CN210502247U

CN210502247U - Chassis system and robot

Info

Publication number: CN210502247U
Application number: CN201920950591.7U
Authority: CN
Inventors: 黄河; 左睿; 周伟
Original assignee: Shenzhen Anze Intelligent Robot Co ltd
Current assignee: Shenzhen Anze Intelligent Robot Co ltd
Priority date: 2019-06-21
Filing date: 2019-06-21
Publication date: 2020-05-12
Anticipated expiration: 2029-06-21

Abstract

The utility model provides a chassis system and robot, robot include chassis system, and chassis system includes chassis frame, sets up in chassis frame's automatically controlled module and swing joint in chassis frame's drive module, and drive module is equipped with four at least, and each drive module is independent each other. In arbitrary one drive module, in wheel hub motor located the tire, event each tire all is the drive wheel, and every tire all is independently connected with the subassembly that hangs that has buffering cushioning effect, make each tire can not influence each other on unevenness's road surface, event chassis system has good road surface adaptability ability and motion stability, the user can be through every rotation direction and the slew velocity independent control to every tire that turns to the subassembly, the event can guarantee the wheel axis intersection of each tire in a bit when turning to, thereby difficult skidding, reduce the slip friction on tire and ground greatly, and make chassis system's turn radius little, and then reduce wheel hub motor's power consumption.

Description

Chassis system and robot

Technical Field

The utility model belongs to the technical field of the robot, more specifically say, relate to a chassis system and including this chassis system's robot.

Background

In the field of robots at present, a relatively simple differential chassis system is mostly adopted, and the differential chassis system can be roughly divided into two types: one is a chassis system comprising a plurality of universal wheels, and two sides of the chassis system are respectively provided with a driving wheel; the other type is that more than two driving wheels are respectively arranged on two sides of the chassis, a motor is respectively arranged on two sides of the chassis, and all the driving wheels positioned on the same side are driven by the same motor positioned on the same side, namely, the driving wheels positioned on the same side obtain driving force from the same motor through a certain mechanical transmission structure.

The former chassis system has a simple structure and a small turning radius, but has low adaptability to the ground; although the latter chassis system has better ground adaptability and can be applied to more working environments, the wheels and the ground seriously slide due to the differential speed of the tires on two sides when the chassis system turns, the motor needs to overcome extra large friction force, extra power loss is caused except accelerated wear of the tires, and the motor with large power needs to be selected when the chassis system is designed.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a chassis system to the chassis system ground adaptability who solves present robot field is lower, turn the in-process serious to tire wearing and tearing and the big technical problem of motor power consumption.

In order to achieve the above object, the utility model adopts the following technical scheme: the chassis system comprises a chassis frame, an electric control module arranged on the chassis frame and at least four driving modules movably connected to the chassis frame, wherein the driving modules are independent;

each driving module comprises a tire, a hub motor, a connecting assembly, a suspension assembly and a steering assembly, wherein the hub motor is arranged in the tire and fixedly connected with the connecting assembly, the suspension assembly is movably connected with the chassis frame and movably connected with the connecting assembly so as to play a role of buffering and damping the chassis system, the connecting assembly is movably connected with the chassis frame and can rotate around the horizontal direction relative to the chassis frame, and the steering assembly is arranged on the chassis frame and is movably connected with the connecting assembly;

the electronic control module is electrically connected with the steering assemblies and the hub motors, can control the hub motors to drive the tires to rotate around the axial direction of the steering assemblies, can also control the steering assemblies to drive the connecting assemblies to rotate around the vertical direction so as to drive the tires to steer, can control the wheel axes of the tires to intersect at one point during steering, and can also control the intersection point of the wheel axes of the tires to coincide with the central axis of the chassis frame during steering.

Further, in any of the drive modules:

the connecting assembly comprises a steering knuckle and a fork frame connecting mechanism, and the hub motor is fixedly connected to the steering knuckle; the fork frame connecting mechanism comprises a fork frame body and a sliding guide rod, the fork frame body is provided with a first end and a second end which are oppositely arranged, the first end is rotatably connected to the chassis frame and can rotate around the horizontal direction relative to the chassis frame, the second end is in sliding connection with the sliding guide rod, and the sliding guide rod is movably connected with the steering knuckle; the suspension assembly is movably connected to the second end.

Further, in any of the drive modules:

the fork frame connecting mechanisms are two, the two fork frames are oppositely arranged in the vertical direction, and the suspension assembly is movably connected with at least one second end.

Further, in any of the drive modules:

coupling assembling still includes first bulb, the knuckle pass through first bulb with sliding guide arm swing joint.

Further, in any of the drive modules:

the suspension assembly is a shock absorber comprising an elastic piece, a rod body, a first connecting portion and a second connecting portion, the elastic piece is movably sleeved on the periphery of the rod body, two opposite ends of the elastic piece can be respectively abutted and matched with the first connecting portion and the second connecting portion, and the first connecting portion and the second connecting portion are respectively movably connected with the chassis frame and the second end.

Further, in any of the drive modules:

the steering assembly comprises a steering motor and a pull rod mechanism connected to an output shaft of the steering motor, the pull rod mechanism is movably connected with the steering knuckle, and the steering motor can drive the pull rod mechanism to swing so as to drive the steering knuckle to rotate around the vertical direction.

Further, in any of the drive modules:

the pull rod mechanism comprises a swing rod, a connecting rod and a second ball head, one end of the swing rod is fixedly connected with an output shaft of the steering motor, the other end of the swing rod is rotatably connected with one end of the connecting rod, and the other end of the connecting rod is movably connected with the steering knuckle through the second ball head.

Furthermore, the electric control module comprises a power supply and a control unit, and the control unit is electrically connected with the power supply, the hub motor and the steering assembly.

Further, chassis frame includes first support body, second support body and third support body, first support body with the second support body extends along the horizontal direction, with the third support body extends along vertical direction, first support body passes through the third support body with the second support body is connected, the power set up in on the first support body, the control unit set up in on the second support body.

The utility model also provides a robot, the robot includes foretell chassis system.

Implement the embodiment of the utility model provides a, will have following beneficial effect:

the utility model provides a chassis system includes at least four mutually independent drive module, and each drive module all includes tire, in-wheel motor, suspension assembly, coupling assembling and steering assembly to in arbitrary one drive module, in-wheel motor located the tire, so each tire all is the drive wheel, and each tire all is independently connected with suspension assembly that has buffering cushioning effect, makes each tire can not influence each other on rugged road surface, therefore the utility model provides a chassis system has good road surface adaptability ability and motion stationarity; in addition, each tire is connected with a steering assembly through a connecting assembly, so that the rotating direction and the rotating speed of each tire can be independently controlled, and the electronic control module can adjust the steering parameters of each tire, so that the wheel axes of each tire are ensured to be intersected at one point during steering, the tire is not easy to slip, the sliding friction between the tire and the ground is greatly reduced, the turning radius of the whole chassis system is small, and the power consumption of a hub motor is further reduced; particularly, as the rotating direction and the rotating speed of each tire can be independently controlled, the electronic control module can adjust the steering parameters of each tire, so that the wheel axes of the tires are intersected with the geometric center of the chassis frame, and the pivot steering function is realized. The utility model provides a robot is because of possessing above-mentioned chassis system's whole beneficial effect including above-mentioned chassis system, and here is no longer repeated.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.

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

FIG. 2 is a first schematic diagram illustrating a portion of the chassis system of FIG. 1;

FIG. 3 is a schematic diagram of a driving module employed in the chassis system of FIG. 1;

FIG. 4 is an exploded view of the driving module shown in FIG. 3;

FIG. 5 is a second partial schematic structural view of the chassis system provided in FIG. 1;

FIG. 6 is a schematic view of the various tires of the chassis system of FIG. 1 in a pivot turn;

fig. 7 is a schematic view of the respective tires of the chassis system of fig. 1 in a state in which non-side shift steering is implemented.

Wherein, in the figures, the respective reference numerals:

10. a chassis system;

100. a chassis frame; 110. a first frame body; 120. a second frame body; 130. a third frame body;

200. an electric control module; 210. a power source; 220. a control unit;

300. a driving module; 310. a tire; 320. a hub motor; 330. a connecting assembly; 331. a knuckle; 3311. mounting holes; 332. a fork carriage connecting mechanism; 3321. a fork carriage body; 33211. a first end; 33212. a second end; 3322. a sliding guide bar; 3323. a first ball head; 340. a suspension assembly; 341. a shock absorbing guide rod; 342. an elastic member; 343. a first connection portion; 344. a second connecting portion; 350. a steering assembly; 351. a steering motor; 352. a pull rod mechanism; 3521. a swing rod; 3522. a connecting rod; 3523. a second ball head.

Detailed Description

In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

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.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.

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 invention, "a plurality" means two or more unless specifically limited otherwise.

