CN205836515U - Robot mobile device - Google Patents
Robot mobile device Download PDFInfo
- Publication number
- CN205836515U CN205836515U CN201620685676.3U CN201620685676U CN205836515U CN 205836515 U CN205836515 U CN 205836515U CN 201620685676 U CN201620685676 U CN 201620685676U CN 205836515 U CN205836515 U CN 205836515U
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- China
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- robot
- wheel hub
- wheel
- mobile device
- driver
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Abstract
This utility model provides a kind of robot mobile device, including robot chassis, balancing weight, universal wheel, tire, wheel hub, decoration, balancing disk and driver, the left and right sides, described robot undersurface of bottom disc front portion is respectively provided with opening, described wheel hub is arranged on opening and goes out, described opening inner side is provided with fixed bit, described driver is installed on fixed bit, and described driver is connected with wheel hub by rotating shaft；Described tire sleeve is connected on wheel hub, and described balancing disk is installed on inside wheel hub, and described decoration is installed on outside wheel hub；Described robot chassis is provided with universal wheel in the middle of rear portion；Front portion between corresponding two driving wheels, the described robot chassis and universal wheel be respectively arranged on the left side and the right side balancing weight.The beneficial effects of the utility model are: provide a kind of mobile underpan disperseing counterweight layout, coordinate differential type wheeled robot mobile chassis, make robot turn to the most accurate, mobile the most steady.
Description
Technical field
This utility model relates to robot and visits mobile field, refers in particular to a kind of robot mobile device.
Background technology
The move mode of existing robot is mainly wheel type mobile, and wherein the most common with differential type, differential type moves dress
Put and be made up of the two of chassis driving wheels and universal wheel, utilize the differential of two driving wheels can reach to turn to and forward-reverse
Purpose, easily there is wheel and the hypodynamic situation of ground friction in conventional differential humanoid robot, causes robot skidding occur or turn
To the problem such as dumb.
Utility model content
Technical problem to be solved in the utility model is: provide one to turn to flexible, mobile stable robot to move
Device.
In order to solve above-mentioned technical problem, the technical solution adopted in the utility model is: a kind of robot mobile device, bag
Including robot chassis, balancing weight, universal wheel and driving wheel, described driving wheel includes tire, wheel hub, decoration, balancing disk and drives
Dynamic device, the left and right sides, described robot undersurface of bottom disc front portion is respectively provided with opening, and described driving wheel is arranged on opening part, described opening
Inner side is provided with fixed bit, and described driver is installed on fixed bit, and described driver is connected with wheel hub by rotating shaft；Described tire
Being socketed on wheel hub, described decoration is installed on outside wheel hub, and described balancing disk is installed on inside wheel hub；Described robot chassis
Universal wheel it is provided with in the middle of rear portion；Described robot chassis sets respectively with the left and right sides of universal wheel between corresponding two driving wheels
There is balancing weight.
Further, described driver is arranged on fixed bit by fixture, and described fixture is in " L " font.
Further, described driver is to be built-in with the direct current generator of photoelectric velocity measurement module.
Further, described DC motor shaft is provided with regular polygon termination away from motor one end, described wheel hub be provided with
The groove that described termination is adaptive.
Further, described circumference of hub is provided with some grooves, is provided with suitable with described groove inside described tire
Projection, is provided with some projections outside described tire.
Further, balancing weight anterior between said two driving wheel has two, lays respectively at inside two driving wheels
On anterior limit.
The beneficial effects of the utility model are: provide a kind of mobile underpan disperseing counterweight layout, coordinate
Differential type wheeled robot mobile chassis, makes robot turn to the most accurate, mobile the most steady.
Accompanying drawing explanation
Concrete structure of the present utility model is described in detail in detail below in conjunction with the accompanying drawings:
Fig. 1 is structural representation of the present utility model；
Fig. 2 is robot of the present utility model chassis-bottom structure schematic diagram；
In figure, reference is expressed as: 400-robot chassis；401-balancing weight；402-universal wheel；430-driving wheel；
431-tire；432-wheel hub；433-decoration；434-balancing disk；435-fixture；436-driver.
Detailed description of the invention
By describing technology contents of the present utility model, structural feature in detail, being realized purpose and effect, below in conjunction with enforcement
Mode also coordinates accompanying drawing to be explained in detail.
Referring to Fig. 1 and Fig. 2, a kind of robot mobile device, including robot chassis 400, balancing weight 401, universal
Wheel 402 and driving wheel 430, described driving wheel 430 includes tire 431, wheel hub 432, decoration 433, balancing disk 434 and driver
436, the left and right sides, front portion, bottom surface, described robot chassis 400 is respectively provided with opening, and described driving wheel 430 is arranged on opening part, institute
Stating opening inner side and be provided with fixed bit, described driver 436 is installed on fixed bit, and described driver 436 is by rotating shaft and wheel hub
432 connect；Described tire 431 is socketed on wheel hub 432, and described decoration 433 is installed on outside wheel hub 432, described balancing disk
434 are installed on inside wheel hub 432；Described robot chassis 400 is provided with universal wheel 402 in the middle of rear portion；Described robot chassis 400
Between corresponding two driving wheels 430 and universal wheel 402 be respectively arranged on the left side and the right side balancing weight 401.
