CN211468619U

CN211468619U - Chassis and equipment

Info

Publication number: CN211468619U
Application number: CN201922498592.5U
Authority: CN
Inventors: 藏俊峰
Original assignee: Beijing Orion Star Technology Co Ltd
Current assignee: Beijing Orion Star Technology Co Ltd
Priority date: 2019-12-31
Filing date: 2019-12-31
Publication date: 2020-09-11
Anticipated expiration: 2029-12-31

Abstract

The embodiment of the utility model provides a chassis and equipment, this chassis include initiative chassis and universal chassis, and the initiative chassis includes two at least action wheels and the first bottom plate of being connected with the action wheel, and universal chassis includes two at least universal wheels and the second bottom plate of being connected with the universal wheel, and first bottom plate is rotationally connected with the second bottom plate. Because the first bottom plate and the second bottom plate can rotate relatively, when the chassis moves on uneven ground, the driving wheel and the universal wheel can contact the ground simultaneously through the relative rotation of the first bottom plate and the second bottom plate, the phenomenon that the driving wheel is suspended cannot occur, and the moving direction of the chassis is effectively prevented from deviating from the preset direction.

Description

Chassis and equipment

Technical Field

The utility model relates to the technical field of robot, especially, relate to a chassis and equipment.

Background

The chassis of the robot has a variety of configurations. At present, as shown in fig. 1, a robot mostly adopts a chassis with a structure of two universal wheels and two driving wheels. In the chassis with the structure, the two universal wheels and the two driving wheels are fixed on the bottom plate of the chassis through a rigid structure, so that the stability of the robot in starting or braking is ensured.

When the ground is relatively flat, the four wheels on the chassis can simultaneously contact the ground to jointly support the robot. However, since a plane is determined by three points, on uneven ground, four wheels connected with the bottom plate by adopting a rigid structure cannot simultaneously contact the ground, and the condition that one wheel is suspended can occur. At the moment, if the gravity center of the robot deviates to one side of the universal wheel, one driving wheel can be suspended, and at the moment, the driving wheel idles, so that the moving direction of the robot deviates from the preset direction.

SUMMERY OF THE UTILITY MODEL

An object of the embodiment of the utility model is to provide a chassis and equipment for solve the problem at the skew direction of presetting of unevenness subaerial robot direction of motion. The specific technical scheme is as follows:

the embodiment of the utility model provides a chassis, which comprises an active chassis and a universal chassis;

the driving chassis comprises at least two driving wheels and a first bottom plate connected with the driving wheels;

the universal chassis comprises at least two universal wheels and a second bottom plate connected with the universal wheels;

the first base plate is rotatably connected with the second base plate.

Optionally, a connecting shaft sleeve is fixedly mounted on one of the first bottom plate and the second bottom plate, and an axis of the connecting shaft sleeve is parallel to the bottom plate on which the connecting shaft sleeve is mounted;

a connecting shaft matched with the connecting shaft sleeve is fixedly arranged on the other bottom plate of the first bottom plate and the second bottom plate, and the axis of the connecting shaft is parallel to the bottom plate on which the connecting shaft is arranged;

the connecting shaft can be axially and rotatably arranged in the connecting shaft sleeve relative to the connecting shaft sleeve.

Optionally, a gap between the first bottom plate and the second bottom plate is smaller than a preset distance threshold.

Optionally, the chassis further comprises a first connecting plate and a second connecting plate;

one end of the first connecting plate is fixedly connected with the first bottom plate, and the other end of the first connecting plate is fixedly connected with the connecting shaft sleeve or the connecting shaft;

one end of the second connecting plate is fixedly connected with the second bottom plate, and the other end of the second connecting plate is fixedly connected with the connecting shaft sleeve or the connecting shaft.

Optionally, the chassis further comprises a bearing, and the bearing is arranged between the connecting shaft and the connecting shaft sleeve.

