CN206703863U - Robot chassis and robot - Google Patents
Robot chassis and robot Download PDFInfo
- Publication number
- CN206703863U CN206703863U CN201720336413.6U CN201720336413U CN206703863U CN 206703863 U CN206703863 U CN 206703863U CN 201720336413 U CN201720336413 U CN 201720336413U CN 206703863 U CN206703863 U CN 206703863U
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- control arm
- bottom plate
- universal wheel
- robot
- robot chassis
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Abstract
The utility model provides a kind of robot and robot chassis, robot chassis includes bottom plate, hang shock mitigation system and wheel, hang the quantity at least two of shock mitigation system, two suspension shock mitigation systems are symmetrically set on bottom plate, suspension shock mitigation system includes motor, electric machine support, extension spring, first control arm, second control arm and fixed support, motor is laterally on electric machine support, one end of first control arm is hinged with fixed support one end, the other end of first control arm and the upper end of electric machine support are hinged, fixed support is detachably connected on bottom plate, one end of second control arm is hinged with bottom plate, the other end of second control arm and the lower end of electric machine support are hinged, one end connection electric machine support of extension spring, other end connecting bottom board, wheel is in the rotating shaft of motor.The utility model is used as a pair connecting rod of fork transverse arms, so as to solve the occupation problem in space by the way that motor is placed on into pair centre of fork transverse arms using the fixed plate of motor.
Description
Technical field
Robotic technology field is the utility model is related to, more particularly to a kind of robot chassis robot.
Background technology
With the development of science and technology occurring various robots in real life, they are typically all disposed within one can
On mobile bottom plate, and the performance of bottom plate will directly affect the overall performance of robot.Most of existing robot is using wheel
Formula mechanism driving moment is moved, and in order to adapt to different ground, corresponding suspended shock absorbing mechanism can be also set on bottom plate,
But existing hitch, when moving up and down, there is deviation angle in running orbit and the ground of wheel, cause whole machine
The running orbit deviation of people's equipment.Existing preferably hitch is the double fork transverse arm suspension used on automobile, but should
Suspension has manufacturing cost high, and space-consuming is big, and positional parameter is difficult the defects of determination, it is can be only applied to some high
Above the sport car of shelves.
Utility model content
The utility model provides a kind of robot chassis and robot, it is therefore intended that by the way that motor is placed on into double fork horizontal strokes
The centre of arm, it is used as a connecting rod of double fork transverse arms using the bottom plate of fixed motor, so as to solve the occupation problem in space.
To solve the above problems, the utility model embodiment provides a kind of robot chassis, including bottom plate, suspension damping system
System and wheel, hang the quantity at least two of shock mitigation system, and two suspension shock mitigation systems are symmetrically set in the bottom plate
On, the suspension shock mitigation system includes motor, electric machine support, extension spring, the first control arm, the second control arm and fixed support,
Laterally on the electric machine support, one end of first control arm is hinged the motor with described fixed support one end, the
The upper end of the other end of one control arm and the electric machine support is hinged, and the fixed support is detachably connected on the bottom plate,
One end of second control arm is hinged with the bottom plate, and the other end of the second control arm and the lower end of electric machine support are hinged, institute
The one end for stating extension spring connects the electric machine support, and the other end connects the bottom plate, and the wheel is in the rotating shaft of the motor.
As a kind of embodiment, first control arm and the second control arm are in the shape of the letter V or A fonts.
As a kind of embodiment, in addition to Universal wheel system, the Universal wheel system is on the bottom plate.
As a kind of embodiment, the quantity of the universal wheel is at least four.
As a kind of embodiment, the quantity of the universal wheel is four, and four Universal wheel systems are in matrix distribution.
As a kind of embodiment, the Universal wheel system includes universal wheel, caster bracket and spring, described universal
Wheel is connected by screw with caster bracket, and the spring is located between the universal wheel and caster bracket.
As a kind of embodiment, the Universal wheel system also includes stop collar, and the stop collar is sheathed on screw simultaneously
Between the universal wheel and the caster bracket.
As a kind of embodiment, the suspension shock mitigation system also includes fixed seat, and second control arm passes through described
Fixed seat is connected with bottom plate, and the second control arm is hinged with the fixed seat.
As a kind of embodiment, it is provided with and the second control arm shape phase at corresponding second control arm of the bottom plate
The movable slotted hole matched somebody with somebody.
The utility model embodiment also provides a kind of robot, including the robot chassis described in above-mentioned any one.
The utility model is compared to the beneficial effect of prior art：By the way that motor to be cleverly placed on to double fork transverse arms
Centre, be used as a connecting rod of double fork transverse arms using the fixed plate (i.e. bottom plate) of motor, so as to solve the occupancy in space
Problem；Suspension controls wheel to move up and down using double fork independent suspension systems by the first control arm and the second control arm
When it is perpendicular to the ground；By setting Universal wheel system to prevent robot more stable, shockproof, overturning-preventing in motion process, and
And when the running surface out-of-flatness of robot, universal wheel fluctuates 5mm to eliminate the machine caused by the out-of-flatness of ground
Vibrations；When chassis is under free state, the minimum point of wheel is lower than the minimum point of universal wheel, when being placed on level land, leads to
The deadweight for crossing robot causes wheel and universal wheel at grade, such robot just can on level land easy motion, when
When being placed on the place of ground injustice, because the deadweight of robot causes wheel close proximity to ground, so that robot also can be on ground
Uneven place motion, this makes robot motion quicker, and speed faster, moves more steady, strong applicability.
Brief description of the drawings
Fig. 1 is the structure chart on robot chassis of the present utility model；
Fig. 2 is the explosive view on robot chassis of the present utility model；
Fig. 3 is the structure chart of suspension shock mitigation system of the present utility model；
Fig. 4 is the explosive view of Universal wheel system of the present utility model；
Fig. 5 schemes for robot architecture of the present utility model.
Accompanying drawing marks：1st, bottom plate；11st, movable slotted hole；12nd, mounting hole；2nd, shock mitigation system is hung；21st, motor；22nd, motor
Support；23rd, the first control arm；24th, the second control arm；25th, fixed support；26th, extension spring；27th, fixed seat；3rd, Universal wheel system；
31st, universal wheel；32nd, caster bracket；33rd, spring；34th, stop collar；4th, wheel；5th, robot chassis.
Embodiment
Below in conjunction with accompanying drawing, and other technical characteristic above-mentioned to the utility model and advantage are carried out clearly and completely
Description, it is clear that described embodiment is only section Example of the present utility model, rather than whole embodiments.
As shown in Fig. 1 to 2, a kind of robot chassis, including bottom plate 1, suspension shock mitigation system 2, Universal wheel system 3 and car
Wheel 4.In the present embodiment, the quantity at least two of wheel 4, the quantity and the quantity of wheel 4 for hanging shock mitigation system 2 are mutually fitted
Match somebody with somebody, also at least two, the quantity of universal wheel 31 is four, and four Universal wheel systems 3 are in matrix distribution on bottom plate 1.
As shown in figure 3, suspension shock mitigation system 2 includes motor 21, electric machine support 22, extension spring 26, the first control arm 23, second
Control arm 24 and fixed support 25.First control arm 23 and the second control arm 24 is in the shape of the letter V or A fonts, wherein, the first control
The openend of arm 23 processed is hinged with the one end of fixed support 25, specifically, the openend of the first control arm 23 and fixed support 25
Upper end upright side walls are hinged, and the upper end of the other end and electric machine support 22 of the first control arm 23 is hinged；Second control arm 24 is opened
Mouth end is be hinged with bottom plate 1, and the lower end of the other end and electric machine support 22 of the second control arm 24 is hinged.The lower end of fixed support 25 leads to
Screw is crossed to be fixed on bottom plate 1.One end connection electric machine support 22 of extension spring 26, other end connecting bottom board 1.Motor 21 is laterally located at
On electric machine support 22, wheel 4 is connected to by wheel shaft on the output shaft of motor 21.
In one embodiment, the first control arm 23 and the second control arm 24 are set in bending in the axial direction, and bending is set
The control arm put can bear bigger horizontal force.
In one embodiment, fixed seat 27, the openend of the second control arm 24 and the vertical side of fixed seat 27 are additionally provided with
Wall is hinged, and fixed seat 27 is detachably connected on bottom plate 1 by screw.
Bottom plate 1 is provided with some through holes, including two movable slotted holes 11 to match with the shape of the second control arm 24
With the mounting hole 12 of four Universal wheel systems 3.
As shown in figure 4, Universal wheel system 3 includes universal wheel 31, caster bracket 32 and spring 33, universal wheel 31 passes through
Screw is connected with caster bracket 32, and spring 33 is located between universal wheel 31 and caster bracket 32.
In one embodiment, Universal wheel system 3 also includes stop collar 34, and stop collar 34 is sheathed on screw and positioned at universal
Between wheel 31 and caster bracket 32, the setting of the stop collar 34 can prevent the excess compression of spring 33, that is, avoid bottom plate 1 excessive
Close to ground.
As shown in figure 5, a kind of robot, including above-mentioned robot chassis 5.
The one of which embodiment on robot chassis 5 of the present utility model shares shape among two limiting conditions and one
State.The original state for assembling the robot of the system is minimum dotted state, i.e., robot can bear the concave surface degree of maximum, this
When, extension spring 26 and spring 33 tilt down all in reset condition, the whole shock mitigation system 2 that hangs, the ultimate range tilted down
About 5mm or so, the minimum point of wheel 4 will be less than the minimum point of universal wheel 31 (when the minimum point of wheel 4 contacts ground
When, universal wheel 31 does not reach ground)；When the robot is placed in into ground, robot weight makes during suspension shock mitigation system 2 is in
Between state, now, extension spring 26 is in extended state, and the second control arm 24 is horizontal, and the first control arm 23 is in updip
Oblique 3 °~5 ° or so, universal wheel 31 and wheel 4 contact ground；When convex surface ground is crossed by robot, extension spring 26 is in stretching shape
State, the whole shock mitigation system 2 that hangs are inclined upwardly, and acclivitous ultimate range is about 15mm or so.
The utility model utilizes fixed plate (the i.e. bottom of motor by the way that motor to be cleverly placed on to pair centre of fork transverse arms
Plate) it is used as a connecting rod of double fork transverse arms, so as to solve the occupation problem in space；Suspension is using double fork independent suspensions
System, it is perpendicular to the ground when controlling wheel to move up and down by the first control arm and the second control arm；By setting universal train
System prevents that robot is more stable in motion process, shockproof, overturning-preventing, and when the running surface out-of-flatness of robot,
Universal wheel fluctuates 5mm to eliminate the machine vibration caused by the out-of-flatness of ground；When chassis is under free state, car
The minimum point of wheel is lower than the minimum point of universal wheel, when being placed on level land, passes through the deadweight wheel and universal wheel of robot
At grade, such robot just can on level land easy motion, when being placed on the uneven place in ground, due to robot
Deadweight cause wheel close proximity to ground so that robot also can be in the uneven place motion in ground, this makes robot motion more
Add agility, speed faster, moves more steady, strong applicability.
Particular embodiments described above, the purpose of this utility model, technical scheme and beneficial effect are carried out to enter one
The detailed description of step, it will be appreciated that the foregoing is only specific embodiment of the utility model, be not used to limit this reality
With new protection domain.Particularly point out, to those skilled in the art, it is all the spirit and principles of the utility model it
It is interior, any modification, equivalent substitution and improvements done etc., it should be included within the scope of protection of the utility model.
Claims (10)
1. a kind of robot chassis, it is characterised in that including bottom plate, suspension shock mitigation system and wheel, hang shock mitigation system
Quantity at least two, two suspension shock mitigation systems are symmetrically set on the bottom plate, and the suspension shock mitigation system includes electricity
Mechanical, electrical machine support, extension spring, the first control arm, the second control arm and fixed support, the motor are laterally located at the motor branch
On frame, one end of first control arm is hinged with described fixed support one end, the other end of the first control arm and the motor
The upper end of support is hinged, and the fixed support is detachably connected on the bottom plate, one end of second control arm with it is described
Bottom plate is hinged, and the other end of the second control arm and the lower end of electric machine support are hinged, and one end of the extension spring connects the motor branch
Frame, the other end connect the bottom plate, and the wheel is in the rotating shaft of the motor.
2. according to the robot chassis described in claim 1, it is characterised in that first control arm and the second control arm are equal
It is in the shape of the letter V or A fonts.
3. according to the robot chassis described in claim 1, it is characterised in that also including Universal wheel system, the universal wheel
System is on the bottom plate.
4. according to the robot chassis described in claim 3, it is characterised in that the quantity of the universal wheel is at least four.
5. according to the robot chassis described in claim 4, it is characterised in that the quantity of the universal wheel is four, four
The Universal wheel system is in matrix distribution.
6. according to the robot chassis described in claim 3 or 4 or 5, it is characterised in that the Universal wheel system includes universal
Wheel, caster bracket and spring, the universal wheel are connected by screw with caster bracket, and the spring is located at described universal
Between wheel and caster bracket.
7. according to the robot chassis described in claim 6, it is characterised in that the Universal wheel system also includes stop collar,
The stop collar is sheathed on screw and between the universal wheel and the caster bracket.
8. according to the robot chassis described in claim 1, it is characterised in that the suspension shock mitigation system also includes fixing
Seat, second control arm are connected by the fixed seat with bottom plate, and the second control arm is hinged with the fixed seat.
9. according to the robot chassis described in claim 1, it is characterised in that be provided with corresponding second control arm of the bottom plate
The movable slotted hole to match with the second control arm shape.
10. a kind of robot, it is characterised in that including the robot chassis any one of the claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720336413.6U CN206703863U (en) | 2017-03-31 | 2017-03-31 | Robot chassis and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720336413.6U CN206703863U (en) | 2017-03-31 | 2017-03-31 | Robot chassis and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206703863U true CN206703863U (en) | 2017-12-05 |
Family
ID=60467656
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720336413.6U Active CN206703863U (en) | 2017-03-31 | 2017-03-31 | Robot chassis and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206703863U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108482054A (en) * | 2018-04-20 | 2018-09-04 | 深圳市证通电子股份有限公司 | Robot chassis and automated guided vehicle |
| CN110053466A (en) * | 2019-04-26 | 2019-07-26 | 杭州申昊科技股份有限公司 | One kind two drives spider gear structure of driving unit |
| CN110075332A (en) * | 2019-05-13 | 2019-08-02 | 刘峰 | A kind of hospital automation sterilizing equipment decontaminating apparatus |
| WO2021219015A1 (en) * | 2020-04-29 | 2021-11-04 | 京东数科海益信息科技有限公司 | Robot chassis and robot |
-
2017
- 2017-03-31 CN CN201720336413.6U patent/CN206703863U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108482054A (en) * | 2018-04-20 | 2018-09-04 | 深圳市证通电子股份有限公司 | Robot chassis and automated guided vehicle |
| CN110053466A (en) * | 2019-04-26 | 2019-07-26 | 杭州申昊科技股份有限公司 | One kind two drives spider gear structure of driving unit |
| CN110053466B (en) * | 2019-04-26 | 2020-12-08 | 杭州申昊科技股份有限公司 | Two-wheel-drive differential wheel driving unit structure |
| CN110075332A (en) * | 2019-05-13 | 2019-08-02 | 刘峰 | A kind of hospital automation sterilizing equipment decontaminating apparatus |
| WO2021219015A1 (en) * | 2020-04-29 | 2021-11-04 | 京东数科海益信息科技有限公司 | Robot chassis and robot |
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