CN206155016U - Runner, chassis device and robot - Google Patents
Runner, chassis device and robot Download PDFInfo
- Publication number
- CN206155016U CN206155016U CN201621013671.2U CN201621013671U CN206155016U CN 206155016 U CN206155016 U CN 206155016U CN 201621013671 U CN201621013671 U CN 201621013671U CN 206155016 U CN206155016 U CN 206155016U
- 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
Landscapes
- Rolls And Other Rotary Bodies (AREA)
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, the wheel core print seat, the wheel main part is three for at least, and three round of main part is all installed on round core print seat at least, wherein, 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
The utility model is related to intelligence machine field, in particular to a kind of runner, base apparatus and robot.
Background technology
Robot is the installations for performing work automatically, and it can both receive mankind commander, and volume in advance can be run again
The program of row, its task is to assist or replace the work of the mankind, for example, produce industry, building industry, or the work of danger.
At present, robot includes base, and robot is moved on the ground by base.Base has wheel carrier, and base is utilized
The wheel carrier is moved on the ground or rotated.
However, the wheel carrier of robot base of the prior art is unidirectional wheel carrier, it is multi-corner star-shape frame and one-way wheel
With reference to, 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, motion
Flexibility 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；Wheel core print seat, wheel body is at least three, and at least three wheel bodies are pacified
It is mounted on wheel core print seat；Wherein, the rotation axis of roller and the rotation axis of wheel body are vertical, and the periphery wall of multiple rollers is projected
In 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, 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 roller body is rotationally on roller bearing, and roller bearing is removable with wheel 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, limited block is provided with roller bearing, limited block is arranged on the both sides of roller body.
Further, taking turns core print seat includes shaft and the flange portion that is arranged on shaft, wheel core print seat by flange portion with
Wheel body connects.
Further, taking turns core print seat also includes connector, and connector is arranged between two neighboring wheel body adjacent to connect
Two wheel bodies.
Further, shaft passes through each wheel body, connector to be set on shaft.
Further, shaft is located at the side of wheel body, and the two ends of connector are detachable with corresponding wheel body respectively
Ground connection.
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 is 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 the utility model includes wheel body and multiple rollers, because the roller body of multiple rollers is along wheel body
The periphery that wheel body is set circumferentially spacedly, and the rotation axis of roller is vertical with the rotation axis 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, solve existing skill
The poor problem of the kinematic dexterity of the base apparatus of the robot in art.
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 the 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 side view of the runner in Fig. 1；
Fig. 3 shows the fractionation structure chart of the runner in Fig. 1；
Fig. 4 shows the front view of the fractionation structure of the runner in Fig. 1；
Fig. 5 shows the structural representation with shaft and flange portion of the wheel mandrel of the runner in Fig. 1；
Fig. 6 shows the structural representation of the connector of the wheel mandrel of the runner in Fig. 1；
Fig. 7 shows the side view of the wheel mandrel of the runner in Fig. 6；
Fig. 8 shows the structural representation of the roller of the runner in Fig. 1；And
Fig. 9 shows the structural representation of the wheel body of the runner in Fig. 1.
Wherein, above-mentioned accompanying drawing is marked including the following drawings：
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；33rd, connector；331st, body is connected；332nd, extension；40th, securing member.
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 combination.Below with reference to the accompanying drawings and in conjunction with the embodiments describing the utility model in detail.
The utility model provides a kind of runner, refer to Fig. 1 to Fig. 9, 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 at least three, at least three
Wheel body 10 is installed on wheel core print seat 30；Wherein, the rotation axis of roller 20 is vertical with the rotation axis of wheel body 10, multiple
The periphery wall of roller 20 protrudes from the periphery wall of wheel body 10.
Runner in the 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 axis 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 improve 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 to Figure 4 and shown in Fig. 8, the bus of roller body 21 is circular arc,
The periphery wall of multiple roller bodies 21 forms circular support profile.So, the axis projection outline of each roller body 21 is
Circle, the radius of whole runner is the radius of the axis projection profile.The center of circle of the circular support profile and the center of circle of wheel body
Overlap.Preferably, the roller body is rubber bodies.
