CN117429533A - Wheeled robot chassis and robot - Google Patents
Wheeled robot chassis and robot Download PDFInfo
- Publication number
- CN117429533A CN117429533A CN202210823358.9A CN202210823358A CN117429533A CN 117429533 A CN117429533 A CN 117429533A CN 202210823358 A CN202210823358 A CN 202210823358A CN 117429533 A CN117429533 A CN 117429533A
- Authority
- CN
- China
- Prior art keywords
- chassis
- robot
- connecting rod
- motor connecting
- shock absorber
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000035939 shock Effects 0.000 claims abstract description 26
- 239000006096 absorbing agent Substances 0.000 claims abstract description 25
- 230000000694 effects Effects 0.000 abstract description 4
- 238000013016 damping Methods 0.000 abstract description 3
- 238000007599 discharging Methods 0.000 abstract 2
- 238000010586 diagram Methods 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 235000012054 meals Nutrition 0.000 description 1
Classifications
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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
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/001—Arrangements for attachment of dampers
- B60G13/003—Arrangements for attachment of dampers characterised by the mounting on the vehicle body or chassis of the damper unit
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
The application discloses wheeled robot chassis and robot, this robot chassis includes: chassis frame, front row walking system, back row walking system. The chassis frame includes: bottom plate, apron, support column. The front drainage system includes: a pair of front driven wheels and a pair of driven wheel brackets, the front travel system being secured to the floor. The rear drain system includes: the driving wheel is connected with the motor connecting rod, the rear driven wheel, the motor connecting rod bracket, the thrust bearing, the shock absorber and the shock absorber bracket respectively in sequence. The driving wheel and the rear driven wheel are respectively fixed at two ends of a motor connecting rod, and the motor connecting rod is hinged on the chassis frame through a thrust bearing and a shock absorber. The front discharging system and the rear discharging system are symmetrically arranged on two sides of the chassis frame respectively. According to the technical scheme, the slipping phenomenon of the driving wheel can be effectively reduced, the damping effect is achieved, and the machine chassis and the robot are good in stability.
Description
Technical Field
The application relates to the technical field of robots, in particular to a wheeled robot chassis and a robot.
Background
With the development of science and technology, wheeled robots are gradually applied to various fields in our lives, such as hotel services, restaurant meal delivery and other scenes.
The wheel type robot chassis is a key part for executing the movement of the robot, and has important influence on the trafficability and stability of the robot. One of the important indexes of the chassis performance is the grounding performance of the driving wheels, and particularly for a double-wheel differential chassis, the actions of advancing, retreating, turning, in-situ rotation and the like of the robot can be realized only by the cooperation of the two driving wheels, and if one driving wheel is separated from the ground, the power is lost. Therefore, how to improve the grounding performance of the driving wheel and increase the grounding positive pressure of the driving wheel for the double-wheel differential chassis so that the driving wheel is not easy to slip is a very important technical difficulty. Another important index of the chassis performance is the damping performance of the chassis, and the damping design can effectively improve the running stability of the robot when the robot passes through an uneven road surface.
Therefore, this application is dedicated to designing a wheeled robot chassis and robot, and through reasonable structural design, this wheeled robot chassis and robot under different loads, the action wheel is to the change of ground normal pressure along with the change of load, has improved action wheel landing performance, can effectively prevent action wheel phenomenon of skidding, and simultaneously, this chassis and robot's action wheel, back row all possess shock-absorbing property from the driving wheel, wheeled robot chassis and robot stationarity is good.
Disclosure of Invention
The purpose of this application is to provide a wheeled robot chassis and robot, wheeled robot chassis and robot's action wheel possesses better landing performance, and the action wheel possesses the shock attenuation effect simultaneously, and robot chassis and robot possess better trafficability characteristic, stability.
In order to achieve the above object, the present application provides the following technical solutions:
a wheeled robotic chassis, comprising: chassis frame, front row walking system, back row walking system. Wherein the chassis frame includes: the bottom plate, apron, support column, bottom plate and apron link together through the support column. The front-discharge system includes: the front driven wheels are connected with the front driven wheels respectively, and the driven wheel supports are fixed on the bottom plate through bolts. The front driven wheels and the driven wheel brackets are symmetrically arranged at two sides of the chassis frame respectively. The back drain system includes: the driving wheel is connected with the motor connecting rod, the rear driven wheel, the motor connecting rod bracket, the thrust bearing, the shock absorber and the shock absorber bracket respectively in sequence. The driving wheel, the motor connecting rod, the rear driven wheel, the motor connecting rod bracket, the thrust bearing, the shock absorber and the shock absorber bracket are respectively and symmetrically arranged at two sides of the chassis frame.
