CN110435786B - Robot and chassis thereof - Google Patents
Robot and chassis thereof Download PDFInfo
- Publication number
- CN110435786B CN110435786B CN201910754871.5A CN201910754871A CN110435786B CN 110435786 B CN110435786 B CN 110435786B CN 201910754871 A CN201910754871 A CN 201910754871A CN 110435786 B CN110435786 B CN 110435786B
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- vehicle body
- robot
- chassis
- wheel
- rocker arm
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- 230000000670 limiting effect Effects 0.000 claims abstract description 72
- 238000013016 damping Methods 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 6
- 230000003014 reinforcing effect Effects 0.000 claims description 5
- 230000035939 shock Effects 0.000 description 10
- 230000001174 ascending effect Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 239000004484 Briquette Substances 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G7/00—Pivoted suspension arms; Accessories thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
- Handcart (AREA)
Abstract
The invention discloses a robot and a chassis thereof, wherein the chassis comprises: a vehicle body; the driven wheel is rotatably arranged at the bottom of the vehicle body; the first end of the rocker arm is rotatably arranged at the bottom of the vehicle body and is spaced from the driven wheel; the rotating shaft of the driving wheel is arranged at the second end of the rocker arm; and the limiting device is arranged on the rocker arm and comprises an upper limiting part and a lower limiting part, the upper limiting part and the lower limiting part are selectively matched with the bottom of the vehicle body, when the upper limiting part is matched with the bottom of the vehicle body, the driving wheel rotates to an upper limit position relative to the vehicle body, and when the lower limiting part is matched with the bottom of the vehicle body, the driving wheel rotates to a lower limit position relative to the vehicle body. Therefore, the driving wheel can be lifted relative to the vehicle body by arranging the rocker arm, so that the robot can adapt to different road surfaces, and the passing and obstacle crossing performances of the robot can be improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot and a chassis thereof.
Background
With the wide application of mobile robots in industrial fields such as cargo transportation and in modern service fields such as community delivery, stadium tour guide, home entertainment, and the like, a flexible and reliable mobile platform is attracting more and more attention in research and development fields.
In the related art, a mobile robot has good running condition on a road surface without an obstacle, but has poor running condition on a road surface with an obstacle (such as a deceleration strip), and is easy to jolt or even turn over, which is quite unfavorable for the practical application of the mobile robot.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, an object of the present invention is to propose a chassis of a robot, which can improve the passing and obstacle-crossing performance of the robot.
The invention further provides a robot.
The chassis of the robot according to the present invention comprises: a vehicle body; the driven wheel is rotatably arranged at the bottom of the vehicle body; a swing arm, a first end of which is rotatably provided at a bottom of the vehicle body and spaced apart from the driven wheel; the rotating shaft of the driving wheel is arranged at the second end of the rocker arm; the limiting device is arranged on the rocker arm and comprises an upper limiting part and a lower limiting part, the upper limiting part and the lower limiting part are selectively matched with the bottom of the vehicle body, when the upper limiting part is matched with the bottom of the vehicle body, the driving wheel rotates to an upper limit position relative to the vehicle body, and when the lower limiting part is matched with the bottom of the vehicle body, the driving wheel rotates to a lower limit position relative to the vehicle body.
Therefore, the driving wheel can be lifted relative to the vehicle body by arranging the rocker arm, so that the robot can adapt to different road surfaces, the passing and obstacle crossing performances of the robot can be improved, and the movement range of the driving wheel can not exceed the corresponding upper limit position and lower limit position by arranging the limiting device, so that the suspended stroke is limited to adjust the dynamic characteristics of the chassis.
In some examples of the present invention, the limiting device includes a main body connected to the rocker arm, and the upper limiting portion and the lower limiting portion are both disposed on the main body and are disposed at intervals in a front-rear direction.
In some examples of the present invention, the upper limit portion has a first corner protruding upward, and the driving wheel is rotated to an upper limit position with respect to the vehicle body when the first corner is engaged with the bottom of the vehicle body; the lower limiting part is provided with a second corner protruding upwards, and when the second corner is matched with the bottom of the vehicle body, the driving wheel rotates to the lower limit position relative to the vehicle body.