Knowable to foregoing description, the beneficial effects of the utility model are: provide a kind of machine disperseing counterweight layout
People's mobile chassis, coordinates differential type wheeled robot mobile chassis, makes robot turn to the most accurate, mobile the most steady.
Embodiment 1
Described driver 436 is arranged on fixed bit by fixture 435, and described fixture 435 is in " L " font.This enforcement
In example, use fixture that driver is fixed on robot chassis, the structure on robot chassis can be strengthened, simplify at the bottom of robot
Dish Design of Dies.
Embodiment 2
Described driver 436 is the direct current generator being built-in with photoelectric velocity measurement module.In the present embodiment, intelligent robot passes through
Photoelectric velocity measurement module can detect the rotating speed of motor, thus adjusts the cooperation of two driving wheels in real time, makes robot either move
Move and turn to reliable.
Embodiment 3
Described DC motor shaft is provided with regular polygon termination away from motor one end, and described wheel hub 432 is provided with and described end
The groove that head is adaptive.In the present embodiment, the regular polygon of rotating shaft end head designs when can avoid axis of rotation and beats between wheel hub
Sliding, make the robotically-driven rotation taken turns controlled.
Embodiment 4
Described wheel hub 432 periphery is provided with some grooves, is provided with suitable with described groove inside described tire 431
Projection, is provided with some projections outside described tire 431.In the present embodiment, wheel hub is provided with groove, makes between tire and wheel hub not
Easily skidding, the projection outside tire is also for the frictional force increasing driving wheel and ground.
Embodiment 5
Between said two driving wheel 430, balancing weight 401 has two, lays respectively at the inner side of two driving wheels 430, close
Bottom surface, robot chassis 400 is anterior.In the present embodiment, it is distributed balancing weight, advantageously ensures that robot keeps relatively low weight
The heart.
The foregoing is only embodiment of the present utility model, not thereby limit the scope of the claims of the present utility model, every
Utilize equivalent structure or equivalence flow process conversion that this utility model description and accompanying drawing content made, or be directly or indirectly used in
Other relevant technical fields, are the most in like manner included in scope of patent protection of the present utility model.
Claims (6)
1. a robot mobile device, it is characterised in that: include robot chassis, balancing weight, universal wheel and driving wheel, described
Driving wheel includes that tire, wheel hub, decoration, balancing disk and driver, described robot undersurface of bottom disc front portion each side set
Having opening, described driving wheel to be arranged on opening part, described opening inner side is provided with fixed bit, and described driver is installed on fixed bit
On, described driver is connected with wheel hub by rotating shaft；Described tire sleeve is connected on wheel hub, and described decoration is installed on outside wheel hub
Side, described balancing disk is installed on inside wheel hub；Described robot chassis is provided with universal wheel in the middle of rear portion；Described robot chassis exists
Between corresponding two driving wheels and universal wheel be respectively arranged on the left side and the right side balancing weight.
2. robot as claimed in claim 1 mobile device, it is characterised in that: described driver is arranged on solid by fixture
Location, described fixture is in " L " font.
3. robot as claimed in claim 1 mobile device, it is characterised in that: described driver is for being built-in with photoelectric velocity measurement mould
The direct current generator of block.
4. robot as claimed in claim 3 mobile device, it is characterised in that: described DC motor shaft is away from motor one end
Being provided with regular polygon termination, described wheel hub is provided with the groove adaptive with described termination.
5. robot as claimed in claim 1 mobile device, it is characterised in that: described circumference of hub is provided with some grooves, institute
State and inside tire, be provided with the projection suitable with described groove, outside described tire, be provided with some projections.
6. robot as claimed in claim 1 mobile device, it is characterised in that: between said two driving wheel, balancing weight has two
Individual, lay respectively at the inner side of two driving wheels, anterior near robot undersurface of bottom disc.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620685676.3U CN205836515U (en) | 2016-06-30 | 2016-06-30 | Robot mobile device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620685676.3U CN205836515U (en) | 2016-06-30 | 2016-06-30 | Robot mobile device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205836515U true CN205836515U (en) | 2016-12-28 |
Family
ID=58151114
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620685676.3U Active CN205836515U (en) | 2016-06-30 | 2016-06-30 | Robot mobile device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205836515U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108973527A (en) * | 2018-07-26 | 2018-12-11 | 芜湖市越泽机器人科技有限公司 | A kind of robotically-driven caster device of wear-resisting type |
| CN114466787A (en) * | 2019-10-01 | 2022-05-10 | 莫比奥工业机器人有限公司 | Mobile robot with adjustable traction counterweight |
-
2016
- 2016-06-30 CN CN201620685676.3U patent/CN205836515U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108973527A (en) * | 2018-07-26 | 2018-12-11 | 芜湖市越泽机器人科技有限公司 | A kind of robotically-driven caster device of wear-resisting type |
| CN114466787A (en) * | 2019-10-01 | 2022-05-10 | 莫比奥工业机器人有限公司 | Mobile robot with adjustable traction counterweight |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |