding ingredients
- C08K3/18—Oxygen-containing compounds, e.g. metal carbonyls
- C08K3/20—Oxides; Hydroxides
- C08K3/22—Oxides; Hydroxides of metals
- C08K2003/2227—Oxides; Hydroxides of metals of aluminium
-
- C—CHEMISTRY; METALLURGY
- C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
- C08L—COMPOSITIONS OF MACROMOLECULAR COMPOUNDS
- C08L2205/00—Polymer mixtures characterised by other features
- C08L2205/03—Polymer mixtures characterised by other features containing three or more polymers in a blend
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Health & Medical Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Medicinal Chemistry (AREA)
- Polymers & Plastics (AREA)
- Organic Chemistry (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Toys (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a kind of chassis sliding equipments for intelligent robot, the chassis sliding equipment includes chassis, the lower surface on the chassis is fixed with the slide bar being arranged along the vertical direction, sliding sleeve is slidably provided on the slide bar, the lower surface on the chassis is further fixed on cylinder, described cylinder one end is fixed on the chassis, the other end is connect with the sliding sleeve, so that the cylinder is able to drive the sliding sleeve and moves along the length direction of the slide bar, the lower end of the slide bar is also hinged with pulley yoke, one end in the pulley yoke far from the slide bar can be rotatably set pulley, the chassis sliding equipment further includes bracket, described bracket one end is hinged on the sliding sleeve, the other end is slidably disposed on the pulley yoke surface；Existing robot chassis is solved since base area is larger, it is easy to be stuck or collide barrier, the poor problem of adaptability.
Description
Technical field
The present invention relates to intelligent robots, and in particular, to a kind of chassis sliding equipment for intelligent robot.
Background technique
Ratcheting mechanism is widely used in robot chassis at present, and ratcheting mechanism has motion stability, manipulates simple, its movement speed
The advantages that degree and direction are easy to control.Ratcheting mechanism can be divided into all-around mobile and non-comprehensive according to the direction moved in plane
Mobile two ways.Wherein non-all-around mobile mode is applicable in the mechanism infrequently to commutate more.And all-around mobile mode is
The omni-directional wheel for using 3 or more simultaneously, realizes the translation of any direction, can be rotated in place and be transported with the camber line of any complexity
It is dynamic.Common wheel is effectively prevented due to the incomplete property movement limitation of the bring that cannot break away.Therefore it is more suitable for indoor complexity
Space.But this all-around mobile mode, only applicable planar movement, can not carry out height adjustment.For interior,
In the case that area is smaller, barrier is more, space structure is complicated and changeable, this kind of robot chassis since base area is larger,
It is easy to the barrier that is stuck or collides, adaptability is poor.
Summary of the invention
The object of the present invention is to provide a kind of chassis sliding equipments for intelligent robot, solve existing robot
Chassis is larger due to base area, it is easy to be stuck or collide barrier, the poor problem of adaptability.
To achieve the goals above, the present invention provides a kind of chassis sliding equipment for intelligent robot, the bottoms
Disk sliding equipment includes chassis, and the lower surface on the chassis is fixed with the slide bar being arranged along the vertical direction, can be slided on the slide bar
It is provided with sliding sleeve dynamicly, the lower surface on the chassis is further fixed on cylinder, and described cylinder one end is fixed on the chassis, another
End is connect with the sliding sleeve, so that the cylinder is able to drive the sliding sleeve and moves along the length direction of the slide bar, the cunning
The lower end of bar is also hinged with pulley yoke, and one end far from the slide bar can be rotatably set pulley in the pulley yoke, described
Chassis sliding equipment further includes bracket, and described bracket one end is hinged on the sliding sleeve, and the other end is slidably disposed on described
Pulley yoke surface.
Preferably, the surface of the pulley yoke is recessed downwards the sliding slot being formed with along the pulley yoke length direction, described
It is slidably provided with ball on one end in bracket far from the sliding sleeve, the ball is at least partly slideably fastened on institute
It states in sliding slot.
Preferably, the lower end of the slide bar is fixed with supporting plate, and one end of the pulley yoke is hinged on the supporting plate.
