CN209683859U - A kind of robotically-driven control chassis convenient for turning - Google Patents
A kind of robotically-driven control chassis convenient for turning Download PDFInfo
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- CN209683859U CN209683859U CN201920487393.1U CN201920487393U CN209683859U CN 209683859 U CN209683859 U CN 209683859U CN 201920487393 U CN201920487393 U CN 201920487393U CN 209683859 U CN209683859 U CN 209683859U
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- chassis
- bar
- robotically
- fixedly connected
- buffer spring
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- 206010018325 Congenital glaucomas Diseases 0.000 claims abstract description 6
- 206010012565 Developmental glaucoma Diseases 0.000 claims abstract description 6
- 208000007157 Hydrophthalmos Diseases 0.000 claims abstract description 6
- 201000001024 buphthalmos Diseases 0.000 claims abstract description 6
- 239000003638 chemical reducing agent Substances 0.000 claims description 15
- 230000005540 biological transmission Effects 0.000 claims description 13
- 230000008878 coupling Effects 0.000 claims description 12
- 238000010168 coupling process Methods 0.000 claims description 12
- 238000005859 coupling reaction Methods 0.000 claims description 12
- 230000000694 effects Effects 0.000 claims description 7
- 238000005516 engineering process Methods 0.000 abstract description 2
- 230000007423 decrease Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 235000004443 Ricinus communis Nutrition 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model discloses a kind of robotically-driven control chassis convenient for turning, it is related to robotic technology field, specially a kind of robotically-driven control chassis convenient for turning, including the first chassis, the bottom on first chassis is provided with buphthalmos universal wheel, the inside on first chassis is fixedly connected with device housing, described device shell is internally provided with buffer spring, one end of the buffer spring is fixedly connected with the first T-bar, the other end of the buffer spring is fixedly connected with the second T-bar, first T-bar and the second T-bar are flexibly connected with device housing, first T-bar is fixedly connected with placement shell far from one end of buffer spring.This is convenient for the robotically-driven control chassis of turning, robot carry out turning roll when, the active force of two sides, which acts on robot body, forms an anti-roll moments, increases the roll stiffness of robot body, stablizes the side tilt angle of robot body.
Description
Technical field
The utility model relates to robotic technology field, specially a kind of robotically-driven control chassis convenient for turning.
Background technique
Robot is the automatic installations for executing work, it can not only receive mankind commander, but also can run preparatory volume
The program of row, its task is to assist or replace human work, as robot performance is constantly perfect, mobile robot is answered
It is greatly extended with range, is not only widely used in the industries such as industry, agricultural, medical treatment, service, but also pacified in city
Entirely, national defence and space exploration field etc. are harmful is applied well with dangerous situation.Robot needs to turn to shifting according to demand
Dynamic, under electronic control unit, can robot be smoothly turned to, and depend primarily on the setting of the deflecting roller on chassis, if turned
To that cannot control very well, then robot is easy to there is a situation where unbalance rollover, since robot components complexity is high-end, if
One end generation rollover strikes ground and is easy to damage inner body, causes robot job insecurity, service life is by shadow
It rings, or even scraps entire robot.
A kind of robotically-driven control disclosed in Chinese utility model patent ublic specification of application CN 206466053U
Chassis processed, the robotically-driven control chassis, under the drive wheel in the middle part of chassis, robot can be moved ahead and be turned to, preceding
During row, the castor at chassis rear portion plays orientation balanced action；In steering procedure, the driving wheel in the middle part of chassis, which controls, to be turned to
And rotate, the buphthalmos universal wheel of chassis front plays guiding role due to being freely rotatable while playing balanced action, this
When chassis rear portion castor keep equilibrium process in and then turn to, still, the robotically-driven control chassis, robot again into
When row turning, anti-rollover effect is bad.
Utility model content
(1) the technical issues of solving
In view of the deficiencies of the prior art, the utility model provides a kind of robotically-driven control chassis convenient for turning,
Solve the problems mentioned above in the background art.