Preferably, multiple rollers 20 are distributed on the periphery wall of wheel body 10.
When rotor design meets in theory rotation and the seamless switching of ground contact roller 20, 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；The kinetic characteristic of roller body 21 of rubber type
Good, frictional force is big, wear-resisting.
For the ease of the installation of roller 20, as shown in figure 9, being provided with installation groove 11 on wheel body 10, roller 20 is installed
Installing in groove 11.As such, it is possible to the rotation for more easily realizing 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 9, 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 8, roller 20 is also
Including spring bearing 23, spring bearing 23 is arranged on the inwall of roller body 21, and roller body 21 is pacified by spring bearing 23
It is mounted on roller bearing 22.
In order to prevent roller body 21 from moving on roller bearing 22, limited block is provided with roller bearing 22, limited block 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.
In the present embodiment, taking turns core print seat 30 includes shaft 31 and the flange portion 32 being arranged on shaft 31, takes turns core print seat
30 are connected by flange portion 32 with wheel body 10.Preferably, flange portion 32 be connected positioned at an outermost wheel body 10.
Wheel core print seat 30 in the utility model has centre bore and keyway, and knot is installed as auxiliary using the centre bore and keyway
Structure.Wheel body 10 has centre bore, and wheel body 10 is set on shaft 31 by the centre bore.
In order to realize the connection between two wheel bodys, wheel core print seat 30 also includes connector 33, and connector 33 is arranged on adjacent
Connecting adjacent two wheel bodies 10 between two wheel bodies 10.Preferably, connector 33 is sleeve-shaped.
In one embodiment, shaft 31 passes through each wheel body 10, connector 33 to be set on shaft 31.This
Sample, when runner is assembled, first covers a wheel body 10 on shaft 31, then is arranged a connector 33, and one is subsequently covered again
Wheel body 10, so that connector 33 is located between two wheel bodies 10.
In another embodiment, as shown in Figures 4 to 7, shaft 31 is located at the side of wheel body 10, connector 33
Two ends it is detachably connected with corresponding wheel body 10 respectively.Now, flange portion 32 connects with an outermost wheel body 10
Connect, connector 33 is used to connect adjacent two wheel body.
Preferably, as shown in Figure 6 and Figure 7, connector 33 includes connection body 331 and extension 332, connects body 331
Both sides be provided with extension 332, extension 332 is extend in the endoporus of wheel body 10, connection body 331 be supported on it is adjacent
Between two wheel bodies 10.
Preferably, runner also includes securing member 40, and securing member 40 is located in each wheel body 10 and each connection body 331
On realizing the assembling of runner.
Runner in the utility model is during the rolls forward of wheel body 10, 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.
The 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 the utility model include above-mentioned runner, and the runner can be around the axial direction of wheel body 10
Rotate, it is also possible to along the axial movement of wheel body 10 in the presence of roller 20, 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, the attitude angle needed for so as to reach 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.
The 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 the uniform drivingly chassis of three bearing blocks, making platform have good balance quality.
As can be seen from the above description, the utility model the above embodiments realize following technique effect：
Runner in the utility model includes wheel body and multiple rollers, because the roller body of multiple rollers is along wheel body
The periphery that wheel body is set circumferentially spacedly, and the rotation axis of roller is vertical with the rotation axis 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, solve existing skill
The poor problem of the kinematic dexterity of the base apparatus of the robot in art.
Preferred embodiment of the present utility model is the foregoing is only, the utility model is not limited to, for this
For the technical staff in field, the 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 (14)
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) is 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；
Wheel core print seat (30), the wheel body (10) is at least three, and wheel body described at least three (10) is installed in the wheel
On core print seat (30)；
Wherein, the rotation axis of the roller (20) is vertical with the rotation axis 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 the roller body (21) is circular arc, multiple
The periphery wall of the roller body (21) forms circular support profile.
