CN109823402A - A kind of robot chassis skeleton and robot - Google Patents
A kind of robot chassis skeleton and robot Download PDFInfo
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- CN109823402A CN109823402A CN201910154346.XA CN201910154346A CN109823402A CN 109823402 A CN109823402 A CN 109823402A CN 201910154346 A CN201910154346 A CN 201910154346A CN 109823402 A CN109823402 A CN 109823402A
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Abstract
The present embodiments relate to robotic technology field, in particular to a kind of robot chassis skeleton and robot, robot chassis skeleton includes: chassis overhang；Knee sprung actuator is connected to the side of the chassis overhang；Driving device, shell are connected to the other side of the chassis overhang；Driving wheel, the driving wheel are equipped with container, and the driving device is partially housed in the container, and the output end connection of the driving wheel and driving device, the driving device is for driving the omni-directional wheel to rotate relative to chassis overhang；Battery module is connected to the chassis overhang.By the above-mentioned means, the embodiment of the present invention had not only reduced robot chassis skeleton the space occupied, but also realize the modularized design of robot chassis skeleton, disassembly, maintenance are more convenient.
Description
Technical field
The present embodiments relate to robotic technology field, in particular to a kind of robot chassis skeleton and robot.
Background technique
With the continuous development of robot technology, robot can copy the movement of the mankind also more and more.And robot
Chassis skeleton will affect as the important component for realizing the functions such as robot ambulation, steering, the implementation of structure and function
Size, appearance and the complexity of robot entirety.
The present inventor in the implementation of the present invention, has found: currently, robot chassis skeleton is to pass through driving
Device connects driving wheel, by driving device driving driving wheel rotation, to realize the movement on robot chassis, wherein driving dress
It is independent and separate for setting with the occupied space of driving wheel, and robot chassis is caused to take up space excessively.
Summary of the invention
In view of the above drawbacks of the prior art, the main purpose of the embodiment of the present invention is to provide a kind of robot chassis bone
Frame and robot had not only reduced robot chassis skeleton the space occupied, but also have realized the modularized design of robot chassis skeleton, tore open
Unload, repair it is more convenient.
In order to solve the above technical problems, a technical solution used in the embodiment of the present invention is: providing a kind of robot bottom
Disk skeleton, including；Chassis overhang；Knee sprung actuator is connected to the side of the chassis overhang；Driving device, shell connection
In the other side of the chassis overhang；Driving wheel, the driving wheel are equipped with container, and the driving device is partially housed in described
The output end of container, the driving wheel and driving device connects, and the driving device is for driving the driving wheel bottom of with respect to
Disc carrier rotation；Battery module is connected to the chassis overhang.
Optionally, the chassis overhang includes column and bottom plate；One end of the column is connected to the described of the bottom plate
Side, the knee sprung actuator are connected to the other end of the column；The other side of the bottom plate respectively with the driving device
It is connected with battery module.
Optionally, one end of the column is provided with the first groove；One end of the knee sprung actuator is contained in described
In one groove.
Optionally, the bottom plate is provided with the second groove；The other end of the column is provided with first boss；Described first
Boss is plugged in second groove.
Optionally, the chassis overhang includes vertical plate；One end of the vertical plate is connect with the other side of the bottom plate；It is described
The shell of driving device is connected to the other end of the vertical plate.
Optionally, the other end of the vertical plate is provided with fixing groove, and the housing parts of the driving device are contained in described
Fixing groove.
Optionally, the driving wheel is omni-directional wheel, the quantity one of the driving wheel, the driving device and the vertical plate
It causes, is three, three driving wheels are arranged in triangle.
Optionally, the battery module is connected to the other side of the chassis overhang, and three vertical plates are around institute
State battery module.
Optionally, the motor of driving device is external rotor electric machine.
In order to solve the above technical problems, another technical solution used in the embodiment of the present invention is: a kind of robot is provided,
Including above-mentioned robot chassis skeleton.
