CN114212165A

CN114212165A - Obstacle crossing chassis device and robot with same

Info

Publication number: CN114212165A
Application number: CN202111568807.1A
Authority: CN
Inventors: 李生广; 王鹏飞; 李满天
Original assignee: Shenzhen Aerospace Longhaite Intelligent Equipment Co ltd
Current assignee: Shenzhen Aerospace Longhaite Intelligent Equipment Co ltd
Priority date: 2021-12-21
Filing date: 2021-12-21
Publication date: 2022-03-22

Abstract

The application is applicable to obstacle-surmounting robot technical field, provides an obstacle-surmounting chassis device and has its robot, and obstacle-surmounting chassis device includes: a chassis body; the first wheel set comprises a swing frame and two driving wheel assemblies, the two driving wheel assemblies are respectively arranged at two ends of the swing frame, and the middle part of the swing frame is hinged to the bottom of the chassis body so that the end part of the swing frame can swing up and down; the second wheelset, the second wheelset includes elasticity portion and two universal wheel subassemblies, and two universal wheel subassemblies are installed respectively at the both ends of elasticity portion, and the bottom at chassis body is installed to the elasticity portion, and the elasticity portion has elasticity to make the tip of elasticity portion can the luffing motion. When the road surface is rugged or uneven, the two driving wheel assemblies can respectively swing up and down to adapt to the terrain. Through the elasticity of elastic part, can make universal wheel subassembly adaptation complicated ground, make the operation of crossing obstacle chassis device more steady.

Description

Obstacle crossing chassis device and robot with same

Technical Field

The application belongs to the technical field of obstacle-crossing robots, and particularly relates to an obstacle-crossing chassis device and a robot with the same.

Background

With the improvement of the technological level, the robot is gradually applied to various fields, especially in the field of transportation, and the robot is gradually accepted by the public by the characteristics of accuracy, intelligence and safety.

In the field of transportation, the ground is not always flat, and the stable motion of the robot is influenced by the fact that the ground often meets hollow ground. At present, in order to adapt to depressions on the ground, a robot needs to be provided with a suspension structure with good performance, but after the complex suspension is added, the robot is large in size and complex in structure, the cost is increased, and the reliability is reduced.

Disclosure of Invention

An object of the embodiment of the application is to provide an obstacle crossing chassis device and a robot with the same, and the obstacle crossing chassis device and the robot are used for solving the technical problems that an obstacle crossing chassis with an obstacle crossing function in the prior art is complex in structure, large in size and low in reliability.

To achieve the above object, according to one aspect of the present application, there is provided an obstacle crossing chassis apparatus including: a chassis body; the first wheel set comprises a swing frame and two driving wheel assemblies, the two driving wheel assemblies are respectively arranged at two ends of the swing frame, and the middle part of the swing frame is hinged to the bottom of the chassis body so that the end part of the swing frame can swing up and down; the second wheelset, the second wheelset includes elasticity portion and two universal wheel subassemblies, and two universal wheel subassemblies are installed respectively at the both ends of elasticity portion, and the bottom at chassis body is installed to the elasticity portion, and the elasticity portion has elasticity to make the tip of elasticity portion can the luffing motion.

Optionally, the obstacle crossing chassis device further comprises a hinge frame, the hinge frame is fixed at the bottom of the chassis body, and the middle part of the swing frame is hinged to the hinge frame.

Optionally, the hinged frame comprises two hinged projections, and the swing frame is hinged to and between the two hinged projections.

Optionally, the inside of swing span is provided with the installation cavity, and the installation cavity runs through the swing span along the length direction of swing span to form the opening below the swing span, the drive wheel subassembly includes driving motor and drive wheel, driving motor is connected with the drive wheel drive, driving motor fixed mounting has the clearance of stepping down between two driving motor in the installation cavity, in order to step down the articulated shaft to the swing span.

Optionally, the elastic part comprises a connecting seat and a spring plate, the connecting seat is connected to the bottom of the chassis body, the middle of the spring plate is fixedly connected with the connecting seat, and the two universal wheel assemblies are respectively installed at two ends of the spring plate.

Optionally, the universal wheel assembly comprises a mounting seat and a rotatable rotating wheel assembly mounted inside the mounting seat, and the mounting seat is connected with the bottom surface of the elastic sheet.

