CN209175782U - A kind of robot base convenient for steadily advancing - Google Patents
A kind of robot base convenient for steadily advancing Download PDFInfo
- Publication number
- CN209175782U CN209175782U CN201821750053.5U CN201821750053U CN209175782U CN 209175782 U CN209175782 U CN 209175782U CN 201821750053 U CN201821750053 U CN 201821750053U CN 209175782 U CN209175782 U CN 209175782U
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- China
- Prior art keywords
- driving wheel
- damper
- robot base
- cage
- gear
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Abstract
The utility model discloses a kind of robot bases convenient for steadily advancing, including pedestal and first gear, the base bottom is rotatably connected to movable axis, and movable axis lower rotation is connected with driving wheel, rack gear is enclosed on the outside of the driving wheel, and it is connected on the outside of rack gear with crawler belt inside, tread plate is provided on the outside of crawler belt simultaneously, the driving wheel is rotatably connected to cage, and cage is rotatably connected to transmission shaft, it is driven on the upside of wheel surface simultaneously and is rotatably connected to damper, the susceptor surface two sides offer fluting, and damper is provided in fluting, connecting rod is rotatably connected at the top of the damper.This is convenient for the robot base steadily to advance, it is provided with driving wheel, rack gear, crawler belt, tread plate, cage, damper and bradyseism rubber mat, it is moved by way of crawler belt, and cooperation cage and damper can make device adapt to a variety of different surface conditions, riding stability is kept simultaneously, uses more Portable safety.
Description
Technical field
The utility model relates to robotic technology field, specially a kind of robot base convenient for steadily advancing.
Background technique
In robot in use, being frequently necessary to robot carries out mobile working, therefore with regard to needing to use robot base.
Existing robot base structure is simple, and mobile idler wheel is usually carried out by fixing seat and idler wheel and is being moved through
It is poor to the passability of some barriers in journey, and biggish barrier is likely to result in robot and sideways occurs, therefore
In the presence of using security risk, while lacking damping device, robot receives being affected for vibration when moving, therefore uses
It is not convenient enough to come, in view of the above-mentioned problems, needing to improve existing equipment.
Utility model content
The purpose of this utility model is to provide a kind of robot bases convenient for steadily advancing, to solve above-mentioned background skill
The existing robot base structure proposed in art is simple, and mobile idler wheel is usually carried out by fixing seat and idler wheel in movement
It is poor to the passability of some barriers in the process, and biggish barrier is likely to result in robot and sideways occurs, because
This, which exists, uses security risk, while lacking damping device, and robot receives the problem of being affected of vibration when moving.
To achieve the above object, the utility model provides the following technical solutions: a kind of robot bottom convenient for steadily advancing
Seat, including pedestal and first gear, the base bottom is rotatably connected to movable axis, and movable axis lower rotation is connected with transmission
Wheel, the driving wheel outside is enclosed with rack gear, and is connected on the outside of rack gear and on the inside of crawler belt, while being provided on the outside of crawler belt anti-skidding
Item, the driving wheel is rotatably connected to cage, and cage is rotatably connected to transmission shaft, while being driven rotation connection on the upside of wheel surface
There is damper, the susceptor surface two sides offer fluting, and damper is provided in fluting, rotation at the top of the damper
It being connected with connecting rod, and connecting rod bottom is arranged in base top, the transmission shaft surface of rear side is arranged in the first gear, and
It is provided with motor above first gear, is connected at the top of the motor with base bottom, and motor is rotatably connected to motor shaft, institute
It states motor shaft and is rotatably connected to second gear, and second gear engagement is connected with first gear, the base top is provided with surely
Determine frame, and the steady rest for having centre is run through in steady rest bottom, is provided with robot base ontology, and machine at the top of the steady rest
Bradyseism rubber mat is provided in people's base body.
Preferably, the driving wheel and cage are provided with 2 groups, and every group of driving wheel and cage are provided with 3, and 2 groups of biographies
Driving wheel and cage are symmetrical about the central point of pedestal.
Preferably, the connection type of the transmission wheel and rack is engagement connection, and one is enclosed with outside every group of driving wheel
A rack gear.
Preferably, the track surface, which is isodistantly spaced, is distributed with tread plate, and the length of tread plate is less than the width of crawler belt.
Preferably, the connecting rod, damper and driving wheel group are at telescoping mechanism, and the distance of stretch out and draw back of telescoping mechanism is less than
The initial length of damper.
Preferably, the connection type of the steady rest and robot base ontology is is rotatablely connected, and robot base sheet
The rotational angle range of body is 0-360 degree.
Compared with prior art, the utility model has the beneficial effects that the robot base steadily to advance should be convenient for,
(1) it is provided with driving wheel, rack gear, crawler belt and tread plate, is driven by driving wheel band carry-over bar and crawler belt rotation
Pedestal is moved, and keeps the center of gravity of device lower, is suitable for multiple road, it is possible to prevente effectively from device occurs in moving process
Topple over, while the tread plate of track surface is abrasive rubber material, effectively improves frictional force, improves safety in utilization；
(2) be provided with movable axis, driving wheel, cage, transmission shaft, damper and connecting rod, each driving wheel with one
Cage is connected with damper, and when driving wheel bottom is rolled by barrier, barrier jacks up driving wheel upwards, at this time driving wheel
It drives movable axis and cage to be rotated up, and pushes up damper compression, and the driving wheel for not being rolled by barrier is then kept
Steadily, further ensure that device keeps stable when moving.
Detailed description of the invention
Fig. 1 is the utility model positive structure diagram；
Fig. 2 is the utility model side structure schematic view；
Fig. 3 is the utility model backsight structural representation；
Fig. 4 is the overlooking structure diagram of pedestal in the utility model Fig. 1.
In figure: 1, pedestal, 2, movable axis, 3, driving wheel, 4, rack gear, 5, crawler belt, 6, tread plate, 7, cage, 8, transmission shaft,
9, damper, 10, fluting, 11, connecting rod, 12, first gear, 13, motor, 14, motor shaft, 15, second gear, 16, stabilization
Frame, 17, robot base ontology, 18, bradyseism rubber mat.
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.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
Fig. 1-4 is please referred to, the utility model provides a kind of technical solution: a kind of robot base convenient for steadily advancing,
Including pedestal 1, movable axis 2, driving wheel 3, rack gear 4, crawler belt 5, tread plate 6, cage 7, transmission shaft 8, damper 9, fluting 10, connect
Extension bar 11, first gear 12, motor 13, motor shaft 14, second gear 15, steady rest 16, robot base ontology 17 and bradyseism
Rubber mat 18,1 lower rotation of pedestal is connected with movable axis 2, and 2 lower rotation of movable axis is connected with driving wheel 3,3 outside of driving wheel
Be enclosed with rack gear 4, and 4 outside of rack gear be connected on the inside of crawler belt 5, while tread plate 6 is provided on the outside of crawler belt 5,3 turns of driving wheel
Dynamic to be connected with cage 7, the model 43040-0K010 of cage 7 is the prior art, and cage 7 is rotatably connected to transmission shaft 8, together
When 3 surface of driving wheel on the upside of be rotatably connected to damper 9,1 surface two sides of pedestal offer fluting 10, and setting in 10 of slotting
There is damper 9, connecting rod 11 is rotatably connected at the top of damper 9, and the setting of 11 bottom of connecting rod is in 1 top of pedestal, the first tooth
8 surface of transmission shaft of rear side is arranged in wheel 12, and motor 13 is provided with above first gear 12,13 top of motor and 1 bottom of pedestal
Portion is connected, and motor 13 is rotatably connected to motor shaft 14, and motor shaft 14 is rotatably connected to second gear 15, and second gear 15
Engagement is connected with first gear 12, steady rest 16 is provided at the top of pedestal 1, and the connecting rod for having centre is run through in 16 bottom of steady rest
11, robot base ontology 17 is provided at the top of steady rest 16, and bradyseism rubber mat 18 is provided in robot base ontology 17.
The driving wheel 3 and cage 7 of this example are provided with 2 groups, and every group of driving wheel 3 and cage 7 are provided with 3, and 2 groups of transmissions
Wheel 3 and central point of the cage 7 about pedestal 1 are symmetrical, and cage 7 may insure that each driving wheel 3 can be with while rotation
It is independent rock up and down, it will not influence whole stability when being rolled by barrier convenient for driving wheel 3.
A rack gear 4 is enclosed with outside every group of driving wheel 3, and driving wheel 3 is to engage connection with the connection type of rack gear 4,
It is rotated by driving wheel 3 with carry-over bar 4 and crawler belt 5, so that driving device is moved, carrying out movement by crawler belt 5 can
So that the center of gravity of device reduces, to make device be not susceptible to topple over, while more steady when moving.
5 surface of crawler belt, which is isodistantly spaced, is distributed with tread plate 6, and the length of tread plate 6 is less than the width of crawler belt 5, tread plate 6
Material be abrasive rubber material, can effectively improve the adherence properties of crawler belt in motion, to cope with a variety of different road surface feelings
Condition.
Connecting rod 11, damper 9 and driving wheel 3 form telescoping mechanism, and the distance of stretch out and draw back of telescoping mechanism is less than damper 9
Initial length, when driving wheel 3 is rolled by barrier, barrier jacks up driving wheel 3 upwards, can be absorbed by damper 9
Vibration, while driving wheel 3 quickly can be pushed back into initial position.
The connection type of steady rest 16 and robot base ontology 17 is is rotatablely connected, and turn of robot base ontology 17
Dynamic angular range is 0-360 degree, is rotated when being mounted on robot base ontology 17 convenient for robot, is improved using just
Victory.