The beneficial effect of the embodiment of the present invention is: it is in contrast to the prior art, in embodiments of the present invention, robot
Container is arranged in the driving wheel of chassis skeleton, and driving device is partially housed in container, the output end and driving wheel of driving device
Connection, for driving driving wheel to rotate with respect to chassis overhang, the movement of realization robot chassis skeleton, and by by driving device
It is partially housed in the container of driving wheel, is used in the inner space of driving wheel to carry driving device, it is possible to reduce driving
Exterior space required for device and driving wheel, to reduce the occupied space of robot chassis skeleton；In addition, robot bottom
Disk skeleton is divided into knee sprung actuator, chassis overhang, driving device, driving wheel, battery module, and knee sprung actuator, chassis branch
Frame, driving device, driving wheel, battery module are the module that can independently produce, and these module dress groups form machine together
Device people chassis skeleton, so that robot chassis skeleton is in modularized design, installation, the disassembly of robot chassis skeleton are more convenient.
Detailed description of the invention
It, below will be to specific reality in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
It applies example or attached drawing needed to be used in the description of the prior art is briefly described.In all the appended drawings, similar element or portion
Divide and is generally identified by similar appended drawing reference.In attached drawing, each element or part might not be drawn according to actual ratio.
Fig. 1 is a kind of assembled view of robot chassis skeleton embodiment of the present invention；
Fig. 2 is a kind of explosive view of robot chassis skeleton embodiment of the present invention；
Fig. 3 is the chassis overhang explosive view in a kind of robot chassis skeleton embodiment of the present invention；
Fig. 4 is the column explosive view in a kind of robot chassis skeleton embodiment of the present invention；
Fig. 5 is the schematic diagram of the omni-directional wheel and driving device in a kind of robot chassis skeleton embodiment of the present invention；
Fig. 6 is the explosive view of the driving wheel in a kind of robot chassis skeleton embodiment of the present invention；
Fig. 7 is showing for inboard roller in a kind of robot chassis skeleton embodiment of the present invention, interior pivot pin and second bearing
It is intended to；
Fig. 8 is showing for outboard roller in a kind of robot chassis skeleton embodiment of the present invention, outer pivot pin and 3rd bearing
It is intended to；
Fig. 9 is inside wheel hub, driving wheel main structure and the outboard wheel in a kind of robot chassis skeleton embodiment of the present invention
The schematic diagram of hub；
Figure 10 is the local exploded-view of the driving wheel in a kind of robot chassis skeleton embodiment of the present invention.
The reference numerals are as follows for specific embodiment:
Specific embodiment
It is described in detail below in conjunction with embodiment of the attached drawing to technical solution of the present invention.Following embodiment is only used for
Clearly illustrate technical solution of the present invention, therefore be only used as example, and cannot be used as a limitation and limit protection model of the invention
It encloses.
It should be noted that unless otherwise indicated, technical term or scientific term used in this application should be this hair
The ordinary meaning that bright one of ordinary skill in the art are understood.
In the description of the present application, it is to be understood that the orientation or positional relationship of the instructions such as term "inner", "outside" is base
In orientation or positional relationship shown in the drawings, it is merely for convenience of description of the present invention and simplification of the description, rather than indication or suggestion
Signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to this
The limitation of invention.
In addition, term " first ", " second " etc. are used for description purposes only, it is not understood to indicate or imply relatively important
Property or implicitly indicate the quantity of indicated technical characteristic.In the description of the present invention, the meaning of " plurality " is two or more,
Unless otherwise specifically defined.
In this application unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term 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 connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
In this application unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
First feature horizontal height is higher than second feature.Fisrt feature can be under the second feature " below ", " below " and " below "
One feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
As depicted in figs. 1 and 2, robot chassis skeleton 100 includes: chassis overhang 10, knee sprung actuator 20, driving wheel
30, driving device 40 and battery module 50.Knee sprung actuator 20 is connect with the side of chassis overhang 10, driving device 40 and battery
Module 50 is connect with the other side of chassis overhang 10 respectively, and the output end of driving device 40 is connect with driving wheel 30.
For above-mentioned chassis overhang 10, as shown in figure 3, chassis overhang 10 includes: column 11, bottom plate 12 and vertical plate 13.It is vertical
One end of column 11 is equipped with the first groove 111, and the other end is equipped with first boss 112.Bottom plate 12 is equipped with the second groove 121.Vertical plate 13
One end be equipped with fixing groove 131.First boss 112 is plugged in the second groove 121, and removable by being spirally connected or engaging etc.
The connection type unloaded connect column 11 and the side of bottom plate 12.The other end of vertical plate 13 and the other side of bottom plate 12 pass through spiral shell
Dismountable connection type connection such as connect or engage.
In further embodiments, as shown in figure 4, column 11 it is also detachable be the first columns assemblies 113 and the second column
Component 114.First columns assemblies 113 and the second columns assemblies 114 by be spirally connected, engage with or the modes such as welding connect, shape
At column 11.By the way that chassis overhang 10 is split into column 11, bottom plate 12 and vertical plate 13, between column 11 and bottom plate 12, bottom plate
It is connected between 12 and vertical plate 13, realizes the modularized design of chassis overhang 10, conveniently the installation and removal to chassis overhang 10,
In, the connection between column 11 and bottom plate 12, between bottom plate 12 and vertical plate 13 is preferred are as follows: is detachably connected.
It is to be understood that the structure of chassis overhang 10 is not limited to above-mentioned described structure, or other structures,
As long as it can connect knee sprung actuator and driving device.
As shown in Figure 1, the shell of knee sprung actuator 20 is plugged in the first groove 111, then pass through the connection such as be spirally connected or engage
The shell of knee sprung actuator 20 is connect by mode with column 11.When knee sprung actuator 20 works, output end drives defeated with it
Outlet connection component with respect to knee sprung actuator 20 housing into rotation, thus realize knee sprung movement.
For above-mentioned driving wheel 30, as shown in Figure 2 and Figure 5, driving wheel 30 is equipped with container 31, robot chassis skeleton
100 further include first bearing 60.Shell of the driving device 40 close to its output end one end is socketed on the inner ring of first bearing 60, the
The outer ring of one bearing 60 is fixed in container 31, so that the shell of driving device 40 and driving wheel 30 are rotatablely connected, driving
The output end of device 40 and the wheel hub of driving wheel 30 are connect by the removably connection type such as being spirally connected or be clamped, wherein first
Bearing 60 plays the role of supporting the shell of driving device 40.The shell of the other end far from its output end of driving device 40 is received
It is dissolved in fixing groove 131, then passes through dismountable connection type connection such as be spirally connected or engage, so that vertical plate 13 and driving device
40 shell connection.When driving device 40 works, the housing into rotation of the opposite driving device 40 of driving driving wheel 30, thus machine
The movement of people chassis skeleton 100.
In some embodiments, driving wheel 30 is chosen as omni-directional wheel, and the motor that driving device 40 uses is external rotor electric machine
Since external rotor electric machine is with respect to inner rotor motor, revolving speed is small, and torque is big, and thermal diffusivity is preferable, can satisfy robot bottom
100 frame of disk bone needs the requirement of big torque and good thermal diffusivity when moving.Driving wheel 30, driving device 40 and vertical plate 13
Quantity is consistent, is three.Three pieces of vertical plates 13 are set to the other side of bottom plate 12 in triangle, and three driving wheels 30 are also in triangle
Setting is rotated by three driving wheels 30 of driving, realizes advance, retrogressing and the steering of robot chassis skeleton 100.Certainly, exist
In other embodiments, the quantity of driving wheel 30, driving device 40 and vertical plate 13 be not limited to the above embodiments described in three,
It can be other quantity such as two, four.
In some other embodiment, as shown in fig. 6, driving wheel 30 include inside wheel hub 32, it is driving wheel main structure 33, outer
If side wheel hub 34, several inboard rollers 35, several interior pivot pins 36, several second bearings 37, several outboard rollers 38,
Dry 3rd bearing 39 and several outer pivot pin 39a.
For above-mentioned several inboard rollers 35, several interior pivot pins 36 and several second bearings 37, as shown in fig. 7, interior sidewinder
Son 35 is provided with interior roller through-hole 351.One second bearing 37 is fixed in the interior roller through-hole 351 of an inboard roller 35.In one
Pivot pin 36 is plugged in interior roller through-hole 351, and is socketed in second bearing 37, so that inboard roller 35 can be around interior pivot pin
36 rotations.
For above-mentioned several outboard rollers 38, several 3rd bearings 39 and several outer pivot pin 39a, as shown in figure 8, sidewindering outside
Son 38 is provided with outer roller through-hole 381.One 3rd bearing 39 is fixed in the outer roller through-hole 381 of an outboard roller 38.Outside one
Pivot pin 39a is plugged in outer roller through-hole 381, and is socketed in 3rd bearing 39, so that outboard roller 38 can be around outer shaft
Sell 39a rotation.