It is preferably located on the slide bar between the sliding sleeve and the chassis and is socketed with buffer spring, the buffering
Spring one end is fixed on the lower surface on the chassis, and the other end is fixed on the upper surface of the sliding sleeve.
Preferably, the bracket, the pulley yoke and the pulley form pulley mechanism, and the quantity of the pulley mechanism
For 2-4 group.
Preferably, the pulley includes wheel hub and the rubber sleeve for being socketed in the hub outside surface, is set in the rubber sleeve
It is equipped with cavity, is filled with padded coaming in the cavity.
Preferably, the padded coaming is made by following raw material, and the raw material includes: phenolic resin, glass fibre, gluing
Agent, paraffin, polyvinyl alcohol, vermiculite and flyash.
Preferably, the dosage relative to the phenolic resin of 100 parts by weight, the glass fibre is 10-20 parts by weight,
The dosage of the adhesive is 2-4 parts by weight, and the dosage of the paraffin is 10-15 parts by weight, and the dosage of the polyvinyl alcohol is
20-40 parts by weight, the dosage of the vermiculite are 3-8 parts by weight, and the dosage of the flyash is 5-10 parts by weight.
According to the above technical scheme, the present invention provides a kind of chassis sliding equipment for intelligent robot, the bottoms
Disk sliding equipment includes chassis, and the lower surface on the chassis is fixed with the slide bar being arranged along the vertical direction, can be slided on the slide bar
It is provided with sliding sleeve dynamicly, the lower surface on the chassis is further fixed on cylinder, and described cylinder one end is fixed on the chassis, another
End is connect with the sliding sleeve, so that the cylinder is able to drive the sliding sleeve and moves along the length direction of the slide bar, the cunning
The lower end of bar is also hinged with pulley yoke, and one end far from the slide bar can be rotatably set pulley in the pulley yoke, described
Chassis sliding equipment further includes bracket, and described bracket one end is hinged on the sliding sleeve, and the other end is slidably disposed on described
Pulley yoke surface；When robot encounters barrier, sliding sleeve can be driven to move upwards by cylinder, sliding sleeve is adjusted by bracket
The angle of pulley yoke facilitates robot to clear the jumps so as to adjust the distance between pulley and chassis, bottom provided by the invention
Disk sliding equipment structure is simple, is easy to adjust, and make robot more stable during the motion.
Other features and advantages of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
The drawings are intended to provide a further understanding of the invention, and constitutes part of 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 structure chart of chassis sliding equipment provided by the invention；
Fig. 2 is the structure chart of sliding equipment middle pulley in chassis provided by the invention.
Description of symbols
The chassis 1- 2- cylinder
3- slide bar 4- sliding sleeve
5- bracket 6- ball
7- pulley 8- pulley yoke
9- supporting plate 701- wheel hub
702- padded coaming 703- rubber sleeve
Specific embodiment
Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
In the present invention, in the absence of explanation to the contrary, the noun of locality that " one end, other end " etc. is included in the term
Only represent orientation of the term under normal service condition, or be those skilled in the art understand that be commonly called as, and be not construed as pair
The limitation of the term.
As depicted in figs. 1 and 2: a kind of chassis sliding equipment for intelligent robot, the chassis sliding equipment include
Chassis 1, the lower surface on the chassis 1 are fixed with the slide bar 3 being arranged along the vertical direction, are slidably provided on the slide bar 3
Sliding sleeve 4, the lower surface on the chassis 1 are further fixed on cylinder 2, and described 2 one end of cylinder is fixed on the chassis 1, the other end with
The sliding sleeve 4 connects, so that the cylinder 2 is able to drive the sliding sleeve 4 and moves along the length direction of the slide bar 3, the cunning
The lower end of bar 3 is also hinged with pulley yoke 8, and one end far from the slide bar 3 can be rotatably set pulley 7 in the pulley yoke 8,
The chassis sliding equipment further includes bracket 5, and described 5 one end of bracket is hinged on the sliding sleeve 4, and the other end is mounted slidably
On 8 surface of pulley yoke.When robot encounters barrier, sliding sleeve 4 can be driven to move upwards by cylinder 2, sliding sleeve 4 is logical
The angle for crossing the adjustment pulley yoke 8 of bracket 5 facilitates robot to clear the jumps so as to adjust the distance between pulley 7 and chassis 1,
Sliding equipment structure in chassis provided by the invention is simple, is easy to adjust, and make robot more stable during the motion.
