CN107472397A - Robot chassis and robot - Google Patents
Robot chassis and robot Download PDFInfo
- Publication number
- CN107472397A CN107472397A CN201710726220.6A CN201710726220A CN107472397A CN 107472397 A CN107472397 A CN 107472397A CN 201710726220 A CN201710726220 A CN 201710726220A CN 107472397 A CN107472397 A CN 107472397A
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- China
- Prior art keywords
- skeleton
- follower
- motor
- driving wheel
- decelerator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/02—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with two road wheels in tandem on the longitudinal centre line of the vehicle
- B62D61/04—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with two road wheels in tandem on the longitudinal centre line of the vehicle with two other wheels which are coaxial
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/02—Resilient suspensions for a single wheel with a single pivoted arm
- B60G3/12—Resilient suspensions for a single wheel with a single pivoted arm the arm being essentially parallel to the longitudinal axis of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/10—Independent suspensions
- B60G2200/14—Independent suspensions with lateral arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/40—Indexing codes relating to the wheels in the suspensions
- B60G2200/422—Driving wheels or live axles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0038—Disposition of motor in, or adjacent to, traction wheel the motor moving together with the wheel axle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0092—Disposition of motor in, or adjacent to, traction wheel the motor axle being coaxial to the wheel axle
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
The embodiment of the present application discloses a kind of robot chassis and robot.The embodiment of robot chassis one includes：Skeleton, bottom surface sets two driving wheel modules and two follower modules, and the four wheels of two driving wheel modules and two follower modules are located at an apex of rhombus respectively；Two driving wheel modules, it is symmetricly set in left and right two parts of the bottom surface of skeleton；Two follower modules, follower module use universal wheel, are symmetricly set in front and rear two parts of the bottom surface of skeleton.The embodiment can ensure that chassis wheel and ground contact points have larger projected area, so that the quiet/dynamic stability on chassis is higher, meanwhile, whole chassis has less radius of turn, and easily controllable.
Description
Technical field
The application is related to mobile robot technology field, and in particular to wheeled mobile robot technical field, more particularly to
Robot chassis and robot.
Background technology
Mobile robot, it is corresponding with the fixed robot of pedestal in the course of work such as industry mechanical arm, refer to
Robot complete machine can be subjected to displacement a kind of robot of motion in three dimensions in the course of work.Compare mobile robot
Other move modes, wheel type mobile turn into mobile robot because reasons such as sport efficiency are high, control is easy, cost of implementation is low
Preferred mobile implementation.
Existing wheeled mobile robot, chassis are usually tricycle chassis or wheel chassis.Wherein, tricycle chassis includes two
Individual driving wheel and a follower, it is disposed respectively in three apexes of equilateral triangle；Wheel chassis includes four wheels,
It is arranged by automobile chassis form, each side two, four wheels respectively occupy a summit of rectangle.
However, using the mobile robot of tricycle chassis, robot barycenter easily falls to be formed in wheel and ground contact points
Projected triangle outside, so as to cause imbalance either statically or dynamically, easily cause robot to roll, therefore be only applicable to height
Degree and all smaller robot of quality；Using the mobile robot of wheel chassis, if adding two quilts using two driving wheels
The scheme of driving wheel, then chassis radius of turn is excessive, if using four driving wheels, can reduce radius of turn, but be the increase in
The cost and control difficulty on chassis.Also, existing wheeled mobile robot, its whole wheel or part wheel (particularly quilt
Driving wheel) rigid attachment is generally between chassis, it is poor to the adaptability of uneven terrain, it can only walk in flat smooth
Ground, use occasion are very limited.
The content of the invention
The purpose of the application is to propose a kind of improved robot chassis and robot.
In a first aspect, the embodiment of the present application provides a kind of robot chassis, robot chassis includes：Skeleton, bottom surface are set
Put two driving wheel modules and two follower modules, and the four wheels of two driving wheel modules and two follower modules
It is located at an apex of rhombus respectively；Two driving wheel modules, it is symmetricly set in left and right two parts of the bottom surface of skeleton；Two
Follower module, follower module use universal wheel, are symmetricly set in front and rear two parts of the bottom surface of skeleton.