Referring to fig. 1 and 2 together, a chassis system 10 according to the present invention will now be described. The chassis system 10 comprises a chassis frame 100, an electronic control module 200 and four driving modules 300, wherein the four driving modules 300 are mutually independent; of course, in other embodiments of the present invention, the number of the driving modules 300 may be determined according to the requirement. Specifically, the electronic control module 200 is disposed above the chassis frame 100, and the four driving modules 300 are distributed at four corners of the chassis frame 100, in any one of the driving modules 300: the electric control module 200 comprises a tire 310, an in-wheel motor 320, a connecting assembly 330, a suspension assembly 340 and a steering assembly 350, wherein the in-wheel motor 320 and the steering assembly 350 are electrically connected with the electric control module 200.

Wherein, the in-wheel motor 320 is arranged in the tyre 310, the output shaft of the in-wheel motor 320 and the tyre 310 form coaxial connection and matching, that is, the wheel hub motor 320 can drive the tire 310 to rotate around its own axis, the wheel hub motor 320 is fixedly connected with the connecting assembly 330, the connecting assembly 330 is movably connected with the chassis frame 100, and can rotate around the horizontal direction relative to the chassis frame 100, at the same time, the connecting assembly 330 is also movably connected with the suspension assembly 340, and the suspension assembly 340 is movably connected with the chassis frame 100, so that, i.e., the movable connection of the suspension assembly 340 with the chassis frame 100 and the connection assembly 330, respectively, is formed, and the suspension assembly 340 has a shock-absorbing performance, since the connecting assembly 330 is connected to the tire 310 by the in-wheel motor 320, so that the suspension assembly 340 provides cushioning to the chassis frame 100 during the running of the chassis system 10 by means of the tires 310.

In addition, the steering assembly 350 is disposed on the chassis frame 100 and movably connected to the connecting assembly 330, and under the action of the electronic control module 200, the steering assembly 350 can drive the connecting assembly 330 to rotate around the vertical direction to drive the tire 310 to steer, so that the steering assembly 350 performs the function of driving the tire 310 to steer.

As described above, each driving module 300 is independent from each other, and each in-wheel motor 320 is disposed in the tire 310 in a one-to-one manner, so each tire 310 is a driving wheel, and each tire 310 is independently connected with the suspension assembly 340 having the buffering and damping effect, so that each tire 310 on the uneven road surface cannot be influenced by each other, and therefore the chassis system 10 provided by the utility model has excellent road surface adaptability and motion stability; since each tire 310 is connected to a steering assembly 350 through the connecting assembly 330, the rotation direction and rotation speed of each tire 310 can be independently controlled, and the electronic control module 200 can adjust the steering parameters of each tire 310, so as to ensure that the wheel axes of each tire 310 meet at a point, shown as point R in the figure, during steering, thereby preventing slipping, greatly reducing the sliding friction between the tire 310 and the ground, and reducing the turning radius of the whole chassis system 10, thereby reducing the power consumption of the in-wheel motor 320.

In particular, referring to fig. 6, since the rotation direction and rotation speed of each tire 310 can be independently controlled, the electronic control module 200 can adjust the steering parameters of each tire 310 such that the wheel axes of the tires 310 meet at a point during steering, which is shown as a point R in fig. 6, and the meeting point coincides with the central axis of the chassis frame 100, in this embodiment, it can also be stated that the wheel axes of the tires 310 meet at a point, which is shown as a point R in fig. 6, and the point R coincides with the geometric center of the chassis frame 100, thereby implementing the in-situ steering function around the central axis of the chassis frame 100.

In particular, referring to fig. 7, fig. 7 shows a four-wheel steering state based on the structure of the chassis system 10 of the present invention, in which the independent rotation directions of the tires 310 are adjusted to make the wheel axes of the four tires 310 meet at a point, which is shown as a point R' in fig. 7, and the effect of no lateral shift during steering can be achieved in cooperation with the differential motion of the four tires 310, so as to greatly reduce the wear of the tires 310.

It can be understood that the utility model provides a drive module 300 that chassis system 10 adopted has adopted the modularized design for chassis system 10's expansibility is strong, therefore can satisfy more application scenarios through reasonable configuration, especially can be applied to on the multiple unmanned navigation car well.