Optionally, the connecting seat includes the spring holder, and the upper end and the chassis body of spring holder are connected, and the lower extreme and the shell fragment of spring holder are connected.

Optionally, the obstacle crossing chassis apparatus further comprises a cover detachably mounted on the swing frame for covering the opening.

Optionally, the bottom of the chassis body is provided with a mounting groove, and the swing frame is mounted in the mounting groove.

According to another aspect of the application, a robot is provided, and the robot comprises the obstacle crossing chassis device.

The application provides a barrier chassis device's beneficial effect lies in: compared with the prior art, the chassis device that hinders more of this application includes first wheelset and second wheelset to the stable chassis body that supports, wherein, two drive wheel subassemblies in the first wheelset are installed at the both ends of swing span, and the middle part of swing span articulates in the bottom of chassis body, so that the tip of swing span can the luffing motion, when meetting rugged and bumpy road surface, two drive wheel subassemblies can the luffing motion respectively in order to adapt to the topography. Meanwhile, the two driving wheel assemblies can realize turning through differential control: when the two wheels are at the same speed, the chassis body moves along a straight line, and when the two wheels are at the same speed and in opposite directions, the chassis body rotates in situ to adjust the orientation. Moreover, the second wheelset of this application includes elasticity portion and two universal wheel subassemblies, and two universal wheel subassemblies are installed respectively at the both ends of elasticity portion, and elasticity portion has elasticity to the tip that makes the elasticity portion can the luffing motion, through the elasticity of elasticity portion, can make universal wheel subassembly adaptation complicated ground, makes the operation of crossing barrier chassis device more steady.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic structural diagram of an obstacle crossing chassis device provided in an embodiment of the present application;

fig. 2 is a schematic structural diagram of another angle of the obstacle crossing chassis device according to the embodiment of the present application;

fig. 3 is a schematic structural diagram of a first wheel set of an obstacle crossing chassis device according to an embodiment of the present application;

fig. 4 is a schematic structural diagram of another angle of the first wheel set of the obstacle crossing chassis device according to the embodiment of the present application;

fig. 5 is a schematic structural diagram of a second wheel set of the obstacle crossing chassis device according to the embodiment of the present application;

fig. 6 is a schematic structural diagram of another angle of the second wheel set of the obstacle crossing chassis device according to the embodiment of the present application.

Reference numerals referred to in the above figures are detailed below:

10. a chassis body; 11. installing a groove; 20. a swing frame; 21. a drive wheel assembly; 211. a drive motor; 212. a drive wheel; 22. a mounting cavity; 23. a abdication gap; 30. an elastic portion; 31. a universal wheel assembly; 311. a connecting seat; 312. a mounting seat; 313. a rotating wheel group; 40. a hinged frame; 41. a hinge projection.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element. The embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

As described in the background art, at present, with the improvement of the technological level, the robot is gradually applied to various fields, especially in the transportation field, and the robot is gradually accepted by the public due to the characteristics of accuracy, intelligence and safety. In the field of transportation, the ground is not always flat, and the stable motion of the robot is influenced by the fact that the ground often meets hollow ground. At present, in order to adapt to depressions on the ground, a robot needs to be provided with a suspension structure with good performance, but after the complex suspension is added, the robot is large in size and complex in structure, the cost is increased, and the reliability is reduced.

Referring to fig. 1 to 6, in order to solve the above problems, according to one aspect of the present application, an obstacle crossing chassis device is provided, including a chassis body 10, a first wheel set and a second wheel set, the first wheel set includes a swing frame 20 and two driving wheel assemblies 21, the two driving wheel assemblies 21 are respectively mounted at two ends of the swing frame 20, and a middle portion of the swing frame 20 is hinged to a bottom of the chassis body 10, so that end portions of the swing frame 20 can swing up and down; the second wheel set includes an elastic portion 30 and two universal wheel assemblies 31, the two universal wheel assemblies 31 are respectively installed at two ends of the elastic portion 30, the elastic portion 30 is installed at the bottom of the chassis body 10, and the elastic portion 30 has elasticity so that the end portion of the elastic portion 30 can swing up and down.