(2) technical solution
In order to achieve the above object, the utility model is achieved by the following technical programs: a kind of machine convenient for turning
People's drive control chassis, including the first chassis, the bottom on first chassis are provided with buphthalmos universal wheel, first chassis
Inside is fixedly connected with device housing, and described device shell is internally provided with buffer spring, and one end of the buffer spring is solid
Surely it is connected with the first T-bar, the other end of the buffer spring is fixedly connected with the second T-bar, first T-bar and second
T-bar is flexibly connected with device housing, and first T-bar is fixedly connected with placement shell far from one end of buffer spring,
The placement shell is flexibly connected with the first chassis, and the placement shell is internally provided with mobile ball, first chassis
Be internally provided with driving motor, the output end of the driving motor is fixedly connected with planet corner speed reducer, and the planet turns
Angle speed reducer is fixedly connected with bear box far from the side of driving motor, and the output end activity of the planet corner speed reducer connects
It is connected to shaft coupling.
Optionally, second T-bar is fixedly connected with the second chassis, and second bottom far from one end of buffer spring
The size of disk is adapted with the size on the first chassis.
Optionally, the internal activity of the bear box is connected with wheel hub mount, and the wheel hub mount is set in hollow
Meter, and the shaft coupling is located at the inside of wheel hub mount.
Optionally, the bear box is internally provided with bearing group, and the bear box passes through bearing group and wheel hub
Mounting base is flexibly connected.
Optionally, the wheel hub mount is internally provided with transmission shaft, and the transmission shaft and shaft coupling are far from planet
One end of corner speed reducer is flexibly connected.
Optionally, the side of the wheel hub mount is fixedly connected with movable pulley, and the movable pulley and transmission shaft activity
Connection.
(3) beneficial effect
The utility model provides a kind of robotically-driven control chassis convenient for turning, have it is following the utility model has the advantages that
1, it should turned out convenient for the robotically-driven control chassis of turning, the design of buffer spring in robot
When now rolling, at this point, the mobile ball of stress side is compressed to the first inside chassis, active force is passed to slow by the first T-bar
Rush spring, buffer spring provides a upward active force, moves up robot body, similarly, for the of other side tension
Two T-bars, buffer spring can provide a downward active force to the second T-bar, decline robot body, the effect of two sides
Power, which acts on robot body, forms an anti-roll moments, increases the roll stiffness of robot body, makes robot
The side tilt angle of ontology is stablized, and the risk of rollover is reduced.
2, driving motor, planet corner speed reducer, cartridge housing should be passed through convenient for the robotically-driven control chassis of turning
The design of body, shaft coupling, wheel hub mount, bearing group, transmission shaft and movable pulley constitutes an independent driving wheel, and independent
The quantity of driving wheel is two groups, can control the rotating forward of each wheel, reversion and parked, thus realize the advance of robot, retrogressing,
Turning and parked etc. moves, and makes have smaller turning radius, and movement is more flexible, and load capacity is stronger.
Detailed description of the invention
Fig. 1 is that the utility model looks up the schematic diagram of the section structure；
Fig. 2 is the utility model main view the schematic diagram of the section structure；
Fig. 3 is enlarged structure schematic diagram at the A of the utility model Fig. 1.
In figure: 1, the first chassis；2, buphthalmos universal wheel；3, device housing；4, buffer spring；5, the first T-bar；6, second
T-bar；7, shell is placed；8, mobile ball；9, driving motor；10, planet corner speed reducer；11, bear box；12, shaft coupling
Device；13, the second chassis；14, wheel hub mount；15, bearing group；16, transmission shaft；17, movable pulley.
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.
It please refers to Fig.1 to Fig.3, the utility model provides a kind of technical solution: a kind of robotically-driven control convenient for turning
Chassis processed, including the first chassis 1, the bottom on the first chassis 1 are provided with buphthalmos universal wheel 2, and the inside on the first chassis 1 is fixedly connected
There is device housing 3, device housing 3 is internally provided with buffer spring 4, and one end of buffer spring 4 is fixedly connected with the first T-bar
5, the other end of buffer spring 4 is fixedly connected with the second T-bar 6, and the second T-bar 6 is fixedly connected far from one end of buffer spring 4
There is the second chassis 13, and the size on the second chassis 13 is adapted with the size on the first chassis 1, the first T-bar 5 and the second T-bar 6
Be flexibly connected with device housing 3, the design of buffer spring 4, robot carry out turning roll when, at this point, stress
The mobile ball 8 of side passes to buffer spring 4, buffer spring by the first T-bar 5 to 1 internal compression of the first chassis, active force
4 provide a upward active force, move up robot body, similarly, for the second T-bar 6 of other side tension, buffering elastic
Spring 4 can provide a downward active force to the second T-bar 6, decline robot body, the active force of two sides acts on machine
An anti-roll moments is formd on human body, increases the roll stiffness of robot body, makes the angle of heel of robot body
Degree is stablized, and the risk of rollover is reduced, and the first T-bar 5 is fixedly connected with far from one end of buffer spring 4 and places shell 7, places
Shell 7 is flexibly connected with the first chassis 1, and that places shell 7 is internally provided with mobile ball 8, and the first chassis 1 is internally provided with
Driving motor 9, the output end of driving motor 9 are fixedly connected with planet corner speed reducer 10, and planet corner speed reducer 10 is far from drive
The side of dynamic motor 9 is fixedly connected with bear box 11, and the output end of planet corner speed reducer 10 is connected with shaft coupling 12,
The internal activity of bear box 11 is connected with wheel hub mount 14, and wheel hub mount 14 is in hollow design, and shaft coupling 12 is located at
The inside of wheel hub mount 14, bear box 11 are internally provided with bearing group 15, and bear box 11 by bearing group 15 with
Wheel hub mount 14 is flexibly connected, and wheel hub mount 14 is internally provided with transmission shaft 16, and transmission shaft 16 and shaft coupling 12 are remote
One end from planet corner speed reducer 10 is flexibly connected, and the side of wheel hub mount 14 is fixedly connected with movable pulley 17, and mobile
Wheel 17 is flexibly connected with transmission shaft 16, passes through driving motor 9, planet corner speed reducer 10, bear box 11, shaft coupling 12, wheel
The design of hub mounting base 14, bearing group 15, transmission shaft 16 and movable pulley 17 constitutes an independent driving wheel, and independent driving
The quantity of wheel is two groups, the rotating forward of each wheel, reversion and parked can be controlled, to realize the advance of robot, retrogressing, turning
Movement is waited with parked, and makes that there is smaller turning radius, movement is more flexible, and load capacity is stronger.
The electric elements occurred in this article are electrically connected with extraneous main controller and 220V alternating current, and main controller can be meter
Calculation machine etc. plays the conventionally known equipment of control.
In conclusion should convenient for turning robotically-driven control chassis, robot carry out turning roll when,
At this point, the mobile ball 8 of stress side, to 1 internal compression of the first chassis, active force passes to buffer spring by the first T-bar 5
4, buffer spring 4 provides a upward active force, moves up robot body, similarly, for the 2nd T shape of other side tension
Bar 6, buffer spring 4 can provide a downward active force to the second T-bar 6, decline robot body, the active force of two sides
It acts on robot body and forms an anti-roll moments, increase the roll stiffness of robot body, make robot sheet
The side tilt angle of body is stablized, and the risk of rollover is reduced, by driving motor 9, planet corner speed reducer 10, bear box 11,
The design of shaft coupling 12, wheel hub mount 14, bearing group 15, transmission shaft 16 and movable pulley 17 constitutes an independent driving wheel,
And the quantity of independent driving wheel is two groups, the rotating forward of each wheel, reversion and parked can be controlled, thus before realizing robot
Into, retreat, turning and the movement such as parked, and make that there is smaller turning radius, move more flexible, load capacity is more
By force.
In the description of the present invention, it should be understood that term " center ", " longitudinal direction ", " transverse direction ", " length ", " width
Degree ", " thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " suitable
The orientation or positional relationship of the instructions such as hour hands ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " is orientation based on the figure
Or positional relationship, be merely for convenience of describing the present invention and simplifying the description, rather than the device of indication or suggestion meaning or
Element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as the limit to the utility model
System.
In the present invention unless specifically defined or limited otherwise, term " setting ", " connected ", " connects " installation "
Connect ", the terms such as " fixation " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；
It can be mechanical connection, can be directly connected, can also can be inside two elements indirectly connected through an intermediary
The interaction relationship of connection or two elements.For the ordinary skill in the art, it can manage as the case may be
Solve the concrete meaning of above-mentioned term in the present invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.The meaning of " plurality " is two or two in the description of the present invention,
More than, unless otherwise specifically defined.
