CN117507731A - Chassis and robot with same - Google Patents

Abstract

The invention discloses a chassis and a robot with the same. A chassis, comprising: a lower support part; an upper support part; at least two hinges; an elastic member; the walking wheel set comprises a first wheel, a second wheel and a third wheel which are distributed along a first direction in sequence. The lower supporting part comprises two branch parts distributed along the first direction, the two branch parts are connected in a rotating way, the two branch parts are connected with hinge parts, a first wheel and a third wheel are respectively arranged on the two branch parts, and a second wheel is connected with at least one of the two branch parts; the chassis has a first pose, and each two hinge parts, the upper support part and the lower support part form a parallelogram under the first pose. The chassis can give consideration to shock absorption and supporting rigidity. Through the setting of two branch portions, cooperation first wheel, second wheel and third wheel have improved travelling capacity and obstacle crossing ability.

Description

Chassis and robot with same

Technical Field

The invention relates to the technical field of robot damping, in particular to a chassis and a robot with the chassis.

Background

Service robot application scenes are many, for example, hotel delivery, building express delivery, restaurant food delivery and other scenes. The common service robot generally adopts a wheel chassis, and in order to ensure running stability, a shock absorber device is arranged between the wheels and the chassis main body and is used for filtering vibration in the running process, reducing running noise and improving running stability.

Generally, the lower the stiffness of the wheel suspension, the better the effect of filtering vibrations. However, if the rigidity is too low, the inertial force may cause the swing amplitude of the vehicle body to be too large in the acceleration and deceleration stages of the robot, resulting in unstable vehicle body. Therefore, the contradiction point is that the filtering vibration performance requires low chassis rigidity, the vehicle body stability requires high chassis rigidity, and the shock absorbing effect and the supporting effect cannot be considered.

Disclosure of Invention

The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention aims to provide the chassis of the robot, which can give consideration to the shock absorbing effect and the supporting effect during running and has certain obstacle crossing capability.

The invention further provides a robot with the chassis.

The chassis of the robot according to the embodiment of the invention comprises: a lower support part; an upper support portion located above the lower support portion; the upper ends of the hinge parts are rotationally connected with the upper supporting parts, and the lower ends of the hinge parts are rotationally connected with the lower supporting parts; an elastic member connected between the lower support portion and the upper support portion; the walking wheel set is connected to the lower supporting part and comprises a first wheel, a second wheel and a third wheel which are sequentially distributed along a first direction; the lower supporting part comprises two branch parts distributed along the first direction, the two branch parts are connected in a rotating way, the two branch parts are connected with the hinge parts, the first wheel and the third wheel are respectively arranged on the two branch parts, and the second wheel is connected with at least one of the two branch parts; the chassis has a first pose, and each two hinge parts, the upper supporting part and the lower supporting part form a parallelogram under the first pose.

According to the chassis of the robot, the lower supporting part, the upper supporting part and the at least two hinge parts which can form a parallelogram are arranged, so that the chassis has certain rigidity, the upper supporting part is not easy to swing when the speed is changed, the steering is carried out or jolt is received, and the stability is improved. Through the cooperation setting elastic component, make the chassis have good shock absorber effect, compromise shock absorber and support rigidity. Through the setting of two branch portions, cooperation first wheel, second wheel and third wheel have improved travelling capacity and obstacle crossing ability.

In some embodiments, in the first position, the hinge is disposed obliquely.

Further, in the first posture, the elastic member is obliquely disposed.

Specifically, the hinge portion and the elastic member are inclined in opposite directions.

In some embodiments, the second wheel is coupled to only one of the branches, the second wheel being disposed adjacent to the rotational connection point of both branches.

In some embodiments, the second wheel is a driving wheel, and at least one of the first wheel and the third wheel is a driven wheel.

Further, the road wheel group satisfies at least one of the following conditions: condition one: a hub motor is arranged in the driving wheel; condition II: the driven wheel is a universal wheel or a planetary wheel.

In some embodiments, the lower support is a support bar extending along the first direction of the chassis; the chassis comprises at least two supporting rods, the at least two supporting rods are distributed at intervals along a second direction, and the second direction is a horizontal direction and perpendicular to the first direction.

Further, the hinge parts are hinge rods, and the hinge rods are connected to the branch parts of each support rod.

Specifically, the chassis of robot still include: the linkage piece is connected with the hinge rods on different support rods and is positioned below the upper support portion.

In some embodiments, the elastic member is one or at least two; when the elastic piece is one, only one supporting rod is connected with the elastic piece.

