CN207104896U - A kind of wheeled robot elastic shock attenuation chassis structure - Google Patents
A kind of wheeled robot elastic shock attenuation chassis structure Download PDFInfo
- Publication number
- CN207104896U CN207104896U CN201720896105.9U CN201720896105U CN207104896U CN 207104896 U CN207104896 U CN 207104896U CN 201720896105 U CN201720896105 U CN 201720896105U CN 207104896 U CN207104896 U CN 207104896U
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- CN
- China
- Prior art keywords
- chassis
- driving wheel
- damper
- shock attenuation
- wheeled robot
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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 discloses a kind of wheeled robot elastic shock attenuation chassis structure, including chassis, shock absorbing ring and driving wheel, the shock absorbing ring is arranged on the outside of chassis, the driving wheel is arranged on chassis both sides, and the driving wheel is two groups, and is mounted on gear A on the inside of two driving wheels, rotating shaft is connected with the outside of the driving wheel, the rotating shaft is connected with the damper A on the inside of shock absorbing ring, and the chassis upper center is provided with mounting bracket, and the mounting bracket bottom is provided with damper B.The utility model is by the way that driving wheel is arranged in the damper A on chassis, when robot passes through bumpy sections, driving wheel can be made to be moved up and down in damper A, the earth-grasping force of driving wheel is ensure that, while serves the effect of damping, and two driving wheels are driven by two motors, two driving wheel speeds can be made different, robot is set to realize fast steering or the operation turned around in the presence of two driving wheel speed discrepancies, it is more practical, it is adapted to be widely popularized and uses.
Description
【Technical field】
A kind of chassis structure is the utility model is related to, more particularly to a kind of wheeled robot elastic shock attenuation chassis structure.
【Background technology】
At present, robot is the automatic installations for performing work, and it can both receive mankind commander, and can run again pre-
The program of first layout, can also be assistance or substitution according to the principle guiding principle action formulated with artificial intelligence technology, its task
The work of human work, wheeled robot occupy major part in robot, but in the running of wheeled robot, energy
Enough realize walking requirement of the robot under smooth environment.But it has that obstacle climbing ability is weak, and the performance such as robust motion difference lacks
Fall into, once by the larger vibrations of intensity, it is easy to damage robot interior structure.Therefore, it is proposed that a kind of wheel type machine
People's elastic shock attenuation chassis structure.
【Utility model content】
Main purpose of the present utility model is to provide a kind of wheeled robot elastic shock attenuation chassis structure, by that will drive
Wheel is arranged in the damper A on chassis, when robot passes through bumpy sections, driving wheel can be made upper and lower in damper A
It is mobile, the earth-grasping force of driving wheel is ensure that, while the effect of damping is served, and two driving wheels are driven by two motors
It is dynamic, two driving wheel speeds can be made different, make robot realized in the presence of two driving wheel speed discrepancies fast steering or
The operation that person turns around, it is more practical, it is adapted to be widely popularized and uses, effectively can solves the problems, such as in background technology.
To achieve the above object, the technical scheme that the utility model is taken is：
A kind of wheeled robot elastic shock attenuation chassis structure, including chassis, shock absorbing ring and driving wheel, the shock absorbing ring are set
On the outside of chassis, the driving wheel is arranged on chassis both sides, and the driving wheel is two groups, and is mounted on the inside of two driving wheels
Gear A, the driving wheel outside are connected with rotating shaft, and the rotating shaft is connected with the damper A on the inside of shock absorbing ring, the chassis upper end
Middle part is provided with mounting bracket, and the mounting bracket bottom is provided with damper B, and the mounting bracket left side and right side are separately installed with driving
Motor A and motor B, gear B, and gear B and tooth are mounted on the power transmission shaft of the motor A and motor B
A engagements are taken turns, the tray bottom both sides are equipped with drive wheel groove, and chassis upper center and bottom both sides are equipped with driven pulley
Groove, driven pulley is installed in the driven race.
Further, the driven pulley is arranged on tray bottom by damper C, and spring is provided with the damper C
C。
Further, the damper A inner surfaces are provided with chute, sliding block are provided with the chute, and upper end of slide block is with
End is equipped with spring A.
Further, bearing is provided with the sliding block, and bearing is arranged in rotating shaft.
Further, spring B is provided with the damper B, the spring B upper end is connected with baffle plate, the baffle plate installation
In mounting bracket bottom.
Compared with prior art, the utility model has the advantages that：
1. wheeled robot elastic shock attenuation chassis structure of the present utility model, driving wheel is arranged on the damper A on chassis
It is interior, when robot passes through bumpy sections, driving wheel can be made to be moved up and down in damper A, ensure that driving wheel grabs ground
Power, while serve the effect of damping.
2. wheeled robot elastic shock attenuation chassis structure of the present utility model, two driving wheels are driven by two motors
It is dynamic, two driving wheel speeds can be made different, make robot realized in the presence of two driving wheel speed discrepancies fast steering or
The operation that person turns around.
3. wheeled robot elastic shock attenuation chassis structure of the present utility model, the outside on chassis is provided with shock absorbing ring, in machine
When bumping against wall outside people's will, damping effect can be played, ensures the safety of robot.
4. wheeled robot elastic shock attenuation chassis structure of the present utility model, two motors are installed in mounting bracket
On, when lower mobile on the drive wheel, motor with moving up and down, can also ensure that the engagement of direct geared is stable, make
Robot is stable.
【Brief description of the drawings】
Fig. 1 is the overall structure diagram of the utility model wheeled robot elastic shock attenuation chassis structure；
Fig. 2 is the polycrystalline substance schematic diagram of the utility model wheeled robot elastic shock attenuation chassis structure；
Fig. 3 is the damper C-structure schematic diagram of the utility model wheeled robot elastic shock attenuation chassis structure；
Fig. 4 is the damper A structural representations of the utility model wheeled robot elastic shock attenuation chassis structure；
Fig. 5 is the damper B structure schematic diagram of the utility model wheeled robot elastic shock attenuation chassis structure.
In figure：1st, chassis；2nd, shock absorbing ring；3rd, damper A；4th, rotating shaft；5th, driving wheel；6th, gear A；7th, mounting bracket；8th, subtract
Shake device B；9th, gear B；10th, motor A；11st, motor B；12nd, driven race；13rd, drive wheel groove；14th, driven pulley；15、
Damper C；16th, spring C；17th, chute；18th, spring A；19th, sliding block；20th, bearing；21st, baffle plate；22 spring Bs.
【Embodiment】
Technological means, creation characteristic, reached purpose and effect to realize the utility model are easy to understand, below
With reference to embodiment, the utility model is expanded on further.
As Figure 1-5, a kind of wheeled robot elastic shock attenuation chassis structure, including chassis 1, shock absorbing ring 2 and driving wheel
5, the shock absorbing ring 2 is arranged on the outside of chassis 1, and the driving wheel 5 is arranged on the both sides of chassis 1, and the driving wheel 5 is two groups, and
The inner side of two driving wheels 5 is mounted on gear A 6, and the outside of driving wheel 5 is connected with rotating shaft 4, the rotating shaft 4 with shock absorbing ring 2
The damper A3 connections of side, the upper center of chassis 1 are provided with mounting bracket 7, and the bottom of mounting bracket 7 is provided with damper B8,
The left side of mounting bracket 7 and right side are separately installed with motor A10 and motor B11, the motor A10 and driving
Gear B 9 is mounted on motor B11 power transmission shaft, and gear B 9 engages with gear A 6, the two bottom sides of chassis 1 are equipped with
Drive wheel groove 13, and the upper center of chassis 1 and bottom both sides are equipped with driven race 12, be provided with the driven race 12 from
Driving wheel 14.
Wherein, the driven pulley 14 is arranged on the bottom of chassis 1 by damper C15, and bullet is provided with the damper C15
Spring C16.
Wherein, the damper A3 inner surfaces are provided with chute 17, and sliding block 19, and the upper end of sliding block 19 are provided with the chute 17
Spring A18 is equipped with lower end.
Wherein, bearing 20 is provided with the sliding block 19, and bearing 20 is arranged in rotating shaft 4.
Wherein, spring B 22 is provided with the damper B8, the upper end of spring B 22 is connected with baffle plate 21, the baffle plate 21
Installed in the bottom of mounting bracket 7.
Operation principle：In use, sending instruction to robot by computer, turn motor A10 and motor B11
It is dynamic, drive gear B 9 to rotate, make gear A 6 drive driving wheel 5 to rotate, driving wheel 5 realizes that itself rotates, and realizes by bearing 20
Robot moves forward and backward, when robot passes through bumpy sections, in the presence of damper A3 and damping B8, and the He of driving wheel 5
With the vertical tremor of sliding block 19, the vibrations for reducing robot itself ensure the stable operation of robot, carried out mounting bracket 7 simultaneously
When turning to or turn around to operate, motor A10 and motor B11 rotating speeds difference are turned to by speed discrepancy band mobile robot.
The advantages of general principle and principal character of the present utility model and the utility model has been shown and described above.One's own profession
The technical staff of industry is it should be appreciated that the utility model is not restricted to the described embodiments, described in above-described embodiment and specification
Simply illustrate principle of the present utility model, on the premise of the spirit and scope of the utility model is not departed from, the utility model is also
Various changes and modifications are had, these changes and improvements are both fallen within claimed the scope of the utility model.The utility model
Claimed scope is by appended claims and its equivalent thereof.
Claims (5)
1. a kind of wheeled robot elastic shock attenuation chassis structure, including chassis (1), shock absorbing ring (2) and driving wheel (5), its feature
It is：The shock absorbing ring (2) is arranged on the outside of chassis (1), and the driving wheel (5) is arranged on chassis (1) both sides, the driving wheel
(5) it is two groups, and gear A (6) is mounted on the inside of two driving wheels (5), rotating shaft (4) is connected with the outside of the driving wheel (5),
The rotating shaft (4) is connected with the damper A (3) on the inside of shock absorbing ring (2), and chassis (1) upper center is provided with mounting bracket (7),
Mounting bracket (7) bottom is provided with damper B (8), and mounting bracket (7) left side and right side are separately installed with motor A
(10) and motor B (11), it is mounted on gear B on the motor A (10) and motor B (11) power transmission shaft
(9), and gear B (9) engages with gear A (6), and chassis (1) two bottom sides are equipped with drive wheel groove (13), and chassis (1)
Upper center and bottom both sides are equipped with driven race (12), and driven pulley (14) is provided with the driven race (12).
2. wheeled robot elastic shock attenuation chassis structure according to claim 1, it is characterised in that：The driven pulley (14)
Chassis (1) bottom is arranged on by damper C (15), spring C (16) is installed in the damper C (15).
3. wheeled robot elastic shock attenuation chassis structure according to claim 1, it is characterised in that：The damper A (3)
Inner surface is provided with chute (17), is provided with sliding block (19) in the chute (17), and sliding block (19) top and bottom are equipped with spring A
(18)。
4. wheeled robot elastic shock attenuation chassis structure according to claim 3, it is characterised in that：In the sliding block (19)
Provided with bearing (20), and bearing (20) is arranged in rotating shaft (4).
5. wheeled robot elastic shock attenuation chassis structure according to claim 1, it is characterised in that：The damper B (8)
Interior to be provided with spring B (22), spring B (22) upper end is connected with baffle plate (21), and the baffle plate (21) is arranged on mounting bracket (7) bottom
End.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720896105.9U CN207104896U (en) | 2017-07-24 | 2017-07-24 | A kind of wheeled robot elastic shock attenuation chassis structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720896105.9U CN207104896U (en) | 2017-07-24 | 2017-07-24 | A kind of wheeled robot elastic shock attenuation chassis structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207104896U true CN207104896U (en) | 2018-03-16 |
Family
ID=61573537
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720896105.9U Expired - Fee Related CN207104896U (en) | 2017-07-24 | 2017-07-24 | A kind of wheeled robot elastic shock attenuation chassis structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207104896U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112960559A (en) * | 2021-04-25 | 2021-06-15 | 李培峨 | Resonance-resistant double-beam conveying device of crane |
-
2017
- 2017-07-24 CN CN201720896105.9U patent/CN207104896U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112960559A (en) * | 2021-04-25 | 2021-06-15 | 李培峨 | Resonance-resistant double-beam conveying device of crane |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180316 Termination date: 20180724 |