CN207617844U - Wheeled robot and its chassis - Google Patents

Abstract

The utility model provides wheeled robot and its chassis, wherein wheeled robot chassis includes：Bottom plate, at least one driving wheel, at least one universal wheel and at least one directional wheel；At least one driving wheel, at least one universal wheel and at least one directional wheel are all set to the bottom plate；At least one directional wheel and the contacting points position on ground are higher than the contacting points position of at least one universal wheel and ground.The wheeled robot of the utility model and its chassis of use, it can be ensured that robot smoothly crosses a ridge, and ensures the service efficiency of robot, improves the stationarity on robot chassis.

Description

Wheeled robot and its chassis

Technical field

The utility model is related to wheeled robot fields, more particularly to novel wheeled robot and its bottom of use Disk.

Background technology

A pair of of driving wheel is usually arranged based on four-wheel and six wheels in the chassis of current wheeled robot, remaining is driven wheel, Driving wheel is motor driving, and driven wheel generally uses universal wheel, the wheeled robot of this chassis layout have steering flexibly and Easily controllable advantage.

But due to that can occur to turn to deflection when universal wheel meets obstructions, it is more than universal wheel tire encountering width When the insinuating language of width, universal wheel can be trapped into, and be blocked so as to cause robot, can not be continued to cross a ridge forward, be affected machine The autokinetic movement of device people reduces its service efficiency and may also result in robot fault and economic loss.In addition, when the gradient is excessive Or it is artificially maliciously applied with a lateral thrust, traditional four-wheel and six wheel chassis structures then cannot be guaranteed robot not .

As it can be seen that being badly in need of a kind of wheeled robot chassis, when can either ensureing that universal wheel blocks, robot can be smooth Pass through；The stationarity on robot chassis can be improved again.

Utility model content

In view of the foregoing deficiencies of prior art, the purpose of this utility model is to provide novel wheeled robot and Its chassis used, for solving problem above in the prior art.

In order to achieve the above objects and other related objects, the utility model provides a kind of wheeled robot chassis, including：Bottom Plate, the driving wheel and universal wheel for being set to the bottom plate, and it is set at least one directional wheel of the bottom plate；Wherein, institute The contacting points position for stating at least one directional wheel and ground is higher than the contacting points position of the universal wheel and ground.

In one embodiment of the utility model, the driving wheel is a pair, is respectively arranged at the left side and the right side of the bottom plate Side.

In one embodiment of the utility model, the directional wheel is single, is arranged in the front of the bottom plate.

In one embodiment of the utility model, the quantity more than one of the directional wheel.

In one embodiment of the utility model, the directional wheel is two, is separately positioned on the front of the bottom plate with after Side.

In one embodiment of the utility model, the quantity of the universal wheel is four, and two of which is separately positioned on actively The front of wheel, other two is separately positioned on the rear portion of driving wheel.

In one embodiment of the utility model, the quantity of the universal wheel is multiple.

In order to achieve the above objects and other related objects, the utility model provides a kind of wheeled robot, the wheeled machine The chassis of device people is using as above any wheeled robot chassis.

As described above, the wheeled robot of the utility model and its chassis of use, it can be ensured that robot smoothly crosses a ridge, Ensure the service efficiency of robot, moreover it is possible to improve the stationarity on robot chassis.

Description of the drawings

Fig. 1 is the chassis structure schematic diagram in one embodiment of the utility model；

Fig. 2 is the side view on the chassis in one embodiment of the utility model；

Fig. 3 is the chassis structure schematic diagram in another embodiment of the utility model；

Fig. 4 is the side view on the chassis in another embodiment of the utility model.

Component label instructions

1 bottom plate

2a, 2b driving wheel

3a, 3b, 3c, 3d universal wheel

4a, 4b directional wheel

Specific implementation mode

Illustrate that the embodiment of the utility model, those skilled in the art can be by this theorys below by way of specific specific example Content disclosed by bright book understands other advantages and effect of the utility model easily.The utility model can also be by addition Different specific implementation modes are embodied or practiced, and the various details in this specification can also be based on different viewpoints and answer With carrying out various modifications or alterations under the spirit without departing from the utility model.It should be noted that the case where not conflicting Under, the feature in following embodiment and embodiment can be combined with each other.

It should be noted that the diagram provided in following embodiment only illustrates the basic of the utility model in a schematic way Conception, component count, shape when only display is with related component in the utility model rather than according to actual implementation in schema then And size is drawn, when actual implementation kenel, quantity and the ratio of each component can be a kind of random change, and its assembly layout Kenel may also be increasingly complex.

It should be clear that structure, ratio, size etc. depicted in this specification institute accompanying drawings, only coordinating specification to be taken off The content shown is not limited to the enforceable restriction item of the utility model so that those skilled in the art understands and reads Part, therefore do not have technical essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size are not influencing Under the effect of the utility model can be generated and the purpose that can reach, should all still it fall in the revealed technology of the utility model In the range of Rong get Neng is covered.Meanwhile it is cited such as "upper", "lower", "left", "right", " centre " and " one " in this specification Deng term, be merely convenient to being illustrated for narration, rather than to limit the enforceable range of the utility model, relativeness It is altered or modified, in the case where changing technology contents without essence, when being also considered as the enforceable scope of the utility model

It please refers to Fig.1 and direction shown in arrow (direction that i.e. robot advances) is known as wheel type machine by Fig. 2, the present embodiment The front on people chassis.In general, a pair of of driving wheel 2a~2b can be arranged in the chassis of wheeled robot on bottom plate 1, install respectively The left and right sides on chassis, to provide main onward impulse under the driving of motor for robot；Front and back each setting a pair of driven, Universal wheel 3a~3d i.e. in figure, to realize flexibly turning to for robot.The present embodiment increases on existing wheeled robot bottom plate 1 If a pair of of directional wheel 4a~4b, the contacting points position of universal wheel 3a~3d and ground are higher than with the contacting points position on ground.

When robot crosses a ridge childhood, universal wheel 3a~3d can be potentially encountered resistance and turn to, but when its tire is wide Universal wheel 3a~3d can then be fallen when degree is less than the width of insinuating language, and can be stuck.At this point, directional wheel 4a~4b can then encounter bank Youngster, robot then can cross insinuating language by the way that directional wheel 4a~4b is smooth.When robot tilts, directional wheel 4a~4b can also be played Supporting role.

Directional wheel 4a~4b can smoothly provide robot forward power when emergent, and hanging at level land, ensure that The kinematic dexterity of robot, reduces control difficulty, additionally it is possible to ensure not topple over when robot tilts, increase steady Degree.

It should be noted that the position of Fig. 1 and directional wheel 4a~4b shown in Fig. 2 are a kind of preferred embodiments, in reality The installation site of directional wheel 4a~4b is not limited by the present embodiment in.In addition, the present embodiment is not to the straight of directional wheel Diameter is limited, but its mounting height needs to be higher than universal wheel.Furthermore the installation of directional wheel, universal wheel in practical applications Quantity is not limited by the present embodiment.As shown in Figure 3 and Figure 4, the quantity of directional wheel can also be single (4a), be arranged the bottom of at In front of disk (robot direction of advance) etc., in another example, the quantity of universal wheel is four, and the quantity of directional wheel is more than or equal to three Deng for another example the quantity of universal wheel is four, the quantity of directional wheel is two (setting up separately in bottom plate front and back) etc..

Finally, the utility model also provides novel wheeled robot, and the chassis of the wheeled robot uses aforementioned implementation Any wheeled robot chassis in example.Since the technical characteristic in the embodiment of aforementioned wheeled robot chassis can be used for that this is wheeled Robotic embodiment, thus it is no longer repeated.

In conclusion the wheeled robot and its chassis of the utility model, can ensure that robot smoothly crosses a ridge, ensure machine The service efficiency of people improves the stationarity on robot chassis, effectively overcomes various shortcoming in the prior art and has height and produce Industry utility value.

The above embodiments are only illustrative of the principle and efficacy of the utility model, new not for this practicality is limited Type.Any person skilled in the art can all carry out above-described embodiment under the spirit and scope without prejudice to the utility model Modifications and changes.Therefore, such as those of ordinary skill in the art without departing from the revealed essence of the utility model All equivalent modifications completed under refreshing and technological thought or change, should be covered by the claim of the utility model.

Claims (8)

1. a kind of wheeled robot chassis, which is characterized in that including：Bottom plate, and it is set to the driving wheel, universal of the bottom plate Wheel and directional wheel；Wherein, the directional wheel is higher than contact point of the universal wheel with ground with the contacting points position on ground It sets.

2. wheeled robot chassis according to claim 1, which is characterized in that the driving wheel is a pair, is respectively set In the left and right side of the bottom plate.

3. wheeled robot chassis according to claim 2, which is characterized in that the directional wheel is single, is arranged in institute State the front of bottom plate.

4. wheeled robot chassis according to claim 2, which is characterized in that the quantity of the directional wheel is at least two It is a.

5. wheeled robot chassis according to claim 4, which is characterized in that the directional wheel is two, is respectively set In the front and back of the bottom plate.

6. according to the wheeled robot chassis described in claim 3 or 4 or 5, which is characterized in that the quantity of the universal wheel is four A, two of which is separately positioned on the front of driving wheel, other two is separately positioned on the rear portion of driving wheel.

7. wheeled robot chassis according to claim 1, which is characterized in that the quantity of the universal wheel is multiple.

8. a kind of wheeled robot, which is characterized in that the chassis of the wheeled robot is used as any in claim 1 to 7 The wheeled robot chassis.