CN114274713A - Front guide wheel of chassis and robot chassis - Google Patents
Front guide wheel of chassis and robot chassis Download PDFInfo
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- CN114274713A CN114274713A CN202111529353.7A CN202111529353A CN114274713A CN 114274713 A CN114274713 A CN 114274713A CN 202111529353 A CN202111529353 A CN 202111529353A CN 114274713 A CN114274713 A CN 114274713A
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- wheel
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- front guide
- guide wheel
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Abstract
The invention discloses a front guide wheel of a chassis and a robot chassis, wherein the front guide wheel of the chassis comprises a fixed frame, a wheel frame, a movable wheel and an elastic damping component, the movable wheel is preferably a polyurethane wheel body, the movable wheel is rotatably arranged on the wheel frame through a rotating shaft and rotates around a central shaft of the wheel frame, the wheel frame is rotatably arranged on the fixed frame through a supporting shaft, the front end of the wheel frame is rotatably supported relative to the fixed frame, and the elastic damping component is arranged between the wheel frame and the fixed frame and positioned at the rear side of the supporting shaft. This mount and the front end fixed connection of the chassis body of robot and make this chassis front guide wheel be as the leading wheel of robot, remove the wheel and can receive the striking when running the in-process, and then make the wheel carrier rotate around the back shaft, and the elastic shock attenuation subassembly that is located the rear side cushions the impact force, and then plays good shock attenuation effect, and this elastic shock attenuation subassembly assembles in the front guide wheel of chassis and forms the integral type structure.
Description
Technical Field
The invention relates to a movable wheel, in particular to a front guide wheel of a chassis and a robot chassis.
Background
The self-tracking robot has the self-moving capability and high automation degree, and is suitable for remote control. Since the self-tracking robot has the autonomous moving capability, the requirement for the moving device is high, the moving device is required to be flexible in rotation, and meanwhile, the self-tracking robot can have a certain obstacle crossing capability under the condition of complex terrain.
However, in the prior art, the front guide wheel of the robot chassis generally adopts a common directional wheel or universal wheel, and the defects of adopting the common universal wheel or directional wheel as the front guide wheel are as follows: when the robot crosses the obstacle, do not possess shock-absorbing function, and intensity is relatively poor, and installs extra damping device not only the structure complicacy, still leads to use cost higher, can't the wide use on middle and low-end robot, consequently, designs a simple structure, convenient to use, low cost and has the front idler wheel of buffer function for the skilled person in the art problem that awaits a urgent need to solve.
Disclosure of Invention
The invention aims to provide a front guide wheel of a chassis and a robot chassis, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides a leading wheel in chassis, includes mount, wheel carrier, removes wheel and elasticity shock-absorbing component, it rotates through the pivot to remove the wheel and installs and revolve its center pin on the wheel carrier, the wheel carrier passes through the back shaft and rotates and install on the mount, elasticity shock-absorbing component sets up between wheel carrier and the mount, the back shaft with the corresponding distribution around the elasticity shock-absorbing component.
As a further scheme of the invention: the fixing frame comprises a first top plate and first side plates fixedly connected to two sides of the first top plate and extending downwards, the first top plate and the two first side plates jointly form a U-shaped fixing frame, threaded holes used for being connected with the chassis body are formed in the first top plate, and the supporting shaft is fixedly installed between the two first side plates.
As a further scheme of the invention: two set up the through-hole of symmetry on the first curb plate, the back shaft is worn to establish in the through-hole of two first curb plates, and the outer end screw thread of back shaft even has fastening bolt, and fastening bolt's terminal surface supports tightly in the outside of first curb plate so that the back shaft with the mount links firmly.
As a further scheme of the invention: the wheel carrier comprises two second side plates, a second top plate and a third top plate, wherein the second top plate and the third top plate are fixedly installed between the second side plates, the second top plate is located behind the third top plate and parallel to each other, the height of the second top plate is smaller than that of the third top plate, the wheel carrier is sleeved upwards from an opening in the bottom of the fixing frame, a supporting hole is formed between the two second side plates on the wheel carrier and located below the third top plate, and the supporting hole in the wheel carrier penetrates through the supporting shaft to achieve rotary supporting of the wheel carrier.
