CN208021138U - Balance beam parts, walking mechanism and mobile robot in walking mechanism - Google Patents
Balance beam parts, walking mechanism and mobile robot in walking mechanism Download PDFInfo
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- CN208021138U CN208021138U CN201820361649.XU CN201820361649U CN208021138U CN 208021138 U CN208021138 U CN 208021138U CN 201820361649 U CN201820361649 U CN 201820361649U CN 208021138 U CN208021138 U CN 208021138U
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Abstract
The utility model discloses equalizer bar device feature, walking mechanism and the equalizer bar roller devices and mobile robot in a kind of walking mechanism.The balance beam parts include first crossbeam, second cross beam and middle part；Wherein, the middle part is an inverted domes, and the first crossbeam and the second cross beam are symmetrically disposed in the both sides of the middle part, the first crossbeam and the second cross beam towards the direction on ground for accommodating driven wheel respectively.The equalizer bar part design of the utility model is reasonable, compact-sized.
Description
Technical field
The utility model is related to machinery fields, more particularly to balance beam parts, walking mechanism and movement in walking mechanism
Robot.
Background technology
The development advanced by leaps and bounds in recent years with e-commerce, logistics distribution are increasingly becoming the key element of e-commerce.
In current e-commerce, logistics distribution has the characteristics that forwarding unit's miniaturization, wide in variety, batch is small, batch is more, the period
Short, the development that the warehouse logistics mode of traditional manual operation, conveyor type or AGV formulas has been difficult to adapt to e-commerce needs
It asks, and the automated warehousing logistics based on mobile robot is being risen.
Mobile robot may be implemented the functions such as to carry, sort or sort in automated warehousing logistics.Make to meet
With the needs of scene, mobile robot can be designed to withstand huge heavy burden.Using multiple shifting can be effectively shared from wheel
The heavy burden of mobile robot, and then meet design requirement.But be mounted directly multiple can lead to certain Special Road tops from wheel
Divide driven wheel not contacted with ground, to which the purpose for sharing mobile robot heavy burden be not achieved, even causes to topple when serious.
To solve the above-mentioned problems, relevant to have been carried out various trials in the prior art.For example, CN101665068A is public
A kind of even landing device of robot car body is opened comprising equalizer bar, two balance boom supports, bearing assemblies etc..However, this
The design of sample needs the in addition mating damper with pooling feature, and therefore, such design structure is complicated.In addition, as beam body
Using sheet plank, cause robot load-bearing capacity not strong, cannot be used to load the wheeled shifting of larger circular base plate well
Mobile robot.
In other field, in order to solve the problems, such as similar techniques, the design for taking equalizer bar is disclosed.For example,
CN205257813U discloses a kind of tyred container door type crane cart traveling device comprising equalizer bar and respectively position
The driven wheel assembly and adhesion wheel assembly at both ends below the equalizer bar.For another example CN205668885U discloses one
Kind gantry cart walking mechanism comprising the first rotating shaft and second is arranged in the bottom of main equalizer bar, the equalizer bar
Rotating shaft, the bottom of first rotating shaft are provided with the first equalizer bar, and it is flat that the bottom of second rotating shaft is provided with second
Balance beam.Although such design can bear huge load, complicated, and be not robot field, for volume
Smaller mobile robot is completely not applicable.
In conclusion for mobile robot, there is presently no solve the problems, such as that multiple driven wheels uniformly land well.
Utility model content
In order to solve the problems in the existing technology, the utility model devises a kind of balance beam parts, the equalizer bar
Each driven wheel of modular construction reasonable design, the mobile robot with the balance beam parts can uniformly land, and can make shifting
Mobile robot bears larger heavy burden.The utility model includes the following contents.
On the one hand, the utility model provides a kind of balance beam parts, and the balance beam parts include first crossbeam, the second cross
Beam and middle part；Wherein, the middle part is an inverted domes, and the first crossbeam and the second cross beam are symmetrically
Be arranged the both sides of the middle part, the first crossbeam and the second cross beam towards ground direction for respectively accommodate from
Driving wheel.