It should be noted that in the present invention unless specifically defined or limited otherwise, fisrt feature is in the second spy
It can be that the first and second features directly contact or the first and second features are connect indirectly by intermediary "above" or "below" sign
Touching.Moreover, fisrt feature can be above the second feature " above ", " above " and " above " fisrt feature right above second feature or
Oblique upper, or first feature horizontal height is merely representative of higher than second feature.Fisrt feature second feature " under ", " lower section "
" following " can be fisrt feature and be directly under or diagonally below the second feature, or is merely representative of first feature horizontal height and is less than
Second feature.
The preferable specific embodiment of the above, only the utility model, but the protection scope of the utility model is not
It is confined to this, anyone skilled in the art is within the technical scope disclosed by the utility model, practical according to this
Novel technical solution and its utility model design are subject to equivalent substitution or change, should all cover the protection model in the utility model
Within enclosing.
Claims (6)
1. a kind of robotically-driven control chassis convenient for turning, including the first chassis (1), it is characterised in that: first bottom
The bottom of disk (1) is provided with buphthalmos universal wheel (2), and the inside of first chassis (1) is fixedly connected with device housing (3), institute
Being internally provided with buffer spring (4) for device housing (3) is stated, one end of the buffer spring (4) is fixedly connected with the first T-bar
(5), the other end of the buffer spring (4) is fixedly connected with the second T-bar (6), first T-bar (5) and the second T-bar
(6) it is flexibly connected with device housing (3), first T-bar (5) is fixedly connected with far from the one end of buffer spring (4) and puts
It sets shell (7), the placement shell (7) is flexibly connected with the first chassis (1), and placement shell (7) is internally provided with shifting
Dynamic ball (8), first chassis (1) are internally provided with driving motor (9), and the output end of the driving motor (9) is fixed
It is connected with planet corner speed reducer (10), the planet corner speed reducer (10) is fixedly connected far from the side of driving motor (9)
Have bear box (11), the output end of the planet corner speed reducer (10) is connected with shaft coupling (12).
2. a kind of robotically-driven control chassis convenient for turning according to claim 1, it is characterised in that: described second
T-bar (6) is fixedly connected with the second chassis (13) far from the one end of buffer spring (4), and the size on second chassis (13)
It is adapted with the size of the first chassis (1).
3. a kind of robotically-driven control chassis convenient for turning according to claim 1, it is characterised in that: the bearing
The internal activity of shell (11) is connected with wheel hub mount (14), and the wheel hub mount (14) is in hollow design, and described
Axis device (12) is located at the inside of wheel hub mount (14).
4. a kind of robotically-driven control chassis convenient for turning according to claim 1, it is characterised in that: the bearing
Shell (11) is internally provided with bearing group (15), and the bear box (11) passes through bearing group (15) and wheel hub mount
(14) it is flexibly connected.
5. a kind of robotically-driven control chassis convenient for turning according to claim 3, it is characterised in that: the wheel hub
Mounting base (14) is internally provided with transmission shaft (16), and the transmission shaft (16) and shaft coupling (12) are slowed down far from planet corner
One end of machine (10) is flexibly connected.
6. a kind of robotically-driven control chassis convenient for turning according to claim 3, it is characterised in that: the wheel hub
The side of mounting base (14) is fixedly connected with movable pulley (17), and the movable pulley (17) is flexibly connected with transmission shaft (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920487393.1U CN209683859U (en) | 2019-04-11 | 2019-04-11 | A kind of robotically-driven control chassis convenient for turning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920487393.1U CN209683859U (en) | 2019-04-11 | 2019-04-11 | A kind of robotically-driven control chassis convenient for turning |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209683859U true CN209683859U (en) | 2019-11-26 |
Family
ID=68607623
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920487393.1U Expired - Fee Related CN209683859U (en) | 2019-04-11 | 2019-04-11 | A kind of robotically-driven control chassis convenient for turning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209683859U (en) |
-
2019
- 2019-04-11 CN CN201920487393.1U patent/CN209683859U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191126 |