As a further scheme of the invention: elasticity shock-absorbing component is damping spring, first roof on the mount with be located on the wheel carrier and form the installation space that is used for installing damping spring between the second roof at rear, damping spring sets up in the installation space, damping spring's one end is contradicted on first roof, and damping spring's the other end is contradicted on the second roof.
As a further scheme of the invention: still include locating lever and two stop collars, two coaxial step holes have been seted up to first roof and second roof symmetry respectively, and two stop collars pass two step holes respectively and with locating lever threaded connection, and the terminal surface of stop collar compresses tightly in the step hole of corresponding side, and damping spring cover establishes outside the locating lever and damping spring's inner wall and the outer wall laminating of stop collar.
As a further scheme of the invention: the stop pin is fixedly installed between the two first side plates of the fixing frame, the two second side plates of the wheel carrier are provided with limiting holes for the stop pin to pass through, the stop pin is arranged in the limiting holes in a sliding and penetrating mode, the limiting holes are arc-shaped holes, and the cross sections of the arc-shaped limiting holes and the cross sections of the supporting shafts are distributed concentrically.
As a further scheme of the invention: the movable wheel is a polyurethane wheel body.
The invention also provides a robot chassis which comprises a chassis body and the chassis front guide wheel, wherein a fixing frame of the chassis front guide wheel is fixedly arranged at the front end of the bottom of the chassis body.
Compared with the prior art, the invention has the beneficial effects that:
the invention has compact structure and reasonable design, the movable wheel is rotatably arranged on the wheel frame through the rotating shaft and rotates around the central shaft of the wheel frame, the wheel frame is rotatably arranged on the fixed frame through the supporting shaft, the elastic damping component is arranged between the wheel frame and the fixed frame, the supporting shaft and the elastic damping component are correspondingly distributed in the front and back directions, the fixed frame is fixedly connected with the front end of the chassis body of the robot, and the front guide wheel of the chassis is used as the guide wheel of the robot.
Drawings
FIG. 1 is a schematic structural view of a front guide wheel of a chassis;
FIG. 2 is a cross-sectional view of a front idler of the chassis;
FIG. 3 is a schematic view of the assembly of the front guide wheel of the chassis and the chassis body;
in the figure: the chassis comprises a chassis front guide wheel 100, a fixing frame 1, a first top plate 11, a first stepped hole 11a, a threaded hole 11b, a first side plate 12, a wheel frame 2, a second top plate 21, a second stepped hole 21a, a second side plate 22, a limiting hole 23, a third top plate 24, a wheel body 3, a rotating shaft 31, a stop pin 4, a support shaft 5, a damping spring 6, a limiting sleeve 61 and a chassis body 200.
Detailed Description
To explain technical contents, structural features, and objects and effects of the technical solutions in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments.
Referring to fig. 1 to 2, in the present embodiment, a chassis front guide wheel 100 includes a fixed frame 1, a wheel frame 2, a movable wheel and an elastic damping assembly, wherein the movable wheel is preferably a polyurethane wheel body 3, the movable wheel is rotatably mounted on the wheel frame 2 through a rotating shaft 31 and rotates around a central axis thereof, the wheel frame 2 is rotatably mounted on the fixed frame 1 through a supporting shaft 5, so that a front end of the wheel frame 2 rotatably supports relative to the fixed frame 1, and the elastic damping assembly is disposed between the wheel frame 2 and the fixed frame 1 and behind the supporting shaft 5. The fixing frame 1 is fixedly connected with the front end of a chassis body 200 of the robot, the chassis front guide wheel 100 is used as a guide wheel of the robot, the moving wheel is impacted when encountering obstacles in the advancing process, so that the wheel frame 2 rotates around the supporting shaft 5, the elastic damping component positioned at the rear side buffers the impact force, and a good damping effect is achieved, the elastic damping component is assembled in the chassis front guide wheel 100 and forms an integrated structure, so that the split assembly of the common moving wheel and the damping component is avoided, and the universality of the chassis front guide wheel 100 is improved.
In this embodiment, specifically, the fixing frame 1 includes, but is not limited to, a first top plate 11 and first side plates 12 fixedly connected to two sides of the first top plate 11 and extending downward, the first top plate 11 and the two first side plates 12 together form a U-shaped fixing frame 1, a threaded hole 11b for connecting the chassis body 200 is formed in the first top plate 11, and the supporting shaft 5 is fixedly installed between the two first side plates 12.