3. 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).
4. 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).
5. 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) removably connects body (21) with the wheel body (10)
Connect.
6. runner according to claim 5, 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 pacified by spring bearing (23)
It is mounted on the roller bearing (22).
7. runner according to claim 6, it is characterised in that be provided with limited block on the roller bearing (22), it is described spacing
Block is arranged on the both sides of the roller body (21).
8. runner according to claim 1, it is characterised in that the wheel core print seat (30) is including shaft (31) and is arranged on
Flange portion (32) on the shaft (31), wheel core print seat (30) is by the flange portion (32) and the wheel body (10)
Connection.
9. runner according to claim 8, it is characterised in that the wheel core print seat (30) also includes connector (33), described
Connector (33) is arranged between the two neighboring wheel body (10) to connect two adjacent wheel bodies (10).
10. runner according to claim 9, it is characterised in that the shaft (31) is through wheel body each described
(10), the connector (33) is set on the shaft (31).
11. runners according to claim 9, it is characterised in that the shaft (31) is positioned at the wheel body (10)
Side, the two ends of the connector (33) are detachably connected with the corresponding wheel body (10) respectively.
A kind of 12. 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 11.
13. base apparatus according to claim 12, 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 14. robots, including base apparatus, it is characterised in that the base apparatus are described in claim 12 or 13
Base apparatus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621013671.2U CN206155016U (en) | 2016-08-31 | 2016-08-31 | Runner, chassis device and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621013671.2U CN206155016U (en) | 2016-08-31 | 2016-08-31 | Runner, chassis device and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206155016U true CN206155016U (en) | 2017-05-10 |
Family
ID=58649560
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621013671.2U Active CN206155016U (en) | 2016-08-31 | 2016-08-31 | Runner, chassis device and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206155016U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106314022A (en) * | 2016-08-31 | 2017-01-11 | 珠海格力智能装备有限公司 | Runner, chassis device and robot |
-
2016
- 2016-08-31 CN CN201621013671.2U patent/CN206155016U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106314022A (en) * | 2016-08-31 | 2017-01-11 | 珠海格力智能装备有限公司 | Runner, chassis device and robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106314022A (en) | Runner, chassis device and robot | |
| CN203752789U (en) | Mecanum wheel | |
| CN214092160U (en) | Inner wall rotating platform of wind power tower | |
| CN203681688U (en) | Stairway climbing mechanism | |
| CN105024638A (en) | Supporting structure for solar flat single shaft tracking system | |
| CN206155016U (en) | Runner, chassis device and robot | |
| CN108357293A (en) | A kind of attached wheel of stair climbing with shock-absorbing function | |
| CN206012203U (en) | Runner, base apparatus and robot | |
| CN206012202U (en) | Runner, base apparatus and robot | |
| CN206243298U (en) | A kind of comprehensive four-wheel drive AGV dollies | |
| CN206030946U (en) | Runner, chassis device and robot | |
| CN206012204U (en) | Runner, base apparatus and robot | |
| CN206012205U (en) | Runner, base apparatus and robot | |
| CN106696598A (en) | Omnidirectional wheel free of lateral swing | |
| CN108582773B (en) | 3D printer | |
| CN103658270A (en) | Layering roller wheel | |
| CN204034220U (en) | Hobbing-type bike riding-balance simulator | |
| CN204137170U (en) | A kind of electric cycle and Anti-side-turning device | |
| CN106335318A (en) | Rotating wheel, base plate device and robot | |
| CN107700897A (en) | A kind of small rotary parking systems | |
| CN106364258A (en) | Turning wheels, chassis device and robot | |
| CN106335319A (en) | Rotating wheel, base plate device and robot | |
| CN106314023A (en) | Runner, chassis device and robot | |
| CN205718708U (en) | It is a kind of that tape is spacing shakes volume tape measure | |
| CN204172616U (en) | To blow out protection wheel hub |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |