CN206030946U - Runner, chassis device and robot - Google Patents
Runner, chassis device and robot Download PDFInfo
- Publication number
- CN206030946U CN206030946U CN201621030716.7U CN201621030716U CN206030946U CN 206030946 U CN206030946 U CN 206030946U CN 201621030716 U CN201621030716 U CN 201621030716U CN 206030946 U CN206030946 U CN 206030946U
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- China
- Prior art keywords
- roller
- runner
- wheel
- wheel body
- bearing
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Abstract
The utility model provides a runner, chassis device and robot, the runner is including taking turns the main part, and the runner still includes: a plurality of gyro wheels, a plurality of gyro wheels along the wheel main part circumference looks interval install on the periphery wall of round main part, the wheel body of gyro wheel rotationally sets up for a round main part, wherein, be provided with anti -skidding line on wheel body's the periphery wall, the rotation axis of gyro wheel is perpendicular with the rotation axis of wheel main part, and the periphery wall of a plurality of gyro wheels is all stuck out in the periphery wall of round main part. The utility model provides a chassis device's of the robot among the prior art the relatively poor problem of motion flexibility 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 performing 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, produce industry, building industry, or the work of danger.
Robot includes base, and robot is moved on the ground by base apparatus.Base apparatus have wheel carrier, chassis dress
Put and move on the ground or rotate using the wheel carrier.
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；Wherein, anti-slip veins are provided with the periphery wall of roller body；Roller
Rotation axiss are vertical with the rotation axiss of wheel body, and the periphery wall of multiple rollers protrudes from the periphery wall of wheel body.
Further, anti-slip veins include multiple first cuts, and each first cut is along the axially extending of roller body.
Further, anti-slip veins include multiple second cuts, and each second cut is along the circumferentially extending of roller body.
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, roller is arranged on to be installed in groove.
Further, roller includes roller bearing, and roller body is 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 spring bearing, and spring bearing is 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, limiting section is arranged on the both sides of roller body.
Further, runner also includes wheel core print seat, and wheel core print seat includes shaft and the flange portion being arranged on shaft, wheel
Core print 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 be arranged on chassis
Runner on plate, runner are above-mentioned runner.
Further, multiple runners are provided with chassis plate, 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 stated.
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 to explain this utility model, does not constitute to improper restriction of the present utility model.
In the accompanying drawings：
Fig. 1 shows the structural representation 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 one embodiment of the roller of the runner in Fig. 1；
Fig. 4 shows the structural representation of second embodiment of the roller of the runner in Fig. 1；And
Fig. 5 shows the structural representation of the wheel body of the runner in Fig. 1.
Wherein, above-mentioned accompanying drawing includes the following drawings labelling：
10th, wheel body；11st, groove is installed；20th, roller；21st, roller body；211st, the first cut；212nd, the second cut；
22nd, roller bearing；23rd, spring bearing；30th, take turns core print 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. 5, 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；Wherein, it is provided with the periphery wall of roller body 21 anti-skidding
Stricture of vagina；The rotation axiss of roller 20 are vertical with the rotation axiss of wheel body 10, and the periphery wall of multiple rollers 20 protrudes from wheel body
10 periphery wall.
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.
The concrete structure of anti-slip veins is, as shown in figure 3, anti-slip veins include multiple first cuts 211, each first cut
211 along the axially extending of roller body 21.Preferably, circumferentially-spaced arrangement of multiple first cuts 211 along roller body 21.
As shown in figure 4, anti-slip veins include multiple second cuts 212, circumference of multiple second cuts 212 along roller body 21
Extend.Preferably, multiple second cuts 212 are arranged along the axially spaced-apart of roller body 21.Concrete body, anti-slip veins include multiple the
One cut 211 and multiple second cuts 212.
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.It is 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, installation groove 11 is provided with wheel body 10, roller 20 is installed
Installing in 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, roller 20 includes roller bearing 22, and roller body 21 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, roller 20 includes roller bearing 22, roller body 21 can
Rotationally on roller bearing 22, roller bearing 22 is detachably connected with wheel body 10.Roller bearing 22 herein is straight-bar.Roller sheet
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 spring bearing 23, and spring bearing 23 is arranged on the inwall of roller body 21, and roller body 21 passes through spring bearing
23 are arranged 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 also includes wheel core print seat 30, and wheel core print seat 30 includes shaft 31 and is arranged on shaft
Flange portion 32 on 31, wheel core print seat 30 are connected with wheel body 10 by flange portion 32.Preferably, wheel body 10 can be one or
It is multiple, roller 20 is provided with each wheel body 10.