Specifically, the obstacle crossing chassis device of the application comprises a first wheel set and a second wheel set to stably support the chassis body 10, wherein two driving wheel assemblies 21 in the first wheel set are mounted at two ends of the swing frame 20, the middle portion of the swing frame 20 is hinged to the bottom of the chassis body 10, so that the end portion of the swing frame 20 can swing up and down, and when the obstacle crossing chassis device encounters rugged and hollow roads, the two driving wheel assemblies 21 can swing up and down to adapt to the terrain. Meanwhile, the two drive wheel assemblies 21 can realize turning through differential control: when the two wheels are at the same speed, the chassis body 10 moves along a straight line, and when the two wheels are at the same speed and in opposite directions, the chassis body 10 rotates in situ to adjust the direction. Moreover, the second wheelset of this application includes elastic component 30 and two universal wheel subassemblies 31, and two universal wheel subassemblies 31 are installed respectively at the both ends of elastic component 30, and elastic component 30 has elasticity to make the tip of elastic component 30 can the luffing motion, through the elasticity of elastic component 30, can make universal wheel subassembly 31 adapt to complicated ground, make the operation of crossing the chassis device more steady.

In order to hinge the swing frame 20 at the bottom of the chassis body 10, the obstacle crossing chassis device in this embodiment further includes a hinge frame 40, the hinge frame 40 is fixed at the bottom of the chassis body 10, and the middle part of the swing frame 20 is hinged at the hinge frame 40. During installation, the hinge frame 40 is installed at the bottom of the chassis body 10, wherein the hinge frame 40 and the chassis body 10 may be installed by welding or by screw connection. In the embodiment of the connection with screws, a plurality of through holes are formed on the hinge frame 40, a plurality of threaded holes are formed on the bottom of the chassis body 10, the plurality of through holes correspond to the plurality of threaded holes one by one, and the screws pass through the through holes and are finally screwed into the threaded holes.

In order to secure the hinge strength between the hinge frame 40 and the swing frame 20, the hinge frame 40 in the present embodiment includes two hinge protrusions 41, and the swing frame 20 is hinged to the two hinge protrusions 41 and is located between the two hinge protrusions 41. The swing frame 20 is hinged together through the two hinge convex parts 41, so that the connection strength between the hinge frame 40 and the swing frame 20 is ensured, meanwhile, the hinge convex parts 41 can also play a certain positioning role, the swing of the swing frame 20 can be guided through the hinge convex parts 41, and the swing frame 20 is prevented from swinging in a wrong direction to influence the structural strength of the hinge position. In a preferred embodiment, the hinge axis of the swing frame 20 is one, and extends through the swing frame 20 and the hinge frame 40. Of course, in other embodiments, the number of the hinge shafts of the swing frame 20 may be two, and the two hinge protrusions 41 are respectively hinged.

The driving wheel assembly 21 comprises a driving motor 211 and a driving wheel 212, the driving motor 211 is in driving connection with the driving wheel 212, in order to accommodate and include the driving motor 211 of the driving wheel assembly 21, the driving motor 211 is prevented from being damaged by a pothole road surface, a mounting cavity 22 is arranged inside the swing frame 20 in the embodiment, the mounting cavity 22 penetrates through the swing frame 20 along the length direction of the swing frame 20, an opening is formed below the swing frame 20, the driving motor 211 is fixedly installed in the mounting cavity 22, during installation, the driving motor 211 can be placed into the mounting cavity 22 through the opening, and then screwing is carried out through screws, so that the driving motor 211 is fixed in the mounting cavity 22. Since the swing frame 20 is hinged to the hinge frame 40, the hinge shaft occupies a part of the installation cavity 22, and in order to provide sufficient space for the hinge shaft, a yielding gap 23 is provided between the two driving motors 211 in the embodiment, so as to yield the hinge shaft of the swing frame 20.

In order to realize the elastic function of the elastic portion 30, the elastic portion 30 in this embodiment includes a connecting seat 311 and a resilient plate, the connecting seat 311 is connected to the bottom of the chassis body 10, the middle portion of the resilient plate is fixedly connected to the connecting seat 311, and the two universal wheel assemblies 31 are respectively installed at two ends of the resilient plate. The elasticity of the elastic sheet is utilized to enable the end part of the elastic part 30 to swing up and down, so that the universal wheel assembly 31 can swing up and down, the universal wheel assembly 31 can adapt to complex ground, and the obstacle crossing chassis device can run more stably.

In a preferred embodiment, in order to ensure the strength of the elastic sheet, the elastic sheet in this embodiment is a spring steel plate. The middle part of the elastic steel plate is fixedly connected with the connecting seat 311, and the two universal wheel assemblies 31 are respectively arranged at the two ends of the elastic steel plate. The elasticity of the elastic steel plate is utilized to enable the end part of the elastic part 30 to swing up and down, so that the universal wheel assembly 31 can swing up and down, the universal wheel assembly 31 can adapt to complex ground, and the obstacle crossing chassis device can run more stably.

Specifically, the universal wheel assembly 31 in this embodiment includes a mounting base 312 and a rotating wheel set 313 rotatably mounted inside the mounting base 312, and the mounting base 312 is connected to the bottom surface of the elastic sheet.

In order to further improve the elastic performance of the second wheel set, the connecting seat 311 in this embodiment includes a spring seat, an upper end of the spring seat is connected to the chassis body 10, and a lower end of the spring seat is connected to the elastic sheet. Wherein, the spring holder includes connecting block, lower connecting block and connects the spring between last connecting block and lower connecting block, goes up the connecting block and is connected with chassis body 10, and lower connecting block is connected with the shell fragment.

In a preferred embodiment, the second wheel set further includes a deformation sensor and a wireless transmission module, the detection end of the deformation sensor is installed on the elastic sheet and used for detecting the deformation of the elastic sheet, and the deformation sensor can send a signal to the control end such as a computer, a mobile phone or a control panel in real time through the wireless transmission module, so that a user can know the complexity of the road where the current obstacle crossing chassis device is located in the first time.

In an embodiment, this application has the function of intelligent regulation speed, wherein, driving motor 211 and control end adopt signal connection, and it is too frequent that the deformation signal of deformation sensor is received when the control end, and the control end can judge that current road surface is comparatively jolted this moment, control driving motor 211 deceleration to make the whole deceleration of obstacle crossing chassis device, make the motion of robot more steady, prevent to empty or the goods falls.

In another embodiment, the second wheelset includes two deformation sensors and wireless transmission module, and the sense terminal of two deformation sensors is installed respectively on the both ends of shell fragment for detect the both ends deformation of shell fragment respectively, the deformation sensor can be through sending signals such as computer, cell-phone, or control panel to the control end in real time of wireless transmission module, thereby make the user can know the complexity on the road surface that current obstacle crossing chassis device locates in the very first time. Meanwhile, this application has the function of intelligent regulation speed and direction, and wherein, two driving motor 211 all adopt signal connection with the control end, and it is too frequent that the control end receives two deformation sensor's deformation signal, and the control end can judge that current road surface is comparatively jolt this moment, controls driving motor 211 deceleration to make the whole deceleration of obstacle crossing chassis device, make the motion of robot more steady, prevent to empty or the goods falls. In a specific time, when one of the deformation signals of the two deformation sensors received by the control end is more than the other one, the control end judges that one side of the obstacle crossing chassis device is bumpy, the other side of the obstacle crossing chassis device is flat, the control end controls the driving motor 211 on the bumpy side to accelerate, and the driving motor 211 on the other side decelerates, so that the obstacle crossing chassis device turns to a flat road surface, the movement of the robot is more stable, and the robot is prevented from toppling or falling.

Because often still there can be ponding, earth scheduling problem on the road surface, in order to prevent that driving motor 211 from being corroded, the chassis device that hinders more in this embodiment still includes the lid, and lid detachably installs on swing frame 20 for shelter from the opening. The driving motor 211 inside the mounting chamber 22 is protected from the outside environment by a cover body, which is coupled to the swing frame 20 by screws.

In order to further protect the swing frame 20 from being damaged, the bottom of the chassis body 10 in this embodiment is provided with a mounting groove 11, and the swing frame 20 is mounted in the mounting groove 11.