Optionally, the chassis further comprises an end cover;

the diameter of the cross section of the end cover is larger than that of the cross section of the through hole for placing the connecting shaft on the connecting shaft sleeve;

the end cover is fixedly connected with one end, extending out of the connecting shaft sleeve, of the connecting shaft.

Optionally, the chassis further comprises a pin, and the length of the pin is greater than the diameter of the cross section of the through hole for placing the connecting shaft on the connecting shaft sleeve;

the connecting shaft is provided with a through hole at one end extending out of the connecting shaft sleeve, the axis of the through hole is vertical to the axis of the connecting shaft, and the pin is connected with the connecting shaft through the through hole.

Optionally, the area of the bearing surface of the first base plate is larger than the area of the bearing surface of the second base plate.

Optionally, the bearing surface of the first bottom plate is rectangular or semicircular;

the cross section of the second bottom plate is rectangular or semicircular.

In order to achieve the above object, the embodiment of the present invention further provides an apparatus, the apparatus includes any one of the above chassis, the main body of the apparatus is fixedly installed on the first bottom plate.

The embodiment of the utility model provides a technical scheme's beneficial effect:

the embodiment of the utility model provides a pair of chassis and equipment, this chassis include initiative chassis and universal chassis, and the initiative chassis includes two at least action wheels and first bottom plate, and universal chassis includes two at least universal wheels and second bottom plate, and first bottom plate is rotationally connected with the second bottom plate.

Because first bottom plate and second bottom plate can rotate relatively, even rigid connection is all taken with the bottom plate to universal wheel and action wheel, when adopting the embodiment of the utility model provides an equipment on chassis is when unevenness's ground motion, also can make action wheel and universal wheel touch to the earth simultaneously through the relative rotation of first bottom plate and second bottom plate, the unsettled phenomenon of action wheel can not appear, the skew direction of motion on chassis has effectively been prevented, when having solved the robot and moving on unevenness's ground, the skew problem of presetting the direction of motion.

Of course, it is not necessary for any product or method of the invention to achieve all of the above-described advantages at the same time.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a block diagram of a chassis of the prior art;

fig. 2 is a structural diagram of a chassis according to an embodiment of the present invention;

fig. 3 is a structural diagram of a connecting portion of a chassis according to an embodiment of the present invention;

fig. 4 is a structural diagram of a connecting portion of another chassis according to an embodiment of the present invention;

fig. 5 is a structural diagram of an apparatus according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In order to solve the problem that the robot moves on uneven ground, the moving direction is deviated from the preset direction, the embodiment of the utility model provides a chassis and equipment, and the following description is provided with the chassis and equipment provided by the embodiment of the utility model in combination with fig. 2-5.

Referring to fig. 2, fig. 2 is a structure diagram of a chassis provided by an embodiment of the present invention, an embodiment of the present invention provides a chassis including: an active chassis 1 and a gimbal chassis 2.

The driving chassis 1 comprises at least two driving wheels 11 and a first bottom plate 12 connected with the driving wheels 11, the universal chassis 2 comprises at least two universal wheels 21 and a second bottom plate 22 connected with the universal wheels 21, and the first bottom plate 12 is rotatably connected with the second bottom plate 22.

For guaranteeing to adopt the embodiment of the utility model provides an equipment operation's on chassis stability, the quantity of action wheel 11 is 2 at least, and the quantity of universal wheel 21 is 2 at least. If the equipment is large, the number of the driving wheels 11 and the universal wheels 21 can be increased according to actual conditions. The shape of the bearing surface of the first bottom plate 12 is rectangular or semicircular, and the shape of the bearing surface of the second bottom plate 22 is rectangular or semicircular, which is not limited by the embodiment of the present invention.

The embodiment of the utility model provides an in, because first bottom plate 12 and second bottom plate 22 can be connected by relative pivoted, can make originally unsettled wheel touch to earth through rotatory first bottom plate 12 or second bottom plate 22, make a plurality of wheels support equipment simultaneously to the skew preset direction of motion of equipment has been avoided effectively.

In one embodiment, the connecting sleeve 3 is fixedly mounted on one of the first base plate 12 and the second base plate 22, and the axis of the connecting sleeve 3 is parallel to the base plate on which the connecting sleeve 3 is mounted. The other of the first bottom plate 12 and the second bottom plate 22 is fixedly provided with a connecting shaft 4 matched with the connecting shaft sleeve 3, and the axis of the connecting shaft 4 is parallel to the bottom plate provided with the connecting shaft 4. The connecting shaft 4 is arranged in the connecting sleeve 3 in an axially rotatable manner relative to the connecting sleeve 3.

The embodiment of the utility model provides an in, if connecting axle sleeve 3 fixed mounting is on first bottom plate 12, then 4 fixed mounting of connecting axle are on second bottom plate 22, if 3 fixed mounting of connecting axle sleeve is on second bottom plate 22, then 4 fixed mounting of connecting axle are on first bottom plate 12, and first bottom plate 12 and second bottom plate 22 are connected through connecting axle sleeve 3 and connecting axle 4.

To ensure that the first base plate 12 is parallel to the second base plate 22, the axis of the connecting shaft 4 is parallel to the base plate on which the connecting shaft 4 is mounted, and the axis of the connecting sleeve 3 is parallel to the base plate on which the connecting sleeve 3 is mounted. To ensure that the first base plate 12 and the second base plate 22 are rotatable relative to each other, the connecting shaft 4 is disposed in the connecting sleeve 3 so as to be axially rotatable relative to the connecting sleeve 3.

The bearing surface of first bottom plate 12 and the bearing surface of second bottom plate 22 both can be located same horizontal plane, also can be located two horizontal planes that parallel respectively, and the horizontal plane at first bottom plate 12 bearing surface place both can coincide with the horizontal plane at second bottom plate 22 bearing surface place promptly, also can be located planar top or below at second bottom plate 22 bearing surface place, the embodiment of the utility model provides a do not limit to this.

In one embodiment, the gap between the first base plate 12 and the second base plate 22 is less than a predetermined distance threshold. That is, the gap between the ends of the first base plate 12 and the second base plate 22 should not be too large. If there is a large gap between the connecting ends of the first base plate 12 and the second base plate 22, when the main body of the device is mounted on the first base plate 12, the excessive gap may cause the gravity of the device to be excessively dispersed on the first base plate 12, thereby causing the device to be unstable and even to be inclined.

In one embodiment, the chassis may further comprise a first connecting plate 5 and a second connecting plate 6.

One end of the first connecting plate 5 is fixedly connected with the first bottom plate 12, and the other end is fixedly connected with the connecting shaft sleeve 3 or the connecting shaft 4. One end of the second connecting plate 6 is fixedly connected with the second bottom plate 22, and the other end is fixedly connected with the connecting shaft sleeve 3 or the connecting shaft 4.

Specifically, if the first bottom plate 12 is fixedly connected to the connecting shaft sleeve 3 and the second bottom plate 22 is fixedly connected to the connecting shaft 4, one end of the first connecting plate 5 is fixedly connected to the first bottom plate 12, the other end of the first connecting plate is fixedly connected to the connecting shaft sleeve 3, one end of the second connecting plate 6 is fixedly connected to the second bottom plate 22, and the other end of the second connecting plate is fixedly connected to the connecting shaft 4. If the first bottom plate 12 is fixedly connected with the connecting shaft 4 and the second bottom plate 22 is fixedly connected with the connecting shaft sleeve 3, one end of the first connecting plate 5 is fixedly connected with the first bottom plate 12, the other end of the first connecting plate is fixedly connected with the connecting shaft 4, one end of the second connecting plate 6 is fixedly connected with the second bottom plate 22, and the other end of the second connecting plate is fixedly connected with the connecting shaft sleeve 3.