In certain embodiments, driving wheel module includes：Driving wheel, the output shaft of axis hole connection reducer；Decelerator, Gu
Due on electric machine support, axis connection motor is inputted, exports the axis hole of axis connection driving wheel；Motor, it is fixed on electric machine support, it is defeated
The input shaft of shaft connection reducer；Electric machine support, the bearing block, decelerator and motor of bearing are connected, with motor suspension branch
Frame is connected by revolute pair；Motor suspension support, connection electric machine support and skeleton bottom；Damper, lower end are connected by revolute pair
Electric machine support is connect, upper end connects shock absorber support by revolute pair；Shock absorber support, it is fixedly connected with skeleton.
In certain embodiments, driving wheel, the output shaft of axis hole connection reducer include：Driving wheel, axis hole pass through expansion set
The output end outer surface of close-fitting shaft coupling；Decelerator, it is fixed on electric machine support, inputs axis connection motor, exports axis connection master
The axis hole of driving wheel includes：Decelerator, it is fixed on electric machine support, inputs axis connection motor, the input of output shaft close-fitting shaft coupling
The axis hole at end；Driving wheel module also includes：Shaft coupling, the output shaft of the axis hole close-fitting decelerator of input, the appearance of input
Face is connected to electric machine support, the bore area of the axle surface close-fitting expansion set of output end by bearing.
In certain embodiments, decelerator, it is fixed on electric machine support, including：Decelerator, the rubber-coated pad in outer surface,
In split-type motor casing, the end face adjacent with input shaft is fixedly connected with the end face of motor, and the end face adjacent with output shaft can
Dismantling connection is in electric machine support；Motor, it is fixed on electric machine support, the input shaft of output shaft connection reducer includes：Motor, outside
Surface coating rubber blanket, in split-type motor casing, the input shaft of output shaft connection reducer；Driving wheel module also includes：
Split-type motor casing, including upper motor casing and lower motor casing, upper motor casing and lower motor casing are detachably connected, and upper motor casing is removable
Unload and be connected on electric machine support.
In certain embodiments, follower module includes：Follower, is universal wheel, and the support of universal wheel connects follower
Support；Passive wheel support, top connect the bottom of follower suspension holdfast by revolute pair；Follower suspension holdfast, top connect
Synthetism frame, bottom connect the top of passive wheel support；Spring assembly, including pull bar, spring and locking nut, one end of pull bar with
Connected between passive wheel support by revolute pair, follower suspension holdfast is stretched into the bottom surface of the other end through follower suspension holdfast
Inside；Spring is placed on pull bar, and lower surface and the bottom surface of follower suspension holdfast offset, and upper surface is with being threadedly connected to pull bar
The nut of end offsets.
In certain embodiments, chassis also includes：Sensor, it is arranged at the side of skeleton.
In certain embodiments, sensor comprises at least following one or more：Ultrasonic sensor, infrared sensor,
Laser sensor and camera.
In certain embodiments, skeleton includes：Skeleton interface, located at the upper surface of skeleton, connect the bone of body of robot
Frame.
Second aspect, the embodiment of the present application provide a kind of robot, and robot includes the as above machine described in any one
Device people chassis.
The robot chassis provided in the embodiment of the present application and robot, robot chassis is set to include：Skeleton, bottom surface are set
Put two driving wheel modules and two follower modules, and the four wheels of two driving wheel modules and two follower modules
It is located at an apex of rhombus respectively；Two driving wheel modules, it is symmetricly set in left and right two parts of the bottom surface of skeleton；Two
Follower module, follower module use universal wheel, are symmetricly set in front and rear two parts of the bottom surface of skeleton.This arrangement side
Formula, it is ensured that chassis wheel has larger projected area with ground contact points, so that the quiet/dynamic stability on chassis
It is higher, meanwhile, whole chassis has less radius of turn, and easily controllable.
In some embodiments, resilient connection effectively absorbs in the moving process of chassis and jolts and shake caused by barrier,
The even running on robot chassis is ensure that, by the precompressed for adjusting the damper of driving wheel module or the spring of follower module
Contracting amount changes different flexible members, the soft or hard degree of suspension on robot chassis can be flexibly adjusted, so that machine
Device people chassis has extremely strong landform adaptability.
In some embodiments, driving wheel transmission perpendicular to reducer shaft to torque of toppling all held by shaft coupling
Load, and electric machine support is transferred to, reducer shaft is solely subjected to circumference torque load, avoids torque of toppling in decelerator and motor
The destruction of portion's component, the working condition of decelerator and motor is improved, effectively extend the service life of decelerator and motor.
In some embodiments, rubber blanket is filled between motor and decelerator and motor cabinet, can effectively buffer both
Between shake influence each other, improve the reliability of work.