In some examples of the invention, the chassis further comprises: and one end of the damping device is rotatably connected to the vehicle body, and the other end of the damping device is rotatably connected to the limiting device.
In some examples of the invention, the spacing device further comprises: the connecting portion is located between the upper limiting portion and the lower limiting portion, the vehicle body is provided with a perforation, the connecting portion penetrates through the perforation, the damping device is located above the vehicle body, one end of the damping device is rotatably connected to the vehicle body, and the other end of the damping device is rotatably connected to the connecting portion.
In some examples of the invention, the rocker arm includes: the device comprises a bottom plate and two side plates, wherein the two side plates are vertically arranged and connected to two sides of the bottom plate in the width direction, the limiting device is fixed at the first end of the bottom plate, the second ends of the two side plates are provided with through holes for the rotating shaft to pass through, the second end of the bottom plate is provided with a pressing block, and the pressing block and the second end of the bottom plate jointly define the installation space of the rotating shaft.
In some examples of the invention, a reinforcing plate is provided between the two side plates, and between the limiting device and the side plates.
In some examples of the invention, the press block is mounted to the second end of the base plate by a fastener, and the press block is formed with a mounting hole that mates with the fastener and faces downward.
In some examples of the present invention, the number of the driving wheels is two, and the two driving wheels are arranged at the middle part of the vehicle body in the front-rear direction and are arranged at intervals in the left-right direction; the four driven wheels comprise two front driven wheels and two rear driven wheels, the two front driven wheels are positioned at the front sides of the two driving wheels and are arranged at left and right intervals, and the two rear driven wheels are positioned at the rear sides of the two driving wheels and are arranged at left and right intervals.
In some examples of the invention, the chassis further comprises: the front driven wheel is rotatably arranged on the front mounting frame, the middle part of the front mounting frame in the left-right direction is hinged to the bottom of the front side of the vehicle body, the rear driven wheel is rotatably arranged on the rear mounting frame, and the middle part of the rear mounting frame in the left-right direction is hinged to the bottom of the rear side of the vehicle body.
In some examples of the present invention, a front bumper is provided between the left and right ends of the front mount and the vehicle body bottom, and a rear bumper is provided between the left and right ends of the rear mount and the vehicle body bottom.
In some examples of the invention, the drive wheel includes a wheel body, the axle is rotatably disposed within the wheel body, and the wheel body is located outside of the vehicle body.
The robot according to the present invention includes: the chassis of the robot.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
fig. 1 is a perspective view of a chassis of a robot according to an embodiment of the present invention;
FIG. 2 is a cross-sectional view of the chassis of the robot shown in FIG. 1;
FIG. 3 is a schematic view of the chassis state of the robot on a downhill slope;
FIG. 4 is a schematic view of the chassis state of the robot when ascending an incline;
FIG. 5 is a schematic view of an assembly of a drive wheel, rocker arm, stop device and shock absorbing device;
fig. 6 is a schematic view of the drive wheel, rocker arm, stop device and shock absorbing device after disassembly.
Reference numerals:
A chassis 100;
A vehicle body 10; a perforation 11;
A front driven wheel 20; a rear driven wheel 30;
A rocker arm 40; a bottom plate 41; a side plate 42; a briquette 43; a reinforcing plate 44;
a drive wheel 50; a wheel main body 51; a rotating shaft 52;
a limiting device 60; an upper limit portion 61; a first corner 611; a lower limit portion 62; a second corner 621; a main body 63; a connection portion 64;
A damper device 70; a front mounting bracket 80; a front buffer block 81; a rear mounting bracket 90; and a rear buffer block 91.
Detailed Description
Embodiments of the present invention will be described in detail below, by way of example with reference to the accompanying drawings.
A chassis 100 of a robot according to an embodiment of the present invention is described below with reference to fig. 1 to 6.
As shown in fig. 1 to 4, a chassis 100 of a robot according to an embodiment of the present invention may include: the vehicle body 10, the driven wheels, the rocker arm 40, the driving wheel 50 and the limiting device 60, wherein the driven wheels can be rotatably arranged at the bottom of the vehicle body 10, the driven wheels can be a plurality of driven wheels, the driven wheels are distributed at different positions at the bottom of the vehicle body 10, and the driven wheels can be universal wheels.