Taking the first base plate 12 connected to the connecting sleeve 3 as an example, one end of the first connecting plate 5 is perpendicular to the first base plate 12 and is fixedly connected to the first base plate 12, and the other end of the first connecting plate 5 is perpendicular to the connecting sleeve 3 and is fixedly connected to the connecting sleeve 3, so that the axis of the connecting sleeve 3 is parallel to the first base plate 12 connected thereto. Connect first bottom plate 12 and connecting axle sleeve 3 through first connecting plate 5, can make connecting axle sleeve 3 be located the below of first bottom plate 12 and be in half unsettled state, make connecting axle 4 not stretch out connecting axle sleeve 3 with the one end that second bottom plate 22 is connected can unimpededly to can restrict the axial displacement of connecting axle 4 and connecting axle sleeve 3 through stretching out connecting axle sleeve 3's one end installation end cover at connecting axle 4, conveniently realize connecting axle 4 and connecting axle sleeve 3's axial fixity. And, use first connecting plate 5 to place connecting sleeve 3 under the bottom plate for the outward appearance of chassis is more neat pleasing to the eye.

In one embodiment, the chassis may further comprise a bearing, which is disposed between the connecting shafts 4 and the connecting sleeve 3. After the bearing is installed, the relative rotation of the connecting shaft 4 and the connecting shaft sleeve 3 can be realized through the bearing, and the connecting shaft 4 and the connecting shaft sleeve 3 are prevented from being directly contacted to generate friction, so that the connecting shaft 4 and the connecting shaft sleeve 3 are prevented from being abraded and damaged.

In one embodiment, the chassis may further include an end cap 7, and the cross-sectional diameter of the end cap 7 is larger than that of the through hole of the connecting sleeve 3 for placing the connecting shaft 4. The end cover 7 is fixedly connected with one end of the connecting shaft 4 extending out of the connecting shaft sleeve 3.

After the end cover 7 is installed, as shown in fig. 3, the connecting shaft sleeve 3 is arranged between the end cover 7 and the connecting plate connected with the connecting shaft 4 along the axial direction, and the cross section diameter of the end cover 7 is larger than that of the through hole for arranging the connecting shaft 4 on the connecting shaft sleeve 3, so that the connecting plate connected with the end cover 7 and the connecting shaft 4 effectively limits the axial displacement of the connecting shaft sleeve 3 and the connecting shaft 4.

In one example, in order to reduce the processing difficulty, the end cover 7 may be fixedly connected with one end of the connecting shaft 4 extending out of the connecting shaft sleeve 3 in a welding manner. In another example, the end cap 7 and the end of the connecting shaft 4 extending out of the connecting sleeve 3 can be fixedly connected through screws, and the end cap 7 can be easily mounted and dismounted through the screws. For example, at least one threaded blind hole is formed in one end, extending out of the connecting shaft sleeve 3, of the connecting shaft 4, the axis of the threaded blind hole is parallel to the axis of the connecting shaft 4, at least one threaded through hole is formed in the end cover 7, the axis of the threaded through hole coincides with the axis of the threaded blind hole, and a screw fixedly connects the end cover 7 and one end, extending out of the connecting shaft sleeve 3, of the connecting shaft 4 through the threaded through hole and the threaded blind hole.

In one embodiment, the chassis may further include a pin 9, and the length of the pin 9 is greater than the cross-sectional diameter of the through hole of the connecting shaft sleeve 3 for placing the connecting shaft 4. The end of the connecting shaft 4 extending out of the connecting shaft sleeve 3 is provided with a through hole, the axis of the through hole is vertical to the axis of the connecting shaft 4, and a pin 9 is arranged on the connecting shaft 4 through the through hole.

When the pin 9 is connected with the through hole on the connecting shaft 4, as shown in fig. 4, two ends of the pin 9 respectively extend out of the through hole, and the length of the pin 9 is greater than the diameter of the cross section of the through hole on the connecting shaft 4 on the connecting shaft sleeve 3, so that the pin 9 and the connecting plate connected with the connecting shaft 4 can effectively limit the axial displacement of the connecting shaft sleeve 3 and the connecting shaft 4, and the processing cost and the processing difficulty can be reduced by using the pin 9.

