CN207257822U - Robot chassis and robot - Google Patents
Robot chassis and robot Download PDFInfo
- Publication number
- CN207257822U CN207257822U CN201721004469.8U CN201721004469U CN207257822U CN 207257822 U CN207257822 U CN 207257822U CN 201721004469 U CN201721004469 U CN 201721004469U CN 207257822 U CN207257822 U CN 207257822U
- Authority
- CN
- China
- Prior art keywords
- robot
- cross
- robot chassis
- bottom plate
- driving device
- 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
- 230000033001 locomotion Effects 0.000 claims description 9
- 230000009184 walking Effects 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- Manipulator (AREA)
Abstract
The utility model provides a kind of robot chassis, including bottom plate, at least two traveling wheels, cross-member, each traveling wheel of at least two traveling wheel is operated alone by a first driving means, the cross-member is fixed on the bottom plate, the first driving means are rotatably connected with the bottom plate, and the second driving device for driving the first driving means to be rotated relative to the bottom plate is connected between the cross-member and the first driving means.The utility model has good shock-absorbing function.The utility model additionally provides a kind of robot for including the robot chassis.
Description
Technical field
It the utility model is related to robot chassis and robot.
Background technology
Data show that at present, at least 48 countries are developing robot in the world, wherein 25 national involved services
Humanoid robot is developed.In Japan, North America and Europe, so far 7 type meter, 40 left fund service humanoid robot enter experiment and
Half commercial applications.In recent years, global service robot market keeps faster growth rate.The chassis of robot is robot
The important component of walking, the chassis of existing robot do not have damping effect.
Utility model content
The utility model is directed to above technical problem, there is provided robot chassis and robot, have good shock-absorbing function.
The utility model first aspect provides a kind of robot chassis, including bottom plate, at least two traveling wheels, cross-member,
Each traveling wheel of at least two traveling wheel is operated alone by a first driving means, and the cross-member is fixed on institute
State on bottom plate, the first driving means are rotatably connected with the bottom plate, the cross-member and the first driving means it
Between be connected with the second driving device for driving the first driving means to be rotated relative to the bottom plate.
Further, at least two traveling wheel is four traveling wheels.
Further, the robot chassis further includes at least one accessory whorl, each accessory whorl of at least one accessory whorl
The 3rd driving device for driving the accessory whorl lifting/put down is respectively connected between the cross-member.
Further, at least one accessory whorl is two accessory whorls, and described two accessory whorls are separately positioned on the robot
The rear and front end of the direction of motion on chassis.
Further, the robot chassis further includes at least one attitude transducer, at least one posture sensing
Device is arranged on the lower section of the bottom plate.
Further, at least one attitude transducer includes at least a pair of of attitude transducer, at least a pair of of appearance
State sensor is identical with the quantity of the accessory whorl, in the both sides of the direction of motion perpendicular to the robot chassis of the accessory whorl
It is respectively arranged with an attitude transducer.
Further, the cross-member includes first crossbeam frame and second cross beam frame, the first crossbeam frame and described
Two cross beam frames are in cross, and second driving device is fixed by the first crossbeam frame, and the 3rd driving device passes through
The second cross beam frame is fixed.
Further, one end of second driving device is rotatably mounted on the cross-member, and described second drives
The other end of dynamic device is rotationally fixed with the first driving means.
The utility model second aspect provides a kind of robot, and the robot includes robot chassis as described above.
A kind of robot chassis provided by the utility model, including bottom plate, at least two traveling wheels, cross-member, it is described extremely
Each traveling wheel of few two traveling wheels is operated alone by a first driving means, and the cross-member is fixed on the bottom plate
On, the first driving means are rotatably connected with the bottom plate, are connected between the cross-member and the first driving means
It is useful for the second driving device for driving the first driving means to be rotated relative to the bottom plate.Therefore, pavement roughness is worked as
When, by controlling the movement of the second driving device the traveling wheel can be controlled to make traveling wheel corresponding relative to bottom plate rotation
Vertical height is converted to tackle the ground of out-of-flatness.
Brief description of the drawings
Fig. 1 is one of dimensional structure diagram of the utility model.
Fig. 2 is the two of the dimensional structure diagram of the utility model.
Embodiment
Illustrate below in conjunction with the accompanying drawings, the utility model is introduced in detail, it will be appreciated that is following simply to introduce this reality
With new embodiment, and restriction the scope of protection of the utility model is not lain in.
Such as a kind of robot chassis 100 of Fig. 1 and Fig. 2, including bottom plate 1, at least two traveling wheels 2, cross-member 3, it is described extremely
Each traveling wheel 2 of few two traveling wheels 2 is operated alone by a first driving means 4, and the cross-member 3 is fixed on described
On bottom plate 1, the first driving means 4 are rotatably connected with the bottom plate 1, the cross-member 3 and the first driving means 4
Between be connected with the second driving device 5 for driving the first driving means 4 to be rotated relative to the bottom plate 1, the row
Walking wheel 2 can be made of pneumatic tire, and second driving device 5 can use stroke motor, and the first driving means 4 can adopt
Use rotary drive motor.Therefore, can be by controlling the movement of the second driving device to control the traveling wheel when pavement roughness
Rotated relative to bottom plate and the corresponding conversion vertical height of traveling wheel is tackled the ground of out-of-flatness.
At least two traveling wheel 2 is four traveling wheels, steady when being moved with guarantee.
