CN209321100U - A kind of mobile chassis and robot - Google Patents
A kind of mobile chassis and robot Download PDFInfo
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- CN209321100U CN209321100U CN201821175723.5U CN201821175723U CN209321100U CN 209321100 U CN209321100 U CN 209321100U CN 201821175723 U CN201821175723 U CN 201821175723U CN 209321100 U CN209321100 U CN 209321100U
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- universal wheel
- bottom plate
- mobile chassis
- driving wheel
- wheel
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Abstract
The utility model discloses a kind of mobile chassis and robots, belong to robotic technology field.Mobile chassis provided by the utility model includes bottom plate, Power Component, driving wheel and universal wheel, by setting multiple for driving wheel, and driving wheel is symmetricly set on to the left and right sides of the bottom plate, can effectively improve the stability of mobile chassis movement；By setting multiple for universal wheel, and a part of universal wheel is arranged in the front end of bottom plate by fixed bracket, the rear end of bottom plate is arranged in by elastic support for another part universal wheel, the flexibility of mobile chassis movement can not only be improved, the generation for phenomenon of toppling caused by center of gravity hypsokinesis when center of gravity leans forward and climbs when reducing the difficulty of mobile chassis turning, and can be avoided mobile chassis movement.
Description
Technical field
The utility model relates to robotic technology field more particularly to a kind of mobile chassis and use the machine of the mobile chassis
Device people.
Background technique
Robot (robot) is to automatically control being commonly called as machine, is the thought by the simulation mankind or other biological
With the machinery of action production.With the fast development of machinery field and bionics field, the design level and production water of robot
It puts down higher and higher, has been able to be widely used in multiple fields and complete many tasks for substituting the mankind.
In order to improve the intelligent of robot and automation, existing robot is generally provided with mobile chassis, mobile
It is mobile that chassis drives entire robot, thus allow the robot to reach as biological different target locations execute it is different
Operation.But existing mobile chassis that there are stability is poor, movement is inflexible, turning when required space it is larger, in climbing
It is easy to the disadvantages of toppling.
Therefore, a kind of the technical issues of mobile chassis of disadvantages mentioned above can be overcome to be present urgent need to resolve how is proposed.
Utility model content
One of the utility model is designed to provide a kind of mobile chassis, and the mobile chassis stability is good, movement is flexible,
It is not susceptible to topple.
Another of the utility model is designed to provide a kind of robot, and robot motion's stability is good, movement is clever
It is living, and can flexibly turn, it is not susceptible to topple.
For this purpose, the utility model uses following technical scheme:
A kind of mobile chassis, including bottom plate and the Power Component being arranged on the bottom plate, further includes:
Multiple driving wheels, the driving wheel and the Power Component are sequentially connected, the setting of driving wheel described in a portion
In the left side of the bottom plate, driving wheel described in another part is symmetricly set on the right side of the bottom plate；
The front end of the bottom plate is arranged in by fixed bracket for multiple universal wheels, universal wheel described in a portion, in addition
The rear end of the bottom plate is arranged in by elastic support for a part of universal wheel.
Preferably, the driving wheel includes the first driving wheel and the second driving wheel, first driving wheel is arranged in institute
The left side of bottom plate is stated, the right side of the bottom plate, first driving wheel and second driving is arranged in second driving wheel
Take turns the first center line symmetrical setting about the bottom plate.
Preferably, the universal wheel includes the first universal wheel, the second universal wheel and third universal wheel, described first is universal
The front end of the bottom plate is arranged in wheel, and the rear end of the bottom plate is arranged in second universal wheel and the third universal wheel.
Preferably, first universal wheel, second universal wheel and third universal wheel arrangement are in isoceles triangle
Shape.
Preferably, first universal wheel is located on the first center line of the bottom plate, second universal wheel and institute
The two sides that third universal wheel is located at first center line are stated, and about first center line symmetrical setting.
Preferably, the fixed bracket include the first transverse slat and be arranged in first transverse slat both ends the first side plate and
Second side plate, first transverse slat are connect with the universal wheel, first side plate and second side plate fold outward respectively
Installation side is formed, the installation side is connect with the bottom plate.
Preferably, the elastic support is u-bracket, the elastic support includes the second transverse slat and setting described the
The third side plate and the 4th side plate at two transverse slat both ends, the third side plate are connect with the bottom plate, the 4th side plate with it is described
Universal wheel connection.
Preferably, the elastic support further include:
Support column is provided with guide groove on the 4th side plate, and described support column one end is connect with the third side plate, another
End is arranged across the guide groove.
Preferably, being provided with multiple lightening holes on the bottom plate.
A kind of robot, including robot body and above-mentioned mobile chassis, the mobile chassis is arranged in the machine
The bottom of human body.
The utility model has the beneficial effects that
The utility model provides a kind of mobile chassis, which includes bottom plate, Power Component, driving wheel and universal
Driving wheel, by setting multiple for driving wheel, and is symmetricly set on the left and right sides of the bottom plate, can effectively mentioned by wheel
The stability of high mobile chassis movement；By setting multiple for universal wheel, and a part of universal wheel is passed through into fixed branch and is set up
It sets in the front end of bottom plate, the rear end of bottom plate is arranged in by elastic support for another part universal wheel, can not only improve movement
The flexibility of bobbin movement, reduces the difficulty of mobile chassis turning, and can be avoided center of gravity when mobile chassis moves and lean forward and climb
The generation for phenomenon of toppling caused by center of gravity hypsokinesis when slope.
Detailed description of the invention
Fig. 1 is the perspective view one of mobile chassis provided by the utility model；
Fig. 2 is the perspective view two of mobile chassis provided by the utility model；
Fig. 3 is the bottom view of mobile chassis provided by the utility model；
Fig. 4 is the first universal wheel provided by the utility model and support bracket fastened structural schematic diagram；
Fig. 5 is the structural schematic diagram of the second universal wheel and elastic support provided by the utility model.
In figure:
1, bottom plate；101, lightening hole；
2, Power Component；3, the first driving wheel；4, the second driving wheel；5, the first universal wheel；6, the second universal wheel；7, third
Universal wheel；
8, fixed bracket；801, the first transverse slat；802, the first side plate；803, the second side plate；804, side is installed；
9, elastic support；901, the second transverse slat；902, third side plate；903, the 4th side plate；9031, guide groove；904, it supports
Column；
10, the first center line.
Specific embodiment
Further illustrate the technical solution of the utility model below with reference to the accompanying drawings and specific embodiments.
A kind of mobile chassis is present embodiments provided, which can be used in robot, to make robot
With locomotive function.As shown in Figure 1 to Figure 3, which specifically includes bottom plate 1, Power Component 2, multiple driving wheels and more
A universal wheel.Wherein, bottom plate 1 is the support member of entire mobile chassis, and Power Component 2, driving wheel and universal wheel are arranged at
On bottom plate 1.The shape of bottom plate 1 can be round, polygon or irregular shape, in the present embodiment, for the ease of movement
It is not easy to collide with other objects in the moving process of chassis, selection uses circular bottom plate 1.The making material of circular bottom plate 1 is herein
Without limitation, it is set according to the working environment of mobile chassis and required bearing capacity.In order to reduce the self weight of bottom plate 1, on bottom plate 1
Multiple lightening holes 101 are provided with, the shapes and sizes of lightening hole 101 are not specifically limited, in the bearing strength symbol for guaranteeing bottom plate 1
Close design requirement, setting lightening hole 101 more as far as possible.
Power Component 2 is that the movement of mobile chassis provides power, specifically, in the present embodiment, Power Component 2 can select
Motor is selected, the quantity of motor can be one, or multiple.When the quantity of motor is one, the drive shaft of motor needs
It is sequentially connected respectively with multiple driving wheels by transmission component；It, can be on each driving wheel when the quantity of motor is multiple
One motor is set.Can also be arranged on mobile chassis can carry power supply, be powered using that can carry power supply for Power Component 2.
Under the driving of Power Component 2, driving wheel rotation is to realize the movement of mobile chassis.In the present embodiment, it drives
The quantity of driving wheel is multiple, preferably even number, such as two, four or six, the driving of the half in multiple driving wheels
The left side of bottom plate 1 is arranged in wheel, and the right side of bottom plate 1 is arranged in the other half, and left and right side herein is the movement according to mobile chassis
What direction divided.In order to guarantee the mobile stability of mobile chassis, be arranged in 1 left and right side of bottom plate driving wheel need about
First center line 10 of bottom plate 1 is symmetrical arranged.In the present embodiment, the quantity of driving wheel is two, respectively the first driving wheel 3
With the second driving wheel 4, the left side of the first center line 10 is arranged in the first driving wheel 3, and the second driving wheel 4 is symmetricly set in first
The right side of heart line 10.
Universal wheel is a kind of castor that can be realized 360 ° of turnings, and universal wheel setting can be assisted moving on mobile chassis
Dynamic chassis translation and turning, improve the stability and flexibility of the mobile chassis in turning and translation motion.The quantity of universal wheel
To be multiple, the front end of bottom plate 1 is arranged in a part in multiple universal wheels, after bottom plate 1 is arranged in another part universal wheel
End.In order to guaranteeing mobile chassis the moving stability and under the premise of flexibility, use universal wheel few as far as possible, in the present embodiment
In, three are set by the quantity of universal wheel.Three universal wheels are respectively the first universal wheel 5 that 1 front end of bottom plate is arranged in, and
The second universal wheel 6 and third universal wheel 7 of 1 rear end of bottom plate are set.