In one embodiment, since the main body of the device is mounted on the active chassis 1, in order to ensure the stability of the device, as shown in fig. 2, the bearing surface area of the first base plate 12 is larger than that of the second base plate 22.

The embodiment of the utility model provides an equipment is still provided, as shown in figure 5, this equipment includes above-mentioned chassis, and the main part 8 of this equipment is installed on initiative chassis 1, and there is the clearance equipment and universal chassis 2, makes universal chassis 2 can rotate with initiative chassis 1 relatively. The device may be a mechanical device such as a robot.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.

Claims

1. A chassis, characterized in that it comprises an active chassis (1) and a universal chassis (2);

the driving chassis (1) comprises at least two driving wheels (11) and a first bottom plate (12) connected with the driving wheels (11);

the universal chassis (2) comprises at least two universal wheels (21) and a second bottom plate (22) connected with the universal wheels (21);

the first base plate (12) is rotatably connected to the second base plate (22).

2. The chassis according to claim 1, characterized in that a connecting bushing (3) is fixedly mounted on one of the first base plate (12) and the second base plate (22), the axis of the connecting bushing (3) being parallel to the base plate on which the connecting bushing (3) is mounted;

a connecting shaft (4) matched with the connecting shaft sleeve (3) is fixedly arranged on the other bottom plate of the first bottom plate (12) and the second bottom plate (22), and the axis of the connecting shaft (4) is parallel to the bottom plate on which the connecting shaft (4) is arranged;

the connecting shaft (4) can be axially and rotatably arranged in the connecting shaft sleeve (3) relative to the connecting shaft sleeve (3).

3. The chassis according to claim 2, wherein a gap between the first floor (12) and the second floor (22) is less than a preset distance threshold.

4. The chassis according to claim 2, further comprising a first connecting plate (5) and a second connecting plate (6);

one end of the first connecting plate (5) is fixedly connected with the first bottom plate (12), and the other end of the first connecting plate is fixedly connected with the connecting shaft sleeve (3) or the connecting shaft (4);

one end of the second connecting plate (6) is fixedly connected with the second bottom plate (22), and the other end of the second connecting plate is fixedly connected with the connecting shaft sleeve (3) or the connecting shaft (4).

5. The chassis according to claim 2, characterized in that it further comprises a bearing interposed between the connecting shaft (4) and the connecting bushing (3).

6. The chassis according to claim 2, further comprising an end cap (7);

the diameter of the cross section of the end cover (7) is larger than that of a through hole in the connecting shaft sleeve (3) for placing the connecting shaft (4);

the end cover (7) is fixedly connected with one end, extending out of the connecting shaft sleeve (3), of the connecting shaft (4).

7. The chassis according to claim 2, characterized in that it further comprises a pin (9), the length of said pin (9) being greater than the cross-sectional diameter of the through hole of said connecting bushing (3) where said connecting shaft (4) is placed;

the connecting shaft (4) stretches out one end of the connecting shaft sleeve (3) is provided with a through hole, the axis of the through hole is perpendicular to the axis of the connecting shaft (4), and the pin (9) is connected with the connecting shaft (4) through the through hole.

8. Chassis according to any of the claims 1 to 7, characterized in that the load-bearing surface area of the first base plate (12) is larger than the load-bearing surface area of the second base plate (22).

9. Chassis according to any of the claims 1 to 7, characterized in that the bearing surface of the first bottom plate (12) is rectangular or semi-circular in shape;

the bearing surface of the second bottom plate (22) is rectangular or semicircular.

10. An apparatus, characterized in that the apparatus comprises a chassis according to any of claims 1-9, the body of the apparatus being fixedly mounted on the first base plate (12).