Further, referring to fig. 3 and fig. 4 together, as an embodiment of the chassis system 10 of the present invention, in any one of the driving modules 300: the connecting assembly 330 includes a knuckle 331 and a fork frame connecting mechanism 332, the knuckle 331 is provided with a mounting hole 3311, the mounting hole 3311 is substantially rectangular, the in-wheel motor 320 includes a motor body (not shown) and an output shaft (not shown) connected to the motor body, the size and shape of the mounting hole 3311 are respectively adapted to the size and shape of the motor body of the in-wheel motor 320, the in-wheel motor 320 is inserted into the mounting hole 3311 and connected to the knuckle 331 through a screw; the fork carriage coupling mechanism 332 comprises a fork carriage body 3321 and a sliding guide bar 3322, the fork carriage body 3321 has a first end 33211 and a second end 33212 opposite to each other, the first end 33211 is rotatably connected to the chassis frame 100 and can rotate around a horizontal direction with respect to the chassis frame 100, the second end 33212 is slidably connected to the sliding guide bar 3322, the sliding guide bar 3322 is movably connected to a knuckle 331, and the suspension assembly 340 is movably connected to the second end 33212 of the fork carriage body 3321.

Specifically, the fork body 3321 includes two fork rods (not shown) forming an acute angle with each other, wherein one end of the two fork rods away from each other is a first end 33211, and one end of the two fork rods converging together is a second end 33212, it can be understood that, in this embodiment, the fork body 3321 has two first ends 33211 and a second end 33212, a cylindrical bushing (not shown) is disposed on the two first ends 33211, the bushing is rotatably connected to the chassis frame 100 through a pin, a screw, and the like, and enables the fork body 3321 to rotate around a horizontal direction relative to the chassis frame 100, a through hole extending in the same direction as the extension direction of the sliding guide rod 3322 is disposed on the second end 33212, and the sliding guide rod 3322 is movably disposed in the through hole and forms a sliding connection fit with the second end 33212. Thus, the fork carriage body 3321 is simple and stable in structure and has high structural strength.

Further, referring to fig. 2 to fig. 4, as an embodiment of the chassis system 10 of the present invention, in any one of the driving modules 300: the fork carriage connection mechanisms 332 are provided in two, the two fork carriage connection mechanisms 332 are arranged opposite to each other in the vertical direction, and the suspension assembly 340 is movably connected to the second end 33212 of at least one fork carriage body 3321. Preferably, the suspension assembly 340 is movably connected to one of the two fork carriage linkages 332 further from the ground.

Preferably, the fork carriage attachment mechanism 332 further comprises a first ball head 3323, and the knuckle 331 is movably connected to the sliding guide 3322 through the first ball head 3323.

Further, referring to fig. 2 to fig. 4, as an embodiment of the chassis system 10 of the present invention, in any one of the driving modules 300: the suspension assembly 340 is a shock absorber, and specifically, the shock absorber includes a shock absorbing guide rod 341, an elastic member 342, a first connecting portion 343 and a second connecting portion 344, the elastic member 342 is sleeved around the shock absorbing guide rod 341, opposite ends of the shock absorbing guide rod 341 are respectively connected with the first connecting portion 343 and the second connecting portion 344, the shock absorbing guide rod 341 is a telescopic rod, or the shock absorbing guide rod 341 is slidably connected and matched with at least one of the first connecting portion 343 and the second connecting portion 344, that is, a distance between the first connecting portion 343 and the second connecting portion 344 is variable under an external force, the first connecting portion 343 and the second connecting portion 344 can respectively abut against opposite ends of the elastic member 342, the first connecting portion 343 is rotatably connected with the chassis frame 100 through a hinge structure, and the second fork connecting portion 344 is rotatably connected with the second end 33212 of the fork frame 3321 through a hinge structure. It can be understood that the distance between the first connecting portion 343 and the second connecting portion 344 and the elastic coefficient of the elastic member 342 largely determine the shock absorbing capability of the chassis system 10, and the user can select the distance according to the actual requirement. Preferably, the elastic member 342 is a spring.

Further, referring to fig. 3 and fig. 4 together, as an embodiment of the chassis system 10 of the present invention, in any one of the driving modules 300: the steering assembly 350 includes a steering motor 351, and a tie rod mechanism 352 connected to an output shaft of the steering motor 351, wherein the tie rod mechanism 352 is movably connected to the steering knuckle 331, and the steering motor 351 can drive the tie rod mechanism 352 to swing so as to drive the steering knuckle 331 to rotate around a vertical direction. Since the hub motor 320 is fixedly connected to the knuckle 331 and the hub motor 320 is disposed in the tire 310, the rotation of the knuckle 331 can drive the tire 310 to turn.

Further, referring to fig. 3 and fig. 4 together, as an embodiment of the chassis system 10 of the present invention, in any one of the driving modules 300: the link mechanism 352 includes a swing link 3521, a link 3522 and a second ball 3523, one end of the swing link 3521 is fixedly connected to an output shaft of the steering motor 351, the other end of the swing link 3521 is rotatably connected to one end of the link 3522, and the other end of the link 3522 is movably connected to the knuckle 331 through the second ball 3523. The tie-rod mechanism 352 has a simple structure and stable power transmission, and can effectively improve the control accuracy of the steering of the tire 310.

It should be noted that the first and second ball heads 3323 and 3523 may refer to spherical rod end connections through which two members connected may rotate relative to each other through a plurality of angles.

Further, referring to fig. 1 and fig. 5, as an embodiment of the chassis system 10 of the present invention, the electronic control module 200 includes a power source 210 and a control unit 220 (not shown), and the control unit 220 is electrically connected to the power source 210, the in-wheel motor 320 and the steering assembly 350. The power supply 210 is a power battery, the control unit 220 comprises an electric cabinet, a controller, a communication module and the like which are arranged in the electric cabinet, the electric cabinet can be used for placing a robot communication module matched with the chassis system 10, a user can control the hub motor 320 to rotate through the controller, and the steering motor 351 of the steering assembly 350 can also be controlled to rotate through the controller, so that steering control is realized.

Further, referring to fig. 1 and 5 together, as an embodiment of the chassis system 10 provided by the present invention, the chassis frame 100 includes a first frame body 110 and a second frame body 120 extending along a horizontal direction, and a third frame body 130 extending along a vertical direction, the first frame body 110 and the second frame body 120 are connected through the third frame body 130, the power source 210 is disposed on the first frame body 110, and the electronic control module 200 is disposed on the second frame body 120. In this way, the chassis frame 100 includes two layers of structures for carrying, and the weight of the control unit 220 and the weight of the power supply 210 are respectively carried by the first frame 110 and the second frame 120, so that the chassis frame 100 has stronger carrying capacity and stability.

Preferably, the first frame body 110, the second frame body 120 and the third frame body 130 are formed by casting and are connected in a welded manner to form a frame structure. Of course, in other embodiments of the present invention, the first frame 110, the second frame 120 and the third frame 130 can also be made by other methods, which are not limited herein.

Referring to fig. 1 to 7, the present invention further provides a robot, which includes the above-mentioned chassis system 10. The utility model provides a robot has the whole beneficial effect of this chassis system 10 because of having adopted above-mentioned chassis system 10, and the here is no longer repeated. The robot provided by the utility model can be a patrol robot, a sweeping robot, a logistics robot, etc., and can also be called a patrol car, a sweeping car or a logistics car, etc., and the robot is not limited herein.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. The chassis system, its characterized in that: the chassis comprises a chassis frame, an electric control module arranged on the chassis frame and at least four driving modules movably connected to the chassis frame, wherein each driving module is independent;

2. The chassis system of claim 1, wherein: in any one of the drive modules:

3. The chassis system of claim 2, wherein: in any one of the drive modules:

the fork frame connecting mechanisms are two, the two fork frames are oppositely arranged in the vertical direction, and the suspension assembly is movably connected with the second end of at least one fork frame body.

4. The chassis system of claim 2, wherein: in any one of the drive modules:

the fork frame connecting mechanism further comprises a first ball head, and the steering knuckle is movably connected with the sliding guide rod through the first ball head.

5. The chassis system of claim 2, wherein: in any one of the drive modules:

the suspension assembly is a shock absorber comprising an elastic part, a shock absorption guide rod, a first connecting part and a second connecting part, the elastic part is movably sleeved on the periphery of the shock absorption guide rod, two opposite ends of the elastic part can be respectively abutted and matched with the first connecting part and the second connecting part, and the first connecting part and the second connecting part are respectively movably connected with the chassis frame and the second end of the fork frame body.

6. The chassis system according to any one of claims 2 to 5, wherein: in any one of the drive modules:

7. The chassis system of claim 6, wherein: in any one of the drive modules:

8. The chassis system according to any one of claims 1 to 5, wherein: the electric control module comprises a power supply and a control unit, and the control unit is electrically connected with the power supply, the hub motor and the steering assembly.

9. The chassis system of claim 8, wherein: the chassis frame comprises a first frame body, a second frame body and a third frame body, the first frame body and the second frame body extend along the horizontal direction, the third frame body extends along the vertical direction, the first frame body passes through the third frame body and the second frame body is connected, a power supply is arranged on the first frame body, and a control unit is arranged on the second frame body.

10. Robot, its characterized in that: the robot comprising a chassis system according to any of claims 1 to 9.