CN208085851U - Running gear chassis and robot - Google Patents
Running gear chassis and robot Download PDFInfo
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- CN208085851U CN208085851U CN201820585030.7U CN201820585030U CN208085851U CN 208085851 U CN208085851 U CN 208085851U CN 201820585030 U CN201820585030 U CN 201820585030U CN 208085851 U CN208085851 U CN 208085851U
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- universal wheel
- chassis
- running gear
- driving wheels
- driving
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Abstract
The utility model discloses a kind of running gear chassis and robots.The running gear chassis of the utility model includes chassis body, two driving wheels, the first universal wheel and the second universal wheel.Two driving wheels are respectively arranged at the laterally left and right sides of chassis body.First universal wheel and the second universal wheel are set in chassis body and mutually stagger and be located at the same side of two driving wheels in a longitudinal direction.The running gear chassis of the utility model is when by concave portion obstacle, first universal wheel first runs to the top of concave portion obstacle, second universal wheel and the common support chassis ontology of two driving wheels at this time, thus chassis still can held stationary movement, the first universal wheel will not be absorbed in concave portion.With bobbin movement, first universal wheel crosses concave portion, and the second universal wheel is run to above concave portion, at this time due to the first universal wheel and the common support chassis ontology of two driving wheels, cause chassis still can be moved with held stationary, the second universal wheel will not be absorbed in concave portion.
Description
Technical field
The utility model is related to robotic technology field, more particularly to a kind of running gear chassis and robot.
Background technology
Service robot technology is quickly grown at present, and with service robot application scenarios in recent years and service mode
Constantly extension, the service robot demand that upper layer exploitation is carried out based on the application of service robot bottom are more and more.Machine at present
People chassis generally includes to be located at chassis body center and two driving wheels of both sides and is risen in front of two driving wheels rearward
The preposition universal wheel of supporting role.Ground is preceding there are when a gap being perpendicularly to the direction of movement in front of robot chassis
It sets universal wheel to be easily trapped in gap, causing chassis to be stuck can not move.
Utility model content
The purpose of this utility model is to provide a kind of running gear chassis and robots, to smoothly pass gap.
The utility model first aspect provides a kind of running gear chassis, including：
Chassis body；
Two driving wheels are respectively arranged at the laterally left and right sides of the chassis body；
First universal wheel and the second universal wheel are set in the chassis body and are located in a longitudinal direction described two
The same side of driving wheel.
In some embodiments, first universal wheel is set to described two driving wheels longitudinally forward, and described second
Universal wheel is set in a longitudinal direction between first universal wheel and described two driving wheels
In some embodiments, first universal wheel and second universal wheel may be contained within described two driving wheels it
Between line longitudinal middle separated time on.
In some embodiments, first universal wheel supports the height phase of the chassis body with second universal wheel
Together.
In some embodiments, the spacing between first universal wheel and second universal wheel is in concave portion obstacle
Width.
In some embodiments, the diameter of the driving wheel is more than the width of concave portion obstacle.
In some embodiments, the running gear chassis further includes the driving for driving described two driving wheel rotations
Device, the driving device include battery and two driving motors being correspondingly arranged with described two driving wheels, described two
Driving motor is electrically connected with the battery.
In some embodiments, the running gear chassis is robot chassis.
The utility model second aspect provides a kind of robot, includes as any one of the utility model first aspect provides
Running gear chassis.
In some embodiments, the artificial service robot of the machine.
Based on running gear chassis provided by the utility model and robot, the running gear chassis of the utility model is two
The first universal wheel and the second universal wheel mutually staggered, when by concave portion obstacle, first is arranged in the same side of a driving wheel
Universal wheel can first run to the top of concave portion obstacle, at this time the second universal wheel and the common support chassis ontology of two driving wheels,
Therefore chassis can still be moved with held stationary, and the first universal wheel will not be absorbed in concave portion.As bobbin movement, first is universal
Wheel crosses concave portion, and the second universal wheel is run to above concave portion, at this time since the first universal wheel and two driving wheels prop up jointly
Chassis body is supportted, causes chassis still can be moved with held stationary, the second universal wheel will not be absorbed in concave portion.
By referring to the drawings to the detailed description of the exemplary embodiment of the utility model, the utility model it is other
Feature and its advantage will become apparent.
Description of the drawings
Attached drawing described herein is used to provide a further understanding of the present invention, and is constituted part of this application,
The exemplary embodiment of the utility model and the description thereof are used to explain the utility model, does not constitute to the improper of the utility model
It limits.In the accompanying drawings：
Fig. 1 is the structural schematic diagram on the robot chassis of the utility model embodiment.
Each reference numeral respectively represents：
1- chassis bodies；The first universal wheels of 2-；The second universal wheels of 3-；4- right wheel drivers；5- right driving wheels；6- right wheel electricity
Machine；7- batteries；8- revolver motors；9- left driving wheels；10- revolver drivers.