The specific installation mode of back shaft 5 does, two set up the through-hole of symmetry on the first curb plate 12, back shaft 5 wears to establish in the through-hole of two first curb plates 12, and the outer end screw thread of back shaft 5 even has fastening bolt to make back shaft 5 and mount 1 link firmly.
The wheel frame 2 includes, but is not limited to, two second side plates 22, and a second top plate 21 and a third top plate 24 fixedly installed between the second side plates 22, the second top plate 21 is located behind the third top plate 24, the two top plates are parallel to each other, the height of the second top plate 21 is smaller than the height of the third top plate 24, the wheel frame 2 is sleeved upwards from an opening at the bottom of the fixing frame 1, a support hole is formed between the two second side plates 22 on the wheel frame 2, the support hole is located below the third top plate 24, and the support hole on the wheel frame 2 is arranged on the support shaft 5 in a penetrating manner, so as to realize the rotational support of the wheel frame 2.
In this embodiment, an installation space for installing an elastic damping component is formed between the first top plate 11 on the fixing frame 1 and the second top plate 21 located behind the wheel carrier 2, in this embodiment, the elastic damping component is a damping spring 6, the damping spring 6 is disposed in the installation space between the second top plate 21 and the first top plate 11, one end of the damping spring 6 abuts against the first top plate 11, and the other end of the damping spring 6 abuts against the second top plate 21. In order to facilitate the installation of the damping spring 6, the damping spring is preferable to further comprise a positioning rod (not shown in the figure) and two limiting sleeves 61, step holes are symmetrically formed in the first top plate 11 and the second top plate 21 respectively, the step holes comprise a first step hole 11a in the first top plate 11 and a second step hole 21a in the second top plate 21, the damping spring 6 is sleeved outside the positioning rod, the two limiting sleeves 61 respectively penetrate through the first step hole 11a and the second step hole 21a and are in threaded connection with the positioning rod, the end faces of the limiting sleeves 61 are tightly pressed in the step holes on the corresponding sides, one ends of the limiting sleeves 61 extend into an installation space, and the inner wall of the damping spring 6 is attached to the outer wall of the limiting sleeves 61. In this way, the assembly and disassembly of the damper spring 6 are facilitated. Taking the assembly of the damping spring 6 as an example, the damping spring 6 is pushed into the installation space and is approximately in a coaxial state with the two step holes, then the positioning rod is inserted into the installation space from one of the step holes and is placed in the damping spring 6, and then the two limiting sleeves 61 are inserted into the two step holes and are locked on the positioning rod through threads, thereby completing the installation of the spring. The disassembly process of the damping spring 6 is the reverse of the installation process described above and will not be described herein.
In this embodiment, preferably, in order to limit the rotation range of the wheel carrier 2 relative to the fixing frame 1, so as to prevent the damping spring 6 from being excessively compressed or stretched, a stop pin 4 is fixedly installed between the two first side plates 12 of the fixing frame 1, the stop pin 4 is parallel to the supporting shaft 5, two second side plates 22 of the wheel carrier 2 are both provided with a limiting hole 23 through which the stop pin 4 passes, the limiting hole 23 is an arc-shaped hole, and the cross section of the arc-shaped limiting hole 23 and the cross section of the supporting shaft 5 are concentrically distributed. Through the setting of spacing hole 23 and backing pin 4 for wheel carrier 2 rotates around back shaft 5 in the within range of spacing hole 23, thereby avoids damping spring 6 to cause metal fatigue because of excessive compression or excessive tensile, and then prolongs damping spring 6's life.
Referring to fig. 3, the invention further provides a robot chassis, which includes a chassis body 200, wherein the front end of the bottom of the chassis body 200 is fixedly connected to the fixing frame 1 of the chassis front guide wheel 100, so that the chassis front guide wheel 100 is used as a guide wheel of the robot chassis, when the robot chassis is impacted by an obstacle during a walking process, the wheel carrier 2 on the chassis front guide wheel 100 rotates around the supporting shaft 5, and the impact force is buffered and absorbed by the elastic damping component behind the supporting shaft 5, so as to improve the obstacle crossing performance of the robot.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrases "comprising … …" or "comprising … …" does not exclude the presence of additional elements in a process, method, article, or terminal that comprises the element. Further, herein, "greater than," "less than," "more than," and the like are understood to exclude the present numbers; the terms "above", "below", "within" and the like are to be understood as including the number.