In some embodiments, the elastic member is a shock absorber.

According to an embodiment of the present invention, a robot includes: the chassis is the chassis of the robot according to the above embodiment.

According to the robot disclosed by the embodiment of the invention, the robot is stable in running, not easy to shake, strong in shock resistance and strong in obstacle crossing capability.

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

Fig. 1 is a schematic structural view of a chassis of a robot according to an embodiment of the present invention;

FIG. 2 is a major side view of the chassis of the embodiment shown in FIG. 1;

fig. 3 is a major side view of the chassis of the embodiment of fig. 2 with the upper support hidden.

Reference numerals:

a chassis 100,

Lower support portion 10, branch portion 11, upper support portion 20, hinge portion 30, elastic member 40, running wheel set 50, first wheel 51, second wheel 52, third wheel 53, link member 60,

A first direction a and a second direction b.

Detailed Description

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.

The following disclosure provides many different embodiments, or examples, for implementing different structures of the invention. In order to simplify the present disclosure, components and arrangements of specific examples are described below. They are, of course, merely examples and are not intended to limit the invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art will recognize the applicability of other processes and/or the use of other materials.

The chassis 100 and the robot having the same according to the embodiment of the present invention are described below with reference to the accompanying drawings.

As shown in fig. 1 and 2, a chassis 100 of a robot according to an embodiment of the present invention includes: a lower support 10, an upper support 20, at least two hinges 30, an elastic member 40 and a running gear set 50.

The upper support portion 20 is located above the lower support portion 10, and the upper support portion 20 is used for installing other structures of the robot, such as a manipulator, an operation panel, a carrying case, an electric box, and other functional devices of the robot. It is to be understood that in the description of the present invention, the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus are not to be construed as limiting the present invention.

The upper end of the hinge part 30 is rotatably connected to the upper support part 20, and the lower end of the hinge part 30 is rotatably connected to the lower support part 10. Thus, when the chassis 100 jolts due to vibration or acceleration or deceleration, the two ends of the hinge portion 30 rotate, so that the distance between the lower support portion 10 and the upper support portion 20 changes, and the angle of the upper support portion 20 relative to the ground does not change much, so as to maintain the bearing capacity. When the two ends of the hinge part 30 rotate, a certain vibration energy can be buffered, and the jolt degree of the upper support part 20 can be reduced.

The elastic member 40 is connected between the lower support portion 10 and the upper support portion 20 for providing a supporting force to the upper support portion 20. Since the supporting force provided by the elastic member 40 to the upper supporting portion 20 is related to the compressed amount of the elastic member 40, it is possible to avoid too small a distance between the upper supporting portion 20 and the lower supporting portion 10.

The running gear set 50 is connected to the lower support 10, and the running gear set 50 includes a first wheel 51, a second wheel 52, and a third wheel 53 sequentially distributed in the first direction a. The terms "first," "second," and the like, 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 defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

Referring to fig. 1, the lower support portion 10 includes two branch portions 11 distributed along a first direction a, the two branch portions 11 are rotatably connected, the hinge portions 30 are connected to the two branch portions 11, the first wheel 51 and the third wheel 53 are respectively provided on the two branch portions 11, and the second wheel 52 is connected to at least one of the two branch portions 11. The chassis 100 has a first posture in which each two hinge portions 30 form a parallelogram with the upper support portion 20 and the lower support portion 10.

It will be appreciated that the hinge 30 may be provided in two or more than two. When the chassis 100 is in the first position, the hinge portions 30 are parallel to each other, and any two hinge portions 30 can form a parallelogram with the upper support portion 20 and the lower support portion 10. Thus, when the number of the hinge portions 30 is more than two, the object of the present application can be achieved as long as the above-described condition is satisfied.

For convenience of description of the present application, it is assumed that the chassis 100 is in the first posture when the chassis 100 is driven on a flat ground, and the lower support portion 10 is parallel to the ground.

By providing the elastic member 40, the upper support portion 20 is supported upward, and the upper support portion 20 can have a certain load carrying capacity. Due to the arrangement of the at least two hinge parts 30, the at least two hinge parts 30 can cooperate with the elastic member 40 to disperse the supporting force to the upper supporting part 20, so that the stress is balanced. Since each two hinge parts 30 form a parallelogram with the upper and lower support parts 20, 10, when the lower support part 10 is kept parallel to the ground, the upper support part 20 is also kept parallel to the ground, thereby maintaining a smooth carrying capacity.

