CN207403832U - Mobile chassis and robot - Google Patents
Mobile chassis and robot Download PDFInfo
- Publication number
- CN207403832U CN207403832U CN201721341836.3U CN201721341836U CN207403832U CN 207403832 U CN207403832 U CN 207403832U CN 201721341836 U CN201721341836 U CN 201721341836U CN 207403832 U CN207403832 U CN 207403832U
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- China
- Prior art keywords
- fixing bracket
- disk seat
- mobile chassis
- seat
- optical axis
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Abstract
The utility model is related to robotic technology field more particularly to a kind of mobile chassis and robot.The mobile chassis includes：Disk seat；Drive wheel assemblies are arranged on the bottom of disk seat, the driving wheel and the first fixing bracket that drive wheel assemblies include driving mechanism, are connected with driving mechanism output terminal, and driving mechanism is fixed on the first fixing bracket, and the first fixing bracket is rotatablely connected with disk seat；Moving leader is arranged between the first fixing bracket and disk seat, and moving leader can be rotated compared with the first fixing bracket and moved along the moving leader axial direction.What drive wheel assemblies rotated in the utility model is fixed on disk seat, the mobile chassis can be made to realize obstacle crossing function, possesses obstacle crossing function while the mobile chassis is enable to realize simple in structure, moving leader is arranged between the first fixing bracket and disk seat, can prevent drive wheel assemblies from occurring the problem of the first fixing bracket occurs position offset with disk seat and is unable to normal walking in non-obstacle detouring walking process.
Description
Technical field
The utility model is related to robotic technology field more particularly to a kind of mobile chassis and robot.
Background technology
In actual application, mobile robot is frequently necessary to overcome the problems, such as to clear the jumps.Existing obstacle detouring machine
Device people, such as with the caterpillar type robot for swinging fin, in obstacle detouring, chassis tilts serious, not only influences the normal work of carrying equipment
Make, and be easy to cause robot and topple.The legged mobile robot of existing barrier-surpassing robot, such as bionical class, although with preferable
Obstacle climbing ability, however structure and control are complicated, are difficult to realize, and with high costs.Especially service formula robot mostly compared with
It is relatively low for obstacle detouring demand for smooth ground moving, while obstacle is mostly small-sized slope surface.
Therefore, it is necessary to a kind of mobile chassis simple in structure, can solve the machine for possessing obstacle crossing function in the prior art
The problem of people is complicated.
Utility model content
The purpose of this utility model is that proposing a kind of mobile chassis, it can solve possess obstacle crossing function in the prior art
The problem of robot architecture is complicated.
The purpose of this utility model, which also resides in, proposes a kind of robot, can solve possess obstacle crossing function in the prior art
The problem of robot architecture is complicated.
For this purpose, the utility model uses following technical scheme：
A kind of mobile chassis is provided, including：
Disk seat；
Drive wheel assemblies, are arranged on the bottom of the disk seat, and the drive wheel assemblies include driving mechanism and the drive
The driving wheel and the first fixing bracket of motivation structure output terminal connection, the driving mechanism are fixed on first fixing bracket,
First fixing bracket is rotatablely connected with the disk seat；
Moving leader is arranged between first fixing bracket and the disk seat, and the moving leader can be opposite
It rotates in first fixing bracket and is moved along the moving leader axial direction.
Preferably, described moving leader one end is connected with the disk seat by the first universal bearing, the moving leader
The other end be connected with first fixing bracket by the second universal bearing.
Preferably, also it is arranged with spring on the moving leader.
Preferably, being also arranged with the first axle sleeve on the moving leader, the spring is arranged on first axle sleeve
Outside.
Preferably, connection component is provided between first fixing bracket and the disk seat, the connection component bag
Include connecting shaft, the optical axis seat being arranged on first fixing bracket and the bearing block being arranged on the disk seat, the optical axis
Seat is with the bearing block by the connection axis connection first fixing bracket is rotatably connected on the disk seat.