Balance beam parts according to the present utility model, optionally, the first crossbeam and the second cross beam are an inversion
Dustpan-shaped structure and longitudinal section be wedge shape, and the face in wedge shape where higher one side is connect with the middle part.
On the other hand, the utility model provides a kind of walking mechanism comprising movable motor, driving wheel, driven wheel, as above
The balance beam parts and cantilever part；Wherein, shaft, the balance beam parts are provided on the cantilever part
Middle part on be provided with mounting hole, by the mounting hole and described between the balance beam parts and the cantilever part
Shaft is rotatablely connected；The first crossbeam of the balance beam parts and the direction on second cross beam towards ground accommodate described driven respectively
Wheel；The movable motor drives the driving wheel operating, the driving wheel operating to drive the driven wheel operating.
Walking mechanism according to the present utility model, optionally, the cantilever part include support portion, the first extension and
Second extension；Wherein, the support portion is plank frame, and first extension and second extension are rod piece knot
Structure；There are the support portion bottom and top, bottom to be wider than top, shaft, first extension are provided on the top
It is arranged spaced reciprocally in the bottom of the support portion with one end of second extension, and perpendicular to the bottom of the support portion
The other end of portion, first extension and second extension is the positive stop end of the cantilever part.
Walking mechanism according to the present utility model, optionally, the cross section of the support portion is an isosceles trapezoid and one
The polygon that a rectangle is constituted, bottom therein are overlapped with a long side of rectangle, the part structure where the upper bottom of isosceles trapezoid
At the top of the support portion, the part where another long side of rectangle constitutes the bottom of the support portion.
Walking mechanism according to the present utility model, optionally, the cross section of the support portion is two isosceles trapezoids and one
The polygon that a rectangle is constituted, wherein the bottom of the first isosceles trapezoid is overlapped with a long side of rectangle, the first isosceles trapezoid
Upper bottom is overlapped with the bottom of the second isosceles trapezoid, and the part where the upper bottom of the second isosceles trapezoid constitutes the top of support portion, square
Part where another long side of shape constitutes the bottom of support portion.
Walking mechanism according to the present utility model, optionally, first extension and second extension are column
Shape straight-bar.
Walking mechanism according to the present utility model, optionally, first extension and second extension are column
Shape bent rod, bent rod is on one side straight flange, and another side is bending edge.
Walking mechanism according to the present utility model, optionally, first extension and second extension it is another
End is both provided with limit hole.
Another aspect, the utility model provide a kind of mobile robot, and the mobile robot includes row as described above
Walk mechanism.
The equalizer bar part design of the utility model is reasonable, compact-sized, is replaced using the balance beam parts previous single
Roller installation structure, can be by balance beam structure force balance, thus be more suitable for loading larger occasion.Idler wheel is pacified
It is connect in the balance beam parts of the utility model, and with other associated components, walking mechanism can be obtained, the walking mechanism
Compact-sized, load capacity is strong.The walking mechanism of the utility model is used for mobile robot, gravity can be made to share to each rolling
Wheel improves robot overall load ability, and since balance beam parts are rotatable, thus robot moves on uneven road surface
When, it remains to realize that each idler wheel lands by the rotation for balancing beam parts, the driving wheel that can avoid robot makes somebody a mere figurehead and leads to machine
People runs out of steam.
Description of the drawings
Fig. 1 is a kind of stereogram of balance beam parts of the utility model.
Fig. 2 is a kind of side view of balance beam parts of the utility model.
Fig. 3 is the stereogram of another balance beam parts of the utility model.
Fig. 4 is a kind of side view of cantilever part of the utility model.
Fig. 5 is the stereogram of another cantilever part of the utility model.
Fig. 6 is the vertical view of another cantilever part of the utility model.
Fig. 7 is the installation condition schematic diagram of the balance beam parts and cantilever part of the utility model.