Brief description of the drawings
By reading the detailed description made to non-limiting example made with reference to the following drawings, the application's is other
Feature, objects and advantages will become more apparent upon：
Fig. 1 a are the exemplary block diagrams according to the one embodiment on the robot chassis of the application；
Fig. 1 b are the top views on the robot chassis in the application Fig. 1 a；
Fig. 2 a show the schematic diagram of one embodiment of the driving wheel module on the robot chassis according to the application；
Fig. 2 b show the upward view of the driving wheel module in Fig. 2 a；
Fig. 2 c show the A-A sectional views of the driving wheel module in Fig. 2 b；
Fig. 3 a show the schematic diagram of one embodiment of the follower module on the robot chassis according to the application；
Fig. 3 b show the top view of the follower module in Fig. 3 a；
Fig. 3 c show the B-B sectional views of the follower module in Fig. 3 b；
Fig. 4 shows the schematic diagram of one embodiment of the skeleton on the robot chassis according to the application.
Embodiment
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that in order to
Be easy to describe, illustrate only in accompanying drawing to about the related part of invention.
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase
Mutually combination.Describe the application in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
It refer to the implementation that Fig. 1 a and Fig. 1 b, Fig. 1 a and Fig. 1 b respectively illustrate the robot chassis according to the application
The top view of schematic diagram in the schematic diagram and Fig. 1 a of example.
As illustrated in figs. 1A and ib, robot chassis 100 includes：110, two driving wheel modules 120 of skeleton and two quilts
Driving wheel module 130.
Wherein, skeleton 110, bottom surface set two driving wheel modules 120 and two follower modules 130, and two masters
The four wheels of driving wheel module 120 and two follower modules 130 are located at an apex of rhombus respectively；Two active wheel models
Group 120, it is symmetricly set in left and right two parts of the bottom surface of skeleton 110；Two follower modules 130, follower module use ten thousand
To wheel, front and rear two parts of the bottom surface of skeleton 110 are symmetricly set in.
In the present embodiment, two driving wheels are symmetrically arranged in the left and right sides on chassis, and two followers are symmetrically arranged in
The front and rear sides on chassis；Follower is universal wheel, and 360 ° of rotations can be carried out around its vertical axis；Four wheels are located at rhombus respectively
An apex.
This arrangement on the robot chassis in the above embodiments of the present application, it is ensured that chassis wheel connects with ground
Contact has larger projected area, so that the quiet/dynamic stability on chassis is higher, meanwhile, whole chassis has smaller
Radius of turn, it is and easily controllable.
The active wheel model on the robot chassis according to the application is shown with further reference to Fig. 2 a, Fig. 2 b and Fig. 2 c, Fig. 2 a
The schematic diagram of one embodiment of group, Fig. 2 b show the upward view of the driving wheel module in Fig. 2 a, and Fig. 2 c are shown in Fig. 2 b
Driving wheel module A-A sectional views.
As shown in Fig. 2 a, Fig. 2 b and Fig. 2 c, driving wheel module 120 includes：Driving wheel 121, shaft coupling 122, decelerator
123rd, motor 124, split-type motor casing 125, electric machine support 126, motor suspension support 127, damper 128 and shock absorber support
129。
Wherein, driving wheel 121, the output end outer surface that axis hole passes through expansion set close-fitting shaft coupling 122；Shaft coupling 122, input
The output shaft of the axis hole close-fitting decelerator at end, the outer surface of input are attached to electric machine support, the axle table of output end by bearing
The bore area of face close-fitting expansion set；Decelerator 123, the rubber-coated pad in outer surface, in split-type motor casing, with input shaft phase
Adjacent end face is fixedly connected the end face of motor, and the end face adjacent with output shaft is detachably connected in electric machine support, input shaft connection
Motor, the axis hole of the input of output shaft close-fitting shaft coupling 122；Motor 124, the rubber-coated pad in outer surface, located at split-type electricity
In casing, output shaft couples the input shaft of decelerator；Split-type motor casing 125, including upper motor casing and lower motor casing, upper motor
Shell and lower motor casing detachably couple, and upper motor casing is detachably connected on electric machine support；Electric machine support 126, coupling bearing
Bearing block, decelerator and motor, coupled with motor suspension support by revolute pair；Motor suspension support 127, couple motor branch
Frame and skeleton bottom；Damper 128, lower end couple electric machine support by revolute pair, and upper end couples damper branch by revolute pair
Frame；Shock absorber support 129, is fixedly connected with skeleton.
In the present embodiment, the end of decelerator 123 is consolidated by detachably coupling (such as thread connection) with the front end of motor 124
It is connected together, the output shaft of motor 124 drives decelerator internal gear to rotate as the input shaft of decelerator 123, and decelerator 123 exports
Axle passes through expansion set and the axis hole close-fitting of driving wheel 121 with the axis hole close-fitting on shaft coupling 122, shaft coupling 122；The front end of decelerator 123
Face is tightened together by detachably coupling (such as thread connection) with electric machine support 126, and motor 124 and decelerator 123 are cylindrical
Cylinder coats one layer of rubber blanket (not shown), and (such as screw thread joins by detachably coupling for upper motor casing and lower motor casing
Connect), the motor 124 for being coated with rubber blanket and decelerator 123 are clamped in the cylindrical seat that upper motor casing and lower motor casing are formed
Kong Zhong, further, upper motor casing are tightened together by detachably coupling (such as thread connection) with electric machine support 126；Axle
The bore close-fitting with bearing block is held, bearing (ball) cover is fixed on motor branch with bearing block by detachably coupling (such as thread connection)
On frame 126；Electric machine support 126 is connected by revolute pair and motor suspension support 127, and electric machine support 126 can be around motor suspension
The rotating shaft of support is rotated；Coupled respectively with revolute pair between damper 128 and electric machine support 126, shock absorber support 129；
Shock absorber support 129 is fixed on the skeleton on chassis by thread connection respectively with motor suspension support 127.
Here damper 128, the damper in prior art or the technology of future development can be used, such as can adopted
With the damper based on spring or the damper based on compressed gas etc..During being moved on chassis, when driving wheel 121 runs into
During barrier, driving wheel 121 is held up by barrier, and electric machine support 126 is rotated up around the rotating shaft of motor suspension support 127, together
When the spring of damper 128 (or the damper element such as compressed gas) compressed, jolt and shake caused by so as to absorb barrier,
It ensure that the even running on robot chassis；By adjusting the pre compressed magnitude of shock absorber spring elements or changing different loads
Damper, it can flexibly adjust the soft or hard degree of suspension on robot chassis.
Herein, realized and coupled by expansion set between driving wheel 121 and shaft coupling 122, can be by adjusting spiral shell on expansion set
The tightness of nail, the frictional force between driving wheel 121 and shaft coupling 122 can be adjusted, further adjust driving wheel 121 and connection
The critical value skidded between axle device 122, it is possible to prevente effectively from overload, is protected to motor 124 and decelerator 123.When
When circumference torque is transferred to driving wheel by decelerator rotating shaft by shaft coupling 122, shaft coupling 122 (close-fitting, refers to bearing close-fitting
Bearing is tightly crowded together with axle, can just be unloaded with the external force of predetermined dynamics.Its internal diameter is set to become big bearing heating during installation
It is enclosed on while hot on axle afterwards, or more than hundred kilograms of pressure is applied with forcing press to bearing it is set on axle), further
Tightened together by bearing block and bearing (ball) cover with electric machine support.So, by driving wheel transmission perpendicular to decelerator
The torque of toppling of rotor shaft direction is all undertaken by shaft coupling 122, and is further transferred to electric machine support 126, and 123 turns of decelerator
Axle only undertakes circumference torque, avoids the destruction of the internal structure of decelerator 123, forms the protection to decelerator 123, extends
The service life of decelerator 123 and motor 124.
Herein, rubber blanket is filled between decelerator and motor and motor bore, can effectively completely cut off motor and deceleration
Caused vibrations impact to chassis in the device course of work, while can also completely cut off chassis vibrations to motor and the shadow of decelerator
Ring.
It will be appreciated by those skilled in the art that the driving wheel module shown in Fig. 2 a, Fig. 2 b and Fig. 2 c, implements for the application
An exemplary embodiment of driving wheel module, does not represent the restriction to the application in example.For example, slow down in driving wheel module
The connection of device and driving wheel, the output shaft of decelerator can also be directly coupled by the axis hole of driving wheel, without using expansion set close-fitting
Shaft coupling couples to realize.In another example decelerator and motor in driving wheel module, can also be directly fixed on electric machine support
On, without using rubber-coated pad and split-type motor casing.
The passive wheel model on the robot chassis according to the application is shown with further reference to Fig. 3 a, Fig. 3 b and Fig. 3 c, Fig. 3 a
The schematic diagram of one embodiment of group, Fig. 3 b show Fig. 3 a top view, and Fig. 3 c show the B-B sectional views in Fig. 3 b.
As shown in Fig. 3 a, Fig. 3 b and Fig. 3 c, follower module 130 includes：It is follower 131, passive wheel support 132, passive
Take turns suspension holdfast 133 and spring assembly.
Wherein, follower 131, are universal wheel, and the support of universal wheel couples passive wheel support；Passive wheel support 132, top
Couple the bottom of follower suspension holdfast by revolute pair；Follower suspension holdfast 133, top connecting framework, bottom connection quilt
The top of driving wheel support；Spring assembly, including pull bar 134, spring 135 and locking nut 136, one end and the follower branch of pull bar
Coupled between frame by revolute pair, the inside of follower suspension holdfast is stretched into the bottom surface of the other end through follower suspension holdfast；
Spring is placed on pull bar, and lower surface and the bottom surface of follower suspension holdfast offset, and upper surface is with thread connection in pull bar end
Nut offsets.
In the present embodiment, the follower 131 of follower module is universal wheel, can be around the 360 ° of rotations of its vertical axis；Quilt
Driving wheel 131 is fastened on passive wheel support 132 by detachably coupling (such as thread connection), passive wheel support 132 with it is passive
Coupled between wheel suspension holdfast 133 by revolute pair, passive wheel support 132 can enter around the rotating shaft of follower suspension holdfast 133
Row rotates；Follower suspension holdfast 133 is fixed in by detachably coupling (such as thread connection) and the skeleton on robot chassis
Together；Coupled between the pull bar 134 of spring assembly and passive wheel support 132 by revolute pair, pull bar 134 can be around rod shaft
Rotate；The empty set of spring 135 is on the pull bar 134 of spring, the lower surface of spring 135 and the bottom surface phase of follower suspension holdfast 133
Contact, the upper surface of spring 135 are in contact with pad, and external screw thread, and and locking nut are processed into the end of pull bar 134 of spring
136 form thread connection, so as to form axial restraint to pad and spring.
Chassis is in moving process, and when follower runs into barrier, follower lifts up, and passive wheel support is around follower
Suspension rotating shaft is rotated up, while spring pull bar is pulled down by rod shaft, and spring is compressed, and is caused so as to absorb barrier
Jolt and shake, ensure that the even running on robot chassis；By adjusting the pre compressed magnitude of spring or changing different bullets
The spring of property modulus, it can flexibly adjust the soft or hard degree of suspension on robot chassis.
With further reference to Fig. 4, Fig. 4 shows the signal of one embodiment of the skeleton on the robot chassis according to the application
Figure.
As shown in figure 4, on skeleton 110, sensor 111 and skeleton interface 112 are provided with.
Wherein, sensor 111 is arranged at the side of skeleton.Skeleton interface 112, located at the upper surface of skeleton, couple machine
The trunk skeleton of people.
In the present embodiment, sensor 111 is a kind of detection means, can experience measured information, and will can experience
The information arrived, electric signal or the information output of other required forms is for conversion into according to certain rules, to meet the transmission of information, place
Reason, storage, display, record and control etc. require.Here sensor 111, can be prior art or the technology of future development
In sensor, the application do not limited this, for example, sensor 111 can include ultrasonic sensor, infrared sensor,
One or more in laser sensor and camera.
Herein, the wall thickness of skeleton can determine that the shape of skeleton can according to the weight for the robot that skeleton is carried
To be determined according to the equipment for being actually needed skeleton carrying.For example, need to carry above-mentioned robot, active wheel model with skeleton
Exemplified by group, follower module and sensor, can be welded skeleton using wall thickness 1mm 304 stainless steel square pipes, according to
The actual bearer ability on robot chassis, the material of other wall thickness, material or cross sectional shape can also be adjusted to；In view of chassis
Skeleton and robot trunk part couple, the upper surface of the skeleton on chassis can be provided with skeleton interface, be used for and machine
The skeleton of people's torso portion is connected；The side of the skeleton on chassis can be provided with sensor interface, for installing various sensings
Device, for example ultrasonic sensor, infrared sensor, laser sensor, shooting are first-class；Electricity is also provided with the skeleton on chassis
Road plate installing plate 113, for installing the circuit boards such as motor driver, motor control panel.
In embodiments herein, a kind of robot is additionally provided, robot is included in as above any one embodiment
Described robot chassis.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.People in the art
Member should be appreciated that invention scope involved in the application, however it is not limited to the technology that the particular combination of above-mentioned technical characteristic forms
Scheme, while should also cover in the case where not departing from foregoing invention design, carried out by above-mentioned technical characteristic or its equivalent feature
The other technical schemes for being combined and being formed.Such as features described above has similar work(with (but not limited to) disclosed herein
The technical scheme that the technical characteristic of energy is replaced mutually and formed.
Claims (9)
1. a kind of robot chassis, it is characterised in that the robot chassis includes：
Skeleton, bottom surface set two driving wheel modules and two follower modules, and two driving wheel modules and two
The four wheels of the follower module are located at an apex of rhombus respectively；
Two driving wheel modules, it is symmetricly set in left and right two parts of the bottom surface of skeleton；
Two follower modules, the follower module use universal wheel, are symmetricly set in front and rear the two of the bottom surface of skeleton
Part.
2. robot chassis according to claim 1, it is characterised in that the driving wheel module includes：
Driving wheel, axis hole couple the output shaft of the decelerator；
Decelerator, it is fixed on the electric machine support, input shaft connection motor, output shaft couples the axis hole of the driving wheel；
Motor, it is fixed on the electric machine support, output shaft couples the input shaft of the decelerator；
The electric machine support, couple the bearing block, the decelerator and the motor of the bearing, lead to motor suspension support
Cross revolute pair connection；
The motor suspension support, couple the electric machine support and the skeleton bottom；
Damper, lower end couple the electric machine support by revolute pair, and upper end couples shock absorber support by revolute pair；
The shock absorber support, it is fixedly connected with the skeleton.
3. robot chassis according to claim 2, it is characterised in that the driving wheel, axis hole couple the decelerator
Output shaft include：Driving wheel, the output end outer surface that axis hole passes through expansion set close-fitting shaft coupling；
The decelerator, it is fixed on the electric machine support, input shaft connection motor, output shaft couples the axis hole of the driving wheel
Including：The decelerator, it is fixed on the electric machine support, input shaft connection motor, shaft coupling is defeated described in output shaft close-fitting
Enter the axis hole at end；
The driving wheel module also includes：The shaft coupling, the output shaft of the axis hole close-fitting decelerator of input, input it is outer
Surface is attached to electric machine support by bearing, the bore area of expansion set described in the axle surface close-fitting of output end.
4. the robot chassis according to Claims 2 or 3, it is characterised in that the decelerator, be fixed on the motor branch
On frame, including：Decelerator, the rubber-coated pad in outer surface, in split-type motor casing, connection is fixed in the end face adjacent with input shaft
The end face of motor is connect, the end face adjacent with output shaft is detachably connected in electric machine support；
The motor, it is fixed on the electric machine support, the input shaft that output shaft couples the decelerator includes：Motor, appearance
Bread covers rubber blanket, and in the split-type motor casing, output shaft couples the input shaft of the decelerator；
The driving wheel module also includes：The split-type motor casing, including upper motor casing and lower motor casing, the upper motor casing
Detachably couple with the lower motor casing, the upper motor casing is detachably connected on the electric machine support.
5. according to the robot chassis described in claim 1-4 any one, it is characterised in that the follower module includes：
Follower, is universal wheel, and the support of the universal wheel couples passive wheel support；
The passive wheel support, top couple the bottom of follower suspension holdfast by revolute pair；
The follower suspension holdfast, top couple the skeleton, the top of the bottom connection passive wheel support；
Spring assembly, including pull bar, spring and locking nut, pass through revolute pair between one end of pull bar and the passive wheel support
The inside of the follower suspension holdfast is stretched into connection, the bottom surface of the other end through the follower suspension holdfast；The spring
It is placed on the pull bar, lower surface and the bottom surface of the follower suspension holdfast offset, and upper surface is with thread connection in the drawing
The nut of bar end offsets.
6. robot chassis according to claim 1, it is characterised in that the chassis also includes：
Sensor, it is arranged at the side of the skeleton.
7. robot chassis according to claim 6, it is characterised in that the sensor is comprised at least with the next item down or more
：Ultrasonic sensor, infrared sensor, laser sensor and camera.
8. robot chassis according to claim 1, it is characterised in that the skeleton includes：Skeleton interface, located at described
The upper surface of skeleton, couple the trunk skeleton of robot.
9. a kind of robot, it is characterised in that the robot includes the robot bottom as described in claim 1-8 any one
Disk.
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