Specific implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.It is illustrative to the description only actually of at least one exemplary embodiment below, is never used as to this practicality
Novel and its application or any restrictions used.Based on the embodiments of the present invention, those of ordinary skill in the art are not having
There is the every other embodiment obtained under the premise of making creative work, shall fall within the protection scope of the present invention.
Unless specifically stated otherwise, positioned opposite, the digital table of the component and step that otherwise illustrate in these embodiments
Up to the unlimited the scope of the utility model processed of formula and numerical value.Simultaneously, it should be appreciated that for ease of description, attached shown in the drawings each
The size of a part is not to be drawn according to actual proportionate relationship.For skill known to person of ordinary skill in the relevant
Art, method and apparatus may be not discussed in detail, but in the appropriate case, and the technology, method and apparatus should be considered as awarding
Weigh part of specification.In shown here and discussion all examples, any occurrence should be construed as merely example
Property, not as limitation.Therefore, the other examples of exemplary embodiment can have different values.It should be noted that：It is similar
Label and letter similar terms are indicated in following attached drawing, therefore, once be defined in a certain Xiang Yi attached drawing, then with
It need not be further discussed in attached drawing afterwards.
For ease of description, herein can with use space relative terms, as " ... on ", " in ... top ",
" ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation of sign.It should be understood that spatially relative term is intended to comprising the orientation in addition to device described in figure
Except different direction in use or operation.For example, if the device in attached drawing is squeezed, it is described as " in other devices
It will be positioned as " under other devices or construction after part or construction top " or the device of " on other devices or construction "
Side " or " under other devices or construction ".Thus, exemplary term " ... top " may include " ... top " and
" in ... lower section " two kinds of orientation.The device can also other different modes positioning (be rotated by 90 ° or be in other orientation), and
And respective explanations are made to the opposite description in space used herein above.
In the following description, so-called " preceding " direction of travel for referring to robot；" rear " refers to opposite with " preceding "
Side, " left side " and " right side " refer to the left and right directions in face of being formed when front.
As shown in Figure 1, the running gear chassis of the utility model embodiment includes：
Chassis body 1；
Two driving wheels are respectively arranged at the laterally left and right sides of chassis body 1；With
First universal wheel 2 and the second universal wheel 3 are set in chassis body 1 and mutually stagger simultaneously position in a longitudinal direction
In the same side of two driving wheels.
First mutually staggered is arranged in the same side of two driving wheels in the running gear chassis of the utility model embodiment
Universal wheel 2 and the second universal wheel 3, when by concave portion obstacle, the first universal wheel 2 can first run to the upper of concave portion obstacle
Side, at this time the second universal wheel 3 and the common support chassis ontology 1 of two driving wheels, therefore chassis are remained unchanged and can be moved with held stationary,
First universal wheel 2 will not be absorbed in concave portion.With bobbin movement, the first universal wheel 2 crosses concave portion, the second universal wheel 3 fortune
Above row to concave portion, at this time due to the first universal wheel and the common support chassis ontology 1 of two driving wheels, chassis is caused still may be used
It is moved with held stationary, the second universal wheel 3 will not be absorbed in concave portion.
It should be noted that the concave portion obstacle of the utility model embodiment can be gap, can also be pothole
The obstacle that universal wheel is absorbed in is may result in Deng other.Horizontal direction refers to the line direction of two driving wheels, longitudinal direction
Refer to the vertical line direction of the line of two driving wheels.
In the embodiment show in figure 1, two driving wheels on running gear chassis include left driving wheel 9 and right driving wheel 5.
In some embodiments, the first universal wheel 2 is set to two driving wheels longitudinally forward, and the second universal wheel 3 is vertical
It is set to on direction between the first universal wheel 2 and two driving wheels.Second universal wheel 3 is located at the first universal wheel 2 and two drives
So that chassis body 1 has at least one universal wheel in support to the stationarity conducive to guarantee bobbin movement always between driving wheel.
In at least one embodiment, the spacing between the first universal wheel 2 and the second universal wheel 3 is more than concave portion obstacle
Width.It is arranged so that the first universal wheel 2 and the second universal wheel 3 will not run to the upper of concave portion obstacle such as gap simultaneously
Side, to have at least one universal wheel in support to ensure the stationarity of bobbin movement always conducive to guarantee chassis body 1 so that
Running gear chassis smoothly passes gap.Especially for the running gear chassis for needing discrepancy elevator, it is arranged so that row
Walking apparatus chassis passes through elevator gap and enters or leave elevator, expands the range of applicability of running gear.
In some embodiments, the first universal wheel 2 is identical as the height of 3 support chassis ontology of the second universal wheel.When wherein
When one universal wheel is run to above gap, the height of another universal wheel support chassis ontology supports jointly with two universal wheels
The height of chassis body it is identical so that chassis body 1 will not run-off the straight, be conducive to ensure chassis robust motion.
In order to ensure course changing control maneuverability, as shown in Figure 1, the first universal wheel 2 and the second universal wheel 3 may be contained within two
In longitudinal middle separated time of line between driving wheel.By the first universal wheel 2 and the second universal wheel 3 may be contained within two driving wheels it
Between line longitudinal middle separated time on so that whether two universal wheel support chassis ontologies or one of universal wheel support
The steering supporting point of chassis body, chassis body remains on the same line, and steering is more stable, more easy to control.Especially
When the common support chassis ontology of two universal wheels, two universal wheels are located in longitudinal middle separated time so that not doing mutually between each other
It relates to, is conducive to ensure course changing control maneuverability.
In some embodiments, the diameter of driving wheel is more than the width of concave portion obstacle.It is crossed in the second universal wheel 3 recessed
Behind portion, then due to driving wheel diameter is bigger than concave portion width, concave portion can be steadily crossed.
As shown in Figure 1, running gear chassis further includes the driving device for driving two driving wheels to rotate.Driving device
Two driving motors being correspondingly arranged including battery 7 and with two driving wheels, two driving motors are electrically connected with battery 7.
Specifically, the running gear chassis of the present embodiment include the revolver motor 8 being correspondingly arranged with left driving wheel 9 and with
The right wheel motor 6 that right driving wheel 5 is correspondingly arranged.And running gear chassis further includes being driven for controlling the revolver of revolver motor 8
Dynamic device 10 and the right wheel driver 4 for controlling right wheel motor 6.
In at least one embodiment, the running gear chassis of the utility model embodiment is robot chassis.
The utility model embodiment also provides a kind of robot, including the running gear bottom that the utility model embodiment provides
Disk.
The artificial service robot of machine.
In summary, the running gear chassis of the utility model embodiment in the same side of two driving wheels by being arranged phase
Two universal wheels being mutually staggered, so that chassis chassis body when by the concave portions obstacle such as such as gap has at least always
One universal wheel is supporting, and is conducive to ensure the smooth motion on chassis.The running gear chassis can smoothly pass elevator gap, from
And convenient for the elevator that comes in and goes out, expand range of applicability.
Finally it should be noted that：Above example is only to illustrate the technical solution of the utility model rather than limits it
System；Although the utility model is described in detail with reference to preferred embodiment, those of ordinary skill in the art should
Understand：It can still modify to specific embodiment of the present utility model or some technical characteristics are equally replaced
It changes；Without departing from the spirit of technical solutions of the utility model, should all cover in the claimed technical solution of the utility model
In range.
Claims (10)
1. a kind of running gear chassis, which is characterized in that including：
Chassis body (1)；
Two driving wheels are respectively arranged at the laterally left and right sides of the chassis body (1)；With
First universal wheel (2) and the second universal wheel (3) are set in the chassis body (1) and are located at institute in a longitudinal direction
State the same side of two driving wheels.
2. running gear chassis according to claim 1, which is characterized in that first universal wheel (2) is set to described
Longitudinally forward, second universal wheel (3) is set to first universal wheel (2) and institute to two driving wheels in a longitudinal direction
It states between two driving wheels.
3. running gear chassis according to claim 1, which is characterized in that first universal wheel (2) and described second
Universal wheel (3) may be contained in longitudinal middle separated time of the line between described two driving wheels.
4. running gear chassis according to claim 1, which is characterized in that first universal wheel (2) and described second
Universal wheel (3) supports the height of the chassis body (1) identical.
5. running gear chassis according to claim 1, which is characterized in that first universal wheel (2) and described second
Spacing between universal wheel (3) is more than the width of concave portion obstacle.
6. running gear chassis according to claim 1, which is characterized in that the diameter of the driving wheel hinders more than concave portion
The width hindered.
7. running gear chassis according to any one of claim 1 to 6, which is characterized in that the running gear chassis
Further include the driving device for driving the rotation of described two driving wheels, the driving device include battery (7) and with it is described
Two driving motors that two driving wheels are correspondingly arranged, described two driving motors are electrically connected with the battery (7).
8. running gear chassis according to any one of claim 1 to 6, which is characterized in that the running gear chassis
For robot chassis.
9. a kind of robot, which is characterized in that including running gear chassis such as described in any item of the claim 1 to 8.
10. robot according to claim 9, which is characterized in that the artificial service robot of machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820585030.7U CN208085851U (en) | 2018-04-23 | 2018-04-23 | Running gear chassis and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820585030.7U CN208085851U (en) | 2018-04-23 | 2018-04-23 | Running gear chassis and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208085851U true CN208085851U (en) | 2018-11-13 |
Family
ID=64055699
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820585030.7U Active CN208085851U (en) | 2018-04-23 | 2018-04-23 | Running gear chassis and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208085851U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110386207A (en) * | 2018-04-23 | 2019-10-29 | 北京京东尚科信息技术有限公司 | Running gear chassis and robot |
-
2018
- 2018-04-23 CN CN201820585030.7U patent/CN208085851U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110386207A (en) * | 2018-04-23 | 2019-10-29 | 北京京东尚科信息技术有限公司 | Running gear chassis and robot |
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