The reference numerals are as follows：
The chassis 1-, 2- balance beam parts, 3- cantilever parts, 4- driving wheels, 5- driven wheels,
100- first crossbeams, 200- second cross beams, 300- middle parts, 301- through-holes, 400- mounting holes, 111- first are installed
Face, the second mounting surfaces of 211-,
10- support portions, the first extensions of 20-, the second extensions of 30-, 40- shafts, 50- transition parts, the first grooves of 12-,
The second grooves of 14-, 16- pits, 22- first through hole, the second through-holes of 32-, 120- grooves, 121- mounting holes.
Specific implementation mode
The utility model is further described with reference to specific embodiment, but the scope of protection of the utility model is simultaneously
It is without being limited thereto.
The utility model provides balance beam parts, walking mechanism and mobile robot.The wherein described walking mechanism includes row
Motor, driving wheel, driven wheel, the balance beam parts and cantilever part are walked, the mobile robot includes the walking
Mechanism.The utility model is described in detail below.
Use the term in instruction direction or orientation in the course of the description herein, such as：Up, down, left, right, before and after, height,
Low, these terms are to more clearly describe the embodiment of the utility model, are opposite directions or orientation, rather than absolutely
Direction or orientation.
<Balance beam parts>
The balance beam parts of the utility model include first crossbeam, second cross beam and middle part.Wherein, middle part is to be inverted
Domes, first crossbeam and second cross beam are symmetrically disposed in the both sides of middle part, first crossbeam and second cross beam direction
The direction on ground for accommodating driven wheel respectively.Size to balancing beam parts is not particularly limited, can be according to application demand
It is arranged suitably sized.First crossbeam, middle part to second cross beam setting direction on, balance beam parts length be 100
~650mm, preferably 200~550mm, more preferably 350~400mm.
<First crossbeam and second cross beam>
The first crossbeam and second cross beam of the utility model are inverted dustpan-shaped structure and profile is wedge shape, in wedge-shaped
Higher one end is connect with middle part.So-called wedge shape refers to the stereochemical structure of highly gradient, and wedge-shaped design can be balance beam structure
Stronger support is provided, is conducive to increase the load that can be born.In preferred embodiments of the present invention, driven wheel can
It is contained in the dustpan-shaped structure of first crossbeam and second cross beam.So-called dustpan-shaped structure refers to the whole or extremely of first crossbeam
A few part has pit, and the bottom surface of pit is the bottom surface of dustpan-shaped structure, which can be used as peace towards ground, the bottom surface
The mounting surface of driven wheel is filled, the size of pit needs that driven wheel can be accommodated.The dustpan-shaped structure of second cross beam and first crossbeam phase
Together.In other embodiments, first crossbeam and second cross beam can also be with certain thickness plank frame, the peace of driven wheel
Dress face is the horizontal plate face of plank frame.First crossbeam and the respective width of second cross beam can be 20~150mm, preferably 45~
135mm, more preferably 70~92mm.
On the mounting surface of the driven wheel, installing mechanism can be set, the installation of driven wheel is realized by installing mechanism.It is right
The structure of installing mechanism is not particularly limited, as long as the fixation of driven wheel or detachable installation can be realized.Optionally, fitting machine
Structure is mounting hole.The quantity of installing mechanism is not particularly limited, preferably 2 or more, such as 4.
<Middle part>
The middle part of the utility model is inverted domes, and middle part is located in first crossbeam and second cross beam
Between, first crossbeam and second cross beam are symmetrically connected, balance beam parts can be installed by middle part.It is so-called
Domes refer to the structure for having crooked radian.It is such to be designed with conducive to carrying due to the mechanical characteristic of domes itself
The load capacity of high balance beam parts entirety.
In certain embodiments, the middle part includes through-hole, and the through-hole can rotatably be sleeved on matched
In shaft, shaft is set on face to be installed, you can balance beam parts are rotatably installed in by the through-hole of middle part and are waited for
On mounting surface.The size of through-hole is not particularly limited, and the diameter of through-hole can be 10~50mm, between preferably 20~30mm, example
Such as, 22mm.