The robot chassis 100 further includes at least one accessory whorl 6, each accessory whorl of at least one accessory whorl 6 and institute
State the 3rd driving device 7 being respectively connected between cross-member 3 for driving 6 lifting of accessory whorl/put down, the 3rd driving device 7
The lifting of the accessory whorl 6 can be driven or put down, out-of-flatness ground can be tackled, the 3rd driving device 7 can use row
Journey motor.
At least one accessory whorl 6 is two accessory whorls, and described two accessory whorls are separately positioned on the robot chassis 100
The rear and front end of the direction of motion, when driving traveling wheel 2 to advance or retreat, can be oriented to by two accessory whorls 6 respectively.
The robot chassis 100 further includes at least one attitude transducer 8, and at least one attitude transducer 8 is set
Put in the lower section of the bottom plate, attitude transducer 8 is used for the posture for perceiving robot chassis 100, by perceiving robot chassis
100 posture, controls the lifting of traveling wheel 2, completes adaptive road surface.
At least one attitude transducer 8 includes at least a pair of of attitude transducer, at least a pair of of attitude transducer
It is identical with the quantity of the accessory whorl 6, in the both sides point of the direction of motion perpendicular to the robot chassis 100 of the accessory whorl 6
An attitude transducer is not provided with, particularly, when accessory whorl 6 is two, front and rear accessory whorl is equipped with a pair of of attitude transducer,
The posture on robot chassis can preferably be perceived.
The cross-member 3 includes first crossbeam frame 31 and second cross beam frame 32, the first crossbeam frame 31 and described second
32 frame of crossbeam is in cross, and second driving device 5 is fixed by the first crossbeam frame 31, the 3rd driving device 7
Fixed by the second cross beam frame 32, the second driving device 5 and the 3rd driving device 7 fixed by criss-cross cross-member 3,
Ensure that bobbin movement is stablized.
One end of second driving device 5 is rotatably mounted on the cross-member 3, second driving device 5
The other end rotationally fixed with the first driving means 4.
The utility model also provides a kind of robot, and the robot includes robot chassis as described above.
The embodiment of the utility model simply introduces its embodiment, does not lie in and limits its protection domain.The industry
Technical staff can make some modifications under the inspiration of the present embodiment, therefore all done according to the utility model patent scope
Equivalent change or modification, belongs in the utility model patent right.
Claims (9)
- A kind of 1. robot chassis, it is characterised in that including bottom plate, at least two traveling wheels, cross-member, at least two row The each traveling wheel for walking wheel is operated alone by a first driving means, and the cross-member is fixed on the bottom plate, described First driving means are rotatably connected with the bottom plate, are connected between the cross-member and the first driving means for driving Move the second driving device that the first driving means are rotated relative to the bottom plate.
- 2. robot chassis according to claim 1, it is characterised in that at least two traveling wheel is four walkings Wheel.
- 3. robot chassis according to claim 1, it is characterised in that the robot chassis further includes at least one pair Wheel, is respectively connected between each accessory whorl and the cross-member of at least one accessory whorl for driving the accessory whorl lifting/put Under the 3rd driving device.
- 4. robot chassis according to claim 3, it is characterised in that at least one accessory whorl is two accessory whorls, institute State the rear and front end that two accessory whorls are separately positioned on the direction of motion on the robot chassis.
- 5. robot chassis according to claim 3, it is characterised in that the robot chassis further includes at least one appearance State sensor, at least one attitude transducer are arranged on the lower section of the bottom plate.
- 6. robot chassis according to claim 5, it is characterised in that at least one attitude transducer is included at least A pair of of attitude transducer, at least a pair of of attitude transducer is identical with the quantity of the accessory whorl, the accessory whorl perpendicular to The both sides of the direction of motion on the robot chassis are respectively arranged with an attitude transducer.
- 7. robot chassis according to claim 3, it is characterised in that the cross-member includes first crossbeam frame and second Cross beam frame, the first crossbeam frame and the second cross beam frame are in cross, and second driving device is horizontal by described first Roof beam structure is fixed, and the 3rd driving device is fixed by the second cross beam frame.
- 8. robot chassis according to claim 1, it is characterised in that one end of second driving device is rotationally It is fixed on the cross-member, the other end of second driving device is rotationally fixed with the first driving means.
- 9. a kind of robot, it is characterised in that the robot includes claim 1-8 any one of them robot bottom Disk.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721004469.8U CN207257822U (en) | 2017-08-11 | 2017-08-11 | Robot chassis and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721004469.8U CN207257822U (en) | 2017-08-11 | 2017-08-11 | Robot chassis and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207257822U true CN207257822U (en) | 2018-04-20 |
Family
ID=61924697
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721004469.8U Expired - Fee Related CN207257822U (en) | 2017-08-11 | 2017-08-11 | Robot chassis and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207257822U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107323554A (en) * | 2017-08-11 | 2017-11-07 | 广东奥讯智能设备技术有限公司 | Robot chassis and robot |
| CN109515553A (en) * | 2018-12-04 | 2019-03-26 | 深圳前海达闼云端智能科技有限公司 | Transport robot and vehicle body thereof |
-
2017
- 2017-08-11 CN CN201721004469.8U patent/CN207257822U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107323554A (en) * | 2017-08-11 | 2017-11-07 | 广东奥讯智能设备技术有限公司 | Robot chassis and robot |
| CN109515553A (en) * | 2018-12-04 | 2019-03-26 | 深圳前海达闼云端智能科技有限公司 | Transport robot and vehicle body thereof |
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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: 20180420 |