As shown in fig. 2,5 and 6, a first end of the swing arm 40 may be rotatably disposed at the bottom of the vehicle body 10, with the swing arm 40 being spaced from the driven wheel. The driving wheel 50 may be an in-wheel motor, the driving wheel 50 includes a wheel main body 51 and a rotating shaft 52, the rotating shaft 52 may be rotatably disposed in the wheel main body 51, and the rotating shaft 52 of the driving wheel 50 is disposed at the second end of the rocker arm 40, so that the wheel main body 51 may rotate relative to the rotating shaft 52, and the robot may be driven to walk on the road surface. Thus, when the robot walks on an uphill road or a downhill road, the rocker arm 40 can rotate relative to the vehicle body 10, and the driving wheel 50 can lift relative to the vehicle body 10, so that the vehicle body 10 can be better adapted to the current road surface, and the passing and obstacle crossing performance of the robot can be improved.
As shown in fig. 2, the limiting device 60 is disposed on the rocker arm 40, the limiting device 60 includes an upper limiting portion 61 and a lower limiting portion 62, the upper limiting portion 61 and the lower limiting portion 62 selectively cooperate with the bottom of the vehicle body 10, when the upper limiting portion 61 cooperates with the bottom of the vehicle body 10, the driving wheel 50 rotates to an upper limit position relative to the vehicle body 10, and when the lower limiting portion 62 cooperates with the bottom of the vehicle body 10, the driving wheel 50 rotates to a lower limit position relative to the vehicle body 10, the upper limit position is higher than the lower limit position.
As shown in fig. 3, when the robot walks from the horizontal road to the downhill, the driven wheel located in front enters the downhill first, and the front end of the vehicle body 10 descends along with the driven wheel located in front because the first ends of the vehicle body 10 and the swing arm 40 can rotate relatively, at this time, the driving wheel 50 swings up relative to the vehicle body 10 until reaching the upper limit position, the upper limit portion 61 of the limit device 60 contacts and cooperates with the bottom of the vehicle body 10, and then the driving wheel 50 enters the downhill again. The state of the robot passing through the road surface with the pit is substantially the same as the state of the downhill.
As shown in fig. 4, when the robot walks from the horizontal path to the ascending path, the driven wheel located at the front enters the ascending path first, the front end of the vehicle body 10 rises along with the driven wheel located at the front, at this time, the driving wheel 50 swings down with respect to the vehicle body 10 until reaching the lower limit position, the lower limit portion 62 of the limit device 60 contacts the bottom of the vehicle body 10, and then the driving wheel 50 enters the ascending path again. The road surface on which the robot passes a small obstacle is substantially the same as the state of an upward slope.
Therefore, by arranging the rocker arm 40, the driving wheel 50 can rotate relative to the vehicle body 10, so that the driving wheel 50 can lift relative to the vehicle body 10, the robot can adapt to different road surfaces, the passing and obstacle crossing performances of the robot can be improved, and by arranging the limiting device 60, the movement range of the driving wheel 50 does not exceed the corresponding upper limit position and lower limit position, so that the suspended stroke is limited to adjust the dynamic characteristics of the chassis 100.
According to an embodiment of the present invention, as shown in fig. 5 and 6, the limiting device 60 includes a main body 63, the main body 63 is connected to the swing arm 40, the upper limiting portion 61 and the lower limiting portion 62 are both provided on the main body 63, and the upper limiting portion 61 and the lower limiting portion 62 are disposed at intervals in the front-rear direction. That is, the upper and lower limiting portions 61 and 62 are integrated on the main body 63, so that the structure of the limiting device 60 can be simplified, the limiting device 60 can be better disposed on the rocker arm 40, and the limiting effect of the limiting device 60 can be ensured.
Alternatively, as shown in fig. 5 and 6, the upper limit portion 61 has a first corner 611 protruding upward, the driving wheel 50 rotates to an upper limit position with respect to the vehicle body 10 when the first corner 611 is engaged with the bottom of the vehicle body 10, and the lower limit portion 62 has a second corner 621 protruding upward, and the driving wheel 50 rotates to a lower limit position with respect to the vehicle body 10 when the second corner 621 is engaged with the bottom of the vehicle body 10. That is, the upper and lower limiting portions 61 and 62 are provided with the first and second corners 611 and 621, respectively, protruding upward, which are brought into abutting engagement with the bottom of the vehicle body 10 after the position of the driving wheel 50 relative to the vehicle body 10 is changed, so that the range of movement of the driving wheel 50 can be limited. Furthermore, the arrangement of the corners can make the limiting device 60 simple in structure and easy to match.
Further, as shown in fig. 1 to 6, the chassis 100 of the robot may further include: and a damper 70, one end of the damper 70 being rotatably coupled to the vehicle body 10, and the other end of the damper 70 being rotatably coupled to the stopper 60. The shock absorbing device 70 can play a role of buffering and shock absorbing and providing positive pressure of the driving wheel 50 to the ground, wherein the driving wheel 50 is hinged with the vehicle body 10 through the rocker arm 40, and the shock absorbing device 70 is hinged with the limiting device 60, so that the shock absorbing and absorbing effect can be played between the driving wheel 50 and the vehicle body 10, the stability of the robot is good, and damage of the delivered objects can be avoided. Moreover, the limiting device 60 thus arranged can avoid integrating the shock absorbing device 70 on the rocker arm 40, further simplify the arrangement relationship among the driving wheel 50, the rocker arm 40, the limiting device 60 and the shock absorbing device 70, and enable the chassis 100 of the robot to be reliable in structure and stable in operation.
Specifically, as shown in fig. 5 and 6, the limiting device 60 further includes: the connecting portion 64, the connecting portion 64 is located between the upper limit portion 61 and the lower limit portion 62, the vehicle body 10 is provided with a through hole 11, the connecting portion 64 passes through the through hole 11, the damper 70 is located above the vehicle body 10, one end of the damper 70 is rotatably connected to the vehicle body 10, and the other end of the damper 70 is rotatably connected to the connecting portion 64. It can be appreciated that, since the bottom of the vehicle body 10 is provided with the driving wheel 50, the rocker arm 40 and the driven wheel, the bottom space of the vehicle body 10 is relatively tight, the space above the vehicle body 10 can be reasonably utilized by arranging the shock absorbing device 70 above the vehicle body 10, the bottom space can be prevented from being too tight, and the installation and the fixation of the shock absorbing device 70 can be facilitated, so that the layout of the chassis 100 can be more reasonable.
Alternatively, as shown in fig. 5 and 6, the rocker arm 40 includes: the bottom plate 41 and two curb plates 42, two curb plates 42 are vertical to be set up, and two curb plates 42 are connected in the width direction both sides of bottom plate 41, and stop device 60 is fixed in the first end of bottom plate 41, and the second end of two curb plates 42 is provided with the via hole that supplies pivot 52 to pass, and the second end of bottom plate 41 is provided with briquetting 43, and briquetting 43 and the second end of bottom plate 41 limit the installation space of pivot 52 jointly. The rocker arm 40 thus arranged has a stable structure, can achieve good supporting and connecting effects between the driving wheel 50 and the vehicle body 10, can facilitate the arrangement of the pressing block 43, and can play a limiting role to a certain extent when the installation of the installation rotating shaft 52 is carried out, so that the assembly efficiency of the chassis 100 can be improved.
As shown in fig. 5 and 6, the reinforcing plate 44 is disposed between the two side plates 42, and between the stopper 60 and the side plate 42. The provision of the reinforcing plate 44 can enhance the structural strength of the swing arm 40 and the connection strength of the swing arm 40 and the stopper 60, thereby further enhancing the overall structural reliability of the chassis 100. Wherein the main body 63 of the limiting device 60 and the bottom plate 41 are welded and fixed, so that the fixing reliability between the main body and the bottom plate can be ensured.
Specifically, as shown in fig. 6, the pressing block 43 is mounted to the second end of the bottom plate 41 by a fastener, and the pressing block 43 is formed with a mounting hole which is fitted with the fastener and faces downward. That is, the fastener can complete the assembly of the bottom plate 41 and the pressing block 43 from the bottom up, so that the bottom of the driving body 10 can be avoided, and the difficulty in the assembly between the pressing block 43 and the bottom plate 41 can be reduced. The pressing block 43 is provided with a receiving groove opened downward, and the rotating shaft 52 is received in the receiving groove.
