CN206012204U - Runner, base apparatus and robot - Google Patents
Runner, base apparatus and robot Download PDFInfo
- Publication number
- CN206012204U CN206012204U CN201621012279.6U CN201621012279U CN206012204U CN 206012204 U CN206012204 U CN 206012204U CN 201621012279 U CN201621012279 U CN 201621012279U CN 206012204 U CN206012204 U CN 206012204U
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- roller
- runner
- wheel body
- supporting part
- wheel
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Abstract
This utility model provides a kind of runner, base apparatus and robot, and runner includes that wheel 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；Fixture, fixture are removably mounted on wheel body, and roller is fixed on wheel body by fixture；Wherein, the rotation axiss of roller and the rotation axiss of wheel body are vertical, and the periphery wall of multiple rollers protrudes from the periphery wall of wheel body.Runner in this utility model solves the problems, such as that the kinematic dexterity of the base apparatus of robot of the prior art is poor.
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 body,
Runner also includes：Multiple rollers, multiple rollers are along the circumferentially spaced on the periphery wall of wheel body of wheel body, roller
Roller body relative to wheel body rotatably arranged with；Fixture, fixture are removably mounted on wheel body, and roller leads to
Cross fixture to fix on wheel body；Wherein, the rotation axiss of roller and the rotation axiss of wheel body are vertical, the periphery of multiple rollers
Wall protrudes from the periphery wall of wheel body.
Further, the bus of roller body is circular arc, and the periphery wall of multiple roller bodies forms circular support profile.
Further, wheel body has supporting part, and on supporting part, fixture is removably connected roller with supporting part
Connect roller is fixed on supporting part.
Further, roller includes that roller bearing, roller body are rotatably arranged on roller bearing, is provided with fixation on supporting part
Groove, roller bearing are arranged in fixing groove, and fixture is blocked in the outside of fixing groove with fixed roller.
Further, supporting part and fixture are multiple, circumferentially-spaced arrangement of multiple supporting parts along wheel body, multiple
Fixture is correspondingly on supporting part.
Further, runner includes that looped rod, looped rod are erected on each support bar, and each roller bearing is respectively looped rod
Positioned at bar segment accordingly between two neighboring supporting part.
Further, fixture includes the connecting plate of first clamping plate, second clamping plate and connection first clamping plate and second clamping plate,
Supporting part is folded between first clamping plate and second clamping plate.
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, runner includes taking turns core print seat, and wheel core print seat includes shaft and the flange portion being arranged on shaft, core wheel
Seat is connected with wheel body by flange portion.
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 embodiment of the runner in Fig. 1；
Fig. 3 shows the structural representation of the fixture of the runner in Fig. 1；And
Fig. 4 shows the structural representation of the roller of the runner in Fig. 1.
Wherein, above-mentioned accompanying drawing includes the following drawings labelling：
10th, wheel body；11st, supporting part；20th, roller；21st, roller body；22nd, roller bearing；23rd, spring bearing；30th, core wheel
Seat；31st, shaft；32nd, flange portion；40th, fixture；41st, first clamping plate；42nd, second clamping plate；43rd, connecting plate.
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, including wheel body 10, refer to Fig. 1 to Fig. 4, and runner also includes：Multiple
Roller 20, multiple rollers 20 are along the circumferentially spaced on the periphery wall of wheel body 10 of wheel body 10, the rolling of roller 20
Wheel body 21 relative to wheel body 10 rotatably arranged with；Fixture 40, fixture 40 are removably mounted on wheel body 10,
Roller 20 is fixed on wheel body 10 by fixture 40；Wherein, the rotation axiss of roller 20 are hung down with the rotation axiss of wheel body 10
Directly, the periphery wall of multiple rollers 20 protrudes from the periphery wall of wheel body 10.
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 Figure 1, Figure 2 and Figure 4, the bus of roller body 21 is circular arc, many
The periphery wall of individual roller body 21 forms circular support profile.So, the axis projection outline of each roller body 21 is circle
Shape, the radius of whole runner are the radius of the axis projection profile.The center of circle of the circular support profile is heavy with the center of circle of wheel body
Close.Preferably, the roller body is rubber bodies.
In the present embodiment, wheel body 10 has supporting part 11, roller 20 on the supporting part 11, fixture 40 with
Support part 11 is detachably connected so that roller 20 is fixed on supporting part 11.
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 depicted in figs. 1 and 2, roller 20 includes roller bearing 22, and roller body 21 is rotatable
Be arranged on roller bearing 22, be provided with fixing groove on supporting part 11, roller bearing 22 is arranged in fixing groove, and fixture 40 is blocked solid
The outside of groove is determined with fixed roller 22.As such, it is possible to more easily realize that the rotation of roller 20 is installed.
As depicted in figs. 1 and 2, supporting part 11 and fixture 40 are multiple, week of the multiple supporting parts 11 along wheel body 10
To arranged for interval, multiple fixtures 40 are correspondingly on supporting part 11.Formation between two neighboring supporting part 11
Groove is installed, roller 20 is arranged in installation groove.