In order to rationally utilize the space on bottom plate 1, and further increase mobile chassis flexibility during the turn,
Stability reduces space needed for mobile chassis turning process, universal wheel and driving wheel rule is arranged, and universal by three
Wheel is arranged into isosceles triangle.Specifically, the first universal wheel 5 is set on the first center line 10 of bottom plate 1, it is universal by second
Wheel 6 and third universal wheel 7 are set to the two sides of the first center line 10, and symmetrical about the first center line 10.It is possible to further
Three universal wheels and two driving wheels are arranged on the same circle, mobile chassis, which can be realized, at this time is rotated by 360 ° in situ,
Space needed for turning is minimum, is not easy to collide people and other objects in turning.
Further, in order to avoid mobile chassis leans forward in moving process, the first universal wheel 5 is passed through into fixed branch
Frame 8 is arranged in 1 front end of bottom plate.Specifically, as shown in figure 4, fixed bracket 8 includes the first transverse slat 801 and is arranged in the first transverse slat
First side plate 802 and the second side plate 803 at 801 both ends, the first transverse slat 801 are connect with the first universal wheel 5,802 He of the first side plate
Fold forms installation side 804 to second side plate 803 outward respectively, and installation side 804 is connect with bottom plate 1.
Further, during mobile chassis climbs obstacle detouring, in order to keep the stability of mobile chassis, hold driving wheel
It is continuous to land, power is provided for the climbing of mobile chassis, the second universal wheel 6 and third universal wheel 7 are arranged by elastic support 9
1 rear end of bottom plate.It is introduced by taking the elastic support 9 being arranged on the second universal wheel 6 as an example, elastic support 9 is u-bracket, tool
Body, as shown in figure 5, elastic support 9 includes the second transverse slat 901 and 902 He of third side plate that 901 both ends of the second transverse slat are arranged in
4th side plate 903, third side plate 902 are connect with bottom plate 1, and the 4th side plate 903 is connect with the second universal wheel 6, due to third side plate
902 and the 4th the setting of the interval of side plate 903 can be close to each other under external force therefore in the motion process of mobile chassis
Or it is separate, so that flexible deformation occur.In order to improve the sensitivity of flexible deformation, arc can be set by the second transverse slat 901
Shape plate.In addition, can also be kept away by being arranged by elastic support 9 the second universal wheel 6 and third universal wheel 7 in 1 rear end of bottom plate
Exempt from mobile chassis and hypsokinesis occurs in climbing.
Further, in order to limit the direction that third side plate 902 and the 4th side plate 903 relatively move, to limit elasticity
The deformation direction of bracket 9, is additionally provided with support column 904 between third side plate 902 and the 4th side plate 903, and the one of support column 904
End is vertical with third side plate 902 to be connect, and the other end passes through the guide groove 9031 being arranged on the 4th side plate 903.In third side plate 902
When occurring mobile relative to the 4th side plate 903, support column 904 is moved along the length direction of guide groove 9031.In the present embodiment, it leads
The length direction of slot 9031 is parallel with the direction of the first center line 10, so that guaranteeing elastic support 9 only can occur up and down with before
After move, double swerve cannot occur, be conducive to improve mobile chassis moving process in stability.
The present embodiment additionally provides a kind of robot, which can substitute people and execute task in multiple environment, such as
It can be used in environment, working environment and the living environment for having radiation.The robot specifically includes robot body and above-mentioned
The bottom of robot body is arranged in mobile chassis, mobile chassis, is able to drive robot body by the movement of mobile chassis
It is mobile, so that so that robot is moved to target position executes particular task.Robot using above-mentioned mobile chassis is being moved through
Not only flexibility is good in journey, can flexible deflecting and turning in narrow space, and stability is good, can not only be on level land
Stable moves ahead, additionally it is possible to realize and stablize climbing, and be not susceptible to topple during climbing.
Obviously, the above embodiments of the present invention is used for the purpose of clearly illustrating examples for clearly illustrating the present invention, and
It is not limitations of the embodiments of the present invention.For those of ordinary skill in the art, in above description
On the basis of can also make other variations or changes in different ways.There is no need and unable to give all embodiments
Exhaustion.Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention etc., should be included in
Within the protection scope of the utility model claims.
