CN206012202U - Rotating wheel, chassis device and robot - Google Patents
Rotating wheel, chassis device and robot Download PDFInfo
- Publication number
- CN206012202U CN206012202U CN201621011980.6U CN201621011980U CN206012202U CN 206012202 U CN206012202 U CN 206012202U CN 201621011980 U CN201621011980 U CN 201621011980U CN 206012202 U CN206012202 U CN 206012202U
- Authority
- CN
- China
- Prior art keywords
- roller
- wheel
- runner
- wheel body
- bearing
- 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.)
- Active
Links
- 238000009434 installation Methods 0.000 claims description 8
- 230000002093 peripheral effect Effects 0.000 abstract 2
- 230000000694 effects Effects 0.000 description 6
- 238000005096 rolling process Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Landscapes
- Rolls And Other Rotary Bodies (AREA)
Abstract
The utility model provides a runner, chassis device and robot, runner, including the wheel main part, the runner still includes: the roller bodies of the rollers are rotatably arranged relative to the wheel main body; the wheel core seat comprises one wheel main body, and the wheel main body is arranged on the wheel core seat; the rotation axis of the roller is perpendicular to the rotation axis of the wheel body, and the peripheral walls of the plurality of rollers all protrude out of the peripheral wall of the wheel body. The utility model provides a relatively poor problem of motion flexibility of the chassis device of robot among the prior art has been solved to the runner.
Description
Technical field
This utility model is related to intelligent machine field, in particular to a kind of runner, base apparatus and robot.
Background technology
Robot is the installations for executing automatically work, and it can both receive mankind commander, can run volume in advance again
The program of row, its task are to assist or replace the work of the mankind, for example production industry, building industry, or the work of danger.
Robot includes that base, robot are moved on the ground by base apparatus.There is base apparatus wheel carrier, chassis to fill
Put.
However, the wheel carrier of robot base device of the prior art is unidirectional wheel carrier, which is multi-corner star-shape frame and unidirectional
The combination of wheel, although wheel carrier revolution and the rotation of one-way wheel can be realized, but wheel carrier direction of advance must be consistent with one-way wheel,
Kinematic dexterity receives certain restriction, and then makes the kinematic dexterity of robot poor.
Utility model content
Main purpose of the present utility model is to provide a kind of runner, base apparatus and robot, to solve prior art
In robot base apparatus the poor problem of kinematic dexterity.
To achieve these goals, according to one side of the present utility model, there is provided a kind of runner, including wheel master
Body, runner also include：Multiple rollers, multiple rollers along the circumferentially spaced on the periphery wall of wheel body of wheel body,
The roller body of roller relative to wheel body rotatably arranged with；Wheel core print seat, wheel body are one, and wheel body is installed in wheel core print seat
On；Wherein, the rotation axiss of roller and the rotation axiss of wheel body are vertical, and the periphery wall of multiple rollers protrudes from wheel body
Periphery wall.
Further, the bus of roller body is circular arc, and the periphery wall of multiple roller bodies forms circular support profile.
Further, installation groove is provided with wheel body, and roller is in installation groove.
Further, roller includes that roller bearing, roller body are set on roller bearing, and roller bearing is rotationally connected with wheel body.
Further, roller includes roller bearing, and, rotationally on roller bearing, roller bearing is removable with wheel body for roller body
Connect with unloading.
Further, roller also includes that spring bearing, spring bearing are arranged on the inwall of roller body, and roller body is led to
Cross spring bearing to be arranged on roller bearing.
Further, limiting section is provided with roller bearing, and limiting section is arranged on the both sides of roller body.
Further, wheel core print seat includes shaft and the flange portion being arranged on shaft, wheel core print seat by flange portion with
Wheel body connects.
According to second aspect of the present utility model, there is provided a kind of base apparatus, including chassis plate and installed in chassis
Runner on plate, runner are above-mentioned runner.
Further, multiple runners are provided with chassis plate, and multiple runners are arranged in along the circumferentially spaced of chassis plate
In chassis plate.
According to the 3rd aspect of the present utility model, there is provided a kind of robot, including base apparatus, base apparatus are upper
The base apparatus that states.