According to an embodiment of the present invention, as shown in fig. 1, two driving wheels 50 are provided at the middle of the vehicle body 10 in the front-rear direction, and the two driving wheels 50 are provided at intervals in the left-right direction, four driven wheels are provided including two front driven wheels 20 and two rear driven wheels 30, the two front driven wheels 20 are located at the front sides of the two driving wheels 50, and the two front driven wheels 20 are provided at intervals in the left-right direction, the two rear driven wheels 30 are located at the rear sides of the two driving wheels 50, and the two rear driven wheels 30 are provided at intervals in the left-right direction. It will be appreciated that the two front driven wheels 20 at the front may facilitate the robot to quickly adapt to an uphill and a downhill, and may allow the vehicle body 10 to be adjusted relative to each other, while the two rear driven wheels 30 at the rear may allow the robot to maintain overall stability of the robot as it passes over the uphill and the downhill. It should be noted that, the robot may also be provided with different arrangements of driven wheels, for example, three driven wheels may be provided, one driven wheel may be provided on the front side, two driven wheels spaced left and right may be provided on the rear side, for example, four rear driven wheels 30 may be provided, and four rear driven wheels 30 may be provided in a set of front and rear spaced manner.
Further, the chassis 100 of the robot may further include: the front mounting frame 80 and the rear mounting frame 90, the two front driven wheels 20 can be rotatably arranged on the front mounting frame 80, the middle part of the front mounting frame 80 in the left-right direction is hinged to the bottom of the front side of the vehicle body 10, the two rear driven wheels 30 can be rotatably arranged on the rear mounting frame 90, and the middle part of the rear mounting frame 90 in the left-right direction is hinged to the bottom of the rear side of the vehicle body 10. Thus, the front mounting frame 80 can rotate to a certain extent relative to the vehicle body 10, and the rear mounting frame 90 can rotate to a certain extent relative to the vehicle body 10, so that the robot can vibrate less when passing a road surface with an obstacle or a pit on one side, and the passing and obstacle crossing performance of the robot can be further improved.
As shown in fig. 6, a front buffer block 81 is provided between the left and right ends of the front mount 80 and the bottom of the vehicle body 10, and a rear buffer block 91 is provided between the left and right ends of the rear mount 90 and the bottom of the vehicle body 10. The front buffer block 81 can buffer vibration between the front mounting frame 80 and the vehicle body 10, and the rear buffer block 91 can buffer vibration between the rear mounting frame 90 and the vehicle body 10, so that the passing and obstacle crossing performance of the robot can be further improved, and damage to the delivered objects can be avoided.
As shown in fig. 2 to 4, the wheel main body 51 is located outside the vehicle body 10. The wheel main body 51 thus provided can avoid interference with the vehicle body 10 in the up-down direction, can facilitate lifting adjustment between the wheel main body 51 and the vehicle body 10, and can also facilitate mounting arrangement of the wheel main body 51.
A robot according to an embodiment of the present invention includes the chassis 100 of the robot of the above-described embodiment.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
In the description of the invention, a "first feature" or "second feature" may include one or more of such features. In the description of the present invention, "plurality" means two or more. In the description of the invention, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, and may also include the first and second features not being in direct contact but being in contact with each other by another feature therebetween.
In the description of the invention, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (12)
1. A chassis for a robot, comprising:
A vehicle body;
the driven wheel is rotatably arranged at the bottom of the vehicle body;
The rocker arm comprises a bottom plate and two side plates, the two side plates are vertically arranged and connected to two sides of the bottom plate in the width direction, and the first end of the rocker arm is rotatably arranged at the bottom of the vehicle body and is spaced from the driven wheel;
The rotating shaft of the driving wheel is arranged at the second end of the rocker arm;
The limiting device is arranged on the rocker arm and fixed at the first end of the bottom plate, through holes for the rotating shafts to pass through are formed in the second ends of the side plates, pressing blocks are arranged at the second ends of the bottom plate, the pressing blocks and the second ends of the bottom plate jointly define the installation space of the rotating shafts, the limiting device comprises an upper limiting part and a lower limiting part, the upper limiting part and the lower limiting part are selectively matched with the bottom of the vehicle body, when the upper limiting part is matched with the bottom of the vehicle body, the driving wheels rotate to the upper limiting position relative to the vehicle body, and when the lower limiting part is matched with the bottom of the vehicle body, the driving wheels rotate to the lower limiting position relative to the vehicle body.