When the chassis 100 is in variable speed operation or steering, the upper support portion 20 and the lower support portion 10 generate a speed difference, and at this time, the upper support portion 20 still keeps parallel to the ground under the parallelogram action, and the upper support portion 20 is not easy to skew and shake. Therefore, the two hinge parts 30, the upper support part 20 and the lower support part 10 form a parallelogram, so that the chassis 100 has stronger rigidity, and instability caused by overlarge swing amplitude of the upper support part 20 is avoided.

Since the first wheel 51 and the third wheel 53 are respectively provided on the two branch portions 11, the second wheel 52 is connected to at least one of the two branch portions 11, and the angle between the two branch portions 11 can be changed when the ground is uneven, so that the first wheel 51, the second wheel 52 and the third wheel 53 can substantially contact the ground, and the traveling capability and obstacle surmounting capability are improved.

Taking fig. 1 as an example, two branch portions 11 are rotatably connected at a point B and extend toward points a and C, respectively, the lower support portion 10 is composed of the two branch portions 11, a first wheel 51 and a second wheel 52 are provided on the branch portion 11 between the point a and the point B, and a third wheel 53 is provided on the branch portion 11 between the point B and the point C. Thus, the first wheel 51 and the second wheel 52 can support the branch 11 between the point a and the point B for smooth travel, and the second wheel 52 and the third wheel 53 can support the branch 11 between the point B and the point C for smooth travel. When the upward slope occurs in the front, the point a of the branch portion 11 gradually rises, and the front branch portion 11 rotates clockwise with respect to the rear branch portion 11, so that the traveling wheel set 50 can be stably brought into contact with the ground. When a downhill surface appears in the front, the point A of the branch part 11 gradually descends, the front branch part 11 rotates anticlockwise relative to the rear branch part 11, and the traveling wheel set 50 can be stably contacted with the ground.

Assuming that points D and F are upper hinge points on the upper support portion 20, points E and G are lower hinge points on the two branch portions 11, and the line segment DF is the same as the line segment EG in length. A hinge part 30 is connected between the point D and the point E, a hinge part 30 is connected between the point F and the point G, and the two hinge parts 30 are arranged in parallel.

It can be seen that when the chassis 100 is located on an uneven ground, the angles of the two branch portions 11 are changed, so that the two hinge portions 30, the upper support portion 20 and the lower support portion 10 cannot form a parallelogram, and the position of the chassis 100 is changed, which may be the second position. Of course, the angle between the two branches 11 is different, and the shape of the two hinges 30 formed by the upper and lower support parts 20, 10 is changed, so the second posture is also changed.

According to the chassis 100 of the robot in the embodiment of the invention, the lower support part 10, the upper support part 20 and the at least two hinge parts 30 which can form a parallelogram are arranged, so that the chassis 100 has certain rigidity, and the upper support part 20 is not easy to swing when the speed is changed, the steering is carried out or jolt is received, and the stability is increased. By arranging the elastic pieces in a matching way, the chassis 100 has good shock absorbing effect and gives consideration to shock absorbing and supporting rigidity. By providing the two branch portions 11 in cooperation with the first wheel 51, the second wheel 52, and the third wheel 53, the traveling ability and obstacle surmounting ability are improved.

In some embodiments, as shown in fig. 1, in the first position, the hinge 30 is disposed obliquely. Here, the hinge part 30 is inclined, so that the risk of the hinge part 30 getting stuck at the dead point when the upper support part 20 descends can be reduced. Therefore, when the elastic member 40 stretches and contracts due to vibration, the hinge portion 30 can adapt to the height change of the elastic member 40 in time, and the angle of the hinge portion 30 can be adjusted.

In some embodiments, as shown in fig. 1, in the first position, the elastic member 40 is disposed obliquely, so that the supporting force of the elastic member 40 on the upper supporting portion 20 can generate a certain horizontal component force, and the impact resistance of the upper supporting portion 20 against the horizontal impact is increased.

Of course, the solution of the present invention is not limited thereto, and in some solutions, the elastic member 40 may be disposed vertically, where the elastic member 40 has sufficient rigidity, and the elastic member 40 may provide a certain horizontal component force to resist the horizontal impact during deformation.

In some embodiments, the tilting directions of the hinge portion 30 and the elastic member 40 are opposite, so that the horizontal component force generated by the supporting force of the elastic member 40 and the horizontal component force generated by the supporting force of the hinge portion 30 can be balanced to a certain extent, and the bearing load of the hinge portion 30 and the elastic member 40 is reduced.

