CN209535279U - A kind of base apparatus and robot - Google Patents
A kind of base apparatus and robot Download PDFInfo
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- CN209535279U CN209535279U CN201920163918.6U CN201920163918U CN209535279U CN 209535279 U CN209535279 U CN 209535279U CN 201920163918 U CN201920163918 U CN 201920163918U CN 209535279 U CN209535279 U CN 209535279U
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- base apparatus
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Abstract
The utility model relates to robotic technology field, a kind of base apparatus and robot are disclosed.The base apparatus includes: bracket, including front end panel, rear bearing sheet and the first supporting beam, and the first supporting beam is set to the top of bracket and is connected to rear bearing sheet；Support wheel, if there are three, three support wheels form triangle, and a support wheel is set on front end panel, and another two support wheel is set on rear bearing sheet；Bogie is connected to the first supporting beam by damper；Driving wheel is set on bogie, and front end panel is set between driving wheel and a support wheel, and rear bearing sheet is set between driving wheel and another two support wheel.The robot includes above-mentioned base apparatus.In the utility model, bracket is equipped with reinforcement structure, and support wheel and driving wheel are provided separately, there are three the support wheel being used to support is set, 3 points of principles for determining a plane are utilized, the driving wheel for driving has both certain support function, ensure that base apparatus and robot overall operation are steady.
Description
Technical field
The utility model relates to robotic technology field more particularly to a kind of base apparatus and robot.
Background technique
Mobile robot is a kind of automatic machine for executing work, can not only receive mankind commander, but also can run in advance
The program of layout, can also be according to principle program action formulated with artificial intelligence technology.The chassis design of mobile robot is
The design foundation stone and shifting foundation of mobile robot.Since wheeled robot has, self weight is relatively light, structure is simple, driving and control
The advantages that relatively convenient, the speed of travel are very fast, maneuverability and working efficiency are higher, therefore mobile robot mostly uses wheeled shifting
Dynamic structure.
In the prior art, four-wheel moving structure is in mobile robot using more universal.But the mobile knot of traditional four-wheel
Four rolling in structure not only plays driving effect, but also plays a supporting role, when mobile robot when moving, turning radius is big,
And since surface conditions are unpredictable, it is possible to rough road surface can be encountered, it will cause four rolling cannot simultaneously
Ground causes to skid or turn on one's side, influences the driveability on chassis.
Utility model content
Based on the above, the purpose of this utility model is to provide a kind of base apparatus and robots, to solve tradition
The four-wheel moving structure problem big in rough road surface passability poor problem and turning radius, guarantees that chassis has
Good support and driveability increase robot whole land performance and mobile stability.
In order to achieve the above object, the utility model uses following technical scheme:
A kind of base apparatus, comprising:
Bracket, including front end panel, rear bearing sheet and the first supporting beam, first supporting beam are set to the top of the bracket
Portion is simultaneously connected to the rear bearing sheet；
Support wheel, if there are three, three support wheels form triangle, and a support wheel is set to the front support
On plate, support wheel described in another two is set on the rear bearing sheet；
Bogie is connected to first supporting beam by damper；
Driving wheel is set on the bogie, the front end panel be set to the driving wheel and support wheel it
Between, the rear bearing sheet is set between support wheel described in the driving wheel and another two.
Preferably, the bracket further includes the second supporting beam, and second supporting beam is set under first supporting beam
Side, second supporting beam are connected to the front end panel and the rear bearing sheet.
Preferably, the base apparatus further includes guide rod, and the upper end of the guide rod is connected to first supporting beam,
The lower section of the guide rod passes through second supporting beam and is arranged in the bogie.
Preferably, the guide rod is arranged in the guide part on the bogie.
Preferably, the triangle is isosceles triangle, and the bottom edge of the isosceles triangle is on the rear bearing sheet
The line of two support wheels.
Preferably, the bogie is respectively provided at left and right sides of the base apparatus.
Preferably, with the bogie correspondingly, the driving is respectively provided at left and right sides of the base apparatus
Wheel, the line of two driving wheels are parallel with the bottom edge of the isosceles triangle but not conllinear.
Preferably, with the bogie correspondingly, damping described in two pieces is respectively provided at left and right sides of the base apparatus
Device is respectively provided with two guide rods.
Preferably, the driving wheel is by independent power source drive.
A kind of robot, including base apparatus described in any of the above scheme.
The utility model has the following beneficial effects:
The utility model provides a kind of base apparatus and robot, support wheel and driving wheel are provided separately, are used to support
There are three support wheel is set on bracket, 3 points of principles for determining a plane are utilized, the driving wheel for driving has both certain
Support function generally enhances the stability of bracket and entire base apparatus, ensure that base apparatus and robot operation are flat
Surely.