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 that the appearance of robot is adjusted during reaching impact point
State, so as to reach the attitude angle needed for final state.
Each group runner includes at least multiple wheel bodies, is arranged in chassis plate by taking turns core print seat, the bearing block 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, including base apparatus again, and 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 have good balance quality.
As can be seen from the above description, this utility model the above embodiments realize 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 these are only, this utility model is not limited to, for this area
Technical staff for, this utility model can have various modifications and variations.It is all it is of the present utility model spirit and principle within,
Any modification, equivalent substitution and improvements made etc., should be included within protection domain of the present utility model.
Claims (13)
1. a kind of runner, including wheel body (10), it is characterised in that the runner also includes：
Multiple rollers (20), the plurality of roller (20) are arranged on the wheel master along the circumferentially spaced of the wheel body (10)
On the periphery wall of body (10), the roller body (21) of the roller (20) relative to the wheel body (10) rotatably arranged with；
Wherein, anti-slip veins are provided with the periphery wall of the roller body (21)；
The rotation axiss of the roller (20) are vertical with the rotation axiss of the wheel body (10), outside multiple rollers (20)
Perisporium protrudes from the periphery wall of the wheel body (10).
2. runner according to claim 1, it is characterised in that the anti-slip veins include multiple first cuts (211), each
First cut (211) is along the axially extending of the roller body (21).
3. runner according to claim 1 and 2, it is characterised in that the anti-slip veins include multiple second cuts (212),
Each described second cut (212) is along the circumferentially extending of the roller body (21).
4. runner according to claim 1, it is characterised in that the bus of the roller body (21) is circular arc, multiple
The periphery wall of the roller body (21) forms circular support profile.
5. runner according to claim 1, it is characterised in that installation groove (11) is provided with the wheel body (10),
The roller (20) is in installation groove (11).
6. runner according to claim 1, it is characterised in that the roller (20) includes roller bearing (22), the roller sheet
Body (21) is set on the roller bearing (22), and the roller bearing (22) is rotationally connected with the wheel body (10).
7. runner according to claim 1, it is characterised in that the roller (20) includes roller bearing (22), the roller sheet
Rotationally on the roller bearing (22), the roller bearing (22) is removably connected body (21) with the wheel body (10)
Connect.
8. runner according to claim 7, it is characterised in that the roller (20) also includes spring bearing (23), described
Spring bearing (23) is arranged on the inwall of the roller body (21), and the roller body (21) is by the spring bearing
(23) on the roller bearing (22).
9. runner according to claim 7, it is characterised in that be provided with limiting section on the roller bearing (22), it is described spacing
Portion is arranged on the both sides of the roller body (21).
10. runner according to claim 1, it is characterised in that the runner also includes wheel core print seat (30), the wheel core print seat
(30) including shaft (31) and the flange portion (32) being arranged on the shaft (31), wheel core print seat (30) is by described
Flange portion (32) is connected with the wheel body (10).
A kind of 11. 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 10.
12. base apparatus according to claim 11, it is characterised in that multiple described turns are provided with the chassis plate
Wheel, multiple runners are arranged in the chassis plate along the circumferentially spaced of the chassis plate.
A kind of 13. robots, including base apparatus, it is characterised in that the base apparatus are described in claim 11 or 12
Base apparatus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621030716.7U CN206030946U (en) | 2016-08-31 | 2016-08-31 | Runner, chassis device and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621030716.7U CN206030946U (en) | 2016-08-31 | 2016-08-31 | Runner, chassis device and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206030946U true CN206030946U (en) | 2017-03-22 |
Family
ID=58298684
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621030716.7U Expired - Fee Related CN206030946U (en) | 2016-08-31 | 2016-08-31 | Runner, chassis device and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206030946U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106274276A (en) * | 2016-08-31 | 2017-01-04 | 珠海格力智能装备有限公司 | Runner, base apparatus and robot |
-
2016
- 2016-08-31 CN CN201621030716.7U patent/CN206030946U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106274276A (en) * | 2016-08-31 | 2017-01-04 | 珠海格力智能装备有限公司 | Runner, base apparatus and 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: 20170322 Termination date: 20210831 |