Preferably, the connecting shaft includes threaded shaft section and optical axis section, the optical axis section passes through the optical axis seat and institute
It states bearing block to be connected the optical axis seat with the bearing block, the threaded shaft section is located at the bearing block away from the optical axis section
One side, the threaded shaft section and nut coordinate.
Preferably, further including driven wheel assembly, the driven wheel assembly includes driven wheel and consolidates the driven wheel
It is scheduled on the second fixing bracket of the disk seat.
Preferably, the driven wheel is universal wheel.
Preferably, the drive wheel assemblies are two groups, and drive wheel assemblies described in two groups are symmetricly set on the disk seat
On.
The utility model additionally provides a kind of robot, including mobile chassis described above.
The beneficial effects of the utility model：
What drive wheel assemblies rotated in the utility model is fixed on disk seat, and the mobile chassis can be made to realize obstacle detouring work(
Can, since drive wheel assemblies include driving mechanism, the first fixing bracket and driving wheel, the mobile chassis is enable to realize structure letter
Possesses obstacle crossing function while single, moving leader is arranged between the first fixing bracket and disk seat, can prevent drive wheel assemblies
Occurs the problem of the first fixing bracket occurs position offset with disk seat and is unable to normal walking in non-obstacle detouring walking process.
Moving leader both ends are both provided with universal bearing, and the both ends of moving leader can be made to rotate width according to drive wheel assemblies
Degree is realized and moved freely.
The sheathed spring on moving leader can make moving leader recover original shape after drive wheel assemblies complete obstacle detouring
State enables drive wheel assemblies normal movement.
The purpose that the first axle sleeve is set on moving leader is to prevent moving leader when moving up and spring
Generation rubs and generates noise.First axle sleeve is made of nonmetallic materials, and can save significantly reduces spring contacts with first axle set
When the noise that generates, make the mobile chassis more quiet in obstacle detouring.
The purpose for setting connection component is that drive wheel assemblies realize rotation for convenience, and optical axis seat is matched somebody with somebody with connecting shaft interference
It closes, connecting shaft passes through bearing block, can make connecting shaft that optical axis seat be driven to rotate, this kind simple in structure.
Connecting shaft includes threaded shaft section and optical axis section, wherein optical axis section be used for optical axis seat through optical axis seat and bearing block and
Connection is realized between bearing block, and threaded shaft section is then arranged on one side of the bearing block away from optical axis section and coordinates with nut, Neng Goufang
Only bearing block departs from connecting shaft, by bearing block /V.
The utility model additionally provides a kind of robot, and the robot chassis structure is simple and can realize obstacle crossing function.
Description of the drawings
Fig. 1 is the axis side schematic diagram of mobile chassis provided by the utility model；
Fig. 2 is the partial enlarged view of moving leader and spring in Fig. 1；
Fig. 3 is another axis side schematic diagram of mobile chassis provided by the utility model；
Fig. 4 is the partial enlarged view of optical axis seat and bearing block in Fig. 3；
Fig. 5 is the bottom view for the mobile chassis that this Fig. 1 is provided.
In figure：
1st, disk seat；2nd, drive wheel assemblies；21st, driving mechanism；22nd, driving wheel；23rd, the first fixing bracket；3rd, moving leader；
31st, the second axle sleeve；4th, the first universal shaft；5th, the second universal bearing；6th, spring；7th, the first axle sleeve；8th, connection component；81st, connect
Axis；82nd, optical axis seat；83rd, bearing block；9th, drive wheel assemblies；91st, driven wheel；92nd, the second fixing bracket.
Specific embodiment
In order to enable those skilled in the art to better understand the technical solutions of the present invention, below in conjunction with the accompanying drawings and pass through
Specific embodiment further illustrates the technical solution of the utility model.