When the number of the elastic members 40 is plural, the arrangement direction of each elastic member 40 can be flexibly set as required.

In the present embodiment, the position of the second wheel 52 of the running gear set 50 can be flexibly selected. For example, the second wheel 52 may be mounted at the rotational connection point of the two branches 11, as in fig. 1 where the second wheel 52 is near point B.

In some embodiments, as shown in fig. 1, the second wheel 52 is coupled to only one of the branch portions 11, and the second wheel 52 is disposed adjacent to the rotational coupling point of the two branch portions 11. Thus, the difficulty in assembling the second wheel 52 is reduced and the joint is less worn, but the second wheel 52 supports both of the two branch portions 11 more strongly and stably because the second wheel 52 is disposed adjacent to the rotational connection point of the two branch portions 11.

In the example of fig. 1, the position of the second wheel 52 on the two branches 11 may be optional, and even the second wheel 52 may be mounted on each of the two branches 11.

In some embodiments, the second wheel 52 is a driving wheel, and at least one of the first wheel 51 and the third wheel 53 is a driven wheel. Thus, the intermediate second wheel 52, which serves as a forward-start rear-end, can exert more forward driving capability. The arrangement of the driven wheel can reduce the cost.

In some alternative embodiments, the wheel hub motor is arranged in the driving wheel, namely, the motor is arranged in the wheel hub of the driving wheel, so that the occupied volume is reduced, and the obstacle crossing capability is improved.

In some alternative embodiments, the driven wheel is a universal wheel, facilitating adjustment of the direction of travel, particularly facilitating cornering. In still other alternative embodiments, the driven wheel is a planetary wheel, thereby improving obstacle surmounting capability. In some embodiments, some of the first wheel 51 and the third wheel 53 are universal wheels, and some are planetary wheels.

In still other alternative embodiments, the second wheel 52 has an in-wheel motor therein, and the first wheel 51 and the third wheel 53 are driven wheels of the same type or different types.

In some embodiments, the ground pressure duty cycle of the first wheel 51, the third wheel 53, the second wheel 52 may be adjusted by adjusting the relative position of the lower hinge point E, G point on AB, BC. The reasonable length proportion design can enable the ground pressure of the second wheel 52 to be more than 50%, so that the robot is guaranteed to have enough power, the probability of skidding is reduced, and obstacle crossing performance is improved.

In some embodiments, the first direction a is a front-to-back direction, and the plurality of hinge portions 30 are spaced apart along the front-to-back direction, so that the problem of forward tilting and backward tilting of the upper support portion 20 can be solved, and the influence of forward-to-backward unbalanced load on the posture of the robot is less.

In some embodiments, the first direction b is a left-right direction, and the plurality of hinge portions 30 are spaced apart along the left-right direction, so that the problem of tilting the upper support portion 20 left and right can be solved, and the influence of left-right offset load on the posture of the robot is less.

In still another embodiment, the first direction a is the front-rear direction, but the plurality of hinge parts 30 are partially distributed in the front-rear direction and partially distributed in the left-right direction, so that the problems of the upper support part 20 leaning forward, backward, leaning left, and leaning right can be solved.

In some embodiments, as shown in fig. 2 and 3, the lower support 10 is a support bar extending in a first direction a of the chassis 100. The chassis 100 includes at least two support bars, which are spaced apart along a second direction b, which is a horizontal direction and perpendicular to the first direction a.

The lower support part 10 is connected with the walking wheel set 50 by a rod, which is not only beneficial to reducing the weight, but also reducing the risk of being rubbed by an obstacle when the vehicle travels along the first direction a, and improving the obstacle crossing capability

Specifically, the hinge portion 30 is a hinge rod, and the hinge rod is connected to the branch portion 11 of each support rod. Thus, the whole chassis 100 is supported stably, and after the lower parts of the upper supporting parts 20 are connected through the rods, the lower parts are equivalent to a larger avoidance area, so that the bump obstacle can be conveniently overcome.

Further, the chassis 100 further includes: and the linkage piece 60, wherein the linkage piece 60 is connected with hinge rods on different support rods, and the linkage piece 60 is positioned below the upper support part 20. The linkage 60 facilitates consistent operation of the components on the different support bars, for example, to achieve linkage of the left and right running gear sets 50. When the goods are loaded in a left-right offset mode, the gesture of the robot is not influenced.