Detailed description of the invention
It, below will be to the utility model embodiment in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing needed in description is briefly described, it should be apparent that, the accompanying drawings in the following description is only that this is practical new
Some embodiments of type for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to the content of the utility model embodiment and these attached drawings.
Fig. 1 is the main view of base apparatus；
Fig. 2 is the underneath side elevation view of base apparatus.
In figure:
1- bracket；10- support wheel；11- front end panel；12- rear bearing sheet；The first supporting beam of 13-；The second supporting beam of 14-；
15- attachment beam；
2- bogie；20- driving wheel；21- guide part；
3- damper；31- damping cylinder；32- damper rod；33- spring；
4- guide rod.
Specific embodiment
The technical issues of to solve the utility model, the technical solution of use and the technical effect that reaches are clearer,
It is described in further detail below in conjunction with technical solution of the attached drawing to the utility model embodiment, it is clear that described reality
Applying example is only the utility model a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention,
It is practical new to belong to this for those skilled in the art's every other embodiment obtained without creative efforts
The range of type protection.
Embodiment one
The present embodiment provides a kind of base apparatus for robot, base apparatus includes bracket 1, bogie 2, support wheel
10 and driving wheel 20.Bracket 1 includes front end panel 11, rear bearing sheet 12 and the first supporting beam 13, wherein the first supporting beam 13 is set
In bracket 1 top and be connected to rear bearing sheet 12；There are three support wheel 10 is set, three formation triangles of support wheels 10, one
Support wheel 10 is set on front end panel 11, and another two support wheel 10 is set on rear bearing sheet 12；Bogie 2 is connected by damper 3
It is connected to the first supporting beam 13；Driving wheel 20 is set on bogie 2, front end panel 11 be set to driving wheel 20 and support wheel 10 it
Between, rear bearing sheet 12 is set between driving wheel 20 and another two support wheel 10.
In the present embodiment, support wheel 10 is universal wheel, and driving wheel 20 is directional wheel.
In the present embodiment, front end panel 11 and rear bearing sheet 12 are arranged in parallel.The center position of 11 lower part of front end panel
Equipped with a support wheel 10, the two sides of 12 lower part of rear bearing sheet are symmetrically set there are two support wheel 10, and above-mentioned triangle is
Isosceles triangle, that is, the vertex of isosceles triangle is a support wheel 10 on front end panel, after the bottom edge of isosceles triangle is
The line of two support wheels in support plate.
In the present embodiment, the left and right sides at 1 top of bracket is respectively provided with the first supporting beam 13, the first supporting beam of Yu Lianggen
13 downside is respectively provided with the second supporting beam 14, and the second supporting beam 14 is connected to front end panel 11 and rear bearing sheet 12.Wherein,
One supporting beam 13 is vertically arranged with front end panel 11 and rear bearing sheet 12 respectively, the second supporting beam 14 respectively with front end panel 11 and
Rear bearing sheet 12 is vertically arranged.
It should be noted that one end that the second supporting beam 14 is connect with front end panel 11, it can be separate with the first supporting beam 13
One end of rear bearing sheet 12 is connected by connector.
Specifically, bracket 1 also has attachment beam 15, and one end of attachment beam 15 is connected to the first supporting beam 13 set on left side
Away from one end of rear bearing sheet 12, the other end of attachment beam 15 is connected to the first supporting beam 13 set on right side away from rear bearing sheet
12 one end.
In the present embodiment, base apparatus is respectively arranged on the left side and the right side a bogie 2, and each bogie 2 is equipped with
One driving wheel 20 a, that is, driving wheel 20, two drives correspondingly, at left and right sides of base apparatus are respectively provided with bogie 2
The line of driving wheel 20 is parallel with the bottom edge of above-mentioned isosceles triangle but not conllinear.
Specifically, two driving wheels 20 respectively symmetrically are set to the two sides of base apparatus, the rotating shaft of two driving wheels 20
Line is conllinear, and the rotating direction of driving wheel 20 is respectively perpendicular to front end panel 11 and rear bearing sheet 12.
Specifically, each driving wheel 20 is by independent power source drive.Wherein, each bogie 2 is equipped with one by controlling
The motor that system processed is controlled, each motor drive driving wheel 20 by a speed changer.
In the present embodiment, shell of the bogie 2 as speed changer.Bogie 2 is connected to by two pieces damper 3 respectively
First supporting beam 13, on the driving direction of driving wheel 20, a damper 3 is set to the front side of driving wheel 20, another damping
Device 3 is set to the rear side of driving wheel 20.Wherein, two pieces damper 3 is vertically arranged, the phase at a distance from the axis of rotation of driving wheel 20
Together.