Further, the driving wheel is fixed at one end of the motor connecting rod, and the rear driven wheel is fixed at the other end of the motor connecting rod; the driving wheel is arranged between the front driven wheel and the rear driven wheel; one end of the motor connecting rod is hinged to the motor connecting rod bracket through a thrust bearing, and the motor connecting rod bracket is fixed on the bottom plate through a bolt; the motor connecting rod other end passes through the bolt and articulates the one end of bumper shock absorber, the bumper shock absorber other end passes through the bolt and articulates on the bumper shock absorber support, the bumper shock absorber support passes through the bolt to be fixed on the apron.
Further, the front driven wheels and the rear driven wheels all adopt universal wheels.
In addition, the application also provides a robot, which comprises the wheeled robot chassis.
The utility model provides a wheeled robot chassis and robot, through reasonable structural design, this wheeled robot chassis and robot under different loads, the action wheel is positive pressure to the ground and is changed along with the change of load, makes the action wheel remain effectual contact with ground all the time, has improved the action wheel landing performance, effectively reduces the emergence of action wheel slipping phenomenon. Meanwhile, the chassis of the wheeled robot and the robot only use two shock absorbers to enable the driving wheel and the rear driven wheel to have shock absorption performance, so that the structure is simplified, and meanwhile, the chassis of the robot and the stability of the robot are better.
The conception, specific structure, and technical effects of the present application will be further described with reference to the accompanying drawings to fully understand the objects, features, and effects of the present application.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described, the drawings in the following description are only some embodiments of the present application, and all other drawings obtained by those skilled in the art without making creative efforts are within the scope of protection of the present application.
Fig. 1 is a schematic perspective view of a chassis of a wheeled robot according to an embodiment of the present application;
fig. 2 is a schematic diagram of a front view structure of a chassis of a wheeled robot according to an embodiment of the present application;
fig. 3 is a schematic left-view structural diagram of a chassis of a wheeled robot according to an embodiment of the present application;
fig. 4 is a schematic top view of a chassis of a wheeled robot according to an embodiment of the present disclosure;
fig. 5 is a schematic view of a bottom view structure of a chassis of a wheeled robot according to an embodiment of the present disclosure;
FIG. 6 is a schematic diagram illustrating disassembly of a motor connecting rod, a motor connecting rod bracket and a thrust bearing according to an embodiment of the present disclosure;
the drawings are marked with the following description:
100-chassis frame, 110-bottom plate, 120-cover plate, 130-support column.
200-front-row travel system, 210-front-row driven wheels, 220-driven wheel supports.
300-rear-row walking system, 310-driving wheel, 320-motor connecting rod, 330-rear-row driven wheel, 340-motor connecting rod bracket, 350-thrust bearing, 360-shock absorber and 370-shock absorber bracket.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the application, its application, or uses. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
As shown in fig. 1-6, the present application provides a wheeled robotic chassis including a chassis frame 100, a front travel system 200, a rear travel system 300. Wherein, chassis frame 100 includes: the bottom plate 110, the apron 120, support column 130, bottom plate 110 and apron 120 link together through support column 130, support column 130 and bottom plate 110, apron 120 are through bolted connection between. In this embodiment, the number of the support columns 130 is 4, and the support columns are symmetrically arranged at both sides of the bottom plate 110. The front drainage system 200 includes: a pair of front driven wheels 210, and driven wheel brackets 220 respectively connected to the front driven wheels 210 by bolts, the driven wheel brackets 220 being fixed to the base plate 110 by bolts. The front driven wheels 210 and the driven wheel brackets 220 are symmetrically arranged at both sides of the chassis frame 100, respectively. The rear drain system 300 includes: a pair of driving wheels 310, and a motor link 320, a rear driven wheel 330, a motor link bracket 340, a thrust bearing 350, a damper 360, and a damper bracket 370, which are connected to the driving wheels 310 in this order, respectively. The driving wheel 310, the motor connecting rod 320, the rear driven wheel 330, the motor connecting rod bracket 340, the thrust bearing 350, the shock absorber 360 and the shock absorber bracket 370 are symmetrically arranged on two sides of the chassis frame 100 respectively.
Further, the driving wheel 310 is fixed to one end of the motor link 320 by a bolt, and the rear driven wheel 330 is fixed to the other end of the motor link 320 by a bolt. The driving wheel 310 is disposed between the front driven wheel 210 and the rear driven wheel 330. One end of the motor connecting rod 320 is hinged to the motor connecting rod bracket 340 through a thrust bearing 350, and the motor connecting rod 320, the thrust bearing 350 and the motor connecting rod bracket 340 are coaxially sleeved on a bolt. The motor link bracket 340 is fixed to the base plate 110 by bolts; the other end of the motor link 320 is hinged to one end of the damper 360 through a bolt, the other end of the damper 360 is hinged to the damper bracket 370 through a bolt, and the damper bracket 370 is fixed to the cover plate 120 through a bolt.