In summary, the obstacle crossing chassis device and the robot having the same provided by the embodiment have at least the following beneficial technical effects: compared with the prior art, the obstacle crossing chassis device comprises a first wheel set and a second wheel set to stably support the chassis body 10, wherein two driving wheel assemblies 21 in the first wheel set are mounted at two ends of the swing frame 20, the middle of the swing frame 20 is hinged to the bottom of the chassis body 10, so that the end portion of the swing frame 20 can swing up and down, and when the obstacle crossing chassis device encounters rugged and hollow road surfaces, the two driving wheel assemblies 21 can swing up and down to adapt to the terrain. Meanwhile, the two drive wheel assemblies 21 can realize turning through differential control: when the two wheels are at the same speed, the chassis body 10 moves along a straight line, and when the two wheels are at the same speed and in opposite directions, the chassis body 10 rotates in situ to adjust the direction. Moreover, the second wheelset of this application includes elastic component 30 and two universal wheel subassemblies 31, and two universal wheel subassemblies 31 are installed respectively at the both ends of elastic component 30, and elastic component 30 has elasticity to make the tip of elastic component 30 can the luffing motion, through the elasticity of elastic component 30, can make universal wheel subassembly 31 adapt to complicated ground, make the operation of crossing the chassis device more steady.

The present invention is not intended to be limited to the particular embodiments shown and described, but is to be accorded the widest scope consistent with the principles and novel features herein disclosed.

Claims

1. An obstacle crossing undercarriage arrangement comprising:

a chassis body (10);

the chassis comprises a first wheel set, a second wheel set and a third wheel set, wherein the first wheel set comprises a swinging frame (20) and two driving wheel assemblies (21), the two driving wheel assemblies (21) are respectively installed at two ends of the swinging frame (20), and the middle part of the swinging frame (20) is hinged to the bottom of the chassis body (10) so that the end part of the swinging frame (20) can swing up and down;

the second wheelset, the second wheelset includes elasticity portion (30) and two universal wheel subassembly (31), two universal wheel subassembly (31) are installed respectively the both ends of elasticity portion (30), elasticity portion (30) are installed the bottom of chassis body (10), elasticity portion (30) have elasticity, so that the tip of elasticity portion (30) can the luffing motion.

2. The obstacle crossing chassis device according to claim 1, further comprising a hinge frame (40), wherein the hinge frame (40) is fixed at the bottom of the chassis body (10), and the middle part of the swing frame (20) is hinged on the hinge frame (40).

3. Obstacle crossing chassis arrangement according to claim 2, wherein said articulated frame (40) comprises two articulated lugs (41), said oscillating frame (20) being articulated on two articulated lugs (41) and being located between two articulated lugs (41).

4. The obstacle crossing chassis device according to claim 1, wherein an installation cavity (22) is arranged inside the swing frame (20), the installation cavity (22) penetrates through the swing frame (20) along the length direction of the swing frame (20) and forms an opening below the swing frame (20), the driving wheel assembly (21) comprises a driving motor (211) and a driving wheel (212), the driving motor (211) is in driving connection with the driving wheel (212), the driving motor (211) is fixedly installed in the installation cavity (22), and a yielding gap (23) is formed between the two driving motors (211) so as to yield the hinge shaft of the swing frame (20).

5. The obstacle crossing chassis device according to claim 1, wherein the elastic part (30) comprises a connecting seat (311) and a spring plate, the connecting seat (311) is connected to the bottom of the chassis body (10), the middle part of the spring plate is fixedly connected with the connecting seat (311), and the two universal wheel assemblies (31) are respectively installed at two ends of the spring plate.

6. The obstacle crossing chassis device according to claim 5, wherein the universal wheel assembly (31) comprises a mounting seat (312) and a rotating wheel group (313) rotatably mounted inside the mounting seat (312), and the mounting seat (312) is connected with the bottom surface of the elastic sheet.

7. The obstacle crossing chassis device according to claim 5, wherein the connecting seat (311) comprises a spring seat, the upper end of the spring seat is connected with the chassis body (10), and the lower end of the spring seat is connected with the elastic sheet.

8. The obstacle crossing chassis arrangement according to claim 4, further comprising a cover removably mounted on the swing frame (20) for covering the opening.

9. Obstacle crossing chassis arrangement according to any of claims 1-8, characterized in that the chassis body (10) is provided with a mounting groove (11) at the bottom, the swing frame (20) being mounted in the mounting groove (11).

10. A robot, characterized in that the robot comprises an obstacle crossing chassis device, which is the obstacle crossing chassis device according to any one of claims 1 to 9.