Specifically, with bogie 2 correspondingly, the bogie 2 set on left side is connected to and is set by two pieces damper 3 respectively
In in first supporting beam 13 in left side, the bogie 2 set on right side is connected to the set on right side by two pieces damper 3 respectively
In one supporting beam 13.
Damper 3 includes damping cylinder 31, damper rod 32 and spring 33.
Specifically, damping cylinder 31 is set to the top of damper 3, and is vertically arranged.Wherein, the top of damping cylinder 31 has the
The top of one boss, first boss has first connecting portion, and first connecting portion is connected to the first supporting beam 13；Damping cylinder 31 it is interior
Portion is filled with damping oil.
Specifically, damper rod 32 is set to the lower part of damper 3, and is vertically arranged.Wherein, damper rod 32 is slideably by hindering
The lower end surface of Buddhist nun's cylinder 31 extends in damping cylinder 31；The lower part of damper rod 32 has a second boss, and the bottom of second boss has the
Two interconnecting pieces, second connecting portion are connected on bogie 2.
When base apparatus is impacted, damper rod 32 is adaptively slided up and down by the lower end surface of damping cylinder 31.
In sliding process, damper rod 32 disturbs damping oil, so that the first supporting beam 13 that damper 3 is connected is opposite with bogie 2
Position is while adaptively changing, and by certain resistance, and then resists extraneous impact.
Specifically, spring 33 is vertically arranged, and is sheathed in damping cylinder 31 and damper rod 32.Wherein, the upper end of spring 33 is solid
Second boss is fixed on due to the lower end of first boss, spring 33.
When base apparatus is impacted, spring 33 is by itself self-adapting stretching, with damping cylinder 31 and damper rod 32
It is common to resist extraneous impact.When the impact that base apparatus is subject to disappears, restore its initial length automatically using spring 33
Characteristic, above-mentioned damping cylinder 31 and the relative position of above-mentioned damper rod 32 are restored to original state, so that whole device is convenient for again
Resist foreign impacts.
In the present embodiment, bogie 2 is equipped with two pieces guide part 21, and on the driving direction of driving wheel 20, one is led
The front side of driving wheel 20 is set to part 21, another guide part 21 is set to the rear side of driving wheel 20.Wherein, two pieces guide part 21 is perpendicular
Straight setting, it is identical at a distance from driving wheel 20.Wherein, guide part 21 can be lubricative axle sleeve, linear guide or linear bearing etc..
Specifically, the guide rod being vertically arranged 4 is equipped in every guide part 21.Wherein, the upper end of guide rod 4 connects
It is connected to the first supporting beam 13, the lower section of guide rod 4 passes through the second supporting beam 14 and is arranged in guide part 21.Guide rod 4 increases
The stability of bracket 1 and entire base apparatus；Guide rod 4 passes through the movement of guide part 21, does not influence and enhances damper 3
Function；Guide part 21 increases the flexibility mobile relative to bogie 2 of guide rod 4, and reduces the abrasion of guide rod 4.
In the present embodiment, bogie 2 is connected to the first supporting beam 13 and the second supporting beam by two guide rods 4 respectively
14, on the driving direction of driving wheel 20, a guide rod 4 is set to the front side of driving wheel 20, and another guide rod 4 is set to driving
The rear side of wheel 20.Wherein, two guide rods 4 are identical at a distance from the axis of rotation of driving wheel 20.
Specifically, with bogie 2 correspondingly, the bogie 2 set on left side is connected to and is set by two guide rods 4 respectively
In in first supporting beam 13 and the second supporting beam 14 in left side, the bogie 2 set on right side is connected by two guide rods 4 respectively
In in the first supporting beam 13 and the second supporting beam 14 for being set to right side.
Embodiment two
The present embodiment provides a kind of robots, including the base apparatus provided in embodiment one.
Bracket 1 supports the robot by support wheel 10, and bogie 2 drives the robot by driving wheel 20.?
In robot operation, support wheel 10 is used as driven wheel, and driving wheel 20 is used as driving wheel.
If the steering of two driving wheels 20 is identical as revolving speed, robot straight line is advanced；If the revolving speed of two driving wheels 20
Difference, then robot turns；If mutually revolving speed is identical instead for the steering of two driving wheels 20, robot realizes rotation.?
Under the control of control system, revolving speed and the steering of the driving wheel 20 at left and right sides of base apparatus is adjusted, to control machine
The movement of device people.
Note that above are only the preferred embodiment and institute's application technology principle of the utility model.Those skilled in the art's meeting
Understand, the utility model is not limited to specific embodiment described here, is able to carry out for a person skilled in the art various bright
Aobvious variation, readjustment and substitution is without departing from the protection scope of the utility model.Therefore, although passing through above embodiments
The utility model is described in further detail, but the utility model is not limited only to above embodiments, is not departing from
It can also include more other equivalent embodiments in the case that the utility model is conceived, and the scope of the utility model is by appended
Scope of the claims determine.
Claims (10)
1. a kind of base apparatus characterized by comprising
Bracket (1), including front end panel (11), rear bearing sheet (12) and the first supporting beam (13), first supporting beam (13)
Set on the bracket (1) top and be connected to the rear bearing sheet (12)；
Support wheel (10), if there are three, three support wheels (10) form triangle, and a support wheel (10) is set to institute
It states on front end panel (11), support wheel described in another two (10) is set on the rear bearing sheet (12)；
Bogie (2) is connected to first supporting beam (13) by damper (3)；
Driving wheel (20) is set on the bogie (2), and the front end panel (11) is set to the driving wheel (20) and an institute
State between support wheel (10), the rear bearing sheet (12) be set to support wheel (10) described in the driving wheel (20) and another two it
Between.
2. base apparatus according to claim 1, which is characterized in that the bracket (1) further includes the second supporting beam (14),
Second supporting beam (14) be set to first supporting beam (13) downside, second supporting beam (14) be connected to it is described before
Support plate (11) and the rear bearing sheet (12).
3. base apparatus according to claim 2, which is characterized in that the base apparatus further includes guide rod (4), described
The upper end of guide rod (4) is connected to first supporting beam (13), and the lower section of the guide rod (4) passes through second supporting beam
(14) it and is arranged in the bogie (2).
4. base apparatus according to claim 3, which is characterized in that the guide rod (4) is arranged in the bogie (2)
On guide part (21) in.
5. base apparatus according to claim 3, which is characterized in that the triangle is isosceles triangle, the isosceles
The bottom edge of triangle is the line of two support wheels (10) on the rear bearing sheet (12).
6. base apparatus according to claim 5, which is characterized in that be respectively provided with one at left and right sides of the base apparatus
The bogie (2).
7. base apparatus according to claim 6, which is characterized in that with the bogie (2) correspondingly, the chassis
The driving wheel (20), the line and the isoceles triangle of two driving wheels (20) are respectively provided at left and right sides of device
The bottom edge of shape is parallel but not conllinear.
8. base apparatus according to claim 6, which is characterized in that with the bogie (2) correspondingly, the chassis
It is respectively provided with damper described in two pieces (3) at left and right sides of device, is respectively provided with two guide rods (4).
9. base apparatus according to claim 1-8, which is characterized in that the driving wheel (20) is by independent dynamic
The driving of power source.
10. a kind of robot, which is characterized in that including such as described in any item base apparatus of claim 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920163918.6U CN209535279U (en) | 2019-01-30 | 2019-01-30 | A kind of base apparatus and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920163918.6U CN209535279U (en) | 2019-01-30 | 2019-01-30 | A kind of base apparatus and robot |
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| Publication Number | Publication Date |
|---|---|
| CN209535279U true CN209535279U (en) | 2019-10-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920163918.6U Active CN209535279U (en) | 2019-01-30 | 2019-01-30 | A kind of base apparatus and robot |
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| CN (1) | CN209535279U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110712681A (en) * | 2019-11-22 | 2020-01-21 | 镇江飞驰汽车集团有限责任公司 | Aluminum alloy underframe structure |
| CN112793658A (en) * | 2021-01-19 | 2021-05-14 | 上海擎朗智能科技有限公司 | Autonomous steering drive mechanism and mobile device |
-
2019
- 2019-01-30 CN CN201920163918.6U patent/CN209535279U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110712681A (en) * | 2019-11-22 | 2020-01-21 | 镇江飞驰汽车集团有限责任公司 | Aluminum alloy underframe structure |
| CN112793658A (en) * | 2021-01-19 | 2021-05-14 | 上海擎朗智能科技有限公司 | Autonomous steering drive mechanism and mobile device |
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Address after: Room 513-517, No. 351 GuoShoujing Road, Pudong New Area Free Trade Pilot Area, Shanghai, 201203 Patentee after: Shanghai TIMI robot Co.,Ltd. Address before: Room 513-517, No. 351 GuoShoujing Road, Pudong New Area Free Trade Pilot Area, Shanghai, 201203 Patentee before: SHANGHAI TMI ROBOT TECHNOLOGY Co.,Ltd. |