Further, the front driven wheels 210 and the rear driven wheels 330 are universal wheels, preferably universal casters.
The advantages of the wheeled robotic chassis of the disclosed embodiments are further described in conjunction with fig. 3. When a load is added to the chassis frame 100, the load weight is distributed to the front driven wheels 210, the driving wheels 310, and the rear driven wheels 330. The load weight distribution ratio of the driving wheel 310 to the rear driven wheel 330 is related to the distance from the axis of the driving wheel 310 to the axis of the thrust bearing 350 and the distance from the axis of the rear driven wheel 330 to the axis of the thrust bearing 350 in the horizontal direction, and after the position of the thrust bearing 350 is determined, the load weight distribution ratio of the driving wheel 310 to the rear driven wheel 330 is fixed. Thus, the weight of the load distributed on the drive wheels 310 is proportional to the increased weight of the load on the chassis frame 100. The larger the increased load weight on the chassis frame 100, the larger the load distributed to the driving wheel 310, so that the driving wheel 310 always keeps effective contact with the ground, the grounding performance of the driving wheel 310 is improved, and the phenomenon of skidding of the driving wheel is effectively reduced. Meanwhile, the vibration damper 360 is arranged between the chassis and the driving wheel 310, the rear driven wheel 330 and the chassis frame 100 of the robot, and when the robot passes through an uneven road surface, the vibration damper 360 can effectively restrain vibration of the chassis, so that stability of the chassis is improved. The wheel type robot chassis and the robot only use two shock absorbers 360, so that the driving wheel 310 and the rear driven wheel 330 have shock absorption performance, the structure is simplified, and meanwhile, the wheel type robot chassis and the robot stability are better.
In addition, the application also provides a robot, which comprises the wheeled robot chassis. The robot of the embodiments of the present disclosure has the same advantages as the wheeled robot chassis of the embodiments of the present disclosure.
Claims (3)
1. A wheeled robotic chassis, said wheeled robotic chassis comprising:
chassis frame (100), comprising: the device comprises a bottom plate (110), a cover plate (120) and support columns (130), wherein the bottom plate (110) and the cover plate (120) are connected together through the support columns (130);
a front-discharge travel system (200), comprising: a pair of front driven wheels (210) and driven wheel brackets (220) respectively connected to the front driven wheels (210), wherein the driven wheel brackets (220) are fixed on the bottom plate (110) through bolts, and the front driven wheels (210) and the driven wheel brackets (220) are respectively and symmetrically arranged on two sides of the chassis frame (100);
a rear drain system (300), comprising: the pair of driving wheels (310), and motor connecting rods (320), rear-row driven wheels (330), motor connecting rod supports (340), thrust bearings (350), shock absorbers (360) and shock absorber supports (370) which are respectively connected to the driving wheels (310) in sequence, wherein the driving wheels (310), the motor connecting rods (320), the rear-row driven wheels (330), the motor connecting rod supports (340), the thrust bearings (350), the shock absorbers (360) and the shock absorber supports (370) are respectively and symmetrically arranged on two sides of the chassis frame (100).
2. The wheeled robotic chassis of claim 1, wherein said drive wheel (310) is fixed at one end of a motor link (320) and said rear driven wheel (330) is fixed at the other end of said motor link (320); the driving wheel (310) is arranged between the front driven wheel (210) and the rear driven wheel (330); one end of the motor connecting rod (320) is hinged to the motor connecting rod bracket (340) through a thrust bearing (350), and the motor connecting rod bracket (340) is fixed on the bottom plate (110) through a bolt; the motor connecting rod (320) other end is articulated through the bolt in one end of bumper shock absorber (360), bumper shock absorber (360) other end is articulated through the bolt on bumper shock absorber support (370), bumper shock absorber support (370) are fixed through the bolt on apron (120).
3. A robot, characterized in that it comprises a wheeled robot chassis according to any one of claims 1-2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210823358.9A CN117429533A (en) | 2022-07-15 | 2022-07-15 | Wheeled robot chassis and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210823358.9A CN117429533A (en) | 2022-07-15 | 2022-07-15 | Wheeled robot chassis and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117429533A true CN117429533A (en) | 2024-01-23 |
Family
ID=89546697
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210823358.9A Pending CN117429533A (en) | 2022-07-15 | 2022-07-15 | Wheeled robot chassis and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117429533A (en) |
-
2022
- 2022-07-15 CN CN202210823358.9A patent/CN117429533A/en active Pending
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| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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