In fig. 1, the link 60 may fix the hinge rod corresponding to DE or fix the hinge rod corresponding to FG.

The number of elastic members 40 can be reduced with respect to the prior art. Alternatively, the resilient member 40 is a shock absorber or other type of resilient structure.

Taking the scheme shown in fig. 1 as an example, when the hinge rods corresponding to the left DE and the right DE are fixedly connected together, two shock absorbers can be respectively fixed on the support rods at two sides. Or when the hinge rods corresponding to the left DE and the right DE are fixedly connected together, only one side supporting rod can be fixed with one shock absorber.

Or when the hinge rods corresponding to the left FG and the right FG are fixedly connected together, the support rods on the two sides can be respectively fixed with a shock absorber. Or when the hinge rods corresponding to the left FG and the right FG are fixedly connected together, only one shock absorber can be fixed on one side supporting rod.

That is, the number of the elastic members 40 may be one or at least two. When the number of the elastic members 40 is one, only one supporting rod can be connected with the elastic members 40, so that the cost is greatly reduced. Compared with the scheme that 4 shock absorbers can be realized in the prior art, the number of the shock absorbers needed by the scheme can be reduced, and even six-wheel shock absorption can be realized by only two shock absorbers or one shock absorber.

In some embodiments, the second direction b is a left-right direction, and the chassis 100 is disposed as a mirror image of the left-right direction as a whole. Thus, the utility model is beautiful and the stress is balanced.

According to an embodiment of the present invention, a robot includes: chassis 100 the chassis 100 is a chassis of a robot according to the above described embodiments.

According to the robot disclosed by the embodiment of the invention, the robot is stable in running, not easy to shake, strong in shock resistance and strong in obstacle crossing capability.

Other configurations and operations of robots according to embodiments of the present invention are known to those of ordinary skill in the art and will not be described in detail herein.

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; the device can be mechanically connected, electrically connected and communicated; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

In the description of the present specification, a description referring to terms "one embodiment," "some 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 present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

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 (13)

1. A chassis for a robot, comprising:

a lower support part;

an upper support portion located above the lower support portion;

the upper ends of the hinge parts are rotationally connected with the upper supporting parts, and the lower ends of the hinge parts are rotationally connected with the lower supporting parts;

an elastic member connected between the lower support portion and the upper support portion;

the walking wheel set is connected to the lower supporting part and comprises a first wheel, a second wheel and a third wheel which are sequentially distributed along a first direction;

the lower supporting part comprises two branch parts distributed along the first direction, the two branch parts are connected in a rotating way, the two branch parts are connected with the hinge parts, the first wheel and the third wheel are respectively arranged on the two branch parts, and the second wheel is connected with at least one of the two branch parts;

the chassis has a first pose, and each two hinge parts, the upper supporting part and the lower supporting part form a parallelogram under the first pose.

2. The robotic chassis of claim 1, wherein in the first position the hinge is disposed obliquely.

3. The chassis of the robot of claim 2, wherein in the first position the elastic member is disposed obliquely.

4. A chassis for a robot according to claim 3, wherein the hinge and the elastic member are inclined in opposite directions.

5. The chassis of a robot of claim 1, wherein the second wheel is coupled to only one of the branches, the second wheel being disposed adjacent to a rotational connection point of both branches.

6. The chassis of the robot of claim 1, wherein the second wheel is a driving wheel and at least one of the first wheel and the third wheel is a driven wheel.

7. The robotic chassis of claim 6, wherein the set of road wheels meets at least one of the following conditions:

condition one: a hub motor is arranged in the driving wheel;

condition II: the driven wheel is a universal wheel or a planetary wheel.

8. The chassis of a robot of any one of claims 1-7, wherein the lower support is a support bar extending along the first direction of the chassis;

the chassis comprises at least two supporting rods, the at least two supporting rods are distributed at intervals along a second direction, and the second direction is a horizontal direction and perpendicular to the first direction.

9. The robotic chassis of claim 8, wherein the hinge is a hinge rod, the hinge rod being connected to the branch portion of each of the support rods.

10. The chassis of the robot of claim 9, further comprising: the linkage piece is connected with the hinge rods on different support rods and is positioned below the upper support portion.

11. The chassis of a robot of claim 8, wherein the elastic member is one or at least two; when the elastic piece is one, only one supporting rod is connected with the elastic piece.

12. The robotic chassis of any one of claims 1-7, wherein the resilient member is a shock absorber.

13. A robot, comprising: chassis, which is a chassis of a robot according to any one of claims 1-12.