In a preferred embodiment of the invention, in order to further facilitate adjust chassis height, the pulley
The surface of frame 8 is recessed downwards the sliding slot being formed with along 8 length direction of pulley yoke, far from the sliding sleeve 4 in the bracket 5
Ball 6 is slidably provided on one end, the ball 6 is at least partly slideably fastened in the sliding slot.
In a preferred embodiment of the invention, in order to further facilitate adjust chassis height, the slide bar 3
Lower end be fixed with supporting plate 9, one end of the pulley yoke 8 is hinged on the supporting plate 9.
In a preferred embodiment of the invention, in order to further facilitate the height for adjusting chassis, so that adjusting
The shake that robot is reduced during section, improves the stability of robot, the institute between the sliding sleeve 4 and the chassis 1
It states and is socketed with buffer spring 10 on slide bar 3, described 10 one end of buffer spring is fixed on the lower surface on the chassis 1, and the other end is solid
It is scheduled on the upper surface of the sliding sleeve 4.
In a preferred embodiment of the invention, in order to further facilitate the height for adjusting chassis, so that adjusting
The shake that robot is reduced during section, improves the stability of robot, the bracket 5, the pulley yoke 8 and the pulley 7
Pulley mechanism is formed, and the quantity of the pulley mechanism is 2-4 group.
In a preferred embodiment of the invention, in order to further increase the damping effect of robot, the cunning
Wheel 7 includes wheel hub 701 and the rubber sleeve 703 for being socketed in 701 outer surface of wheel hub, is provided with cavity in the rubber sleeve 703,
Padded coaming 702 is filled in the cavity.
In a preferred embodiment of the invention, described slow in order to further increase the damping effect of robot
Material 702 is rushed to be made by following raw material, the raw material include: phenolic resin, glass fibre, adhesive, paraffin, polyvinyl alcohol,
Vermiculite and flyash.
In a preferred embodiment of the invention, in order to further increase the damping effect of robot, relative to
The phenolic resin of 100 parts by weight, the dosage of the glass fibre are 10-20 parts by weight, and the dosage of the adhesive is 2-4
Parts by weight, the dosage of the paraffin are 10-15 parts by weight, and the dosage of the polyvinyl alcohol is 20-40 parts by weight, the vermiculite
Dosage is 3-8 parts by weight, and the dosage of the flyash is 5-10 parts by weight.Specifically, the raw material components of padded coaming 702 are as follows:
It is 15 parts by weight relative to the phenolic resin of 100 parts by weight, the dosage of the glass fibre, the dosage of the adhesive is
3 parts by weight, the dosage of the paraffin are 12 parts by weight, and the dosage of the polyvinyl alcohol is 30 parts by weight, the dosage of the vermiculite
For 5 parts by weight, the dosage of the flyash is 7 parts by weight.
It is described the prefered embodiments of the present invention in detail above in conjunction with attached drawing, still, the present invention is not limited to above-mentioned realities
The detail in mode is applied, within the scope of the technical concept of the present invention, a variety of letters can be carried out to technical solution of the present invention
Monotropic type, these simple variants all belong to the scope of protection of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, can be combined in any appropriate way, in order to avoid unnecessary repetition, the present invention to it is various can
No further explanation will be given for the combination of energy.
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 also be regarded as the disclosure of the present invention.
Claims (8)
1. a kind of chassis sliding equipment for intelligent robot, which is characterized in that the chassis sliding equipment includes chassis
(1), the lower surface of the chassis (1) is fixed with the slide bar (3) being arranged along the vertical direction, slideably sets on the slide bar (3)
It is equipped with sliding sleeve (4), the lower surface of the chassis (1) is further fixed on cylinder (2), and described cylinder (2) one end is fixed on the chassis
(1) on, the other end is connect with the sliding sleeve (4), so that the cylinder (2) is able to drive the sliding sleeve (4) along the slide bar (3)
Length direction movement, the lower end of the slide bar (3) is also hinged with pulley yoke (8), far from the slide bar in the pulley yoke (8)
(3) one end can be rotatably set pulley (7), and the chassis sliding equipment further includes bracket (5), described bracket (5) one end
It is hinged on the sliding sleeve (4), the other end is slidably disposed on the pulley yoke (8) surface.
