CN202987328U - Obstacle crossing running mechanism of robot - Google Patents
Obstacle crossing running mechanism of robot Download PDFInfo
- Publication number
- CN202987328U CN202987328U CN 201220615226 CN201220615226U CN202987328U CN 202987328 U CN202987328 U CN 202987328U CN 201220615226 CN201220615226 CN 201220615226 CN 201220615226 U CN201220615226 U CN 201220615226U CN 202987328 U CN202987328 U CN 202987328U
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- robot
- driving wheel
- spring
- wheel support
- obstacle crossing
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Abstract
The utility model relates to an obstacle crossing running mechanism of a robot. The obstacle crossing running mechanism of the robot comprises a self-running robot and is characterized in that a bottom plate of the self-running robot is provided with a driven wheel support, the driven wheel support is arranged along the forward direction, the front end and the rear end of the driven wheel support are connected with driven wheels through a rotation shaft, the middle portion of bottom plate is provided with a driving wheel support, the upper end of the driving wheel support is connected to the bottom plate through the rotation shaft, the middle portion of the driving wheel support is provided with a spring pull rod, the spring pull rod is connected with one end of a spring, the other end of the spring is connected with spring height adjustment vertical column located on the bottom plate, two sides of the lower end of the driving wheel support are respectively provided with a driving wheel, and each driving wheel is connected with a driving motor. The obstacle crossing running mechanism of the robot is characterized in that the spring is an air spring, when being installed, the spring is in a pre-pressure state, the driving wheels and the driven wheels are on the same plane, and axes of the driving wheels are located on span center lines of the two driven wheels.The obstacle crossing running mechanism of the robot has the advantage of being capable of achieving obstacle crossing of the self-running robot.
Description
Technical field
The utility model relate to a kind of robot across the obstacle traveling gear.
Background technology
Along with the technical development of electric mechanical, various robots occurred at present, early stage robot is mainly for the commercial production fitting line, they generally are fixed on manufacturing line, what often present is a mechanical arm, is used for grasping at parts, is arranged on product.And occurred at present can autonomous, and can look after anergy old man, patient's robot, and it can hold water, food delivery.Its walking is mainly to rely on the wheel be arranged on the robot chassis, it in the walking of the place of Land leveling freely, but in case run into the place that obstacle is arranged, doorway small stair as the sanitary accomodation of family just can't pass through, if attempt to strengthen power obstacle detouring by force, because the center of gravity of this type of robot is higher, therefore often possibility overturning demands urgently existing walking structure from robot walking is improved, to solve from the problem of robot walking in the easy overturning of obstacle detouring.
Summary of the invention
The purpose of this utility model is the problem that solves in prior art from the existing easy overturning during at obstacle detouring of robot walking, provide a kind of robot across the obstacle traveling gear.a kind of robot of the utility model design across the obstacle traveling gear, comprise from robot walking, it is characterized in that: the flower wheel support is being installed on the chassis of robot walking, the flower wheel support is along front line direction setting, rear and front end at the flower wheel support connects flower wheel by rotating shaft, at the middle part on chassis, the driving wheel support is installed, the upper end of driving wheel support is connected on the chassis by rotating shaft, be provided with the spring pull bar in the driving wheel mid-stent, an end of linking springs on the spring pull bar, the other end of spring is connected with spring height adjusting post on being positioned at the chassis, both sides in driving wheel support lower end respectively are equipped with a driving wheel, each driving wheel connects drive motor separately.It is characterized in that: described spring is gas spring, it is characterized in that: described spring is in the precompressed compression state when mounted.It is characterized in that: described driving wheel and flower wheel are at same plane, and the axis of driving wheel is positioned on the centre of span line of two flower wheels.The utility model has the advantages that and to realize walking across barrier from robot walking.
Description of drawings
Fig. 1 is structural representation of the present utility model, the structural representation when Fig. 2 is obstacle detouring of the present utility model.
Below in conjunction with accompanying drawing and construction embodiment, the utility model is made detailed description of operation.
The specific embodiment
figure comprises from robot walking, it is characterized in that: on the chassis 1 of robot walking, flower wheel support 2 is being installed, the flower wheel support is along front line direction setting, rear and front end at the flower wheel support connects flower wheel 4 by rotating shaft 3, at the middle part on chassis, driving wheel support 5 is installed, the upper end of driving wheel support is connected on the chassis by rotating shaft 6, be provided with spring pull bar 7 in the driving wheel mid-stent, an end of linking springs 8 on the spring pull bar, the other end of spring is connected with spring height adjusting post 9 on being positioned at the chassis, both sides in driving wheel support lower end respectively are equipped with a driving wheel 10, each driving wheel connects drive motor 11 separately.It is characterized in that: described spring is gas spring.It is characterized in that: described driving wheel and flower wheel are at same plane, and the axis of driving wheel is positioned on the centre of span line of two flower wheels.It is characterized in that: described spring is in the precompressed compression state when mounted.
When the walking of accessible plane, due to the effect of gas spring, make 80% robot self-gravity action on driving wheel, driving wheel and with the walking of mobile robot.Because flower wheel only bears the deadweight of 20% robot, make like this contact friction force on driving wheel and ground larger, thereby make robot ambulation more freely.
When robot ambulation runs into obstacle 12, the pressure that bears due to front driven wheel and ground the robot deadweight 10% in, its can be along with the direction of resistance is lifted under the thrust of driving wheel freely.When driving wheel ran into obstacle, due to the adjusting of gas spring pressure and the antagonistic force of obstacle, driving wheel also can freely upwards lift and clear the jumps, thereby robot is cleared the jumps.
When needing to turn, can regulate the rotating speed of two drive motor in left and right, produce the differential of left and right driving wheel.Robot is rotated or the original place rotation, guarantee the alerting ability of its walking.
Claims (4)
1. a robot across the obstacle traveling gear, comprise from robot walking, it is characterized in that: the flower wheel support is being installed on the chassis of robot walking, the flower wheel support is along front line direction setting, rear and front end at the flower wheel support connects flower wheel by rotating shaft, at the middle part on chassis, the driving wheel support is installed, the upper end of driving wheel support is connected on the chassis by rotating shaft, be provided with the spring pull bar in the driving wheel mid-stent, an end of linking springs on the spring pull bar, the other end of spring is connected with spring height adjusting post on being positioned at the chassis, both sides in driving wheel support lower end respectively are equipped with a driving wheel, each driving wheel connects drive motor separately.
By a kind of robot claimed in claim 1 across the obstacle traveling gear, it is characterized in that: described spring is gas spring.
By a kind of robot claimed in claim 1 across the obstacle traveling gear, it is characterized in that: described driving wheel and flower wheel are at same plane, and the axis of driving wheel is positioned on the centre of span line of two flower wheels.
By claim 1 or 2 described a kind of robot across the obstacle traveling gear, it is characterized in that: described spring is in the precompressed compression state when mounted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220615226 CN202987328U (en) | 2012-11-20 | 2012-11-20 | Obstacle crossing running mechanism of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220615226 CN202987328U (en) | 2012-11-20 | 2012-11-20 | Obstacle crossing running mechanism of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202987328U true CN202987328U (en) | 2013-06-12 |
Family
ID=48558532
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220615226 Expired - Fee Related CN202987328U (en) | 2012-11-20 | 2012-11-20 | Obstacle crossing running mechanism of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202987328U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102923208A (en) * | 2012-11-20 | 2013-02-13 | 上海欧桥电子科技发展有限公司 | Obstacle-crossing walking mechanism of robot |
| CN108438091A (en) * | 2018-03-19 | 2018-08-24 | 单淑梅 | A kind of anti-inclination exploration robot |
| CN109823442A (en) * | 2019-03-19 | 2019-05-31 | 浙江欣奕华智能科技有限公司 | A kind of anti-dumping chassis structure of mobile robot |
| WO2019196756A1 (en) * | 2018-04-08 | 2019-10-17 | AIrobot株式会社 | Traveling mechanism and autonomous moving transfer robot |
-
2012
- 2012-11-20 CN CN 201220615226 patent/CN202987328U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102923208A (en) * | 2012-11-20 | 2013-02-13 | 上海欧桥电子科技发展有限公司 | Obstacle-crossing walking mechanism of robot |
| CN108438091A (en) * | 2018-03-19 | 2018-08-24 | 单淑梅 | A kind of anti-inclination exploration robot |
| WO2019196756A1 (en) * | 2018-04-08 | 2019-10-17 | AIrobot株式会社 | Traveling mechanism and autonomous moving transfer robot |
| CN109823442A (en) * | 2019-03-19 | 2019-05-31 | 浙江欣奕华智能科技有限公司 | A kind of anti-dumping chassis structure of mobile robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130612 Termination date: 20181120 |