CN206243294U - One kind service humanoid robot chassis - Google Patents
One kind service humanoid robot chassis Download PDFInfo
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- CN206243294U CN206243294U CN201621310028.6U CN201621310028U CN206243294U CN 206243294 U CN206243294 U CN 206243294U CN 201621310028 U CN201621310028 U CN 201621310028U CN 206243294 U CN206243294 U CN 206243294U
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- disc
- motor
- gear drive
- low bottom
- fixed mount
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Abstract
The purpose of this utility model is to solve robotically-driven wheel in the prior art idle running, skidding and the relatively low problem of motor service life occur while landing.Service humanoid robot chassis includes chassis body, suspension arrangement and drive device, and chassis body includes top bottom-disc, low bottom-disc, fixed mount and support column, is connected by support column between top bottom-disc and low bottom-disc, and fixed mount is fixedly installed on low bottom-disc；Suspension arrangement includes spring and guide holder, and spring is located between fixed mount and guide holder；Drive device includes motor, power transmission shaft, gear drive, driving wheel and transmission fixed seat, transmission fixed seat is connected with guide holder, motor is arranged in transmission fixed seat, motor is connected with gear drive, gear drive is connected by power transmission shaft with driving wheel, and low bottom-disc is provided with universal wheel.The base apparatus are used for service type robot field.
Description
Technical field
The utility model is related to robotics, more particularly to one kind service humanoid robot chassis.
Background technology
Current service type robot chassis structure major part uses wheeled construction, and the performance on chassis is in robot kinematics
In play key effect.Because the environmental grounds out-of-flatness for working, the arrangement of wheel are unreasonable, robot is easily caused
Driving wheel cannot land simultaneously, idle running, skidding occur, so that robot cannot continue motion, make robot chassis steady
The reduction of qualitative and reliability.In addition the output of robot power is all that motor directly drives driving wheel.Motor is so caused to export
Axle directly bears load, and motor service life is substantially reduced.
The content of the invention
The purpose of this utility model is to solve robotically-driven wheel in the prior art idle running occur, beat while landing
Sliding phenomenon and the shorter problem of motor service life, so as to provide a kind of stability and reliability is higher, motor service life compared with
Service humanoid robot chassis long.
The technical scheme that the utility model solves the above problems is：One kind service humanoid robot chassis, including chassis body,
Suspension arrangement and drive device, chassis body include top bottom-disc, low bottom-disc, fixed mount and support column, the top bottom-disc and bottom
Connected by support column between disk, fixed mount is fixedly installed on low bottom-disc；Suspension arrangement includes spring and guide holder, spring position
Between fixed mount and guide holder；Drive device includes that motor, power transmission shaft, gear drive, driving wheel and transmission are solid
Reservation, the transmission fixed seat is connected with guide holder, and motor is arranged in transmission fixed seat, motor and gear drive
Mechanism is connected, and gear drive is connected by power transmission shaft with driving wheel, and universal wheel is provided with low bottom-disc.
Above-mentioned suspension arrangement can also include linear bearing and the axis of guide coordinated with linear bearing, the linear bearing
It is fixedly installed on fixed mount, the axis of guide is fixedly installed on guide holder, spring is set in the lower end of linear bearing.
Universal wheel can be arranged on the rear and front end of low bottom-disc.
Preferably, the gear drive includes two gears being meshed, and realizes gear drive.
The beneficial effects of the utility model are：Driving wheel, gear drive essence are delivered power to by gear drive
Degree is high, substantially reduces motor output shaft influence loaded and increases the service life.In addition installed before drive mechanism and chassis
Suspension arrangement, suspension arrangement can rely on spring power make driving wheel fit completely ground avoid the occurrence of driving wheel idle running or skid
Phenomenon, while absorb road surface impact energy, effectively reduce vibration effect of the ground out-of-flatness to chassis, substantially increase machine
Device people chassis stability and reliability；Make robot motion more steady, make robot motion turn flexibly, chassis stationarity
It is good, applied widely.
Brief description of the drawings
Fig. 1 is the structural representation of the utility model one embodiment；
Fig. 2 is the utility model one embodiment partial structural diagram；
Fig. 3 is the utility model one embodiment suspension arrangement partial structural diagram.
