CN208323362U - Running gear chassis and robot - Google Patents
Running gear chassis and robot Download PDFInfo
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- CN208323362U CN208323362U CN201820967148.6U CN201820967148U CN208323362U CN 208323362 U CN208323362 U CN 208323362U CN 201820967148 U CN201820967148 U CN 201820967148U CN 208323362 U CN208323362 U CN 208323362U
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- running gear
- chassis
- universal wheel
- wheel group
- driving
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Abstract
The utility model discloses a kind of running gear chassis and robots.Running gear chassis includes chassis body；Two driving wheels are respectively arranged at the laterally left and right sides of chassis body；With the first steering wheel group and the second steering wheel group, the two sides of line for being set in chassis body and being respectively arranged between two driving wheels in a longitudinal direction, the first steering wheel group and/or the second steering wheel group include at least two universal wheels.The running gear chassis of the utility model reduces the range occupied when the rotation of chassis by the way that the first steering wheel group and the second steering wheel group of the two sides for the line being located between two driving wheels is arranged to reduce the radius of gyration on running gear chassis, so that the running gear chassis of the utility model is suitable for different places, such as can be used in the place of narrow space, improve the applicability on running gear chassis.
Description
Technical field
The utility model relates to robotic technology field, in particular to a kind of running gear chassis and robot.
Background technique
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 for carrying out upper layer exploitation 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 two sides and being located in front of two driving wheels rise rearward
The preposition universal wheel of supporting role, occupies that range is excessive when which turns to and cause cannot be real in lesser region
It turns now to.
Utility model content
The purpose of this utility model is to provide a kind of running gear chassis and robots, are applicable in improving the steering on chassis
Property.
The first aspect of the utility model provides a kind of running gear chassis, comprising:
Chassis body；
Two driving wheels are respectively arranged at the laterally left and right sides of chassis body；With
First steering wheel group and the second steering wheel group are set in chassis body and are respectively arranged at two in a longitudinal direction
The two sides of line between a driving wheel, the first steering wheel group and/or the second steering wheel group include at least two universal wheels.
In some embodiments, the first steering wheel group and the second steering wheel group are relative to the line between two driving wheels
Central point is symmetrical arranged.
In some embodiments, the first steering wheel group and the second steering wheel group are all set in the line between two driving wheels
Longitudinal middle separated time on.
In some embodiments, the first steering wheel group is identical with the height of the second steering wheel group support chassis ontology.
In some embodiments, at least two universal wheels include the first universal wheel and the second universal wheel, the first universal wheel and
Spacing between second universal wheel is greater than the width of concave portion obstacle.
In some embodiments, at least two universal wheels include the first universal wheel and the second universal wheel, in a longitudinal direction,
Second universal wheel is set between the first universal wheel and two driving wheels.
In some embodiments, the first universal wheel and the second universal wheel are all set in the vertical of the line between two driving wheels
To in middle separated time.
In some embodiments, center symmetric setting of two driving wheels relative to chassis body.
In some embodiments, running gear chassis further includes the driving device for driving two driving wheels to rotate, and is driven
Dynamic device includes battery and two driving motors being correspondingly arranged with two driving wheels, and two driving motors are electrically connected with battery
It connects.
The second aspect of the utility model provides a kind of robot, including as any one of the utility model first aspect provides
Running gear chassis.
Based on running gear chassis provided by the utility model and robot, running gear chassis includes chassis body；Two
A driving wheel is respectively arranged at the laterally left and right sides of chassis body；With the first steering wheel group and the second steering wheel group, it is set to
Be respectively arranged at the two sides of the line between two driving wheels in chassis body and in a longitudinal direction, the first steering wheel group and/
Or second steering wheel group include at least two universal wheels.The running gear chassis of the utility model is located at two by setting
The first steering wheel group and the second steering wheel group of the two sides of line between driving wheel reduce the rotation half on running gear chassis
The range occupied when diameter and then the rotation of reduction chassis, so that the running gear chassis of the utility model is suitable for different fields
Ground, such as can be used in the place of narrow space, improve the applicability on running gear chassis.
By the detailed description referring to the drawings to the exemplary embodiment of the utility model, the utility model it is other
Feature and its advantage will become apparent.