In some embodiments, settable at least two second bearing 37 of each inboard roller 35, two second bearings 37
Positioned at interior 351 both ends of roller through-hole of inboard roller 35, interior pivot pin 36 is socketed in two second bearings 37.Each outboard roller
38 settable at least two 3rd bearings 39, two 3rd bearings 39 are located at outer 381 both ends of roller through-hole of outboard roller 38, outside
Pivot pin 39a is socketed in two second bearings 37.So that outboard roller 38 is rotated relative to outer pivot pin 39a and inboard roller 35
Rotation relative to interior pivot pin is more steady.
For above-mentioned driving wheel main structure 33, as shown in figs. 5 and 9, driving wheel main structure 33 is equipped with the first connection through-hole
331, several first outer lug boss 332 and several first inner convex platforms 333.The outer ring of first bearing 60 connect through-hole with first
331 interference fits, to realize that first bearing 60 is fixed in the first connection through-hole 331.Several first inner convex platforms 333 are surround
33 outer edge of driving wheel main structure arranges, and surrounds one first inside groove 334 between the first inner convex platform of each adjacent two 333.Several
First outer lug boss 332 is arranged around 33 outer edge of driving wheel main structure, and is surrounded between the first outer lug boss of each adjacent two 332
One first outer groove 335.
For above-mentioned inside wheel hub 32, as shown in Fig. 5, Fig. 9 and Figure 10, inside wheel hub 32 is equipped with the second connection through-hole 321
With several second inner convex platforms 322.Several second inner convex platforms 322 are arranged around 32 outer edge of inside wheel hub, and per adjacent two
The second inside groove 323 is surrounded by between a second inner convex platform 322.First inner convex platform 333 is identical with the quantity of the second inner convex platform 322,
And one first inner convex platform 333 and one second inner convex platform 322 are spirally connected, so that inside wheel hub 32 is connect with driving wheel main structure 33.
When the first inner convex platform 333 and the second inner convex platform 322 are spirally connected, the second connection through-hole 321 connect through-hole 331 with first and is connected to, with
Container 31 is formed, one first inside groove 334 is connected to one second inside groove 323, and turn trough 301 in one are collectively formed.One inner shaft
Pin 36 is located at turn trough 301 in one, and the both ends of the interior pivot pin 36 and the two opposite side walls of the interior turn trough 301 are fixed, to make
An inboard roller 35 is obtained to be rotationally connected in one in turn trough 301.
For above-mentioned outside wheel hub 34, as shown in Fig. 5, Fig. 9 and Figure 10, outside wheel hub 34 is equipped with several second outer lug boss
341, several second outer lug boss 341 are arranged around the outer edge of outside wheel hub 34, between the second outer lug boss of each adjacent two 341
It is surrounded by the second outer groove 342.First outer lug boss 332 is identical with the quantity of the second outer lug boss 341, and one first outer lug boss 332
It is spirally connected with one second outer lug boss 341, so that outside wheel hub 34 is connect with driving wheel main structure 33.When the first outer lug boss 332 and
When two outer lug boss 341 are spirally connected, one first outer groove 335 is connected to one second outer groove 342, and an outer turn trough is collectively formed and (schemes not
Show).One outer pivot pin 39a is located at an outer turn trough, and the both ends of the outer pivot pin 39a and the two opposite side walls of the outer turn trough are fixed,
So that an outboard roller 38 is rotationally connected in an outer turn trough.The shell of driving device 40 is socketed in first bearing 60,
And its output end and outside wheel hub are connect by the modes such as engage or be spirally connected.
It is to be understood that connection type and outside wheel hub 34 between inside wheel hub 32 and driving wheel main structure 33
Connection type between driving wheel main structure 33 is not limited to above by the mode being spirally connected, can also be using other connections
Mode, such as: it welds, be connected together.
For above-mentioned battery module 50, the other side for being connected to chassis overhang 12 by the connection types such as being spirally connected, engaging, and
And three pieces of vertical plates 13 are around battery module 50.Battery module 50 and the other components of robot chassis skeleton 100 and robot
Power consumption component electrical connection, to be powered to a power consumption component.