2. The chassis of the robot of claim 1, wherein the limiting device comprises a main body connected to the rocker arm, and the upper limiting portion and the lower limiting portion are disposed on the main body at intervals in a front-rear direction.
3. The chassis of the robot of claim 2, wherein the upper limit part has a first corner protruding upward, and the driving wheel is rotated to an upper limit position with respect to the vehicle body when the first corner is engaged with the bottom of the vehicle body;
the lower limiting part is provided with a second corner protruding upwards, and when the second corner is matched with the bottom of the vehicle body, the driving wheel rotates to the lower limit position relative to the vehicle body.
4. The chassis of the robot of claim 1, further comprising: and one end of the damping device is rotatably connected to the vehicle body, and the other end of the damping device is rotatably connected to the limiting device.
5. The robotic chassis of claim 4, wherein the stop device further comprises: the connecting portion is located between the upper limiting portion and the lower limiting portion, the vehicle body is provided with a perforation, the connecting portion penetrates through the perforation, the damping device is located above the vehicle body, one end of the damping device is rotatably connected to the vehicle body, and the other end of the damping device is rotatably connected to the connecting portion.
6. The chassis of a robot of claim 1, wherein a reinforcing plate is provided between both of the side plates, between the limiting device and the side plates.
7. The chassis of the robot of claim 1, wherein the press block is mounted to the second end of the base plate by a fastener, and the press block is formed with a mounting hole which is engaged with the fastener and directed downward.
8. The chassis of the robot according to claim 1, wherein the number of the driving wheels is two, and the two driving wheels are provided at the middle part in the front-rear direction of the vehicle body and are provided at intervals in the left-right direction;
The four driven wheels comprise two front driven wheels and two rear driven wheels, the two front driven wheels are positioned at the front sides of the two driving wheels and are arranged at left and right intervals, and the two rear driven wheels are positioned at the rear sides of the two driving wheels and are arranged at left and right intervals.
9. The chassis of the robot of claim 8, further comprising: the front driven wheel is rotatably arranged on the front mounting frame, the middle part of the front mounting frame in the left-right direction is hinged to the bottom of the front side of the vehicle body, the rear driven wheel is rotatably arranged on the rear mounting frame, and the middle part of the rear mounting frame in the left-right direction is hinged to the bottom of the rear side of the vehicle body.
10. The chassis of the robot of claim 9, wherein a front buffer block is provided between the left and right ends of the front mounting frame and the vehicle body bottom, and a rear buffer block is provided between the left and right ends of the rear mounting frame and the vehicle body bottom.
11. The chassis of the robot of claim 1, wherein the driving wheel includes a wheel body, the rotation shaft is rotatably provided in the wheel body, and the wheel body is located outside the vehicle body.
12. A robot, comprising: the chassis of a robot of any one of claims 1-11.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910754871.5A CN110435786B (en) | 2019-08-15 | 2019-08-15 | Robot and chassis thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910754871.5A CN110435786B (en) | 2019-08-15 | 2019-08-15 | Robot and chassis thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110435786A CN110435786A (en) | 2019-11-12 |
| CN110435786B true CN110435786B (en) | 2024-04-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910754871.5A Active CN110435786B (en) | 2019-08-15 | 2019-08-15 | Robot and chassis thereof |
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| CN (1) | CN110435786B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112223967B (en) * | 2020-09-25 | 2022-09-20 | 上海擎朗智能科技有限公司 | Chassis suspension mechanism, chassis and robot |
| CN113218378A (en) * | 2021-05-28 | 2021-08-06 | 李禄胜 | Portable outdoor positioning and marking device for oil exploration |
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