Runner in this utility model includes wheel body and multiple rollers, as the roller body of multiple rollers is along wheel body
The periphery that wheel body is set circumferentially spacedly, and the rotation axiss of roller are vertical with the rotation axiss of wheel body, so,
The effect of roller, runner just can be moved along the axis of wheel body, and then improve the kinematic dexterity of runner, solved existing
The poor problem of the kinematic dexterity of the base apparatus of the robot in technology.
Description of the drawings
The Figure of description for constituting the part of the application is used for providing further understanding to of the present utility model, this practicality
New schematic description and description is used for explaining this utility model, does not constitute to improper restriction of the present utility model.
In the accompanying drawings：
Fig. 1 shows the front view of the embodiment according to runner of the present utility model；
Fig. 2 shows the axonometric chart of the runner in Fig. 1；
Fig. 3 shows the structural representation of the roller of the runner in Fig. 1；
Fig. 4 shows the side view of the roller of the runner in Fig. 3；
Fig. 5 shows the front view of the wheel body of the runner in Fig. 1；And
Fig. 6 shows the axonometric chart of the wheel body of the runner in Fig. 5.
Wherein, above-mentioned accompanying drawing includes the following drawings labelling：
10th, wheel body；11st, groove is installed；20th, roller；21st, roller body；22nd, roller bearing；23rd, spring bearing；30th, core wheel
Seat；31st, shaft；32nd, flange portion.
Specific embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase
Mutually combine.Below with reference to the accompanying drawings and in conjunction with the embodiments describing this utility model in detail.
This utility model provides a kind of runner, refer to Fig. 1 to Fig. 6, and the runner includes wheel body 10, and runner is also wrapped
Include：Multiple rollers 20, multiple rollers 20 are along the circumferentially spaced on the periphery wall of wheel body 10 of wheel body 10, roller
20 roller body 21 relative to wheel body 10 rotatably arranged with；Wheel core print seat 30, wheel body 10 is one, and wheel body 10 is installed
On wheel core print seat 30；Wherein, the rotation axiss of roller 20 are vertical with the rotation axiss of wheel body 10, the periphery wall of multiple rollers 20
The periphery wall of wheel body 10 is protruded from.
Runner in this utility model includes wheel body 10 and multiple rollers 20, due to the roller body 21 of multiple rollers 20
Along circumferentially spaced the periphery for arranging wheel body 10 of wheel body 10, and the rotation of the rotation axiss of roller 20 and wheel body 10
Axis is vertical, and so, in the effect of roller 20, runner just can be moved along the axis of wheel body 10, and then improves runner
Kinematic dexterity, solves the problems, such as that the kinematic dexterity of the base apparatus of robot of the prior art is poor.
In order to ensure the normal rotation of runner, as shown in Figures 1 to 4, the bus of roller body 21 be circular arc, multiple rollings
The periphery wall of wheel body 21 forms circular support profile.So, the axis projection outline of each roller body 21 is circle, whole
The radius of individual runner is the radius of the axis projection profile.The center of circle of the circular support profile is overlapped with the center of circle of wheel body.Excellent
Selection of land, the roller body are rubber bodies.
Preferably, multiple rollers 20 are distributed on the periphery wall of wheel body 10.
When rotor design meets rotation in theory and 20 seamless switching of ground contact roller, vibration is not resulted in；Wheel master
Body 10 is Al-alloy metal wheel hub, and light weight, intensity are good, high precision, aesthetic in appearance；21 kinetic characteristic of roller body of rubber type
Good, frictional force is big, wear-resisting.
For the ease of the installation of roller 20, as shown in Figure 5 and Figure 6, installation groove 11, roller 20 on wheel body 10, is provided with
In installation groove 11.As such, it is possible to more easily realize that the rotation of roller 20 is installed.
In one embodiment of the present utility model, as shown in Figure 5 and Figure 6, roller 20 includes roller bearing 22, roller body 21
It is set on roller bearing 22, roller bearing 22 is rotationally connected with wheel body 10.Roller bearing 22 herein is straight-bar.
In another embodiment of the present utility model, as shown in Figure 5 and Figure 6, roller 20 includes roller bearing 22, roller body
21 rotationally on roller bearing 22, and roller bearing 22 is detachably connected with wheel body 10.Roller bearing 22 herein is straight-bar.Rolling
Wheel body 21 is rotated around the straight-bar.
In order to realize the rotation of roller body 21, in one embodiment, roller body 21 be circular tube shaped, the roller sheet
Copper sheathing is provided with the centre bore of body 21.
In order to realize that roller body 21 is rotated around roller bearing 22, in another embodiment, as shown in Figure 3 and Figure 4, roller
20 also include that spring bearing 23, spring bearing 23 are arranged on the inwall of roller body 21, and roller body 21 passes through spring bearing
23 on roller bearing 22.
In order to prevent roller body 21 from moving on roller bearing 22, limiting section on roller bearing 22, is provided with, limiting section is arranged on rolling
The both sides of wheel body 21.As such, it is possible to play the spacing effect of pair roller body 21.
As depicted in figs. 1 and 2, wheel core print seat 30 includes shaft 31 and the flange portion 32 being arranged on shaft 31, core wheel
Seat 30 is connected with wheel body 10 by flange portion 32.Preferably, wheel body 10 can be one or more, on each wheel body 10
It is provided with roller 20.
Wheel core print seat 30 in this utility model has centre bore and keyway, installs knot using the centre bore and keyway as auxiliary
Structure.There is wheel body 10 centre bore, wheel body 10 to be set on shaft 31 by the centre bore.
Runner in this utility model is during 10 rolls forward of wheel body, while roller 20 can be used in outer masterpiece
Under around its central axis roll, when the two motion be combined together when can reach the effect that runner is rolled along oblique line.When
Using the runner constituted Chinese character pin-shaped structure as dolly chassis when, can accomplish that chassis any time any direction is rotated.
This utility model additionally provides a kind of base apparatus, including chassis plate and the runner in chassis plate, runner
For above-mentioned runner.Base apparatus in this utility model include above-mentioned runner, and the runner can be around the axial direction of wheel body 10
Rotate, it is also possible in the presence of roller 20 along wheel body 10 axial movement, so as to improve the kinematic dexterity of base apparatus.
In the present embodiment, multiple runners, circumferentially spaced ground cloth of multiple runners along chassis plate are provided with chassis plate
Put in chassis plate.The present embodiment includes 3 groups of above-mentioned runners, and 3 groups of runners respectively have a motor, between 3 groups of runners
It is mutually 120 degree of angle, this triangular structure can ensure that and whole drive platform to be done centered on the circular axle center of 3 groups of runners
Itself rotary motion, can coordinate robotically-driven platform linear motion to adjust the appearance of robot during reaching impact point
State, so that reach the attitude angle needed for final state.
Each group runner includes at least multiple wheel bodies, by taking turns bearing block of the core print seat in chassis plate, in light-emitting window
On the chassis being fixed by screws in, make platform that there is good balance quality.
This utility model provides a kind of robot again, and including base apparatus, base apparatus are above-mentioned base apparatus.This
The base device structure optimization of the robot in utility model, flexibly, can move along a straight line to any direction, whole platform from
The weight of body is by, on the uniform drivingly chassis of three bearing blocks, making platform that there is good balance quality.
As can be seen from the above description, this utility model the above embodiments achieve following technique effect：
Runner in this utility model includes wheel body and multiple rollers, as the roller body of multiple rollers is along wheel body
The periphery that wheel body is set circumferentially spacedly, and the rotation axiss of roller are vertical with the rotation axiss of wheel body, so,
The effect of roller, runner just can be moved along the axis of wheel body, and then improve the kinematic dexterity of runner, solved existing
The poor problem of the kinematic dexterity of the base apparatus of the robot in technology.
Preferred embodiment of the present utility model is the foregoing is only, this utility model is not limited to, for this
For the technical staff in field, this utility model can have various modifications and variations.All of the present utility model spirit and principle
Within, any modification, equivalent substitution and improvements that is made etc. are should be included within protection domain of the present utility model.
Claims (11)
1. a kind of runner, including wheel body (10), it is characterised in that the runner also includes：
Multiple roller (20), the plurality of roller (20) are along the circumferentially spaced installed in the wheel master of the wheel body (10)
On the periphery wall of body (10), the roller body (21) of roller (20) relative to the wheel body (10) rotatably arranged with；
Wheel core print seat (30), described wheel body (10) are one, and described wheel body (10) are on wheel core print seat (30)；
Wherein, the rotation axiss of roller (20) are vertical with the rotation axiss of the wheel body (10), multiple rollers
(20) periphery wall protrudes from the periphery wall of the wheel body (10).
2. runner according to claim 1, it is characterised in that the bus of roller body (21) is circular arc, multiple
The periphery wall of roller body (21) forms circular support profile.
3. runner according to claim 1, it is characterised in that be provided with installation groove (11) on wheel body (10),
Described roller (20) are in installation groove (11).
4. runner according to claim 1, it is characterised in that described roller (20) include roller bearing (22), the roller sheet
Body (21) is set on the roller bearing (22), and roller bearing (22) are rotationally connected with the wheel body (10).
5. runner according to claim 1, it is characterised in that described roller (20) include roller bearing (22), the roller sheet
Rotationally on the roller bearing (22), roller bearing (22) are removably connected body (21) with the wheel body (10)
Connect.
6. runner according to claim 5, it is characterised in that roller (20) also include spring bearing (23), described
Spring bearing (23) is arranged on the inwall of the roller body (21), and described roller body (21) pass through the spring bearing
(23) on the roller bearing (22).
7. runner according to claim 6, it is characterised in that be provided with limiting section on roller bearing (22), described spacing
Portion is arranged on the both sides of the roller body (21).
8. runner according to claim 1, it is characterised in that described wheel core print seat (30) include shaft (31) and are arranged on
Flange portion (32) on shaft (31), wheel core print seat (30) is by the flange portion (32) and the wheel body (10)
Connection.
9. a kind of base apparatus, including chassis plate and the runner in the chassis plate, it is characterised in that the runner is
Runner any one of claim 1 to 8.
10. base apparatus according to claim 9, it is characterised in that be provided with multiple runners in the chassis plate,
Multiple runners are arranged in the chassis plate along the circumferentially spaced of the chassis plate.
A kind of 11. robots, including base apparatus, it is characterised in that the base apparatus are described in claim 9 or 10
Base apparatus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621011980.6U CN206012202U (en) | 2016-08-31 | 2016-08-31 | Rotating wheel, chassis device and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621011980.6U CN206012202U (en) | 2016-08-31 | 2016-08-31 | Rotating wheel, chassis device and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206012202U true CN206012202U (en) | 2017-03-15 |
Family
ID=58256539
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621011980.6U Active CN206012202U (en) | 2016-08-31 | 2016-08-31 | Rotating wheel, chassis device and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206012202U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106335318A (en) * | 2016-08-31 | 2017-01-18 | 珠海格力智能装备有限公司 | Rotating wheel, chassis device and robot |
-
2016
- 2016-08-31 CN CN201621011980.6U patent/CN206012202U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106335318A (en) * | 2016-08-31 | 2017-01-18 | 珠海格力智能装备有限公司 | Rotating wheel, chassis device and robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206885010U (en) | A kind of roller, ground roll device, stopping means and folder track | |
| CN106314022A (en) | Rotating wheel, chassis device and robot | |
| CN202878283U (en) | Rotating tool frame | |
| CN206012203U (en) | Rotating wheel, chassis device and robot | |
| CN102059916A (en) | Omnibearing wheel | |
| CN206012202U (en) | Rotating wheel, chassis device and robot | |
| CN206155016U (en) | Rotating wheel, chassis device and robot | |
| CN206243298U (en) | A kind of comprehensive four-wheel drive AGV dollies | |
| CN206030946U (en) | Rotating wheel, chassis device and robot | |
| CN206012204U (en) | Rotating wheel, chassis device and robot | |
| CN206012205U (en) | Rotating wheel, chassis device and robot | |
| CN106042241B (en) | Tower type four-arm rotational molding machine | |
| CN204034221U (en) | Push-and-pull rod-type bike riding-balance simulator | |
| CN106696598A (en) | Omnidirectional wheel free of lateral swing | |
| CN103658270A (en) | Layering roller wheel | |
| CN204034220U (en) | Hobbing-type bike riding-balance simulator | |
| CN206306730U (en) | Omni-directional wheel without sideshake | |
| CN201080211Y (en) | Household intelligence moving platform device | |
| CN106335318A (en) | Rotating wheel, chassis device and robot | |
| CN204021814U (en) | A kind of adhesive tape bending roller of belt conveyer random angle turning device | |
| CN206429554U (en) | A kind of straight rail spline | |
| CN205613862U (en) | Unreeling machine | |
| CN106364258A (en) | Rotating wheel, chassis device and robot | |
| CN106314023A (en) | Rotating wheel, chassis device and robot | |
| CN106274276A (en) | Rotating wheel, chassis device and robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |