CN207141175U - A kind of wheeled sufficient end device of hospital's crusing robot - Google Patents
A kind of wheeled sufficient end device of hospital's crusing robot Download PDFInfo
- Publication number
- CN207141175U CN207141175U CN201720667582.8U CN201720667582U CN207141175U CN 207141175 U CN207141175 U CN 207141175U CN 201720667582 U CN201720667582 U CN 201720667582U CN 207141175 U CN207141175 U CN 207141175U
- Authority
- CN
- China
- Prior art keywords
- driving wheel
- inclination
- regulating device
- angle regulating
- reel
- Prior art date
- 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.)
- Expired - Fee Related
Links
Abstract
It the utility model is related to a kind of hospital's crusing robot, more particularly to a kind of hospital's crusing robot with wheeled sufficient end device, the utility model in order to solve in the prior art crusing robot quickly through bend when easily tumble problem, and then provide a kind of wheeled sufficient end device of driving wheel tilt adjustable.The wheeled sufficient end device of robot described in the utility model includes universal wheel, left driving wheel, right driving wheel, left driving wheel inclination-angle regulating device, right driving wheel inclination-angle regulating device, inclination-angle regulating device support, robot trunk bottom plate, left driving wheel is symmetricly set on robot trunk bottom plate both sides with right driving wheel, left driving wheel, right driving wheel respectively with left driving wheel inclination-angle regulating device, right driving wheel inclination-angle regulating device is fixed, when quickly through bend, adjustment is left, right driving wheel inclination-angle regulating device makes a left side, right driving wheel is into splayed configuration, according to triangle stability principle, improve the stability of robot.The utility model is applied to hospital's inspection.
Description
Technical field
It the utility model is related to a kind of hospital's crusing robot, and in particular to a kind of wheeled sufficient end of hospital's crusing robot
Device.
Background technology
With China's rapid economic development, living standards of the people improve constantly, the safety guarantee problem of the people increasingly by
People pay close attention to, especially in this public arena of hospital.Because hospital can not limit anyone freely come in and go out, so can exist
Some unsafe factors.The measure being usually taken for these unsafe factor hospitals is exactly that camera and increase is fixedly mounted
Security Personnel, but camera monitoring is limited in scope, even and if finding that dangerous one's share of expenses for a joint undertaking can not take effective reply to arrange in time
Apply, the inspection of Security Personnel's whole day unavoidably can be tired out, introduces hospital's crusing robot and can solve this series of problems.
And in existing technology, the wheel that hospital's crusing robot uses is when passing through bend, because the speed of robot
It is easy to cause robot to tumble quickly relatively, it is therefore desirable to reduce the excessively curved speed of robot, and then reduce crusing robot
Travel speed, robot will certainly be difficult to rush to the site of the accident in time when accident occurs, and be exactly often such a
Time difference leads to not the serious consequence made up.
Utility model content
The utility model enters to easily be tumbled when solving the problems, such as that crusing robot is quickly through bend in the prior art
And provide a kind of wheeled sufficient end device of driving wheel tilt adjustable.
The utility model adopts the technical scheme that to solve above-mentioned technical problem：The wheeled sufficient end device bag of robot
Include universal wheel, inclination-angle regulating device support, left driving wheel inclination-angle regulating device, left driving wheel, robot trunk bottom plate, right driving
Inclination-angle regulating device, right driving wheel are taken turns, universal wheel is fixedly connected by top plate with robot trunk bottom plate, and left driving wheel inclination angle is adjusted
Regulating device is symmetricly set on below robot trunk bottom plate with right driving wheel inclination-angle regulating device, left driving wheel inclination-angle regulating device
It is fixedly connected, is fixedly connected by reel with left driving wheel, by reel with inclining with robot trunk bottom plate by electric machine support
Angle adjusting means bracket slide connection, right driving wheel inclination-angle regulating device is fixed by electric machine support and robot trunk bottom plate to be connected
Connect, be fixedly connected by reel with right driving wheel, is connected by reel with inclination-angle regulating device bracket slide.
The utility model has the advantages that：The utility model has universal wheel, inclination-angle regulating device support, left drive
Driving wheel inclination-angle regulating device, left driving wheel, robot trunk bottom plate, right driving wheel inclination-angle regulating device, right driving wheel, left driving
Wheel is with being respectively provided with motor driving inside right driving wheel, it is possible to achieve differential steering, left driving wheel and right driving wheel difference
It is connected with left driving wheel inclination-angle regulating device and right driving wheel inclination-angle regulating device, when crossing bend, is adjusted by left driving wheel inclination angle
Regulating device and right driving wheel inclination-angle regulating device adjust left driving wheel with right driving wheel into ' eight ' fonts, can strengthen robot
Stability（According to the principle that triangle is stable）, realize robot in bend fast running without turning on one's side.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present utility model；
Fig. 2 is Universal wheel structure schematic diagram；
Fig. 3 is the front view of left driving wheel；
Fig. 4 is the right view of left driving wheel；
Fig. 5 is the front view of right driving wheel；
Fig. 6 is the right view of right driving wheel；
Fig. 7 is left driving wheel inclination-angle regulating device structural representation；
Fig. 8 is right driving wheel inclination-angle regulating device structural representation；
Fig. 9 is the scheme of installation of left and right driving wheel inclination-angle regulating device and inclination-angle regulating device support.
Embodiment
Embodiment one：Illustrate present embodiment, a kind of hospital's inspection machine described in present embodiment with reference to Fig. 1-9
The wheeled sufficient end device of people, the wheeled sufficient end device of robot include universal wheel 1, inclination-angle regulating device support 2, left driving wheel and inclined
Angle adjusting means 3, left driving wheel 4, robot trunk bottom plate 5, right driving wheel inclination-angle regulating device 6, right driving wheel 7, universal wheel 1
It is fixedly connected by top plate 16 with robot trunk bottom plate 5, left driving wheel inclination-angle regulating device 3 fills with right driving wheel tilt adjustment
Put 6 and be symmetricly set on the lower section of robot trunk bottom plate 5, left driving wheel inclination-angle regulating device 3 passes through electric machine support 32 and robot
Trunk bottom plate 5 is fixedly connected, and is fixedly connected by reel 36 with left driving wheel 4, is passed through reel 36 and inclination-angle regulating device support 2
It is slidably connected, right driving wheel inclination-angle regulating device 6 is fixedly connected by electric machine support 62 with robot trunk bottom plate 5, passes through axle
Disk 66 is fixedly connected with right driving wheel 7, is slidably connected by reel 66 and inclination-angle regulating device support 2.
Embodiment two：Illustrate present embodiment, a kind of hospital's crusing robot described in present embodiment with reference to Fig. 2
Wheeled sufficient end device, the universal wheel 1 include tire 11, wheel hub 12, axle 13, support 14, bearing block 15, and tire 11 is fixedly mounted
On wheel hub 12, wheel hub 12 is connected with support 14 by axle 13, and support 14 is slidably connected with bearing block 15, bearing block 15 and top plate
16 are fixedly connected.
Embodiment three：Illustrate present embodiment, a kind of hospital's survey monitor described in present embodiment with reference to Fig. 3, Fig. 4
The wheeled sufficient end device of device people, the left driving wheel 4 include direct current generator 41, wheel hub 42, tire 43, reel 44, direct current generator 41
It is fixedly mounted on wheel hub 42, the output shaft of direct current generator 41 is fixedly connected with reel 44, and tire 43 is fixedly mounted on wheel hub 42
On.
Direct current generator 41 is prior art in present embodiment, and manufacturer is Zhejiang Zheng Ke Electric Machine Co., Ltd, model
For ZGB37RG.
Embodiment four：Illustrate present embodiment, a kind of hospital's survey monitor described in present embodiment with reference to Fig. 5, Fig. 6
The wheeled sufficient end device of device people, the right driving wheel 7 include direct current generator 71, wheel hub 72, tire 73, reel 74, direct current generator 71
It is fixedly mounted on wheel hub 72, the output shaft of direct current generator 71 is fixedly connected with reel 74, and tire 73 is fixedly mounted on wheel hub 72
On.
Direct current generator 71 is prior art in present embodiment, and manufacturer is Zhejiang Zheng Ke Electric Machine Co., Ltd, model
For ZGB37RG.
Embodiment five：Illustrate present embodiment, a kind of hospital's crusing robot described in present embodiment with reference to Fig. 7
Wheeled sufficient end device, the left driving wheel inclination-angle regulating device 3 include direct current generator 31, electric machine support 32, leading screw 33, leading screw spiral shell
Mother 34, connecting rod 35, reel 36, direct current generator 31 are fixedly mounted on electric machine support 32, and the one end of leading screw 33 is slided with electric machine support 32
Dynamic connection, the other end are fixedly connected with the output shaft of direct current generator 31, and feed screw nut 34 coordinates with leading screw 33, the one end of connecting rod 35 and silk
Thick stick nut 34 is slidably connected, and the other end is slidably connected with reel 36.
Direct current generator 31 is prior art in present embodiment, Shenzhen Shunchang Electric Machine Co., Ltd, model 25GA370
DC speed-reducing.
