CN206984106U - A kind of three-wheel freely turns to robot base - Google Patents
A kind of three-wheel freely turns to robot base Download PDFInfo
- Publication number
- CN206984106U CN206984106U CN201720508249.2U CN201720508249U CN206984106U CN 206984106 U CN206984106 U CN 206984106U CN 201720508249 U CN201720508249 U CN 201720508249U CN 206984106 U CN206984106 U CN 206984106U
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- China
- Prior art keywords
- case body
- transmission case
- wheel
- running gear
- motor
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- 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.)
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Abstract
The utility model provides a kind of three-wheel and freely turns to robot base,Including robot erecting bed and transmission case body,Transmission case body is arranged on robot erecting bed lower end,Transmission case body lower end sets running gear supporter,Running gear supporter lower end sets road wheel,Sprocket wheel is set in transmission case body,Connected between sprocket wheel by driving chain,Sprocket wheel is connected to running gear supporter by running gear rotation post,In transmission case body,Motor transmission bracket is set between sprocket wheel,Travelling gear is set in motor transmission bracket,Travelling gear engages with positioned at the anterior gear of transmission case body,The gear band movable sprocket anterior positioned at transmission case body rotates with running gear rotation post,Connection keyway is set between sprocket wheel and running gear rotation post,Transmission case body lower end sets battery case,Motor is set in battery case,Motor transmission bracket and motor connection.By above-mentioned construction, drive base to flexibly turn to, improve robot movement flexibility, and it is simple in construction, it is easy to repair.
Description
Technical field
Automotive field field is the utility model is related to, more particularly to a kind of three-wheel freely turns to robot base.
Background technology
With the progress and development of society, robot plays more and more important effect in our life, but machine
Technology maturation also far from enough that device portrait people equally freely walks about, so far robot move freely or today's society
A great problem.Although robot is increasingly advanced, robot still can not freely walk about as people.Chassis assembly is
An important feature in robot, the quality of its performance directly influence the stationarity of robot, control stability and safety
Property.And existing chassis assembly structure is more complicated, manufacturing cost is high, and the production cycle is longer, and it is preferable to be only used for road conditions
Road traveling, do not reach preferably traveling effect.
Utility model content
The purpose of this utility model is to provide a kind of three-wheel and freely turns to robot base, and robot is arranged on into robot
On installing plate, the running gear rotation post for making forefront with nutating gear by motor transmission bracket is turned to by controlled motor
Rotate, then drive other two running gear rotation posts to turn by driving chain by the sprocket wheel on running gear rotation post
It is dynamic, and then drive three road wheels to turn to, robot movement flexibility is improved, and it is simple in construction, it is easy to repair.
The utility model provides a kind of three-wheel and freely turns to robot base, including robot erecting bed and transmission case body,
The transmission case body is arranged on robot erecting bed lower end, and the transmission case body lower end is provided with running gear supporter, described
Running gear supporter lower end is provided with road wheel, and the quantity sprocket wheel consistent with road wheel, institute are provided with the transmission case body
To state and connected by driving chain between sprocket wheel, the sprocket wheel is connected to running gear supporter by running gear rotation post,
Motor transmission bracket is provided with the transmission case body, between sprocket wheel, is provided with travelling gear in the motor transmission bracket, institute
State travelling gear to engage with positioned at the anterior gear of transmission case body, the gear band movable sprocket and row anterior positioned at transmission case body
Walking apparatus rotation post is rotated, and connection keyway, the transmission case body are provided between sprocket wheel and the running gear rotation post
Lower end is provided with battery case, and motor, the motor transmission bracket and motor connection are provided with the battery case.
Further improvement is that：The quantity of the running gear supporter and road wheel is three groups, and the road wheel is passing
Dynamic casing bottom setting triangular in shape.
Further improvement is that：Battery is provided with the battery case, power is provided to motor by battery.
Further improvement is that：Machine mounting hole is provided with the robot erecting bed.
Robot erecting bed is to be connected through a screw thread with transmission case body.
The swinging mounting is arranged in running gear supporter, drives road wheel to turn to by swinging mounting.
A pair of sprocket is to be arranged on running gear rotation post by the connection of connecting key sunk key, by the rotation transmission of motor
Onto front-drive support.
The sprocket wheel is mounted on the transmission pillar of three running gears, connects three walking mechanisms, is three walkings
Mechanism rotates simultaneously.
The battery case is welded to a rectangular box body below transmission case body, and battery and motor are all arranged on battery case
In vivo.
The motor is mounted in transmission case body underlying battery case, is connected by motor transmission bracket with travelling gear.
The motor transmission bracket is spherical with being equipped with bearing, top below rotation post, is easy to rotate.
The course of work of the present utility model is：Robot is arranged on robot erecting bed, turned to by controlled motor
The running gear rotation post of forefront is rotated by motor transmission bracket with nutating gear, then by running gear rotation post
On sprocket wheel drive other two running gear rotation posts to rotate by driving chain；Wherein below running gear rotation post
Running gear supporter is welded with, is road wheel below running gear supporter, drives lower section to walk by running gear rotation post
Rotate to so as to realize the steering for freely turning to robot base.
Road wheel is the hub driving wheel with wheel hub motor.
It is of the present utility model steering operation principle be：Turned an angle by control system controlled motor, by key connection
Rotation is connected with the motor transmission bracket of top, motor transmission bracket band nutating gear rotates running gear rotation post,
Three road wheels are made by chain gear transmission again while rotated, so as to realize freely rotating for base.
The application also provides another kind of drive, Chain conveyer is changed into V belt translation, concrete structure is to be set in transmission case body
Belt wheel walking rotation post is equipped with, the belt wheel walking rotation post is connected with running gear supporter, on the transmission case body,
Motor transmission bracket is provided between belt wheel walking rotation post, the motor transmission bracket rotates with the walking of one of belt wheel
Main transmission belt is provided between pillar, connection transmission belt, the motor transmission are provided between the belt wheel walking rotation post
Support surrounding is provided with motor mounting screw, and other structures are constant.
Chain conveyer is replaced by V belt translation, structure is simpler, is easy to maintenance to change part.
The beneficial effects of the utility model are：Turned to by controlled motor is made most by motor transmission bracket band nutating gear
The running gear rotation post in front rotates, then by the sprocket wheel on running gear rotation post by driving chain drive other two
Individual running gear rotation post rotates, and then drives three road wheels to turn to, and improves robot movement flexibility, and structure letter
It is single, it is easy to repair.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model.
Fig. 2 is transmission case body internal structure schematic diagram of the present utility model.
Fig. 3 is the structural representation of running gear supporter and road wheel of the present utility model.
Fig. 4 is the structural representation of travelling gear of the present utility model.
Fig. 5 is chain sprocket structure schematic diagram of the present utility model.
Fig. 6 is belt drive structure schematic diagram of the present utility model.
Fig. 7 is V belt translation belt wheel walking rotation post structural representation of the present utility model.
Fig. 8 is V belt translation motor transmission bracket structural representation of the present utility model.
Wherein；1- robots erecting bed, 2- transmission case bodies, 3- running gear supporters, 4- road wheels, 5- sprocket wheels, 6- are passed
Dynamic chain, 7- running gear rotation posts, 8- motor transmission brackets, 9- travelling gears, 10- connection keyways, 11- battery cases, 12-
Motor, 13- machine mounting holes, 14- belt wheels walking rotation post, 15- motor transmission brackets, 16- main transmission belts, 17- connections pass
Dynamic band, 18- motor mounting screws.
Embodiment
In order to deepen to understanding of the present utility model, below in conjunction with embodiment, the utility model is described in further detail,
The embodiment is only used for explaining the utility model, does not form the restriction to scope of protection of the utility model.
Embodiment one
As Figure 1-5, present embodiments provide a kind of three-wheel and freely turn to robot base, including robot erecting bed
1 and transmission case body 2, the transmission case body 2 be arranged on the lower end of robot erecting bed 1, the lower end of transmission case body 2 is provided with walking
Device supporter 3, the lower end of running gear supporter 3 are provided with road wheel 4, be provided with the transmission case body 2 quantity with
The consistent sprocket wheel 5 of road wheel, connected by driving chain 6 between the sprocket wheel 5, the sprocket wheel 5 passes through running gear and rotates branch
Post 7 is connected to running gear supporter 3, and the transmission case body 2 is interior, is provided with motor transmission bracket 8, the electricity between sprocket wheel 5
Travelling gear 9 is provided with machine transmission bracket 8, the travelling gear 9 engages with positioned at the anterior gear of transmission case body 2, described
The gear band movable sprocket 5 anterior positioned at transmission case body 2 rotates with running gear rotation post 7, and sprocket wheel 5 rotates branch with running gear
Connection keyway 10 is provided between post 7, the lower end of transmission case body 2 is provided with battery case 11, is provided with the battery case 11
Motor 12, the motor transmission bracket 8 are connected with motor 12.The quantity of the running gear supporter 3 and road wheel 4 is three
Group, the road wheel 4 is in the setting triangular in shape of the bottom of transmission case body 2.Battery is provided with the battery case 11, passes through battery pair
Motor 12 provides power.Machine mounting hole 13 is provided with the robot erecting bed 1.Robot erecting bed 1 and transmission case body 2
It is to be connected through a screw thread.
The swinging mounting is arranged on the top of running gear supporter 3, drives road wheel 4 to turn to by swinging mounting.One
It is to be arranged on running gear rotation post 7 by connecting the key connection of keyway 10 to sprocket wheel 5, before the rotation of motor 12 is delivered to
Take turns on swinging mounting.The sprocket wheel 5 is mounted on the transmission pillar of three running gears, is connected three walking mechanisms, is three
Individual walking mechanism rotates simultaneously.The battery case 11 is welded to one rectangular box body in the lower section of transmission case body 2, battery and motor
12 are all arranged in the body of battery case 11.The motor 12 is mounted in the underlying battery case 11 of transmission case body 2, is driven by motor
Support 8 is connected with travelling gear 9.Be equipped with bearing below the motor transmission bracket 8 and rotation post, top be it is spherical, just
In rotation.
Embodiment two
As shown in figs 6-8, present embodiments provide a kind of three-wheel and freely turn to robot base, set in transmission case body 2
There is belt wheel walking rotation post 14, the belt wheel walking rotation post 14 is connected with running gear supporter 3, the transmission case body
Motor transmission bracket 15, the motor transmission bracket 15 and one of band are provided with 2, between belt wheel walking rotation post 14
Main transmission belt 16 is provided between wheel walking rotation post 14, connection transmission is provided between the belt wheel walking rotation post 14
Band 17, the surrounding of motor transmission bracket 15 are provided with motor mounting screw 18, and other structures are the same as embodiment one.
Claims (4)
1. a kind of three-wheel freely turns to robot base, including robot erecting bed（1）And transmission case body（2）, the transmission case
Body（2）It is arranged on robot erecting bed（1）Lower end, the transmission case body（2）Lower end is provided with running gear supporter（3）, institute
State running gear supporter（3）Lower end is provided with road wheel（4）, it is characterised in that：The transmission case body（2）Inside it is provided with quantity
The sprocket wheel consistent with road wheel（5）, the sprocket wheel（5）Between pass through driving chain（6）Connection, the sprocket wheel（5）Pass through walking
Device rotation post（7）It is connected to running gear supporter（3）, the transmission case body（2）Interior, sprocket wheel（5）Between be provided with electricity
Machine transmission bracket（8）, the motor transmission bracket（8）On be provided with travelling gear（9）, the travelling gear（9）With positioned at biography
Dynamic casing（2）Anterior gear engagement, it is described to be located at transmission case body（2）Anterior gear band movable sprocket（5）Turn with running gear
Dynamic pillar（7）Rotate, sprocket wheel（5）With running gear rotation post（7）Between be provided with connection keyway（10）, the transmission case body
（2）Lower end is provided with battery case（11）, the battery case（11）Inside it is provided with motor（12）, the motor transmission bracket（8）With
Motor（12）Connection.
2. a kind of three-wheel as claimed in claim 1 freely turns to robot base, it is characterised in that：The running gear support
Body（3）And road wheel（4）Quantity be three groups, the road wheel（4）In transmission case body（2）Bottom setting triangular in shape.
3. a kind of three-wheel as claimed in claim 1 freely turns to robot base, it is characterised in that：The battery case（11）It is interior
Battery is provided with, by battery to motor（12）Power is provided.
4. a kind of three-wheel as claimed in claim 1 freely turns to robot base, it is characterised in that：The robot erecting bed
（1）On be provided with machine mounting hole（13）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720508249.2U CN206984106U (en) | 2017-05-09 | 2017-05-09 | A kind of three-wheel freely turns to robot base |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720508249.2U CN206984106U (en) | 2017-05-09 | 2017-05-09 | A kind of three-wheel freely turns to robot base |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206984106U true CN206984106U (en) | 2018-02-09 |
Family
ID=61392672
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720508249.2U Expired - Fee Related CN206984106U (en) | 2017-05-09 | 2017-05-09 | A kind of three-wheel freely turns to robot base |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206984106U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113545709A (en) * | 2021-07-09 | 2021-10-26 | 胡天琦 | Intelligent robot chassis structure with flexible steering function |
-
2017
- 2017-05-09 CN CN201720508249.2U patent/CN206984106U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113545709A (en) * | 2021-07-09 | 2021-10-26 | 胡天琦 | Intelligent robot chassis structure with flexible steering function |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180209 Termination date: 20180509 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |