CN203306136U - Walking device of robot - Google Patents
Walking device of robot Download PDFInfo
- Publication number
- CN203306136U CN203306136U CN2013201172379U CN201320117237U CN203306136U CN 203306136 U CN203306136 U CN 203306136U CN 2013201172379 U CN2013201172379 U CN 2013201172379U CN 201320117237 U CN201320117237 U CN 201320117237U CN 203306136 U CN203306136 U CN 203306136U
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- CN
- China
- Prior art keywords
- drive wheel
- chassis
- robot
- wheel
- wheels
- 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.)
- Expired - Fee Related
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Abstract
The utility model relates to a walking device of a robot. The walking device is installed on a chassis of the robot. The chassis comprises an upper shell and a lower shell. The walking device comprises driving wheels and auxiliary wheels. The driving wheels and the auxiliary wheels are installed in the cavity of the upper shell and the cavity of the lower shell and penetrate through the lower surface of the lower shell. Both the number of the driving wheels and the number of the auxiliary wheels are two. The auxiliary wheels are installed in the front and at the rear of the chassis, the driving wheels are installed on the left and the right of the chassis, and driving wheel movable units which can make the driving wheels elastically slide up and down are arranged on the driving wheels. By the adoption of the driving wheel movable units which can make the driving wheels elastically slide up and down, the driving wheels can be made to make contact with the ground all the time, by the cooperation with the auxiliary wheels, at least three wheels of the chassis of the robot can be located in a same plane, and therefore the robot can stably walk.
Description
Technical field
The utility model relates to the robot that can automatically walk, refers in particular to here a kind ofly can, according to the bottom surface planeness, automatically regulate the running gear of the robot of drive wheel height.
Background technology
The robot that can automatically walk on market, they can drive drive wheel by electro-motor and realize walking automatically, but must guarantee that bottom surface is smooth, make drive wheel can contact bottom surface, just can realize the pulsation-free walking, if bottom surface is smooth not, perhaps bottom surface runs into obstacle, on market, robot just can not move ahead, or can not the cut-through thing, makes it use the larger limitation of existence.Namely allow to walking, also can't guarantee that robot more steadily walks.
The utility model content
The purpose of this utility model is to overcome weak point of the prior art, provides a kind of and can adapt to concavo-convex road surface and can guarantee its steadily running gear of the robot of walking.
For achieving the above object, the utility model adopts following technical scheme:
The running gear of robot, on the chassis of running gear mounting robot, chassis comprises upper shell and lower house, running gear comprises drive wheel and auxiliary wheel, and described drive wheel and auxiliary wheel are arranged in the cavity of upper shell and lower house, and passes the lower surface of lower house, drive wheel and auxiliary wheel respectively are provided with two, wherein auxiliary wheel is arranged on the chassis front and back position, and drive wheel is arranged on the position, left and right on chassis, and drive wheel is provided with the drive wheel active unit that can make the upper and lower Elastic Sliding of drive wheel.
As a kind of priority scheme, described drive wheel active unit comprises a slide shaft, Compress Spring and drive wheel sliding chassis, and the drive wheel sliding chassis is slidably installed on slide shaft, and by Compress Spring, the downward housing direction in drive wheel chassis is pushed.
As a kind of priority scheme, described slide shaft and Compress Spring are provided with 2 groups, are arranged on the drive wheel front and back end, and two-way pushing drive wheel chassis is pressed on lower house in advance.
The beneficial effects of the utility model are: the utility model is by making the drive wheel active unit of the upper and lower Elastic Sliding of drive wheel, make drive wheel can contact with ground all the time, and coordinate by auxiliary wheel, at least 3 wheels on robot chassis are guaranteed on same plane, just can guarantee the walking of robot pulsation-free.Namely, auxiliary wheel can be as permanent two touchdown points, and left and right sidesing driving wheel, as a unit independently, can all slide up and down under the effect by Compress Spring, to adapt to irregular floor as the 3rd touchdown point in the stroke of slide shaft.
The accompanying drawing explanation
Fig. 1 is the three-dimensional structure diagram of robot of the present utility model;
Fig. 2 is chassis structure figure of the present utility model;
Fig. 3 is drive wheel active unit cutaway view Amplified image of the present utility model;
Fig. 4 is the bottom enlarged drawing of robot of the present utility model.