Reference：1- top bottom-discs；2- low bottom-discs；3- support columns；4- linear bearings；5- fixed mounts；6- springs；7- is oriented to
Axle；8- guide holders；9- driving wheels；10- universal wheel fixed mounts；11- universal wheels；12- is driven fixed seat；13- power transmission shafts；14- teeth
Wheel one；15- gears two；16- motors
Specific embodiment
Content of the present utility model is described in further detail below in conjunction with the drawings and specific embodiments：
A kind of service humanoid robot chassis as shown in Figure 1, including chassis body, suspension arrangement and drive device, chassis
Body includes top bottom-disc 1, low bottom-disc 2, fixed mount 5 and support column 3, and support column 3 is passed through between the top bottom-disc 1 and low bottom-disc 2
Connection, fixed mount 5 is fixedly installed on low bottom-disc 2, as shown in figure 3, suspension arrangement includes linear bearing 4, the axis of guide 7, spring 6
With guide holder 8, the linear bearing 4 is fixedly installed on fixed mount 5, and spring 6 is located between fixed mount 5 and guide holder 8, and is covered
The lower end of linear bearing 4 is located at, the axis of guide 7 is fixedly installed on guide holder 8 through linear bearing 4；Drive device includes driving
Motor 16, power transmission shaft 13, gear drive, driving wheel 9 and transmission fixed seat 12, the transmission fixed seat 12 and guide holder 8
Connection, motor 16 is connected with gear drive, and gear drive is connected by power transmission shaft 13 with driving wheel 9, and ten thousand
It is fixedly installed on universal wheel fixed mount 10 to wheel 11, universal wheel fixed mount 10 is arranged on the rear and front end of low bottom-disc 2.
Power is transferred to driving wheel 9 by drive device by motor by gear drive.Suspension arrangement is driving
Take turns the connection of 9 both sides driving wheel 9 and fixed mount 5.
As shown in Fig. 2 the gear drive includes the gear 1 and gear 2 15 that are meshed, power transmission shaft 13 is passed through
Transmission fixed seat 12 is connected with gear 1, and gear 2 15 is meshed with gear 1, gear 2 15 and the phase of motor 16
Even, gear drive is realized.
Claims (4)
- It is 1. a kind of to service humanoid robot chassis, it is characterised in that：Including chassis body, suspension arrangement and drive device, chassis sheet Body includes top bottom-disc, low bottom-disc, fixed mount and support column, is connected by support column between the top bottom-disc and low bottom-disc, fixed Frame is fixedly installed on low bottom-disc；Suspension arrangement includes spring and guide holder, and spring is located between fixed mount and guide holder；Drive Device includes motor, power transmission shaft, gear drive, driving wheel and transmission fixed seat, the transmission fixed seat and guiding Seat connection, motor is arranged in transmission fixed seat, and motor is connected with gear drive, and gear drive leads to Cross power transmission shaft to be connected with driving wheel, universal wheel is provided with low bottom-disc.
- It is 2. according to claim 1 to service humanoid robot chassis, it is characterised in that：Suspension arrangement also include linear bearing and The axis of guide coordinated with linear bearing, the linear bearing is fixedly installed on fixed mount, and the axis of guide is fixedly installed on guide holder On, spring is set in the lower end of linear bearing.
- It is 3. according to claim 1 and 2 to service humanoid robot chassis, it is characterised in that：Universal wheel is arranged on low bottom-disc Rear and front end.
- It is 4. according to claim 3 to service humanoid robot chassis, it is characterised in that：The gear drive includes mutually nibbling Two gears for closing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621310028.6U CN206243294U (en) | 2016-12-01 | 2016-12-01 | One kind service humanoid robot chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621310028.6U CN206243294U (en) | 2016-12-01 | 2016-12-01 | One kind service humanoid robot chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206243294U true CN206243294U (en) | 2017-06-13 |
Family
ID=59004959
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621310028.6U Active CN206243294U (en) | 2016-12-01 | 2016-12-01 | One kind service humanoid robot chassis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206243294U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108177705A (en) * | 2018-01-08 | 2018-06-19 | 浙江立石机器人技术有限公司 | Machine leg easy to disassemble |
| CN108263157A (en) * | 2018-01-31 | 2018-07-10 | 北京理工华汇智能科技有限公司 | Robot chassis and the robot for including it |
| CN108313161A (en) * | 2018-01-31 | 2018-07-24 | 北京理工华汇智能科技有限公司 | Robotically-driven wheel system and robot comprising it |
| CN109228810A (en) * | 2018-09-06 | 2019-01-18 | 上海有个机器人有限公司 | A kind of robot chassis suspension and robot |
-
2016
- 2016-12-01 CN CN201621310028.6U patent/CN206243294U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108177705A (en) * | 2018-01-08 | 2018-06-19 | 浙江立石机器人技术有限公司 | Machine leg easy to disassemble |
| CN108263157A (en) * | 2018-01-31 | 2018-07-10 | 北京理工华汇智能科技有限公司 | Robot chassis and the robot for including it |
| CN108313161A (en) * | 2018-01-31 | 2018-07-24 | 北京理工华汇智能科技有限公司 | Robotically-driven wheel system and robot comprising it |
| CN109228810A (en) * | 2018-09-06 | 2019-01-18 | 上海有个机器人有限公司 | A kind of robot chassis suspension and robot |
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