2. chassis sliding equipment according to claim 1, which is characterized in that the surface of the pulley yoke (8) is to lower recess
It is formed with the sliding slot along the pulley yoke (8) length direction, can be slided on one end far from the sliding sleeve (4) in the bracket (5)
It is provided with dynamicly ball (6), the ball (6) is at least partly slideably fastened in the sliding slot.
3. chassis sliding equipment according to claim 1, which is characterized in that the lower end of the slide bar (3) is fixed with bracket
One end of plate (9), the pulley yoke (8) is hinged on the supporting plate (9).
4. chassis sliding equipment according to claim 1, which is characterized in that be located at the sliding sleeve (4) and the chassis (1)
Between the slide bar (3) on be socketed with buffer spring (10), described buffer spring (10) one end is fixed on the chassis (1)
Lower surface, the other end are fixed on the upper surface of the sliding sleeve (4).
5. chassis sliding equipment according to claim 1, which is characterized in that the bracket (5), the pulley yoke (8) and
The pulley (7) forms pulley mechanism, and the quantity of the pulley mechanism is 2-4 group.
6. chassis sliding equipment according to claim 1, which is characterized in that the pulley (7) includes wheel hub (701) and set
The rubber sleeve (703) in the wheel hub (701) outer surface is connect, cavity is provided in the rubber sleeve (703), is filled out in the cavity
Filled with padded coaming (702).
7. chassis sliding equipment according to claim 6, which is characterized in that the padded coaming (702) is by following raw material
It is made, the raw material includes: phenolic resin, glass fibre, adhesive, paraffin, polyvinyl alcohol, vermiculite and flyash.
8. chassis sliding equipment according to claim 7, which is characterized in that the phenolic aldehyde tree relative to 100 parts by weight
Rouge, the glass fibre dosage be 10-20 parts by weight, the dosage of the adhesive is 2-4 parts by weight, the dosage of the paraffin
For 10-15 parts by weight, the dosage of the polyvinyl alcohol is 20-40 parts by weight, and the dosage of the vermiculite is 3-8 parts by weight, described
The dosage of flyash is 5-10 parts by weight.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710690391.8A CN107444518B (en) | 2017-08-14 | 2017-08-14 | A kind of chassis sliding equipment for intelligent robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710690391.8A CN107444518B (en) | 2017-08-14 | 2017-08-14 | A kind of chassis sliding equipment for intelligent robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107444518A CN107444518A (en) | 2017-12-08 |
| CN107444518B true CN107444518B (en) | 2019-08-06 |
Family
ID=60491085
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710690391.8A Active CN107444518B (en) | 2017-08-14 | 2017-08-14 | A kind of chassis sliding equipment for intelligent robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107444518B (en) |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE69307023T2 (en) * | 1992-05-26 | 1997-04-17 | Honda Motor Co Ltd | Moving robot with legs |
| CN105557452A (en) * | 2014-10-06 | 2016-05-11 | 北京时代沃林科技发展有限公司 | Modularization desert tree planting robot |
| CN105216889B (en) * | 2015-10-16 | 2018-01-05 | 新疆新能钢结构有限责任公司 | Climbing robot |
| CN205396265U (en) * | 2016-03-11 | 2016-07-27 | 中科新松有限公司 | A safety device and wall climbing robot for high altitude construction equipment |
| CN106003071B (en) * | 2016-06-07 | 2018-06-22 | 泉州市泉港区正凯装潢设计有限公司 | A kind of robot logger people |
-
2017
- 2017-08-14 CN CN201710690391.8A patent/CN107444518B/en active Active
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| Publication number | Publication date |
|---|---|
| CN107444518A (en) | 2017-12-08 |
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