Working principle: when being convenient for the robot base steadily to advance using this, it will need to carry out mobile working first
Robot is connected with robot base ontology 17, and the bradyseism rubber mat 18 between robot base ontology 17 can provide certain
Bradyseism performance connects external power supply, starts motor 13, drives second gear 15 and first gear 12 to start to turn by motor shaft 14
Dynamic, the rotation of first gear 12 drives the transmission shaft 8 of rear side to start turning, and the rotation of transmission shaft 8 of rear side drives 2 cages of rear side
7 and 2 driving wheels 3 start turning, and 2 rotation of driving wheel 3 band carry-over bars 4 and crawler belt 5 start turning, and rack gear 4 drives others
Driving wheel 3 starts turning, and driving device starts to advance when crawler belt 5 rotates, and in the course of rotation, tread plate 6 can have crawler belt 5
Effect improves the road holding of crawler belt 5, and when there is barrier on road surface, crawler belt 5 is rolled by barrier, and barrier jacks up on barrier upwards
The driving wheel 3 of square 5 sum of crawler belt, driving wheel 3 drives cage 7 and movable axis 2 to be rotated up, and pushes up damper 9, damper
9 start to compress, and remaining driving wheel 3 then continues held stationary state, and after mobile break the barriers, damper 9 starts back
Driving wheel 3 is pushed back initial position by bullet, this just completes entirely to work, and the content being not described in detail in this specification belongs to
The prior art well known to professional and technical personnel in the field.
Term " center ", " longitudinal direction ", " transverse direction ", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom",
The orientation or positional relationship of the instructions such as "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is only for ease of description
The utility model simplifies description, rather than indicates or imply signified device or element and must have a particular orientation, be spy
Fixed orientation construction and operation, thus should not be understood as the limitation that content is protected to the utility model.
Although the utility model is described in detail with reference to the foregoing embodiments, come for those skilled in the art
Say, it is still possible to modify the technical solutions described in the foregoing embodiments, or to part of technical characteristic into
Row equivalent replacement, within the spirit and principle of the utility model, any modification, equivalent replacement, improvement and so on should all
It is included within the scope of protection of this utility model.
Claims (6)
1. a kind of robot base convenient for steadily advancing, including pedestal (1) and first gear (12), it is characterised in that: described
Pedestal (1) lower rotation is connected with movable axis (2), and movable axis (2) lower rotation is connected with driving wheel (3), the driving wheel
(3) outside is enclosed with rack gear (4), and is connected on the outside of rack gear (4) with crawler belt (5) inside, while being provided on the outside of crawler belt (5) anti-
Draw runner (6), the driving wheel (3) is rotatably connected to cage (7), and cage (7) is rotatably connected to transmission shaft (8), is driven simultaneously
Wheel is rotatably connected to damper (9) on the upside of (3) surface, and pedestal (1) the surface two sides offer fluting (10), and is slotted
(10) it is provided with damper (9), is rotatably connected to connecting rod (11) at the top of the damper (9), and connecting rod (11) bottom in
Setting is at the top of pedestal (1), and transmission shaft (8) surface of rear side is arranged in the first gear (12), and in first gear (12)
Side is provided with motor (13), is connected at the top of the motor (13) with pedestal (1) bottom, and motor (13) is rotatably connected to motor
Axis (14), the motor shaft (14) are rotatably connected to second gear (15), and second gear (15) engagement is connected with first gear
(12), it is provided with steady rest (16) at the top of the pedestal (1), and the steady rest (16) for having centre is run through in steady rest (16) bottom,
It is provided with robot base ontology (17) at the top of the steady rest (16), and is provided with bradyseism glue in robot base ontology (17)
It pads (18).
2. a kind of robot base convenient for steadily advancing according to claim 1, it is characterised in that: the driving wheel
(3) and cage (7) is provided with 2 groups, and every group of driving wheel (3) and cage (7) are provided with 3, and 2 groups of driving wheels (3) and cage
(7) central point about pedestal (1) is symmetrical.
3. a kind of robot base convenient for steadily advancing according to claim 1, it is characterised in that: the driving wheel
It (3) is to engage connection, and every group of driving wheel (3) is enclosed with a rack gear (4) outside with the connection type of rack gear (4).
4. a kind of robot base convenient for steadily advancing according to claim 1, it is characterised in that: the crawler belt (5)
Surface, which is isodistantly spaced, to be distributed with tread plate (6), and the length of tread plate (6) is less than the width of crawler belt (5).
5. a kind of robot base convenient for steadily advancing according to claim 1, it is characterised in that: the connecting rod
(11), damper (9) and driving wheel (3) form telescoping mechanism, and the distance of stretch out and draw back of telescoping mechanism is less than the initial of damper (9)
Length.
6. a kind of robot base convenient for steadily advancing according to claim 1, it is characterised in that: the steady rest
(16) with the connection type of robot base ontology (17) to be rotatablely connected, and the rotational angle model of robot base ontology (17)
It encloses for 0-360 degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821750053.5U CN209175782U (en) | 2018-10-27 | 2018-10-27 | A kind of robot base convenient for steadily advancing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821750053.5U CN209175782U (en) | 2018-10-27 | 2018-10-27 | A kind of robot base convenient for steadily advancing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209175782U true CN209175782U (en) | 2019-07-30 |
Family
ID=67362512
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821750053.5U Active CN209175782U (en) | 2018-10-27 | 2018-10-27 | A kind of robot base convenient for steadily advancing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209175782U (en) |
-
2018
- 2018-10-27 CN CN201821750053.5U patent/CN209175782U/en active Active
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