Detailed description of the invention
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 schematic perspective view on the running gear chassis of the utility model embodiment.
Fig. 2 is the overlooking structure diagram on running gear chassis shown in FIG. 1.
Specific embodiment
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.Be to the description only actually of at least one exemplary embodiment below it is illustrative, never as to this is practical
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
Every other embodiment obtained under the premise of creative work is made, is fallen within the protection scope of the utility model.
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, each shown in attached drawing
The size of a part is not to draw 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 also be noted that 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
In attached drawing afterwards do not need that it is further discussed.
For ease of description, spatially relative term can be used herein, as " ... on ", " ... 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, being described as if the device in attached drawing is squeezed " 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 be positioned with other different modes and (is rotated by 90 ° or 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 depicted in figs. 1 and 2, 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 steering wheel group and the second steering wheel group are set in chassis body 1 and are respectively arranged in a longitudinal direction
The two sides of line between two driving wheels, the first steering wheel group and/or the second steering wheel group include at least two universal wheels.
The running gear chassis of the utility model embodiment is located at the line between two driving wheels by setting
The first steering wheel group and the second steering wheel group of two sides rotate to reduce the radius of gyration on running gear chassis and then reduce chassis
The range of Shi Zhanyong, so that the running gear chassis of the utility model embodiment is suitable for different places, such as can be with
It is used in the place of narrow space, improves the applicability on running gear chassis.
And the utility model embodiment the first steering wheel group and/or the second steering wheel group include at least two universal
Wheel, and the same side of the line of at least two universal wheels between driving wheel, such as when the first steering wheel group includes first
When universal wheel and the second universal wheel, when passing through concave portion obstacle, the first universal wheel can first run to the top of concave portion obstacle,
Second universal wheel, two driving wheels and the common support chassis ontology 1 of the second steering wheel group at this time, therefore chassis can still be protected
Smooth motion is held, the first universal wheel will not be fallen into concave portion.With bobbin movement, the first universal wheel crosses concave portion, and second
Universal wheel is run to above concave portion, at this time since the first universal wheel, two driving wheels and the second steering wheel group support jointly
Chassis body 1 causes chassis still can move with held stationary, and the second universal wheel will not be fallen into concave portion.
It should be noted that the concave portion obstacle of the utility model embodiment can be gap, it is also possible to pothole
It may result in the obstacle that universal wheel is fallen into Deng other.Transverse 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.
It is carried out below according to structure of the Fig. 1 and Fig. 2 to the running gear chassis of one specific embodiment of the utility model detailed
Explanation.
The running gear chassis of the present embodiment includes chassis body 1, left driving wheel 11, right driving wheel 6, the first steering wheel group
With the second steering wheel group.First steering wheel group and the second steering wheel group are respectively arranged between left driving wheel 11 and right driving wheel 6
Line two sides.Wherein, the first steering wheel group includes the first universal wheel 2 and the second universal wheel 3.Second steering wheel group includes the
Three universal wheels 8 and the 4th universal wheel 9.
In order to keep the steering on the running gear chassis of the present embodiment more stable, as shown in Fig. 2, the first of the present embodiment is universal
Wheel group and the second steering wheel group are symmetrical arranged relative to the central point of the line between two driving wheels.
Preferably, it is rotated in place to can be realized the running gear chassis of the present embodiment, the 10000th of the present embodiment the
In the longitudinal middle separated time for the line being all set between two driving wheels to wheel group and the second steering wheel group.
And center symmetric setting of two driving wheels relative to chassis body.
In order to keep the running gear bobbin movement of the present embodiment steady, the first steering wheel group and the second steering wheel group support bottom
The height of disk ontology 1 is identical.
Running gear chassis further includes the driving device for driving two driving wheels to rotate, and driving device includes battery 5
And two driving motors being correspondingly arranged with two driving wheels, two driving motors are electrically connected with battery 5.
As shown in Figure 1, running gear chassis further includes the driving device for driving two driving wheels to rotate.Driving device
It is electrically connected including battery 5 and two driving motors being correspondingly arranged with two driving wheels, two driving motors with battery 5.Tool
Body, driving device includes the revolver driving motor 10 being correspondingly arranged with left driving wheel 11 and is correspondingly arranged with right driving wheel 6
Right wheel driving motor 7.