The specific embodiment
The utility model is described in further detail below in conjunction with Figure of description:
As Figure 1-4, the running gear of the robot that the utility model provides, on the chassis of running gear mounting robot, as shown in Figure 1, robot comprises head 1, upper trunk 2, lower torso member 3 and chassis 4, and chassis 4 comprises upper shell 41 and lower house 42, running gear comprises drive wheel 5 and auxiliary wheel 6, described drive wheel 5 and auxiliary wheel 6 are arranged in the cavity of upper shell 41 and lower house 42, and pass the lower surface of lower house 42, and it can be contacted with ground.Drive wheel 5 and auxiliary wheel 6 respectively are provided with two, wherein auxiliary wheel 6 is arranged on chassis 4 front and back positions, drive wheel 6 is arranged on the position, left and right on chassis 4, drive wheel 5 is provided with the drive wheel active unit 7 that can make drive wheel Elastic Sliding Shang Xia 5, drive wheel active unit 7 can make drive wheel resilient movement Shang Xia 5, makes it with ground, to contact all the time.
See Fig. 2, Fig. 3 and shown in Figure 4, as a kind of priority scheme, described drive wheel active unit 7 comprises a slide shaft 71, Compress Spring 72 and drive wheel chassis 73, and drive wheel chassis 73 is slidably installed on slide shaft 71, and by Compress Spring 72, drive wheel chassis 73 is pushed to lower house 42 directions.Drive wheel 5 is contacted with ground all the time.
As a kind of priority scheme, described slide shaft 71 and Compress Spring 72 are provided with 2 groups, are arranged on drive wheel 5 front and back ends, and two-way pushing drive wheel chassis 73 is pressed on lower house in advance.This spline structure, can make drive wheel 5 motions more steady.
The utility model is by making the drive wheel active unit 7 of drive wheel Elastic Sliding Shang Xia 5, make drive wheel 5 can contact with ground all the time, and coordinate by auxiliary wheel 6, at least 3 wheels on robot chassis are guaranteed on same plane, just can guarantee the walking of robot pulsation-free.Namely, auxiliary wheel 6 can be as permanent two touchdown points, and left and right sidesing driving wheel 5, as a unit independently, can all slide up and down under the effect by Compress Spring 72, to adapt to irregular floor as the 3rd touchdown point in the stroke of slide shaft 71.
The above is only to preferred embodiment of the present utility model; not scope of the present utility model is limited; therefore under the prerequisite that does not break away from the utility model design spirit; the equivalence that the common engineering staff in this area do structure described in the utility model, feature and principle changes or decorates, and all should fall in the protection domain that the utility model applies for a patent.
Claims (3)
1. the running gear of robot, on the chassis of running gear mounting robot, chassis comprises upper shell and lower house, running gear comprises drive wheel and auxiliary wheel, it is characterized in that: described drive wheel and auxiliary wheel are arranged in the cavity of upper shell and lower house, and pass the lower surface of lower house, drive wheel and auxiliary wheel respectively are provided with two, wherein auxiliary wheel is arranged on the chassis front and back position, drive wheel is arranged on the position, left and right on chassis, and drive wheel is provided with the drive wheel active unit that can make the upper and lower Elastic Sliding of drive wheel.
2. the running gear of robot according to claim 1, it is characterized in that: described drive wheel active unit comprises a slide shaft, Compress Spring and drive wheel sliding chassis, the drive wheel sliding chassis is slidably installed on slide shaft, and by Compress Spring, the downward housing direction in drive wheel chassis is pushed.
3. the running gear of robot according to claim 2, it is characterized in that: described slide shaft and Compress Spring are provided with 2 groups, are arranged on the drive wheel front and back end, and two-way pushing drive wheel chassis is pressed on lower house in advance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013201172379U CN203306136U (en) | 2013-03-14 | 2013-03-14 | Walking device of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013201172379U CN203306136U (en) | 2013-03-14 | 2013-03-14 | Walking device of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203306136U true CN203306136U (en) | 2013-11-27 |
Family
ID=49612363
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013201172379U Expired - Fee Related CN203306136U (en) | 2013-03-14 | 2013-03-14 | Walking device of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203306136U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110550126A (en) * | 2019-09-10 | 2019-12-10 | 饭团机器人有限公司 | walking-stable moving chassis and service robot |
-
2013
- 2013-03-14 CN CN2013201172379U patent/CN203306136U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110550126A (en) * | 2019-09-10 | 2019-12-10 | 饭团机器人有限公司 | walking-stable moving chassis and service 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: 20131127 Termination date: 20170314 |