In certain embodiments, the middle part includes shaft, and the shaft can be rotatably installed in matched
In through-hole.The through-hole is set on face to be installed, you can is rotatably mounted by the shaft of middle part by beam parts are balanced
On face to be installed.
In addition, can also be arranged between the shaft (or through-hole) on the through-hole (or shaft) of the middle part and face to be installed
Bearing can be such that middle part is preferably rotated relative to face to be installed.
Can be to be fixedly connected in the utility model, between first crossbeam and middle part, second cross beam and middle part, preferably
It is integrally formed.The material of the balance beam parts is not particularly limited, and optionally, balance beam parts are on the whole by metal material
Material is made.
In the utility model, any wheels existing or still in research and development can be used in the not specific restriction of structure of idler wheel
Formula structure, such as one-way wheel, universal wheel.The quantity of idler wheel is at least two, and one is respectively installed on first crossbeam and second cross beam
A idler wheel optionally can be respectively mounted more than two idler wheels, and first crossbeam and the second cross on first crossbeam and second cross beam
Idler wheel on beam should be symmetrical arranged.
<Walking mechanism>
The walking mechanism of the utility model includes movable motor, driving wheel, driven wheel, balance beam parts and cantilevered beam section
Part.When walking mechanism operation, driving wheel and driven wheel are contacted with ground.The movable motor refers to driving walking mechanism hair
Give birth to the motor of displacement, such as the driving motor (also referred to as motor) of driving wheel.The driving motor of the utility model can be used known
Those of motor.The driving wheel refers to being driven by motor and the idler wheel or tire of rotation, and driving wheel is to drive vehicle with walking machine
The component that structure is subjected to displacement.The driven wheel is not connect with motor, does not provide power for the displacement of walking mechanism.This practicality is new
Universal wheel may be selected in the driving wheel and/or driven wheel of type.In a kind of embodiment of the utility model, movable motor driving master
Driving wheel operates, and driving wheel operating drives driven wheel operating.Active wheel drive walking mechanism is subjected to displacement, and driven wheel supports vehicle with walking machine
Structure simultaneously makes the direction of displacement of walking mechanism turn to.
In a kind of embodiment of the utility model, balances and be provided with mounting hole on the middle part of beam parts, and cantilever
It is provided with shaft in beam parts, balances and is rotatablely connected by mounting hole and shaft between beam parts and cantilever part, equalizer bar
The direction on first crossbeam and second cross beam towards the ground of component accommodates driven wheel respectively.Below to the cantilevered beam section of walking mechanism
Part is described in detail.
The cantilever part includes support portion, the first extension and the second extension；Wherein, support portion is board-like knot
Structure, the first extension and the second extension are member structure；Support portion have bottom and top, bottom be wider than top, first
One end of extension and the second extension is arranged in the bottom of support portion spaced reciprocally, and perpendicular to the bottom of support portion, and
The other end of one extension and the second extension is the positive stop end of cantilever part.Wherein, the first extension and the second extension
Positive stop end limit hole can be set.
In a kind of embodiment of the utility model, the cross section of support portion is an isosceles trapezoid and a rectangle structure
At polygon, bottom therein overlaps with a long side of rectangle, and the part where the upper bottom of isosceles trapezoid constitutes support portion
Top, part where another long side of rectangle constitutes the bottom of support portion.
Wherein, the cross section of support portion is two isosceles trapezoids and the polygon that a rectangle is constituted, wherein the first isosceles
Trapezoidal bottom is overlapped with a long side of rectangle, and the upper bottom of the first isosceles trapezoid is overlapped with the bottom of the second isosceles trapezoid, the
Part where the upper bottom of two isosceles trapezoids constitutes the top of support portion, and the part where another long side of rectangle constitutes support portion
Bottom.