In the embodiment of the present invention, be by dividing robot chassis skeleton 100: chassis overhang 10, drives knee sprung actuator 20
Dynamic 50 5 modules of device 40, driving wheel 30 and battery module, and connection forms robot chassis skeleton between modules
100, to realize the modularized design of robot chassis skeleton 100, the later period is facilitated to disassemble and maintain robot chassis；
In addition, the inner space for being used in driving wheel 30 is come since driving device 40 is partially housed in the container 31 of driving wheel 30
Carry driving device 40, it is possible to reduce exterior space required for driving device 40 and driving wheel 30, to reduce robot bottom
The occupied space of disk skeleton, so that the more compact structure of robot chassis skeleton 100.
The present invention also provides robotic embodiments.Robot includes: robot chassis skeleton 100, robot chassis skeleton
100 structure and function is identical as the structure and function of above-mentioned robot chassis skeleton 100, no longer repeats one by one herein.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme should all cover within the scope of the claims and the description of the invention.Especially, as long as there is no knots
Structure conflict, items technical characteristic mentioned in the various embodiments can be combined in any way.The present invention does not limit to
In specific embodiment disclosed herein, but include all technical solutions falling within the scope of the claims.
Claims (10)
1. a kind of robot chassis skeleton characterized by comprising
Chassis overhang；
Knee sprung actuator is connected to the side of the chassis overhang；
Driving device, shell are connected to the other side of the chassis overhang；
Driving wheel, the driving wheel are equipped with container, and the driving device is partially housed in the container, the driving wheel with
The output end of driving device connects, and the driving device is for driving the driving wheel to rotate relative to chassis overhang；
Battery module is connected to the chassis overhang.
2. robot chassis according to claim 1 skeleton, which is characterized in that
The chassis overhang includes column and bottom plate；
One end of the column is connected to the side of the bottom plate, and the knee sprung actuator is connected to the another of the column
End；
The other side of the bottom plate is connect with the driving device and battery module respectively.
3. robot chassis according to claim 2 skeleton, which is characterized in that
One end of the column is provided with the first groove；
One end of the knee sprung actuator is contained in first groove.
4. robot chassis according to claim 2 skeleton, which is characterized in that
The bottom plate is provided with the second groove；
The other end of the column is provided with first boss；
The first boss is plugged in second groove.
5. robot chassis according to claim 2 skeleton, which is characterized in that
The chassis overhang includes vertical plate；
One end of the vertical plate is connect with the other side of the bottom plate；
The shell of the driving device is connected to the other end of the vertical plate.
6. robot chassis according to claim 5 skeleton, which is characterized in that
The other end of the vertical plate is provided with fixing groove, and the housing parts of the driving device are contained in the fixing groove.
7. robot chassis according to claim 5 skeleton, which is characterized in that
The driving wheel is omni-directional wheel, and it is three that the driving wheel, the driving device are consistent with the quantity of the vertical plate,
Three driving wheels are arranged in triangle.
8. the robot chassis skeleton according to any one of claim 7, which is characterized in that
The battery module is connected to the other side of the chassis overhang, and three vertical plates are around the battery module.
9. robot chassis skeleton described in any one of -8 according to claim 1, which is characterized in that the motor of driving device
For external rotor electric machine.
10. a kind of robot, which is characterized in that including robot chassis as in one of claimed in any of claims 1 to 9 bone
Frame.
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| CN201910154346.XA CN109823402A (en) | 2019-03-01 | 2019-03-01 | A kind of robot chassis skeleton and robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910154346.XA CN109823402A (en) | 2019-03-01 | 2019-03-01 | A kind of robot chassis skeleton and robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110202484A (en) * | 2019-07-04 | 2019-09-06 | 姜涛 | Ball blast cambered surface wall-climbing device |
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| CN208179552U (en) * | 2018-01-31 | 2018-12-04 | 河源市勇艺达科技有限公司 | The interchangeable charging of one kind and walking basal seat modular construction robot |
| CN208020203U (en) * | 2018-03-06 | 2018-10-30 | 深圳市宙斯机器人有限公司 | A kind of Robet for boxing joint assembly |
| CN108964599A (en) * | 2018-07-02 | 2018-12-07 | 安徽工程大学 | A kind of stable mobile chassis of big inclined-plane photovoltaic panel |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110202484A (en) * | 2019-07-04 | 2019-09-06 | 姜涛 | Ball blast cambered surface wall-climbing device |
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Application publication date: 20190531 |