And running gear chassis further includes revolver driver 12 for controlling revolver driving motor 10 and for controlling
The right wheel driver 4 of right wheel driving motor 7 processed.
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
Making chassis body 1 between driving wheel always has at least one universal wheel in support to be conducive to guarantee the stationarity of bobbin movement.
In at least one embodiment, the spacing between the first universal wheel 2 and the second universal wheel 3 is greater 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, so that it is conducive to the stationarity for guaranteeing that chassis body 1 has at least one universal wheel to guarantee bobbin movement in support always, so that
Running gear chassis smoothly passes gap.Especially for the running gear chassis for needing to enter and leave 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 at least one embodiment, the spacing between third universal wheel 8 and the 4th universal wheel 9 is greater than concave portion obstacle
Width.
In order to guarantee course changing control maneuverability, as shown in Figure 1, the first universal wheel 2 and the second universal wheel 3 are all set in two
In longitudinal middle separated time of line between driving wheel.By the first universal wheel 2 and the second universal wheel 3 be all set in two driving wheels it
Between line longitudinal middle separated time on whether two universal wheel support chassis ontologies or one of universal wheel are supported
The steering supporting point of chassis body, chassis body remains on the same line, and steering is more stable, easier to control.Especially
When the common support chassis ontology of two universal wheels, two universal wheels are located in longitudinal middle separated time and not do mutually between each other
It relates to, is conducive to guarantee course changing control maneuverability.
In some embodiments, the diameter of driving wheel is greater 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.
In the chassis operational process, when front ground is there are when a gap being perpendicularly to the direction of movement, first is universal
Wheel 2 can first be run to above gap, but since the second universal wheel 3, third universal wheel 8, the 4th universal wheel 9 and two driving wheels can
To determine a plane, therefore chassis can still be moved with held stationary, then the first universal wheel 2 will not be fallen into gap；With
Chassis forward travel, the first universal wheel 2 cross gap, the second universal wheel 3 is run to above gap, but due at this time the 10000th
A plane can be determined to wheel 2, third universal wheel 8, the 4th universal wheel 9 and two driving wheels, therefore chassis still can be with
Held stationary movement, the second universal wheel 3 will not fall into gap.With bobbin movement, the second universal wheel 3 crosses gap, then
Since driving wheel diameter is bigger than gap width, gap can be steadily crossed；Then, third universal wheel 8 can first be run on gap
Side, but since the first universal wheel 2, the second universal wheel 3, the 4th universal wheel 9 and two driving wheels can determine a plane,
Chassis can still be moved with held stationary, and third universal wheel 8 will not be fallen into gap；With chassis forward travel, third is universal
Wheel 8 crosses gap, and the 4th universal wheel 9 is run to above gap, but since the first universal wheel 2, the second universal wheel 3, third are universal
Wheel 8 and two driving wheels can determine a plane, therefore chassis still can be moved with held stationary, and the 4th universal wheel 9 is not yet
Gap can be fallen into, the gap is steadily crossed on final chassis.
In the unshowned embodiment of other accompanying drawings, the first steering wheel group includes at least two universal wheels, and second is universal
Wheel group may include a universal wheel.Alternatively, the first steering wheel group includes a universal wheel, and the second steering wheel group may include
Two universal wheels.The steering behaviour that running gear chassis equally can be improved improves its applicability.
Wherein, at least two universal wheels that the first steering wheel group includes can as Fig. 1 and Fig. 2 shows be respectively positioned on two drives
In longitudinal middle separated time of line between driving wheel.It can also be distributed along camber line.
The feature of the first universal wheel 2 and third universal wheel 3 that describe in the embodiment above may be equally applicable for third
Universal wheel 8 and the 4th universal wheel 9, details are not described herein again.
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 running gear bottom provided by the embodiment of the utility model
Disk.
The artificial service robot of machine.
In summary, the running gear chassis of the utility model embodiment is located between two driving wheels by setting
Line two sides the first steering wheel group and the second steering wheel group come reduce the radius of gyration on running gear chassis so that reduce
The range that chassis occupies when rotating, so that the running gear chassis of the utility model embodiment is suitable for different places,
Such as can be used in the place of narrow space, improve the applicability on running gear chassis.And the utility model embodiment
Running gear chassis is by being arranged two universal wheels mutually staggered in the same side of two driving wheels, so that chassis is logical
Chassis body has at least one universal wheel supporting always when crossing such as gap concave portion obstacle, conducive to the steady of chassis is guaranteed
Movement.The running gear chassis can smoothly pass elevator gap, consequently facilitating entering and leaving elevator, expand range of applicability.
Finally it should be noted that: above embodiments are only to illustrate the technical solution of the utility model rather than limit it
System；Although the utility model has been described in detail with reference to the preferred embodiment, those of ordinary skill in the art should
Understand: specific implementation of the utility model can still be modified or is equally replaced to some technical characteristics
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 characterized by comprising
Chassis body (1)；
Two driving wheels are respectively arranged at the laterally left and right sides of the chassis body (1)；With
First steering wheel group and the second steering wheel group are set on the chassis body (1) and are respectively set in a longitudinal direction
The two sides of line between described two driving wheels, first steering wheel group and/or second steering wheel group include extremely
Few two universal wheels.
2. running gear chassis according to claim 1, which is characterized in that first steering wheel group and the described 20000th
Central point to wheel group relative to the line between described two driving wheels is symmetrical arranged.
3. running gear chassis according to claim 1, which is characterized in that first steering wheel group and the described 20000th
In the longitudinal middle separated time for the line being all set between described two driving wheels to wheel group.
4. running gear chassis according to claim 1, which is characterized in that first steering wheel group and the described 20000th
Support the height of the chassis body (1) identical to wheel group.
5. running gear chassis according to claim 1, which is characterized in that at least two universal wheel includes the 10000th
To wheel and the second universal wheel, the spacing between first universal wheel and second universal wheel is greater than the width of concave portion obstacle
Degree.
6. running gear chassis according to claim 1, which is characterized in that at least two universal wheel includes the 10000th
To wheel and the second universal wheel, in a longitudinal direction, second universal wheel is set to first universal wheel and described two drives
Between driving wheel.
7. running gear chassis according to claim 6, which is characterized in that first universal wheel and described second universal
Wheel is all set in longitudinal middle separated time of the line between described two driving wheels.
8. running gear chassis according to any one of claim 1 to 7, which is characterized in that described two driving wheel phases
For the center symmetric setting of the chassis body.
9. running gear chassis according to claim 8, which is characterized in that the running gear chassis further includes for driving
Move the driving device of described two driving wheels rotation, the driving device include battery (5) and with described two driving wheels pair
Two driving motors that should be arranged, described two driving motors are electrically connected with the battery (5).
10. a kind of robot, which is characterized in that including running gear chassis as claimed in any one of claims 1-9 wherein.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820967148.6U CN208323362U (en) | 2018-06-22 | 2018-06-22 | Running gear chassis and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820967148.6U CN208323362U (en) | 2018-06-22 | 2018-06-22 | Running gear chassis and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208323362U true CN208323362U (en) | 2019-01-04 |
Family
ID=64769433
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820967148.6U Active CN208323362U (en) | 2018-06-22 | 2018-06-22 | Running gear chassis and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208323362U (en) |
-
2018
- 2018-06-22 CN CN201820967148.6U patent/CN208323362U/en active Active
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| GR01 | Patent grant | ||
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Effective date of registration: 20190710 Address after: 100086 6th Floor, Zhichun Road, Haidian District, Beijing Patentee after: Beijing Jingdong Zhenshi Information Technology Co.,Ltd. Address before: 100080 First Floor 101, No. 2 Building, No. 20 Courtyard, Suzhou Street, Haidian District, Beijing Patentee before: Beijing Jingbangda Trading Co.,Ltd. Effective date of registration: 20190710 Address after: 100080 First Floor 101, No. 2 Building, No. 20 Courtyard, Suzhou Street, Haidian District, Beijing Patentee after: Beijing Jingbangda Trading Co.,Ltd. Address before: 100195 Beijing Haidian Xingshikou Road 65 West Cedar Creative Garden 4 District 11 Building East 1-4 Floor West 1-4 Floor Co-patentee before: BEIJING JINGDONG CENTURY TRADING Co.,Ltd. Patentee before: BEIJING JINGDONG SHANGKE INFORMATION TECHNOLOGY Co.,Ltd. |