As shown in Figs. 1-5, a kind of mobile chassis is provided in the present embodiment, movably dish structure is simple for this, and possesses more
Hinder function.The mobile chassis includes 1, two group of drive wheel assemblies 2 of disk seat and moving leader 3, and wherein drive wheel assemblies 2 are led with movement
Bar 3 coordinates, and the mobile chassis is enable to clear the jumps.Wherein two groups of drive wheel assemblies 2 are symmetricly set on the bottom of disk seat 1,
Band Moving plate seat 1 moves, obstacle detouring；The drive wheel assemblies 2 specifically include driving mechanism 21,22 and first fixing bracket 23 of driving wheel,
Driving wheel 22 is connected with the output terminal of driving mechanism 21, and the first fixing bracket 23 is then rotatablely connected with disk seat 1 and drives driving wheel
22 and driving mechanism 21 rotated when obstacle detouring.Moving leader 3 is additionally provided between first fixing bracket 23 and disk seat 1, if
The purpose for putting moving leader 3 is to be able to make the held stationary in normal state of drive wheel assemblies 2,3 bottom energy of moving leader
Enough as the first fixing bracket 23 rotates, and the top of moving leader 3 can then move along the movement of guide rod axial direction upwards,
To realize 2 obstacle detouring of drive wheel assemblies.Wherein moving leader 3 can also be compared with the rotation of disk seat and movement.
Driving mechanism 21 is motor, and the position that disk seat 1 corresponds to motor is provided with through hole, which can make motor with the
By the through hole when one fixing bracket 23 rotates, by disk when turning to some position when being not in the rotation of the first fixing bracket 23
The problem of seat 1 is kept out, while this kind of set-up mode is compact-sized, can reduce the height of mobile chassis.
As shown in Fig. 2, 3 one end of moving leader (i.e. top) is connected by the first universal bearing 4 with disk seat 1, and movement is led
The other end (i.e. bottom) of bar 3 is then connected by the second universal bearing 5.Wherein the first universal bearing 4 is making 3 edge of moving leader
Mobile and outer ring radial direction rotates to the outer ring axial direction of the first universal bearing 4, the second universal bearing 5 is then making shifting
Dynamic guide rod 3 is rotated compared with the outer ring radial direction of second universal bearing 5, and the first universal bearing 4 is matched somebody with somebody with the second universal bearing 5
Conjunction can realize that the first fixing bracket 23 rotates obstacle detouring compared with disk seat 1.
As shown in Figure 1, 2, the first axle sleeve 7 and spring 6 are also arranged on above-mentioned moving leader 3, wherein 7 sets of the first axle sleeve
It is located on moving leader 3, sheathed spring 6, the first axle sleeve 7 and moving leader 3 are located at the moving leader 3 with the first axle sleeve 7 again
In the inner cavity that spring 6 is formed.As shown in Fig. 2, as shown in Fig. 2, the both ends of spring 6 are respectively by the first axle sleeve 7 and the second axle sleeve 31
/V, the second axle sleeve 31 are against on moving leader 3, and the first axle sleeve 7 is against 4 bottom of the first universal bearing, when moving leader 3 is upward
Pressure is generated when mobile to spring 6, recovers deformation, it is necessary to say under the restoring force effect of spring 6 after 2 obstacle detouring of drive wheel assemblies
Bright spring 6 is compressive state under non-obstacle detouring working condition, but the compressive state decrement is smaller.
It is provided with connection component 8 between first fixing bracket 23 and disk seat 1, wherein connection component 8 is by the first fixing bracket
23 are rotatablely connected with disk seat 1.As shown in Figure 3,4, which includes connecting shaft 81, optical axis seat 82 and bearing block 83, wherein
Optical axis seat 82 is arranged on the first fixing bracket 23, and bearing block 83 is then arranged on disk seat 1, and bearing block 83 and optical axis seat 82 pass through
Connecting shaft 81 connects, and optical axis seat 82 is made to be rotated compared with bearing block 83, and then the first fixing bracket 23 is driven to rotate, and is driven with realizing
Drive wheel assemblies 2 are whole to be rotated compared with disk seat 1.
Above-mentioned connecting shaft 81 includes threaded shaft section and optical axis section, and optical axis section passes through optical axis seat 82 and bearing block 83 by optical axis
Seat is connected with bearing block 83, and threaded shaft section is then located at one side of the bearing block 83 away from optical axis section and coordinates with nut to bearing block 83
/V is carried out, prevents optical axis section from occurring to depart from, it is necessary to which explanation, optical axis section do not pass through light with bearing block 83 in rotation process
The one side of axle bed 82 is provided with protruding ring (not shown), and after optical axis seat 82 is connected with bearing block 83, protruding ring is located at axis
Between bearing 83 and optical axis seat 82, the purpose for setting protruding ring is sent out when being and preventing optical axis section from rotating with optical axis seat 82, bearing block 83
It is raw to depart from.
In order to make the mobile chassis more steady in moving process, 1 bottom of disk seat is further fixedly arranged on driven wheel assembly 9
(with reference to figure 1), 9 quantity of driven wheel assembly are set according to the size of disk seat 1, i.e. 9 quantity of driven wheel assembly is arranged as required to, and
Driven wheel is four groups in non-only Fig. 4 provided in this embodiment.Wherein, driven wheel assembly 9 includes driven wheel 91 and should
Driven wheel 91 is fixed on the second fixing bracket 92 of 1 bottom of disk seat, and driven wheel 91 sets the second fixing bracket 92 away from disk seat 1
One end, and be rotatablely connected with the second fixing bracket 92.Driven wheel 91 is universal wheel, more clever when can move the mobile chassis
It is living.
For above-mentioned mobile chassis in obstacle detouring, driving wheel 22 is subject to upward power under the action of barrier, at this time optical axis seat
82 can rotate compared with bearing block 81, and moving leader 3 can move up when rotating, and then compress spring 6, make driving wheel also with
Move up, when driving wheel 22 reaches the top of barrier, spring 6 stops compression, and driving wheel 22 is to barrier at this time
Lower section is moved, and spring 6 promotes driving wheel 22 to move down since self-recovery power can promote moving leader 3 to move down,
82 loudness of optical axis seat rotates the position relationship being restored to before obstacle detouring with bearing block 81 at this time, and mobile chassis completes obstacle detouring times at this time
Business.
A kind of robot is additionally provided in the present embodiment, which includes the mobile chassis provided in the present embodiment,
In the robot can be service robot, as the financial service robot or public place that are set in Bank Hall are set
Seek advice from robot.This kind of robot walking device is mobile chassis, and the mobile chassis is simple in structure and with obstacle crossing function.
Note that have been shown and described above the utility model basic principle and main feature and the utility model it is excellent
Point.It should be understood by those skilled in the art that the utility model is not limited to the embodiments described above, the above embodiment and say
The principle for simply illustrating the utility model described in bright book, on the premise of not departing from the spirit and scope of the utility model, this
Utility model also has various changes and modifications, and these various changes and improvements fall within the scope of the claimed invention,
The claimed scope of the utility model is defined by the appending claims and its equivalent thereof.
Claims (10)
1. a kind of mobile chassis, which is characterized in that including：
Disk seat (1)；
Drive wheel assemblies (2), are arranged on the bottom of the disk seat (1), and the drive wheel assemblies (2) include driving mechanism
(21), the driving wheel (22) and the first fixing bracket (23) being connected with the driving mechanism (21) output terminal, the driving mechanism
(21) it is fixed on first fixing bracket (23), first fixing bracket (23) is rotatablely connected with the disk seat (1)；
Moving leader (3) is arranged between first fixing bracket (23) and the disk seat (1), the moving leader (3)
It can rotate compared with first fixing bracket (23) and be moved along moving leader (3) axial direction.
2. mobile chassis according to claim 1, which is characterized in that described moving leader (3) one end and the disk seat (1)
It is connected by the first universal bearing (4), the other end of the moving leader (3) passes through second with first fixing bracket (23)
Universal bearing (5) connects.
3. mobile chassis according to claim 2, which is characterized in that be also arranged with spring on the moving leader (3)
(6)。
4. mobile chassis according to claim 3, which is characterized in that be also arranged with first axle on the moving leader (3)
It covers (7), the spring (6) is arranged on the outside of first axle sleeve (7).
5. mobile chassis according to claim 1, which is characterized in that first fixing bracket (23) and the disk seat
(1) connection component (8) is provided between, the connection component (8) includes connecting shaft (81), is arranged on first fixing bracket
(23) optical axis seat (82) on and the bearing block (83) being arranged on the disk seat (1), the optical axis seat (82) and the bearing
Seat (83) connects first fixing bracket (23) being rotatably connected on the disk seat (1) by the connecting shaft (81)
On.
6. mobile chassis according to claim 5, which is characterized in that the connecting shaft (81) includes threaded shaft section and optical axis
Section, the optical axis section pass through the optical axis seat (82) and the bearing block (83) by the optical axis seat (82) and the bearing block
(83) connect, the threaded shaft section is located at one side of the bearing block (83) away from the optical axis section, the threaded shaft section and spiral shell
Mother's cooperation.
7. mobile chassis according to claim 1, which is characterized in that further include driven wheel assembly (9), the driven wheels
Part (9) includes driven wheel (91) and the driven wheel (91) is fixed on to the second fixing bracket (92) of the disk seat (1).
8. mobile chassis according to claim 7, which is characterized in that the driven wheel (91) is universal wheel.
9. according to claim 1-8 any one of them mobile chassis, which is characterized in that the drive wheel assemblies (2) are two groups,
And drive wheel assemblies (2) described in two groups are symmetricly set on the disk seat (1).
10. a kind of robot, which is characterized in that including such as claim 1-9 any one of them mobile chassis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721341836.3U CN207403832U (en) | 2017-10-18 | 2017-10-18 | Mobile chassis and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721341836.3U CN207403832U (en) | 2017-10-18 | 2017-10-18 | Mobile chassis and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207403832U true CN207403832U (en) | 2018-05-25 |
Family
ID=62319950
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721341836.3U Active CN207403832U (en) | 2017-10-18 | 2017-10-18 | Mobile chassis and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207403832U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110304165A (en) * | 2019-07-02 | 2019-10-08 | 北京史河科技有限公司 | A kind of chassis |
| CN111374611A (en) * | 2018-12-28 | 2020-07-07 | 沈阳新松机器人自动化股份有限公司 | Anti-tilt device and anti-tilt robot of indoor floor-washing robot |
| CN111559437A (en) * | 2020-04-21 | 2020-08-21 | 北京全路通信信号研究设计院集团有限公司 | Mobile chassis mechanism and inspection robot comprising same |
| CN113197515A (en) * | 2021-04-20 | 2021-08-03 | 上海高仙自动化科技发展有限公司 | Moving mechanism and robot |
-
2017
- 2017-10-18 CN CN201721341836.3U patent/CN207403832U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111374611A (en) * | 2018-12-28 | 2020-07-07 | 沈阳新松机器人自动化股份有限公司 | Anti-tilt device and anti-tilt robot of indoor floor-washing robot |
| CN110304165A (en) * | 2019-07-02 | 2019-10-08 | 北京史河科技有限公司 | A kind of chassis |
| CN111559437A (en) * | 2020-04-21 | 2020-08-21 | 北京全路通信信号研究设计院集团有限公司 | Mobile chassis mechanism and inspection robot comprising same |
| CN113197515A (en) * | 2021-04-20 | 2021-08-03 | 上海高仙自动化科技发展有限公司 | Moving mechanism and robot |
| CN113197515B (en) * | 2021-04-20 | 2023-02-24 | 上海高仙自动化科技发展有限公司 | Moving mechanism and robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190610 Address after: 050035 Xiangjiang Road 209, Shijiazhuang High-tech Zone, Hebei Province Patentee after: Hebei Huijin Electromechanical Co., Ltd. Address before: Building 858-30, Fulian Road, Baoshan District, Shanghai, 2010 Patentee before: Shanghai Tang Bao robot Co., Ltd. |
|
| TR01 | Transfer of patent right | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 050035 Xiangjiang Road 209, Shijiazhuang High-tech Zone, Hebei Province Patentee after: Hebei Huijin Group Co.,Ltd. Address before: 050035 Xiangjiang Road 209, Shijiazhuang High-tech Zone, Hebei Province Patentee before: HEBEI HUIJIN ELECTROMECHANICAL Co.,Ltd. |
|
| CP01 | Change in the name or title of a patent holder |