CN206265184U - A kind of robot Omni-mobile chassis - Google Patents
A kind of robot Omni-mobile chassis Download PDFInfo
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- CN206265184U CN206265184U CN201621407527.7U CN201621407527U CN206265184U CN 206265184 U CN206265184 U CN 206265184U CN 201621407527 U CN201621407527 U CN 201621407527U CN 206265184 U CN206265184 U CN 206265184U
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- mounting seat
- end mounting
- omni
- robot
- cantilever
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Abstract
The utility model discloses a kind of robot Omni-mobile chassis, including base plate, lifting slider, top board, lift drive mechanism and multiple cantilever mechanisms；Cantilever mechanism includes pull bar, many connecting rods, upper end mounting seat, lower end mounting seat and omni-directional wheels；Many guide posts are vertically provided between the bottom panel and top panel；Lifting slider is arranged on each guide post simultaneously, and is slided up and down by lift drive mechanism drives edge guide post；Many connecting rods are installed in parallel between upper end mounting seat and lower end mounting seat；Lower end mounting seat is arranged on omni-directional wheel；Upper end mounting seat is arranged on baseplate underside；The upper end of pull bar is hinged on lifting slider, and lower end is hinged on connecting rod.The robot Omni-mobile chassis can realize the oscilaltion campaign on robot chassis using lift drive mechanism and cantilever mechanism, regulation robot chassis and the distance on ground, so as to control the supporting surface on robot chassis and the height of center of gravity in the vertical direction, robot is set to move in space more flexible.
Description
Technical field
The utility model is related to a kind of robot chassis, especially a kind of robot Omni-mobile chassis.
Background technology
The current robot widely used ratcheting mechanism in chassis, ratcheting mechanism has having stable behavior, manipulates simple, its movement speed
The advantages of degree and direction are easily controlled.Ratcheting mechanism can be divided into all-around mobile and non-comprehensive according to the direction moved in plane
Mobile two ways.Being applicable in the mechanism infrequently commutated wherein non-all-around mobile mode more.And all-around mobile mode is
Simultaneously using the omni-directional wheel of 3 or more than 3, the translation of any direction is realized, can be rotated in place and any complexity
Movement in a curve.Effectively prevent the incomplete property motion limitation that common wheel brings due to that can not break away.Therefore it is more suitable for interior
Complicated space.
By the research to existing similar means, it is found that existing mobile robot chassis is most and use all-around mobile side
Formula, i.e., simultaneously using the omni-directional wheel of 3 or more than 3, make car body realize smooth all-around mobile；But this all-around mobile
Mode, only applicable planar movement, it is impossible to carry out height regulation.For particularly with interior, area it is smaller, barrier is more,
In the case that space structure is complicated and changeable, this kind of robot chassis is larger due to base area, it is easy to is stuck or collides
Barrier, adaptability is poor.
Utility model content
Utility model purpose：Offer is a kind of can not only to be met all-around mobile but also can realize that the robot of height regulation is complete
To mobile chassis.
Technical scheme：The utility model provides a kind of robot Omni-mobile chassis, including base plate, lifting slider, top
Plate, a lift drive mechanism and at least three cantilever mechanisms；Cantilever mechanism include pull bar, two connecting rods, upper end mounting seat,
Lower end mounting seat and omni-directional wheel；Three guide posts are at least vertically provided between the bottom panel and top panel；Lifting slider is pacified simultaneously
On each guide post, and slided up and down by lift drive mechanism drives edge guide post；Two connecting rods are installed in parallel in upper end
Between mounting seat and lower end mounting seat, and the two ends of connecting rod are radial type and are connected with upper end mounting seat and lower end mounting seat；Under
End mounting seat is arranged on omni-directional wheel；The radians such as the upper end mounting seat of each cantilever mechanism interval is installed in the same of baseplate underside
On circumference；The radians such as the upper end of the pull bar of each cantilever mechanism interval is hinged on the same circumference of lifting slider, and lower end is hinged
On the connecting rod of the cantilever mechanism.
The oscilaltion campaign on robot chassis can be realized using lift drive mechanism and cantilever mechanism, robot is adjusted
Chassis and the distance on ground, so as to avoid robot from being stuck, make robot move in space more flexible；Can using omni-directional wheel
With in any direction, arbitrarily angled motion, relative to conventional differential type of drive, omni-directional wheel can complete rotation while translation
Turn, without rotating first, then translated.
As further limits scheme of the present utility model, lift drive mechanism include elevating screw, motor and
Drive belt；Elevating screw is pivotally mounted between base plate and top board vertically；Center spiral shell is provided with the center of lifting slider
Pit, elevating screw is screwed on screwed hole of centre；Motor is arranged on top board；It is provided with the output shaft of motor
Driving pulley, is provided with driven pulley on elevating screw, and drive belt is sleeved on driving pulley and driven pulley.Using lifting
Screw mandrel is connected by a drive belt with motor, and rotary screw changes the height of lifting slider on screw mandrel, by can be calculated
The adjustable range and chassis for going out lifting slider lift the scaling to be formed, then control the rotating speed and time control of motor to adjust
Pitch is from so as to more accurately change the adjustable height on chassis.
Used as further limits scheme of the present utility model, cantilever mechanism is altogether N number of, and N is more than or equal to three, and two neighboring
Projection angle of the connecting rod of cantilever mechanism on base plate is 360/N degree.Three omni-directional wheels can be made to exist using three cantilever mechanisms
Moved in parallel in vertical direction, it is to avoid chassis is unstable.
Compared with prior art, its advantage is the utility model：（1）Using lift drive mechanism and cantilever mechanism energy
The distance of the oscilaltion campaign on robot chassis, regulation robot chassis and ground is enough realized, so as to avoid robot by card
Firmly, robot is made to move in space more flexible；（2）Using omni-directional wheel can in any direction, arbitrarily angled motion, relative to
Conventional differential type of drive, omni-directional wheel can complete rotation while translation, without rotating first, then be put down
Move.
Brief description of the drawings
Fig. 1 is side structure schematic diagram of the present utility model；
Fig. 2 is structural representation after chassis of the present utility model rises；
Fig. 3 is structural representation after chassis of the present utility model declines.
In figure：1st, elevating screw, 2, motor, 3, base plate, 4, omni-directional wheel, 5, connecting rod, 6, pull bar, 7, guide post, 8,
Lifting slider, 9, top board, 10, upper end mounting seat, 11, lower end mounting seat, 12, drive belt.
Specific embodiment
Technical solutions of the utility model are described in detail below in conjunction with the accompanying drawings, but protection domain of the present utility model
It is not limited to the embodiment.
As Figure 1-3, robot Omni-mobile chassis includes disclosed in the utility model：Base plate 3, lifting slider 8, top
9, lift drive mechanism of plate and at least three cantilever mechanisms.
Wherein, cantilever mechanism includes pull bar 6, two connecting rods 5, upper end mounting seat 10, lower end mounting seat 11 and omni-directional wheels
4；Three guide posts 7, preferably three are at least vertically provided between base plate 3 and top board 9；Lifting slider 8 is arranged on simultaneously
On each guide post 7, and slided up and down by lift drive mechanism drives edge guide post 7；Two connecting rods 5 are installed in parallel in upper end peace
Between dress seat 10 and lower end mounting seat 11, and the two ends of connecting rod 5 are radial type with upper end mounting seat 10 and lower end mounting seat 11
Connection；Lower end mounting seat 11 is arranged on omni-directional wheel 4；The grade of the upper end mounting seat 10 radian interval of each cantilever mechanism is arranged on bottom
On the same circumference of the downside of plate 3；The radians such as the upper end of pull bar 6 of each cantilever mechanism interval is hinged on the same of lifting slider 8
On circumference, lower end is hinged on the connecting rod 5 of the cantilever mechanism；Lift drive mechanism include elevating screw 1, motor 2 and
Drive belt 12；Elevating screw 1 is pivotally mounted between base plate 3 and top board 9 vertically；It is provided with the center of lifting slider 8
Screwed hole of centre, elevating screw 1 is screwed on screwed hole of centre；Motor 2 is arranged on top board 9；In the defeated of motor 2
Shaft is provided with driving pulley, and driven pulley is provided with elevating screw 1, and drive belt 12 is sleeved on driving pulley and driven belt
On wheel；Altogether for N number of, N is more than or equal to three to cantilever mechanism, and two neighboring cantilever mechanism projection angle of the connecting rod 5 on base plate 3
It is 360/N degree.
In robot Omni-mobile chassis disclosed in the utility model, base plate 3 is the fixed pedestal of whole mechanism；Cantilever machine
Two connecting rods 5, upper end mounting seat 10 and lower end mounting seat 11 in structure constitute a quadrilateral connecting rod mechanism；By driving electricity
Machine 2 drives elevating screw 1 to rotate, so as to adjust the displacement in the vertical direction of lifting slider 8, change three omni-directional wheels 4 it
Between wheelspan, so as to reach change the height of base plate 3 purpose；Three omni-directional wheels 4 make robot have two complete frees degree,
Can be moved along any direction at any time, make whole mechanism more flexible；Three omni-directional wheels 4 are put down in vertical direction
Row movement, it is to avoid chassis is unstable；When robot runs into narrow space or barrier, adjusted by rotation and lifting screw mandrel 1 and risen
The position of sliding block 8 is dropped, cantilever mechanism elevating movement is made by pull bar 6, so as to change the wheelspan between three omni-directional wheels 4, adjusted
Robot chassis and the distance on ground, so as to avoid robot from being stuck, make robot move in space more flexible.
The utility model disclosed embodiment is to realize that chassis lifting drives using lift drive mechanism, but not
Limitation drives with elevating screw, and other modes are capable of achieving same work(comprising modes such as push rod, lifting column, cylinder, hydraulic cylinders
Energy.
Although as described above, having described the utility model with reference to specific preferred embodiment, it shall not be construed as
Limitation to the utility model itself.The spirit and scope premise of the present utility model of appended claims definition is not being departed from
Under, can various changes can be made in the form and details to it.
Claims (3)
1. a kind of robot Omni-mobile chassis, it is characterised in that：Including base plate（3）, lifting slider（8）, top board（9）, one
Lift drive mechanism and at least three cantilever mechanisms；Cantilever mechanism includes pull bar（6）, two pieces connecting rods（5）, upper end mounting seat
（10）, lower end mounting seat（11）And omni-directional wheel（4）；In base plate（3）And top board（9）Between be at least vertically provided with three guiding
Bar（7）；Lifting slider（8）Each guide post is arranged on simultaneously（7）On, and by lift drive mechanism drives edge guide post（7）On
Lower slider；Two connecting rods（5）It is installed in parallel in upper end mounting seat（10）With lower end mounting seat（11）Between, and connecting rod（5）Two
End and upper end mounting seat（10）With lower end mounting seat（11）It is radial type connection；Lower end mounting seat（11）Installed in omni-directional wheel
（4）On；The upper end mounting seat of each cantilever mechanism（10）Base plate is arranged on Deng radian interval（3）On the same circumference of downside；Respectively
The pull bar of individual cantilever mechanism（6）The radian interval such as upper end be hinged on lifting slider（8）Same circumference on, lower end is hinged on this
The connecting rod of cantilever mechanism（5）On.
2. robot Omni-mobile chassis according to claim 1, it is characterised in that：Lift drive mechanism includes lifting silk
Bar（1）, motor（2）And drive belt（12）；Elevating screw（1）It is pivotally mounted at base plate vertically（3）And top board（9）
Between；In lifting slider（8）Center be provided with screwed hole of centre, elevating screw（1）Screw on screwed hole of centre；Drive electricity
Machine（2）Installed in top board（9）On；In motor（2）Output shaft be provided with driving pulley, in elevating screw（1）It is provided with
Driven pulley, drive belt（12）It is sleeved on driving pulley and driven pulley.
3. robot Omni-mobile chassis according to claim 1 and 2, it is characterised in that：Cantilever mechanism is altogether N number of, and N is big
In equal to three, and two neighboring cantilever mechanism connecting rod（5）In base plate（3）On projection angle be 360/N degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621407527.7U CN206265184U (en) | 2016-12-21 | 2016-12-21 | A kind of robot Omni-mobile chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621407527.7U CN206265184U (en) | 2016-12-21 | 2016-12-21 | A kind of robot Omni-mobile chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206265184U true CN206265184U (en) | 2017-06-20 |
Family
ID=59047034
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621407527.7U Active CN206265184U (en) | 2016-12-21 | 2016-12-21 | A kind of robot Omni-mobile chassis |
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| Country | Link |
|---|---|
| CN (1) | CN206265184U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107021145A (en) * | 2017-03-06 | 2017-08-08 | 腾讯科技（深圳）有限公司 | One kind displacement drive mechanism and change posture mobile robot |
| CN107160360A (en) * | 2017-07-24 | 2017-09-15 | 游尔（北京）机器人科技股份有限公司 | A kind of service robot of centre of gravity, high kinetic stability |
| CN109534224A (en) * | 2018-12-30 | 2019-03-29 | 深圳市普渡科技有限公司 | Elevating mechanism and robot |
-
2016
- 2016-12-21 CN CN201621407527.7U patent/CN206265184U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107021145A (en) * | 2017-03-06 | 2017-08-08 | 腾讯科技（深圳）有限公司 | One kind displacement drive mechanism and change posture mobile robot |
| CN107160360A (en) * | 2017-07-24 | 2017-09-15 | 游尔（北京）机器人科技股份有限公司 | A kind of service robot of centre of gravity, high kinetic stability |
| CN109534224A (en) * | 2018-12-30 | 2019-03-29 | 深圳市普渡科技有限公司 | Elevating mechanism and robot |
| CN109534224B (en) * | 2018-12-30 | 2023-10-13 | 深圳市普渡科技有限公司 | Lifting mechanism and robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 200120 Shanghai City, Pudong New Area Xiang Ke Lu 111 No. 3 building 902 room A652-2 room Patentee after: Shanghai TIMI robot Co.,Ltd. Address before: 200120 Shanghai City, Pudong New Area Xiang Ke Lu 111 No. 3 building 902 room A652-2 room Patentee before: SHANGHAI TMI ROBOT TECHNOLOGY Co.,Ltd. |
|
| CP01 | Change in the name or title of a patent holder |