Embodiment six：Illustrate present embodiment, a kind of hospital's crusing robot described in present embodiment with reference to Fig. 7
Wheeled sufficient end device, the right driving wheel inclination-angle regulating device 6 include direct current generator 61, electric machine support 62, leading screw 63, leading screw spiral shell
Mother 64, connecting rod 65, reel 66, direct current generator 61 are fixedly mounted on electric machine support 62, and the one end of leading screw 63 is slided with electric machine support 62
Dynamic connection, the other end are fixedly connected with the output shaft of direct current generator 61, and feed screw nut 64 coordinates with leading screw 63, the one end of connecting rod 65 and silk
Thick stick nut 64 is slidably connected, and the other end is slidably connected with reel 66.
Direct current generator 61 is prior art in present embodiment, Shenzhen Shunchang Electric Machine Co., Ltd, model 25GA370
DC speed-reducing.
Operation principle
The utility model is counterclockwise quickly through the bend course of work：When robot will enter bend, left driving wheel
The motor 31 of inclination-angle regulating device 3 rotates forward, and drives feed screw nut 34 to be moved to the left by leading screw 33, feed screw nut 34 is to moving to left
Dynamic, the disk top for driving reel 36 by connecting rod 35 is tilted to the right, so as to drive the top of left driving wheel 4 to be tilted to the right, with for the moment
Carve, the motor 61 of right driving wheel inclination-angle regulating device 6 rotates forward, and drives feed screw nut 64 to move right by leading screw 63, leading screw spiral shell
Mother 64 moves right, and the disk top for driving reel 66 by connecting rod 65 is tilted to the left, so as to drive the top of left driving wheel 7 to incline to the left
Tiltedly so that two driving wheels improve the stability of robot into ' eight ' fonts（According to triangle stability principle）, it is curved entering
During road, the rotating speed of direct current generator 41 of left driving wheel 4 keeps constant, and the direct current generator 71 of right driving wheel 7 increases rotating speed, the speed of formation
Degree official post obtains the wheeled sufficient end device of robot and turned to the left, realizes robot quickly through bend.
Claims (6)
- A kind of 1. wheeled sufficient end device of hospital's crusing robot, it is characterised in that：The wheeled sufficient end device of robot includes Universal wheel（1）, inclination-angle regulating device support（2）, left driving wheel inclination-angle regulating device（3）, left driving wheel（4）, robot trunk Bottom plate（5）, right driving wheel inclination-angle regulating device（6）, right driving wheel（7）, universal wheel（1）Pass through top plate（16）With robot trunk Bottom plate（5）It is fixedly connected, left driving wheel inclination-angle regulating device（3）With right driving wheel inclination-angle regulating device（6）It is symmetricly set on machine Device people's trunk bottom plate（5）Lower section, left driving wheel inclination-angle regulating device（3）Pass through electric machine support（32）With robot trunk bottom plate （5）It is fixedly connected, passes through reel（36）With left driving wheel（4）It is fixedly connected, passes through reel（36）With inclination-angle regulating device support （2）It is slidably connected, right driving wheel inclination-angle regulating device（6）Pass through electric machine support（62）With robot trunk bottom plate（5）It is fixed to connect Connect, pass through reel（66）With right driving wheel（7）It is fixedly connected, passes through reel（66）With inclination-angle regulating device support（2）The company of slip Connect.
- A kind of 2. wheeled sufficient end device of hospital's crusing robot according to claim 1, it is characterised in that：The universal wheel （1）Including tire（11）, wheel hub（12）, axle（13）, support（14）, bearing block（15）, tire（11）It is fixedly mounted on wheel hub （12）On, wheel hub（12）With support（14）Pass through axle（13）Connection, support（14）With bearing block（15）It is slidably connected, bearing block （15）With top plate（16）It is fixedly connected.
- A kind of 3. wheeled sufficient end device of hospital's crusing robot according to claim 1, it is characterised in that：The left driving Wheel（4）Including direct current generator（41）, wheel hub（42）, tire（43）, reel（44）, direct current generator（41）It is fixedly mounted on wheel hub （42）On, direct current generator（41）Output shaft and reel（44）It is fixedly connected, tire（43）It is fixedly mounted on wheel hub（42）On.
- A kind of 4. wheeled sufficient end device of hospital's crusing robot according to claim 1, it is characterised in that：The right driving Wheel（7）Including direct current generator（71）, wheel hub（72）, tire（73）, reel（74）, direct current generator（71）It is fixedly mounted on wheel hub （72）On, direct current generator（71）Output shaft and reel（74）It is fixedly connected, tire（73）It is fixedly mounted on wheel hub（72）On.
- A kind of 5. wheeled sufficient end device of hospital's crusing robot according to claim 1, it is characterised in that：The left driving Take turns inclination-angle regulating device（3）Including direct current generator（31）, electric machine support（32）, leading screw（33）, feed screw nut（34）, connecting rod （35）, reel（36）, direct current generator（31）It is fixedly mounted on electric machine support（32）On, leading screw（33）One end and electric machine support（32） It is slidably connected, the other end and direct current generator（31）Output shaft is fixedly connected, feed screw nut（34）With leading screw（33）Coordinate, connecting rod （35）One end and feed screw nut（34）It is slidably connected, the other end and reel（36）It is slidably connected.
- A kind of 6. wheeled sufficient end device of hospital's crusing robot according to claim 1, it is characterised in that：The right driving Take turns inclination-angle regulating device（6）Including direct current generator（61）, electric machine support（62）, leading screw（63）, feed screw nut（64）, connecting rod （65）, reel（66）, direct current generator（61）It is fixedly mounted on electric machine support（62）On, leading screw（63）One end and electric machine support（62） It is slidably connected, the other end and direct current generator（61）Output shaft is fixedly connected, feed screw nut（64）With leading screw（63）Coordinate, connecting rod （65）One end and feed screw nut（64）It is slidably connected, the other end and reel（66）It is slidably connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720667582.8U CN207141175U (en) | 2017-06-09 | 2017-06-09 | A kind of wheeled sufficient end device of hospital's crusing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720667582.8U CN207141175U (en) | 2017-06-09 | 2017-06-09 | A kind of wheeled sufficient end device of hospital's crusing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207141175U true CN207141175U (en) | 2018-03-27 |
Family
ID=61671044
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720667582.8U Expired - Fee Related CN207141175U (en) | 2017-06-09 | 2017-06-09 | A kind of wheeled sufficient end device of hospital's crusing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207141175U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111469927A (en) * | 2020-04-29 | 2020-07-31 | 清华大学 | Split type structural framework of large-load variable-forerake-angle single-rail two-wheeled robot |
| CN114506183A (en) * | 2020-11-17 | 2022-05-17 | 现代摩比斯株式会社 | Independent driving wheel module and installation method thereof |
-
2017
- 2017-06-09 CN CN201720667582.8U patent/CN207141175U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111469927A (en) * | 2020-04-29 | 2020-07-31 | 清华大学 | Split type structural framework of large-load variable-forerake-angle single-rail two-wheeled robot |
| CN114506183A (en) * | 2020-11-17 | 2022-05-17 | 现代摩比斯株式会社 | Independent driving wheel module and installation method thereof |
| CN114506183B (en) * | 2020-11-17 | 2023-07-18 | 现代摩比斯株式会社 | Independent driving wheel module and installation method thereof |
| US11851103B2 (en) | 2020-11-17 | 2023-12-26 | Hyundai Mobis Co., Ltd. | Independently driving wheel module and mounting method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| TWI607926B (en) | Displacement equipment and power-assisted system | |
| CN101856554A (en) | Golf bag vehicle | |
| CN207141175U (en) | A kind of wheeled sufficient end device of hospital's crusing robot | |
| CN106627744A (en) | Independent steering system of electric vehicle | |
| CN107878591A (en) | A kind of reliable and stable climbing level robot | |
| CN204527459U (en) | The self-balancing wheelbarrow that a kind of center of gravity regulates automatically | |
| CN207030769U (en) | A kind of aluminium rail electric drive dolly | |
| CN103552637A (en) | Climbing self-balancing shopping trolley | |
| CN206313359U (en) | Straight line pole fall block | |
| CN104527876A (en) | Self-balancing monocycle with gravity-center self-adjusting function | |
| CN206750011U (en) | Self balancing device and electric vehicle | |
| CN206678767U (en) | A kind of novel electric vehicle chassis | |
| CN203439207U (en) | Steering mechanism of three-wheel scooter | |
| CN206067853U (en) | A kind of steering wheel arrangement of four-wheel electromobile | |
| CN204840149U (en) | Gait rehabilitation training device | |
| CN103963877A (en) | Auxiliary balancing mechanism of parallel two-wheeled electric vehicle | |
| CN105836015A (en) | Dual-wheel driving vehicle | |
| CN107152596A (en) | A kind of mobile communication head for highway | |
| CN106043569B (en) | A kind of Segway Human Transporter | |
| CN205976646U (en) | Garage parking is dodged to two layer towed nothings on connecting rod | |
| CN203989848U (en) | A kind of carbon-free dolly | |
| CN205661601U (en) | Two wheel drive car | |
| CN204998687U (en) | Portable electric flatbed | |
| CN105854308A (en) | Electric children drifting vehicle | |
| CN205836888U (en) | A kind of leap stair running gear |
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: 20180327 Termination date: 20190609 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |