CN207824895U - A kind of turnover robot traveling chassis - Google Patents
A kind of turnover robot traveling chassis Download PDFInfo
- Publication number
- CN207824895U CN207824895U CN201721757040.6U CN201721757040U CN207824895U CN 207824895 U CN207824895 U CN 207824895U CN 201721757040 U CN201721757040 U CN 201721757040U CN 207824895 U CN207824895 U CN 207824895U
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- China
- Prior art keywords
- omni
- positive tetrahedron
- carrier frame
- robot traveling
- traveling chassis
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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 turnover robot traveling chassis, including positive tetrahedron carrier frame, four servo motors for being fixed at four vertex of positive tetrahedron carrier frame, the output end of each servo motor to be respectively connected with omni-directional wheel.Special mounting angle and itself special shape of the utility model due to omni-directional wheel, it can guarantee that three omni-directional wheels that chassis is contacted with ground contact ground simultaneously, and the carrier frame of positive tetrahedron, it can guarantee how no matter the walking mechanism overturn, it can ensure that there are three omni-directional wheels to contact ground, low manufacture cost, it is easy to process, special shape can be made.
Description
Technical field
The utility model patent is related to a kind of turnover robot traveling chassis, belongs to machinery product technical field.
Background technology
Present many intelligent robots, mobile mode is required it is higher and higher, it is low come efficiency of turning by differential, sometimes
It cannot be rotated because of the limitation of the dimensional problem or landform of robot, significantly limit the movement of robot.Very
Multirobot only has single chassis, can not work once there is turning robot on chassis, and the carrier frame of positive tetrahedron can
To avoid the generation of such case.
Utility model content
In view of the above technical problems, the utility model provides a kind of turnover robot traveling chassis, this practicality is new
The purpose of type patent is to realize no matter how chassis overturns in order to improve the travelling performance of robot and may ensure that wheel
With the purpose of ground contact, the mechanism can be made also to have preferable mobile function under complex environment in this way.
The technical purpose of the utility model is achieved by the following technical solution：
A kind of turnover robot traveling chassis, including positive tetrahedron carrier frame, four be fixed at it is described just
The servo motor of four vertex of tetrahedron carrier frame, the output end of each servo motor are respectively connected with omni-directional wheel.
Preferably, each omni-directional wheel is consistent at a distance from positive tetrahedron carrier frame center.
Preferably, the extended line of the rotary shaft of any omni-directional wheel by the center of the positive tetrahedron carrier frame and hangs down
Directly in the plane where the other three apex angle.
Preferably, the omni-directional wheel includes the outer layer wheel being sequentially overlapped and internal layer wheel, and the diameter of the internal layer wheel is more than
Outer layer wheel makes omni-directional wheel outside the installation requirements for meeting positive tetrahedron carrier frame, moreover it is possible to make inside and outside layer wheel while contiguously
Face ensures the function of advancing.
Preferably, the servo motor is fixed on four vertex of the positive tetrahedron carrier frame by motor cabinet.
Preferably, the motor cabinet is U-shaped motor cabinet, and the U-shaped motor cabinet both sides have been oppositely disposed bearing, described
U-shaped motor cabinet bottom surface is fixed on the positive tetrahedron carrier frame, and the servo motor is fixed on the U-shaped motor cabinet side,
The omni-directional wheel setting is each passed through two bearings and passes through in the U-shaped motor cabinet other side, the servo motor and omni-directional wheel shaft
Shaft coupling is fixedly connected.
Preferably, the positive tetrahedron carrier frame is welded by several bar section of stainless steel.
Preferably, four vertex of the positive tetrahedron carrier frame are provided with L-shaped motor cabinet installation part.
Compared with prior art, the utility model has the beneficial effects that：
1. the utility model can make robot generate panning effect, keep robot more flexible ground it is mobile, raising robot
Mobility.
2. the utility model can make robot keep preferable mobility under complex environment.
3. the utility model can reach robot overturning and remain to the purpose advanced.
4. low manufacture cost, difficulty is small, can make special shape.
Description of the drawings
Fig. 1 is the dimensional structure diagram of the utility model embodiment；
Fig. 2 is the partial schematic diagram of the utility model embodiment.
As shown in the figure：1- omni-directional wheels, 11- outer layer wheels；12- internal layer wheels；2- positive tetrahedron carrier frames, 3- servo motors,
4- motor cabinets, 5- shaft couplings.
Specific implementation mode
To more fully understand the utility model patent, the specific implementation of the utility model is made below in conjunction with the accompanying drawings further
Explanation.
As shown in Figure 1, a kind of turnover robot traveling chassis, including 2, four fixations of positive tetrahedron carrier frame are set
The servo motor 3 in 2 four vertex of positive tetrahedron carrier frame is set, the output end of each servo motor 3 is respectively connected with
Omni-directional wheel 1.The positive tetrahedron carrier frame 2 is welded by several bar section of stainless steel.The positive tetrahedron carrier frame 2 four
A vertex is provided with L-shaped motor cabinet installation part.
Each omni-directional wheel 1 is consistent at a distance from 2 center of positive tetrahedron carrier frame.The rotation of any omni-directional wheel 1
The extended line of axis passes through the center of the positive tetrahedron carrier frame 2 and perpendicular to the plane where the other three apex angle.
As shown in Fig. 2, the omni-directional wheel 1 includes the outer layer wheel 11 being sequentially overlapped and internal layer wheel 12, the internal layer wheel 12
Diameter be more than outer layer wheel 11.
The servo motor 3 is fixed on the L-shaped of four vertex of the positive tetrahedron carrier frame 2 by motor cabinet 4
On motor cabinet installation part.
The motor cabinet 4 is U-shaped motor cabinet, and the U-shaped motor cabinet both sides have been oppositely disposed bearing, the U-shaped electricity
Engine base bottom surface is fixed on the positive tetrahedron carrier frame, and the servo motor 3 is fixed on the U-shaped motor cabinet side, described
The setting of omni-directional wheel 1 is each passed through two bearings and passes through connection in the U-shaped motor cabinet other side, the servo motor 3 and 1 shaft of omni-directional wheel
Axis device 5 is fixedly connected.
In the present embodiment, three omni-directional wheels 1 for being mutually 120 degree of installations realize chassis by the difference in the direction of rotation
Forward-reverse, the function of translation and rotation.And mounted on four omni-directional wheels 1 of positive tetrahedron carrier frame 2, it is ensured that arbitrary
All there are three omni-directional wheels 1 to contact chassis under roll over condition.The small wheel of the big outer layer of 1 internal layer of the omni-directional wheel can be such that wheel is meeting
Outside the installation requirements of positive tetrahedron carrier frame, moreover it is possible to make inside and outside layer wheel while contact ground, ensure the function of advancing.Just
Tetrahedron carrier frame can make the traveling chassis not be afraid of rolling, and certain mobility is kept under complex environment.Low manufacture cost,
Difficulty is small, can make special shape.
The embodiment of the utility model patent is simultaneously not restricted to the described embodiments, other any without departing from this practicality
The changes, modifications, substitutions, combinations, simplifications done under the Spirit Essence and principle of new patent, should be equivalent displacement side
Formula is included within the protection domain of the utility model patent.
Claims (8)
1. a kind of turnover robot traveling chassis, which is characterized in that including positive tetrahedron carrier frame (2), four fixations
Servo motor (3) in (2) four vertex of the positive tetrahedron carrier frame, the output end of each servo motor (3) are set
It is respectively connected with omni-directional wheel (1).
2. turnover robot traveling chassis according to claim 1, which is characterized in that each omni-directional wheel (1)
It is consistent at a distance from positive tetrahedron carrier frame (2) center.
3. turnover robot traveling chassis according to claim 1 or 2, which is characterized in that any omni-directional wheel (1)
The extended line of rotary shaft passes through the center of the positive tetrahedron carrier frame (2) and perpendicular to flat where the other three apex angle
Face.
4. turnover robot traveling chassis according to claim 1, which is characterized in that omni-directional wheel (1) packet
The outer layer wheel (11) being sequentially overlapped and internal layer wheel (12) are included, the diameter of the internal layer wheel (12) is more than outer layer wheel (11).
5. turnover robot traveling chassis according to claim 1, which is characterized in that the servo motor (3) is logical
Cross four vertex that motor cabinet (4) is fixed on the positive tetrahedron carrier frame (2).
6. turnover robot traveling chassis according to claim 5, which is characterized in that the motor cabinet (4) is U
Type motor cabinet, the U-shaped motor cabinet both sides have been oppositely disposed bearing, and the positive tetrahedron is fixed in the U-shaped motor cabinet bottom surface
On carrier frame, the servo motor (3) is fixed on the U-shaped motor cabinet side, and the omni-directional wheel (1) is arranged in U-shaped motor
The seat other side, the servo motor (3) are each passed through two bearings with omni-directional wheel (1) shaft and are fixedly connected by shaft coupling (5).
7. turnover robot traveling chassis according to claim 1, which is characterized in that positive tetrahedron chassis frame
Frame (2) is welded by several bar section of stainless steel.
8. turnover robot traveling chassis according to claim 5, which is characterized in that positive tetrahedron chassis frame
(2) four vertex of frame are provided with L-shaped motor cabinet installation part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721757040.6U CN207824895U (en) | 2017-12-15 | 2017-12-15 | A kind of turnover robot traveling chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721757040.6U CN207824895U (en) | 2017-12-15 | 2017-12-15 | A kind of turnover robot traveling chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207824895U true CN207824895U (en) | 2018-09-07 |
Family
ID=63387665
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721757040.6U Expired - Fee Related CN207824895U (en) | 2017-12-15 | 2017-12-15 | A kind of turnover robot traveling chassis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207824895U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108044633A (en) * | 2017-12-15 | 2018-05-18 | 华南理工大学 | A kind of turnover robot traveling chassis |
-
2017
- 2017-12-15 CN CN201721757040.6U patent/CN207824895U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108044633A (en) * | 2017-12-15 | 2018-05-18 | 华南理工大学 | A kind of turnover robot traveling chassis |
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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: 20180907 Termination date: 20201215 |