Claims (9)
1. a kind of mobile chassis, including bottom plate (1) and the Power Component (2) being arranged on the bottom plate (1), which is characterized in that
Further include:
Multiple driving wheels, the driving wheel and the Power Component (2) are sequentially connected, and the setting of driving wheel described in a portion exists
The left side of the bottom plate (1), driving wheel described in another part are symmetricly set on the right side of the bottom plate (1)；
Multiple universal wheels, universal wheel described in a portion pass through fixed bracket (8) and are arranged in the front end of the bottom plate (1), separately
Outer a part of universal wheel is arranged by elastic support (9) in the rear end of the bottom plate (1)；
The elastic support (9) is u-bracket, and the elastic support (9) includes the second transverse slat (901) and is arranged described second
The third side plate (902) and the 4th side plate (903) at transverse slat (901) both ends, the third side plate (902) and the bottom plate (1) are even
It connects, the 4th side plate (903) connect with the universal wheel.
2. mobile chassis according to claim 1, which is characterized in that
The driving wheel includes the first driving wheel (3) and the second driving wheel (4), and first driving wheel (3) is arranged at the bottom
The left side of plate (1), second driving wheel (4) setting is on the right side of the bottom plate (1), first driving wheel (3) and described
Second driving wheel (4) is symmetrical arranged about the first center line (10) of the bottom plate (1).
3. mobile chassis according to claim 1, which is characterized in that
The universal wheel includes the first universal wheel (5), the second universal wheel (6) and third universal wheel (7), first universal wheel
(5) setting is arranged in the front end of the bottom plate (1), second universal wheel (6) and the third universal wheel (7) in the bottom plate
(1) rear end.
4. mobile chassis according to claim 3, which is characterized in that
First universal wheel (5), second universal wheel (6) and the third universal wheel (7) arrangement are in isosceles triangle.
5. mobile chassis according to claim 4, which is characterized in that
First universal wheel (5) is located on the first center line (10) of the bottom plate (1), second universal wheel (6) and institute
The two sides that third universal wheel (7) are located at first center line (10) are stated, and are symmetrical arranged about first center line (10).
6. mobile chassis according to claim 1, which is characterized in that
The fixed bracket (8) includes the first side plate of the first transverse slat (801) and setting at the first transverse slat (801) both ends
(802) it is connect with the second side plate (803), first transverse slat (801) with the universal wheel, first side plate (802) and institute
Stating the second side plate (803), fold forms installation side (804) outward respectively, and the installation side (804) connect with the bottom plate (1).
7. mobile chassis according to claim 1, which is characterized in that the elastic support (9) further include:
Support column (904) is provided with guide groove (9031) on the 4th side plate (903), described support column (904) one end with it is described
Third side plate (902) connection, the other end are arranged across the guide groove (9031).
8. mobile chassis according to claim 1, which is characterized in that
Multiple lightening holes (101) are provided on the bottom plate (1).
9. a kind of robot, including robot body, which is characterized in that further include the described in any item movements of claim 1-8
The bottom of the robot body is arranged in chassis, the mobile chassis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821175723.5U CN209321100U (en) | 2018-07-24 | 2018-07-24 | A kind of mobile chassis and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821175723.5U CN209321100U (en) | 2018-07-24 | 2018-07-24 | A kind of mobile chassis and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209321100U true CN209321100U (en) | 2019-08-30 |
Family
ID=67706226
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821175723.5U Active CN209321100U (en) | 2018-07-24 | 2018-07-24 | A kind of mobile chassis and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209321100U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111730609A (en) * | 2020-04-30 | 2020-10-02 | 深圳市普渡科技有限公司 | Robot with universal wheel set |
| CN113197515A (en) * | 2021-04-20 | 2021-08-03 | 上海高仙自动化科技发展有限公司 | Moving mechanism and robot |
| WO2022237000A1 (en) * | 2021-05-14 | 2022-11-17 | 姜卫 | Base capable of reaching corners of working area |
-
2018
- 2018-07-24 CN CN201821175723.5U patent/CN209321100U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111730609A (en) * | 2020-04-30 | 2020-10-02 | 深圳市普渡科技有限公司 | Robot with universal wheel set |
| CN113197515A (en) * | 2021-04-20 | 2021-08-03 | 上海高仙自动化科技发展有限公司 | Moving mechanism and robot |
| CN113197515B (en) * | 2021-04-20 | 2023-02-24 | 上海高仙自动化科技发展有限公司 | Moving mechanism and robot |
| WO2022237000A1 (en) * | 2021-05-14 | 2022-11-17 | 姜卫 | Base capable of reaching corners of working area |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 215200 standard plant 7, Dongyun Science Park, No. 558, Shanhu West Road, Wujiang Economic and Technological Development Zone, Suzhou, Jiangsu Province Patentee after: Suzhou Bozhong intelligent robot Co.,Ltd. Address before: 215200 No. 666 Hu Xin Road, Wujiang economic and Technological Development Zone, Suzhou, Jiangsu Patentee before: SUZHOU BOZHONG ROBOT Co.,Ltd. |
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| CP03 | Change of name, title or address |