Although the embodiments have been described, once the basic inventive concept is obtained, other variations and modifications of these embodiments can be made by those skilled in the art, so that the above embodiments are only examples of the present invention, and not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes using the contents of the present specification and drawings, or any other related technical fields, which are directly or indirectly applied thereto, are included in the scope of the present invention.
Claims (9)
1. A chassis front guide wheel is characterized in that: including mount, wheel carrier, removal wheel and elasticity damper, remove the wheel and rotate through the pivot and install on the wheel carrier and revolve its center pin around, the wheel carrier is installed on the mount through the back shaft rotation, elasticity damper sets up between wheel carrier and the mount, the back shaft with the elasticity damper corresponds the distribution from beginning to end.
2. The front guide wheel for a chassis as claimed in claim 1, wherein: the fixing frame comprises a first top plate and first side plates fixedly connected to two sides of the first top plate and extending downwards, the first top plate and the two first side plates jointly form a U-shaped fixing frame, threaded holes used for being connected with the chassis body are formed in the first top plate, and the supporting shaft is fixedly installed between the two first side plates.
3. The front guide wheel of chassis as claimed in claim 2, wherein: two set up the through-hole of symmetry on the first curb plate, the back shaft is worn to establish in the through-hole of two first curb plates, and the outer end screw thread of back shaft even has fastening bolt, and fastening bolt's terminal surface supports tightly in the outside of first curb plate so that the back shaft with the mount links firmly.
4. The front guide wheel of chassis as claimed in claim 2, wherein: the wheel carrier comprises two second side plates, a second top plate and a third top plate, wherein the second top plate and the third top plate are fixedly installed between the second side plates, the second top plate is located behind the third top plate and parallel to each other, the height of the second top plate is smaller than that of the third top plate, the wheel carrier is sleeved upwards from an opening in the bottom of the fixing frame, a supporting hole is formed between the two second side plates on the wheel carrier and located below the third top plate, and the supporting hole in the wheel carrier penetrates through the supporting shaft to achieve rotary supporting of the wheel carrier.
5. The front guide wheel of chassis as claimed in claim 4, wherein: elasticity shock-absorbing component is damping spring, first roof on the mount with be located on the wheel carrier and form the installation space that is used for installing damping spring between the second roof at rear, damping spring sets up in the installation space, damping spring's one end is contradicted on first roof, and damping spring's the other end is contradicted on the second roof.
6. The front guide wheel of chassis as claimed in claim 5, wherein: still include locating lever and two stop collars, two coaxial step holes have been seted up to first roof and second roof symmetry respectively, and two stop collars pass two step holes respectively and with locating lever threaded connection, and the terminal surface of stop collar compresses tightly in the step hole of corresponding side, and damping spring cover establishes outside the locating lever and damping spring's inner wall and the outer wall laminating of stop collar.
7. The front guide wheel of chassis as claimed in claim 4, wherein: the stop pin is fixedly installed between the two first side plates of the fixing frame, the two second side plates of the wheel carrier are provided with limiting holes for the stop pin to pass through, the stop pin is arranged in the limiting holes in a sliding and penetrating mode, the limiting holes are arc-shaped holes, and the cross sections of the arc-shaped limiting holes and the cross sections of the supporting shafts are distributed concentrically.
8. The front guide wheel for a chassis as claimed in claim 1, wherein: the movable wheel is a polyurethane wheel body.
9. The utility model provides a robot chassis, includes chassis body, its characterized in that: the chassis front guide wheel as claimed in any one of claims 1 to 8, wherein the fixing frame of the chassis front guide wheel is fixedly mounted at the front end of the bottom of the chassis body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111529353.7A CN114274713A (en) | 2021-12-14 | 2021-12-14 | Front guide wheel of chassis and robot chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111529353.7A CN114274713A (en) | 2021-12-14 | 2021-12-14 | Front guide wheel of chassis and robot chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114274713A true CN114274713A (en) | 2022-04-05 |
Family
ID=80872166
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111529353.7A Pending CN114274713A (en) | 2021-12-14 | 2021-12-14 | Front guide wheel of chassis and robot chassis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114274713A (en) |
-
2021
- 2021-12-14 CN CN202111529353.7A patent/CN114274713A/en active Pending
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