In the another embodiment of the utility model, the cross section of support portion is two isosceles trapezoids and a rectangle
The polygon of composition, wherein the bottom of the first isosceles trapezoid is overlapped with a long side of rectangle, the upper bottom of the first isosceles trapezoid with
The bottom of second isosceles trapezoid overlaps, and the part where the upper bottom of the second isosceles trapezoid constitutes the top of support portion, and rectangle is another
Part where long side constitutes the bottom of support portion.
In addition, the first extension and the second extension are column straight-bar.First extension and the second extension are also column
Shape bent rod, bent rod is on one side straight flange, and another side is bending edge.
<Mobile robot>
The mobile robot of the utility model includes balance beam parts as described herein.Optionally, the shifting of the utility model
Mobile robot includes walking mechanism as described herein.Optionally, mobile robot includes chassis, and the bottom on chassis is equipped with this practicality
Novel the balance beam parts or walking mechanism.The structure on chassis is not particularly limited, such as circular base plate, rectangular chassis etc.
All may be used.
Embodiment 1- balances beam parts
Below with reference to the accompanying drawings, a kind of specific embodiment of balance beam parts described in the utility model is described.It is described below only
For the purpose of illustration, it is not intended to limit the scope of protection of the utility model.
Fig. 1 is a kind of stereogram of balance beam parts of the utility model.As shown in Figure 1, balance beam parts include first
Crossbeam 100, second cross beam 200 and middle part 300, first crossbeam 100 and second cross beam 200 are symmetrically disposed in middle part 300
Both sides, middle part 300 be domes, middle part have through-hole so that middle part 300 can be rotatably installed in matching
Shaft on.The arranged direction of first crossbeam 100 and second cross beam 200 is vertical with the rotation centerline of middle part 300.
Fig. 2 is the side view of the balance beam parts of Fig. 1 embodiments, and the through-hole 301 in middle part 300 is shown.The
One crossbeam 100, second cross beam 200 are wedge structure, and the side that the height of wedge structure is larger is connect with middle part 300.
Embodiment 2- balances beam parts
Fig. 3 shows a kind of structure of the bottom of balance beam parts of the utility model, and the bottom that when use illustrates is towards ground
Face.First crossbeam 100 is shown and second cross beam 200 is dustpan-shaped structure and profile is wedge-shaped, higher one in wedge shape
End is connect with middle part 300.The bottom of the dustpan-shaped structure is the mounting surface of driven wheel.First mounting surface of first crossbeam 100
111 and the second mounting surface 211 of second cross beam 200 be generally aligned in the same plane, the domes of middle part 300 are higher than the plane.
In the present embodiment, the first mounting surface 111 has rectangle structure, and is respectively provided with a mounting hole near four angles of rectangle
400.Second mounting surface 211 equally has rectangle structure, and is respectively provided with a mounting hole near four angles of rectangle
400.Driven wheel can be mounted on mounting surface by mounting hole 400.
Embodiment 3- cantilever parts
Fig. 4 shows a kind of stereogram of cantilever part of the utility model.The support portion 10 of the cantilever part
Upper surface is isosceles trapezoid and the hexagon that rectangle forms, and isosceles trapezoid is located at the top of rectangle, the upper bottom place of isosceles trapezoid
Part be support portion top, the part below isosceles trapezoid where a long side of rectangle is the bottom of support portion.First
Extension 20 and the second extension 30 are respectively positioned on the bottom of support portion 10, and the first extension 20 and the second extension 30 with branch
The bottom of support part 10 is vertical.Interconnecting piece uses shaft 40, is located at the top of support portion 10, is additionally provided with transition part therebetween
50.The thickness of transition part 50 is identical as the thickness of support portion 10, and 50 width gradual change of transition part, shaft 40 is vertically arranged.Fig. 1 institutes
The cantilever part shown is axially symmetric structure on the whole, and symmetry axis is the rotary shaft of shaft 40.
First extension 20 and the second extension 30 are square pole, are separately positioned on the both ends of bottom.In support portion 10
Upper surface on and at the position of the first extension 20 and the second extension 30, be provided with the first groove 12 and the second groove
14.First groove 12 is identical with the extending direction of the second groove 14, and the first groove 12 and the second groove 14 are in respective extension side
Upward length is of same size with the first extension 20 and the second extension 30 respectively.First groove 12 and the second groove 14
Cross section is arc, such as semicircle.The rotation for extending perpendicularly to shaft 40 of first groove 12 and the second groove 14
Axis.
It is respectively provided with first through hole 22 and the second through-hole 32 in the positive stop end of the first extension 20 and the second extension 30.The
The rotary shaft of one through-hole 22 and the second through-hole 32 is parallel with the first groove 12 and the extending direction of the second groove 14 respectively.First
Pit 16 is provided between groove 12 and the second groove 14, the range of pit 16 is distributed in the isosceles trapezoid and square of support portion 10
In shape.
Embodiment 4- cantilever parts
Fig. 5 shows that the stereogram of another cantilever part, Fig. 6 are its vertical view.It is different from embodiment 3, Fig. 5 cantilevers
The upper surface of the support portion 10 of beam parts has groove 120, and groove 120 extends in the width direction of support portion 10, with implementation
First groove 12 of example 3 is compared with the second groove 14, and groove 120 is distributed on the rectangle of support portion 10, and groove 120 is distributed in
In the entire width direction of support portion 10.Mounting hole 121 can be set on the bottom surface of groove 120, and for installing shaft, (figure is not
Show).
Different from embodiment 3, the first extension 20 and the second extension 30 of Fig. 5 cantilever parts have the width of gradual change
Degree, the end being connected with support portion 10 is wider, is become narrow gradually to positive stop end, close to end constant width.That is, the
One extension and the second extension can be column bent rod, and bent rod is on one side straight flange, and another side is bending edge.It is such to set
Meter can improve the intensity of extension to a certain extent.
The walking mechanism of embodiment 5- mobile robots
Fig. 7 is the installation status diagram for balancing beam parts and cantilever part on mobile robot chassis, and Fig. 7 is to look up
Figure.There are two balance 2, cantilever parts 3 of beam parts and two driving wheels 4 for installation on the chassis of mobile robot 1.
Wherein, it is separately installed with driven wheel 5 on two crossbeams of balance beam parts 2, four driven wheels 5 is shown altogether in Fig. 7.On in Fig. 7
The balance beam parts 2 of side are connect with cantilever part 3, and specific connection type is：The shaft at 3 top of cantilever part is rotatable
Ground is mounted in the through-hole among balance beam parts 2.Also, two crossbeams for balancing beam parts 2 are installed on chassis 1, are hanged
The positive stop end of two extensions of arm beam parts 3 is fixedly mounted on chassis 1.
When work, the driving motor (not shown) driving driving wheel 4 being connect with driving wheel 4 rotates, and drives mobile robot
It runs forward or backward, driven wheel 5 is universal wheel, for making mobile robot turn to.Balancing beam parts 2 can be in the figure 7
The stress on chassis is balanced on left and right directions, and two balances beam parts arranged apart can balance in the up-down direction one on the other
The stress on chassis, also as mobile robot balances the stress on the four direction on chassis, to which load capacity is enhanced.
And since balance beam parts 2 and cantilever part 3 are rotation connection, thus when mobile robot moves on uneven road surface
When, each idler wheel on chassis 1 can be made to land by the relative rotation between balance beam parts 2 and cantilever part 3, it can be one
Determine to avoid driving wheel 4 aerial in degree and robot is caused to run out of steam.
The utility model is not limited to the above embodiment, without departing substantially from the substantive content of the utility model,
It may occur to persons skilled in the art that any deformation, improvement, replacement each fall within the scope of the utility model.
Claims (10)
1. a kind of balance beam parts, which is characterized in that the balance beam parts include first crossbeam, second cross beam and middle part；
Wherein, the middle part is an inverted domes, and the first crossbeam and the second cross beam are symmetrically disposed in described
The direction on the both sides of middle part, the first crossbeam and the second cross beam towards ground is used to accommodate driven wheel respectively.
2. balance beam parts according to claim 1, which is characterized in that the first crossbeam and the second cross beam are
Inverted dustpan-shaped structure and profile are wedge-shaped, and higher one end is connect with the middle part in wedge shape.
3. a kind of walking mechanism, which is characterized in that including movable motor, driving wheel, driven wheel, as claimed in claim 1 or 2
Balance beam parts and cantilever part；Wherein, shaft, the centre of the balance beam parts are provided on the cantilever part
It is provided with mounting hole in portion, is turned by the mounting hole and the shaft between the balance beam parts and the cantilever part
Dynamic connection；The first crossbeam of the balance beam parts and the direction on second cross beam towards ground accommodate the driven wheel respectively；Institute
Stating movable motor drives the driving wheel operating, the driving wheel operating to drive the driven wheel operating.
4. walking mechanism according to claim 3, which is characterized in that the cantilever part includes support portion, first prolongs
Extending portion and the second extension；Wherein, the support portion is plank frame, and first extension and second extension are
Member structure；There are the support portion bottom and top, bottom to be wider than top, be provided with shaft on the top, and described first
One end of extension and second extension is arranged spaced reciprocally in the bottom of the support portion, and perpendicular to the support
The other end of the bottom in portion, first extension and second extension is the positive stop end of the cantilever part.
5. walking mechanism according to claim 4, which is characterized in that the cross section of the support portion is an isosceles trapezoid
The polygon constituted with a rectangle, bottom therein are overlapped with a long side of rectangle, the portion where the upper bottom of isosceles trapezoid
Divide the top for constituting the support portion, the part where another long side of rectangle constitutes the bottom of the support portion.
6. walking mechanism according to claim 4, which is characterized in that the cross section of the support portion is two isosceles trapezoids
The polygon constituted with a rectangle, wherein the bottom of the first isosceles trapezoid is overlapped with a long side of rectangle, the first isosceles ladder
The upper bottom of shape is overlapped with the bottom of the second isosceles trapezoid, and the part where the upper bottom of the second isosceles trapezoid constitutes the top of support portion
Portion, the part where another long side of rectangle constitute the bottom of support portion.
7. the cantilever part in walking mechanism according to claim 4, which is characterized in that first extension and institute
It is column straight-bar to state the second extension.
8. walking mechanism according to claim 4, which is characterized in that first extension and second extension are equal
For column bent rod, the bent rod is on one side straight flange, and another side is bending edge.
9. according to claim 4~8 any one of them walking mechanism, which is characterized in that first extension and described
The other end of two extensions is both provided with limit hole.
10. a kind of mobile robot, which is characterized in that the mobile robot includes described in any one of claim 3~9
Walking mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820361649.XU CN208021138U (en) | 2018-03-16 | 2018-03-16 | Balance beam parts, walking mechanism and mobile robot in walking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820361649.XU CN208021138U (en) | 2018-03-16 | 2018-03-16 | Balance beam parts, walking mechanism and mobile robot in walking mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208021138U true CN208021138U (en) | 2018-10-30 |
Family
ID=63907920
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820361649.XU Active CN208021138U (en) | 2018-03-16 | 2018-03-16 | Balance beam parts, walking mechanism and mobile robot in walking mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208021138U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110758597A (en) * | 2019-12-04 | 2020-02-07 | 广东博智林机器人有限公司 | Guide vehicle chassis, guide vehicle and ceramic tile paving and pasting robot |
-
2018
- 2018-03-16 CN CN201820361649.XU patent/CN208021138U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110758597A (en) * | 2019-12-04 | 2020-02-07 | 广东博智林机器人有限公司 | Guide vehicle chassis, guide vehicle and ceramic tile paving and pasting robot |
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