Specifically, runner includes that ring bodies, ring bodies are erected on each supporting part 11, and each roller bearing 22 is respectively ring-type
Body positioned at bar segment accordingly between two neighboring supporting part 11.Now, roller bearing 22 is arranged around wheel body 10.By roller bearing 22
The mode of annular is set to, the assembling difficulty of roller can be reduced.Now, the radian of the roller bearing section in the roller body 21 compared with
Little, it is ensured that the normal rotation of roller body 21.
In one embodiment, fixing groove is arranged on the side wall of the axis direction along wheel body 10 of supporting part 11.
In another embodiment, fixing groove is arranged on the side wall of the circumference along wheel body 10 of supporting part 11.
The concrete structure of fixture 40 is, as shown in figure 3, fixture 40 includes first clamping plate 41, second clamping plate 42 and connects
The connecting plate 43 of first clamping plate 41 and second clamping plate 42 is connect, supporting part 11 is folded between first clamping plate 41 and second clamping plate 42.
As such, it is possible to more easily realize the installation of fixture 40.Preferably, the company of being provided with first clamping plate 41 and second clamping plate 42
Hole is connect, first clamping plate 41 and second clamping plate 42 are connected with supporting part 11 by the securing member being located in connecting hole.
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, runner includes taking turns core print seat 30, and wheel core print seat 30 includes shaft 31 and is arranged on shaft 31
On flange portion 32, wheel core print seat 30 be connected with wheel body 10 by flange portion 32.Preferably, wheel body 10 can be one or many
Individual, roller 20 is provided with each wheel body 10.
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 (12)
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；
Fixture (40), fixture (40) are removably mounted on the wheel body (10), and roller (20) pass through
On described fixture (40) fixed wheel body (10)；
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 described wheel body (10) have supporting part (11), the rolling
On the supporting part (11), fixture (40) are detachably connected with the supporting part (11) with by institute for wheel (20)
State roller (20) to be fixed on the supporting part (11).
4. runner according to claim 3, it is characterised in that described roller (20) include roller bearing (22), the roller sheet
Body (21) is rotatably arranged on the roller bearing (22), is provided with fixing groove on supporting part (11), roller bearing (22)
It is arranged in the fixing groove, fixture (40) are blocked in the outside of the fixing groove with fixed roller bearing (22).
5. runner according to claim 4, it is characterised in that supporting part (11) and the fixture (40) are many
Individual, the circumferentially-spaced arrangement of multiple supporting part (11) along the wheel body (10), (40) 1 a pair of multiple fixtures
Ground is answered to be arranged on the supporting part (11).
6. runner according to claim 5, it is characterised in that the runner includes looped rod, and the looped rod is erected at
On each described supporting part (11), each described roller bearing (22) be respectively described looped rod positioned at two neighboring accordingly described
Bar segment between supporting part (11).
7. runner according to claim 3, it is characterised in that described fixture (40) include first clamping plate (41), second
Clamping plate (42) and the connecting plate (43) of connection first clamping plate (41) and the second clamping plate (42), described supporting part (11) press from both sides
It is located between the first clamping plate (41) and the second clamping plate (42).
8. runner according to claim 4, 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).
9. runner according to claim 1, it is characterised in that the runner includes taking turns core print seat (30), the wheel core print seat
(30) shaft (31) and the flange portion (32) being arranged on the shaft (31) are included, wheel core print seat (30) is by described
Flange portion (32) is connected with the wheel body (10).
10. a kind of base apparatus, including chassis plate and the runner in the chassis plate, it is characterised in that the runner
Runner any one of claim 1 to 9.
11. base apparatus according to claim 10, it is characterised in that be provided with multiple described turns in the chassis plate
Wheel, multiple runners are arranged in the chassis plate along the circumferentially spaced of the chassis plate.
A kind of 12. robots, including base apparatus, it is characterised in that the base apparatus are described in claim 10 or 11
Base apparatus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621012279.6U CN206012204U (en) | 2016-08-31 | 2016-08-31 | Runner, base apparatus and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621012279.6U CN206012204U (en) | 2016-08-31 | 2016-08-31 | Runner, base apparatus and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206012204U true CN206012204U (en) | 2017-03-15 |
Family
ID=58255092
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621012279.6U Active CN206012204U (en) | 2016-08-31 | 2016-08-31 | Runner, base apparatus and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206012204U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106335319A (en) * | 2016-08-31 | 2017-01-18 | 珠海格力智能装备有限公司 | Rotating wheel, base plate device and robot |
-
2016
- 2016-08-31 CN CN201621012279.6U patent/CN206012204U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106335319A (en) * | 2016-08-31 | 2017-01-18 | 珠海格力智能装备有限公司 | Rotating wheel, base plate device and robot |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |