CN205651957U - Wheeled robot elasticity shock attenuation chassis structure - Google Patents
Wheeled robot elasticity shock attenuation chassis structure Download PDFInfo
- Publication number
- CN205651957U CN205651957U CN201620506102.5U CN201620506102U CN205651957U CN 205651957 U CN205651957 U CN 205651957U CN 201620506102 U CN201620506102 U CN 201620506102U CN 205651957 U CN205651957 U CN 205651957U
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- China
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- universal wheel
- shock attenuation
- wheel
- chassis
- hinge
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Abstract
The utility model provides a wheeled robot elasticity shock attenuation chassis structure includes chassis main part, drive wheel, driving motor, motor mounts frame and universal wheel. The solid be connected together of drive wheel, driving motor and motor mounts frame, driving motor can drive the drive wheel and rotate. The universal wheel is installed in chassis main part below. The utility model discloses wheeled robot elasticity shock attenuation chassis structure still is equipped with hinge and extension spring. Motor mounts frame's one end is passed through the hinge and is articulated with the chassis main part, and motor mounts frame's the other end is through extension spring and chassis main part elastic connection. The utility model discloses can ensure constantly that the drive wheel lands, avoid the defect that the drive wheel skidded and dallied, can play the cushioning effect simultaneously.
Description
Technical field
This utility model relates to a kind of wheeled robot elastic shock attenuation chassis structure, and a kind of road surface in injustice is also
The wheeled robot elastic shock attenuation chassis structure of energy smooth running.
Background technology
Current existing wheeled robot chassis structure, it is possible to realize robot walking requirement under smooth environment.But
The performance deficiencies such as it is weak that it exists obstacle climbing ability, robust motion difference, and itself have that structure is more complicated, footprint is more,
The heaviest shortcoming.
Utility model content
In order to overcome drawbacks described above, this utility model provides a kind of wheeled robot elastic shock attenuation chassis structure, described takes turns
Formula robot elastic damping chassis structure is able to ensure that driving wheel is fitted all the time when uneven road surface ground, possesses friction, OK
Walk steadily.
This utility model be the technical scheme is that a kind of wheeled robot elastic shock attenuation to solve its technical problem
Chassis structure, including chassis body, driving wheel, driving motor, motor mounting rack and universal wheel, described driving wheel, driving electricity
Machine and motor mounting rack are fixed together, and drive motor that driving wheel can be driven to rotate, and described universal wheel is arranged on chassis master
Below body, being additionally provided with hinge and extension spring, one end of described motor mounting rack is hinged with chassis body by hinge, motor mounting rack
The other end be connected with chassis body elasticity by extension spring.
As further improvement of the utility model, described chassis body and motor mounting rack are respectively provided with a bolt,
Extension spring is respectively arranged at two ends with crotch, and bolt is provided with hole, and the crotch of described extension spring mounts in stretching into the hole of bolt.
As further improvement of the utility model, described hinge includes hinge, lower hinge and is connected to hinge
And the middle bearing pin between lower hinge, between upper hinge and lower hinge can opening and closing relatively, described upper hinge and motor
Installing rack is fixed, and described lower hinge is fixed with chassis body.
As further improvement of the utility model, between described upper hinge and motor mounting rack and lower hinge and chassis
All fixed by screw piece between main body.
As further improvement of the utility model, described motor mounting rack is positioned at above chassis body, described chassis master
Body is provided with through hole, and driving wheel passes over through hole from chassis body and is exposed to below chassis body.
As further improvement of the utility model, described motor mounting rack includes first wall parallel with chassis body
And from the first wall the second wall that one extends vertically upward, upper hinge is connected with the first wall, extension spring and the second wall
Being connected, described driving motor and driving wheel are positioned at inside and outside the second wall.
As further improvement of the utility model, it is provided with the universal wheel installed part that universal wheel is locked to chassis body,
Described universal wheel installed part and universal wheel lay respectively at the both sides up and down of chassis body.
As further improvement of the utility model, described driving wheel is two, and universal wheel is three.
As further improvement of the utility model, described universal wheel include the first universal wheel, the second universal wheel, the 30000th
To wheel, described first universal wheel is positioned at the front side of two driving wheel lines, the second universal wheel and the 3rd universal wheel and is positioned at two and drives
The rear side of driving wheel line.
As further improvement of the utility model, between described first universal wheel, the second universal wheel, the 3rd universal wheel two
Two line composition isosceles triangles, the line between the second universal wheel and the 3rd universal wheel is the base of triangle, and first is universal
The line between line and the first universal wheel and the 3rd universal wheel between wheel and the second universal wheel is two waists of triangle, institute
State two driving wheels specular each other on the vertical plane at the center line place of triangle base.
The beneficial effects of the utility model are: this utility model wheeled robot elastic shock attenuation chassis structure, because it is electric
One end of machine installing rack is connected with chassis body by hinge, and the other end of motor mounting rack is by extension spring with chassis body even
Connect, hinge be supplied to driving wheel along with obstacle can the elastic fine motion space adjusted, extension spring provides and tends to tension earthward and drive
The power of wheel, thus the minimum point of the minimum point of universal wheel and driving wheel remains at same level, i.e. in motor process,
Can constantly guarantee that driving wheel lands under extension spring effect, it is to avoid driving wheel skids and the defect of idle running, i.e. obstacle detouring failure, simultaneously
Cushioning effect can be played.
Accompanying drawing explanation
Fig. 1 be this utility model wheeled robot elastic shock attenuation chassis structure three-dimensional combination figure (diagramatic content for remove
One of them driving wheel and related accessories).
Comparison the figures above, is supplemented as follows explanation:
1---chassis body 2---universal wheel installed part
3---extension spring 4---bolt
5---driving wheel 6---drives motor
7---motor mounting rack 71---the first wall
72---the second wall 8---hinge
Hinge under upper hinge 82---of 81---
83---bearing pin 9---universal wheel
91---the first universal wheel 92---the second universal wheel
93---the 3rd universal wheel 10---screw piece
11---through hole
Detailed description of the invention
A kind of wheeled robot elastic shock attenuation chassis structure, including chassis body 1, driving wheel 5, drives motor 6, motor peace
Shelve 7 and universal wheel 9.Described driving wheel 5, driving motor 6 and motor mounting rack 7 are fixed together, and driving motor 6 can
Driving wheel 5 is driven to rotate.Described universal wheel 9 is arranged on below chassis body 1.At the bottom of this utility model wheeled robot elastic shock attenuation
Dish structure is additionally provided with hinge 8 and extension spring 3.One end of described motor mounting rack 7 is hinged with chassis body 1 by hinge 8, and motor is pacified
Shelve the other end of 7 to be connected by extension spring 3 and chassis body 1 are elastic.The effect of hinge 8 is available to driving wheel 5 along with obstacle
Can the elastic fine motion space adjusted, the effect of extension spring 3 is to provide the power tending to tension driving wheel 5 earthward.
Being respectively provided with a bolt 4 on described chassis body 1 and motor mounting rack 7, extension spring 3 is respectively arranged at two ends with crotch, spiral shell
Bolt 4 is provided with hole, and the crotch of described extension spring 3 mounts in stretching into the hole of bolt 4, thus the two ends of extension spring 3 are separately fixed at motor
On installing rack 7 and chassis body 1.
Described hinge 8 includes hinge 81, lower hinge 82 and is connected to the centre between hinge 81 and lower hinge 82
Bearing pin 83.Can opening and closing relatively between described upper hinge 81 and lower hinge 82.Described upper hinge 81 and motor mounting rack 7
Fixing, described lower hinge 82 is fixed with chassis body 1.The upper hinge 81 of hinge 8 and lower hinge 82 can relative opening and closing,
Thus driving wheel 5 property of can adapt to adjust up and down according to obstacle height.
Screw piece is all passed through between described upper hinge 81 and motor mounting rack 7 and between lower hinge 82 and chassis body 1
10 fix.
Described motor mounting rack 7 is positioned at above chassis body 1, and described chassis body 1 is provided with through hole 11, and driving wheel 5 is the end of from
Disc main body 1 passes over through hole 11 and is exposed to below chassis body 1.Because the motor mounting rack 7 affixed with driving wheel 5, its
Two ends are movably connected on chassis body 1 by hinge 8 and extension spring 3, so, driving wheel 5 can be fitted in through hole 11
Height is adjusted to answering property up and down according to obstacle.
The concrete form of motor mounting rack 7 is: described motor mounting rack 7 includes first wall parallel with chassis body 1
71 and from the first wall 71 vertically upward one extend the second wall 72.
The relative position relation of driving wheel 5, driving motor 6 and motor mounting rack 7 is: described upper hinge 81 and the first wall
Face 71 is connected, and extension spring 3 is connected with the second wall 72.Described driving motor 6 and driving wheel 5 are positioned at inside and outside the two of the second wall 72
Side.
This utility model wheeled robot elastic shock attenuation chassis structure is provided with and universal wheel 9 is locked to the ten thousand of chassis body 1
To wheel installed part 2, described universal wheel installed part 2 and universal wheel 9 lay respectively at the both sides up and down of chassis body 1.
In preferred implementation, the quantity of driving wheel 5 and universal wheel 9 is defined to respectively: described driving wheel 5 is two,
Universal wheel 9 is three, thus ensure that the stationarity in driving process and steering procedure.Described universal wheel 9 includes the 10000th
To wheel the 91, second universal wheel the 92, the 3rd universal wheel 93.The distribution of driving wheel 5 and universal wheel 9 is: described first universal wheel
91 front sides being positioned at two driving wheel 5 lines, after the second universal wheel 92 and the 3rd universal wheel 93 are positioned at two driving wheel 5 lines
Side.Between described first universal wheel the 91, second universal wheel the 92, the 3rd universal wheel 93 two-by-two line composition isosceles triangle, second
Line between universal wheel 92 and the 3rd universal wheel 93 is the base of triangle, between the first universal wheel 91 and the second universal wheel 92
Line and the first universal wheel 91 and the 3rd universal wheel 93 between line be two waists of triangle.Said two driving wheel 5
Specular each other on the vertical plane at the center line place of triangle base.
This utility model wheeled robot elastic shock attenuation chassis structure, owing to robot body is from focusing on chassis body 1
Apply downward load, and driving wheel 5, driving motor 6, motor mounting rack 7 are connected and land, therefore, when running into projection and depression
Deng obstacle time, due to the effect of load, chassis body 1 have around hinge 8 bearing pin 83 rotate trend, thus tend to tension
Extension spring 3 so that the minimum point of universal wheel 9 and the minimum point of driving wheel 5 remain at same level, i.e. in motor process,
Can constantly guarantee that driving wheel 5 lands under extension spring 3 acts on, it is to avoid the defect that driving wheel 5 skids and dallies, i.e. obstacle detouring are lost
Lose, cushioning effect can be played simultaneously.In view of the use environment of robot, within the size of obstacle is limited to 5mm.
Claims (10)
1. a wheeled robot elastic shock attenuation chassis structure, including chassis body, driving wheel, driving motor, motor mounting rack
And universal wheel, described driving wheel, driving motor and motor mounting rack are fixed together, and drive motor can drive driving wheel
Rotating, described universal wheel is arranged on below chassis body, it is characterized in that: be additionally provided with hinge and extension spring, described motor mounting rack
One end is hinged with chassis body by hinge, and the other end of motor mounting rack is connected with chassis body elasticity by extension spring.
Wheeled robot elastic shock attenuation chassis structure the most according to claim 1, is characterized in that: described chassis body and electricity
Being respectively provided with a bolt on machine installing rack, extension spring is respectively arranged at two ends with crotch, and bolt is provided with hole, and the crotch of described extension spring stretches into
Mount in the hole of bolt.
Wheeled robot elastic shock attenuation chassis structure the most according to claim 1, is characterized in that: described hinge includes page
Sheet, lower hinge and be connected to the middle bearing pin between hinge and lower hinge, can open between upper hinge and lower hinge relatively
Open and close are closed, and described upper hinge is fixed with motor mounting rack, and described lower hinge is fixed with chassis body.
Wheeled robot elastic shock attenuation chassis structure the most according to claim 3, is characterized in that: described upper hinge and motor
All fixed by screw piece between installing rack and between lower hinge and chassis body.
Wheeled robot elastic shock attenuation chassis structure the most according to claim 3, is characterized in that: described motor mounting rack position
Above chassis body, described chassis body is provided with through hole, and driving wheel passes over through hole from chassis body and is exposed to chassis
Below main body.
Wheeled robot elastic shock attenuation chassis structure the most according to claim 5, is characterized in that: described motor mounting rack bag
Include first wall parallel with chassis body and from the first wall the second wall that one extends vertically upward, upper hinge and the
One wall is connected, and extension spring is connected with the second wall, and described driving motor and driving wheel are positioned at inside and outside the second wall.
Wheeled robot elastic shock attenuation chassis structure the most according to claim 1, is characterized in that: is provided with and is locked by universal wheel
To the universal wheel installed part of chassis body, described universal wheel installed part and universal wheel lay respectively at the both sides up and down of chassis body.
8. according to the wheeled robot elastic shock attenuation chassis structure described in claim 1 or 7, it is characterized in that: described driving wheel is
Two, universal wheel is three.
Wheeled robot elastic shock attenuation chassis structure the most according to claim 8, is characterized in that: described universal wheel includes
One universal wheel, the second universal wheel, the 3rd universal wheel, described first universal wheel is positioned at the front side of two driving wheel lines, and the 20000th
The rear side of two driving wheel lines it is positioned to wheel and the 3rd universal wheel.
Wheeled robot elastic shock attenuation chassis structure the most according to claim 9, is characterized in that: described first universal wheel,
Between second universal wheel, the 3rd universal wheel, line forms isosceles triangle two-by-two, between the second universal wheel and the 3rd universal wheel
Line is the base of triangle, line between the first universal wheel and the second universal wheel and the first universal wheel and the 3rd universal wheel
Between line be two waists of triangle, said two driving wheel mirror each other on the vertical plane at the center line place of triangle base
As symmetrical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620506102.5U CN205651957U (en) | 2016-05-30 | 2016-05-30 | Wheeled robot elasticity shock attenuation chassis structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620506102.5U CN205651957U (en) | 2016-05-30 | 2016-05-30 | Wheeled robot elasticity shock attenuation chassis structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205651957U true CN205651957U (en) | 2016-10-19 |
Family
ID=57405201
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620506102.5U Active CN205651957U (en) | 2016-05-30 | 2016-05-30 | Wheeled robot elasticity shock attenuation chassis structure |
Country Status (1)
| Country | Link |
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| CN (1) | CN205651957U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105818670A (en) * | 2016-05-30 | 2016-08-03 | 昆山穿山甲机器人有限公司 | Elastic damping chassis structure of wheeled robot |
-
2016
- 2016-05-30 CN CN201620506102.5U patent/CN205651957U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105818670A (en) * | 2016-05-30 | 2016-08-03 | 昆山穿山甲机器人有限公司 | Elastic damping chassis structure of wheeled robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 215300 Kunshan City, Jiangsu province high tech Zone, Fung Road, No. 232, No. Patentee after: Suzhou pangolin robot Limited by Share Ltd Address before: 215300 Kunshan City, Jiangsu province high tech Zone, Fung Road, No. 232, No. Patentee before: KUNSHAN PANGOLIN ROBOTER CO., LTD. |