CN211641859U

CN211641859U - Wheeled robot chassis

Info

Publication number: CN211641859U
Application number: CN201922378759.4U
Authority: CN
Inventors: 吴杰; 卞林祥; 李鸣; 马朋; 邵凯田; 郭江; 王秋平
Original assignee: Nanjing Youkuo Electrical Technology Co ltd
Current assignee: Nanjing Youkuo Electrical Technology Co ltd
Priority date: 2019-12-25
Filing date: 2019-12-25
Publication date: 2020-10-09
Anticipated expiration: 2029-12-25

Abstract

The utility model discloses a wheeled robot chassis, including robot right side chassis, the right side on robot right side chassis is rotated and is connected with the chassis and connects the pivot, the left end that the pivot was connected on the chassis is rotated and is connected with robot left side chassis, the equal fixedly connected with chassis case in top on robot right side chassis and robot left side chassis, the barrier module is kept away in the navigation of the bottom fixedly connected with on robot right side chassis, the utility model relates to a robot removes technical field. This wheeled robot chassis connects the setting that the pivot rotated and connects robot left side chassis through robot right side chassis for robot right side chassis is when going, and when facing rugged topography, the robot right side chassis is walked on climbing or the slope, and robot left side chassis can both oneself independently remain stable, and robot right side chassis and robot left side chassis can both be under various circumstances, remain stable and then drive another party stably.

Description

Wheeled robot chassis

Technical Field

The utility model relates to a robot removes technical field, specifically is a wheeled robot chassis.

Background

A wheeled robot is a mobile robot, and a mobile robot is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The intelligent mobile robot aims to assist or replace the work of human work, such as production industry, construction industry or dangerous work, is an intelligent mobile robot, and is a comprehensive system integrating multiple functions of environment perception, dynamic decision and planning, behavior control and execution and the like. The method integrates the research results of multiple subjects such as sensor technology, information processing, electronic engineering, computer engineering, automatic control engineering, artificial intelligence and the like, represents the highest achievement of mechanical-electrical integration, and is one of the most active fields of scientific and technical development at present. With the continuous improvement of the performance of the robot, the application range of the mobile robot is greatly expanded, and the mobile robot is widely applied to industries such as industry, agriculture, medical treatment, service and the like, and is well applied to harmful and dangerous occasions such as the fields of urban safety, national defense, space detection and the like. Therefore, mobile robotics has gained widespread attention in countries around the world.

The chassis of the existing wheeled robot is difficult to grasp the stability when running in the face of various terrains, the limitation is large when running, and the wheeled robot is easy to cause the robot to fall down when running in a sharp corner, so that the robot is damaged, and no effective bottom stabilizing device is used for stabilizing the robot.

SUMMERY OF THE UTILITY MODEL

The utility model provides a not enough to prior art, the utility model provides a wheeled robot chassis has solved wheeled robot chassis and is difficult to hold its stability when going in the face of multiple topography, and the limitation is great when going, and wheeled robot is going when turning round suddenly, causes the problem that the robot fell easily.

In order to achieve the above purpose, the utility model discloses a following technical scheme realizes: a wheeled robot chassis comprises a robot right chassis, the right side of the robot right chassis is rotatably connected with a chassis connecting rotating shaft, the left end of the chassis connecting rotating shaft is rotatably connected with a left chassis of the robot, the top parts of the right chassis of the robot and the left chassis of the robot are fixedly connected with a chassis box, the bottom of the right chassis of the robot is fixedly connected with a navigation obstacle avoidance module, the bottom of the right chassis of the robot and the left side of the navigation obstacle avoidance module are rotatably connected with a running disc, the top of the right chassis of the robot is fixedly connected with a first sleeve, the top of the right chassis of the robot and the inner surface of the first sleeve are rotatably connected with a stable wheel shaft, the top and the bottom of stabilizing the shaft all run through a sleeve and extend to telescopic outside No. one, the equal fixedly connected with stabilizer wheel in both ends of stabilizing the shaft.

Preferably, the top of the right chassis of the robot is fixedly connected with a driving module at the top of the first sleeve, and the top of the left chassis of the robot is fixedly connected with a battery module.

Preferably, the top on the left chassis of the robot is located on the right side of the battery module and is fixedly connected with a second sleeve, and the top on the left chassis of the robot is located on the right side of the second sleeve and is fixedly connected with a central control module.

Preferably, the top of the chassis on the left side of the robot is rotatably connected with a rear wheel shaft on the inner surface of the second sleeve, and the top end and the bottom end of the rear wheel shaft penetrate through the second sleeve and extend to the outside of the second sleeve.

Preferably, the two ends of the rear wheel shaft are fixedly connected with rear wheels, the top of the chassis box is fixedly connected with a holder acquisition module, wheel grooves are formed in the two sides of the bottom of the traveling disc, and a driving shaft is rotatably connected between the two wheel grooves.

Preferably, both ends of the driving shaft penetrate through the two wheel grooves and extend into the two wheel grooves, both ends of the driving shaft are fixedly connected with driving wheels, and the bottom of the traveling disc and the outer side surface of the driving shaft are rotatably connected with a third sleeve.

Advantageous effects

The utility model provides a wheeled robot chassis. Compared with the prior art, the method has the following beneficial effects:

(1) the wheel type robot chassis is characterized in that a chassis connecting rotating shaft is connected to the right side of a right side chassis of a robot in a rotating mode, the left end of the chassis connecting rotating shaft is connected with a left side chassis of the robot in a rotating mode, chassis boxes are fixedly connected to the top of the right side chassis of the robot and the top of the left side chassis of the robot, a navigation obstacle avoidance module is fixedly connected to the bottom of the right side chassis of the robot, a traveling disc is rotatably connected to the bottom of the right side chassis of the robot and the left side of the navigation obstacle avoidance module, a sleeve is fixedly connected to the top of the right side chassis of the robot, a stabilizing wheel shaft is rotatably connected to the top of the right side chassis of the robot and the inner surface of the sleeve, the top end and the bottom end of the stabilizing wheel shaft penetrate through the sleeve and extend to the outside of the sleeve, stabilizing wheels are fixedly connected to the two ends of the stabilizing, make robot right side chassis when going, when facing rugged topography, robot right side chassis climbs the slope or walks on the slope, and robot left side chassis can both oneself independently remain stable, and robot right side chassis and robot left side chassis can both be under various circumstances, and the remain stable then drive another party stable, has effectively avoided wheeled robot chassis to be difficult to hold its stability when going in the face of multiple topography, the great problem of limitation when going.

(2) The wheeled robot chassis is characterized in that a driving module is fixedly connected to the top of a right chassis of a robot and the top of a first sleeve, a battery module is fixedly connected to the top of a left chassis of the robot, a second sleeve is fixedly connected to the top of a left chassis of the robot and the right of the battery module, a central control module is fixedly connected to the top of the left chassis of the robot and the right of the second sleeve, a rear wheel shaft is rotatably connected to the top of the left chassis of the robot and the inner surface of the second sleeve, the top end and the bottom end of the rear wheel shaft penetrate through the second sleeve and extend to the outside of the second sleeve, rear wheels are fixedly connected to the two ends of the rear wheel shaft, a holder acquisition module is fixedly connected to the top of a chassis box, wheel grooves are formed in the two sides of the bottom of a traveling disc, a driving shaft is rotatably connected between the two wheel grooves, the two ends of the driving shaft penetrate through the two wheel, the equal fixedly connected with drive wheel in both ends of drive shaft, the bottom of going the dish and the outside face that is located the drive shaft rotates and is connected with the sleeve No. three, through the setting of going the dish cooperation and stabilizing the wheel for wheeled robot is going when turning round suddenly, stabilizes wheel pair robot right side chassis both sides and remains stable, and the dish that goes remains stable to robot right side chassis bottom center, just can avoid the robot to fall down, thereby has avoided the robot to receive the harm, has effectively improved the stability of robot bottom.

Drawings

FIG. 1 is a front view of the robot chassis structure of the present invention;

FIG. 2 is a front view of the inner structure of the robot chassis of the present invention;

fig. 3 is a front view of the traveling plate structure of the present invention.

In the figure 1, a right chassis of the robot; 2. the chassis is connected with the rotating shaft; 3. a left chassis of the robot; 4. a chassis box; 5. a navigation obstacle avoidance module; 6. a travel disc; 7. a stabilizing wheel; 8. stabilizing the wheel axle; 9. a first sleeve; 10. a drive module; 11. a battery module; 12. a central control module; 13. a second sleeve; 14. a rear wheel axle; 15. a rear wheel; 16. a cradle head acquisition module; 17. a wheel groove; 18. a drive wheel; 19. a drive shaft; 20. sleeve No. three.

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.

Referring to fig. 1-3, the present invention provides a technical solution: a wheeled robot chassis comprises a robot right side chassis 1, a chassis connecting rotating shaft 2 is rotatably connected to the right side of the robot right side chassis 1, a robot left side chassis 3 is rotatably connected to the left end of the chassis connecting rotating shaft 2, a chassis box 4 is fixedly connected to the top of the robot right side chassis 1 and the top of the robot left side chassis 3, the chassis box 4 provides a working space for a central control module 12, a battery module 11 and a driving module 10, a navigation obstacle avoidance module 5 is fixedly connected to the bottom of the robot right side chassis 1, a running disc 6 is rotatably connected to the bottom of the robot right side chassis 1 and the left side of the navigation obstacle avoidance module 5, a first sleeve 9 is fixedly connected to the top of the robot right side chassis 1, the first sleeve 9 provides protection for a stabilizing wheel shaft 8, a stabilizing wheel shaft 8 is rotatably connected to the inner surface of the top of the robot right side chassis 1 and the first sleeve 9, the top end and the bottom end of a stabilizing wheel shaft 8 penetrate through a first sleeve 9 and extend to the outside of the first sleeve 9, two ends of the stabilizing wheel shaft 8 are fixedly connected with stabilizing wheels 7, the top of a right chassis 1 of the robot is fixedly connected with a driving module 10 at the top of the first sleeve 9, the top of a left chassis 3 of the robot is fixedly connected with a battery module 11, the top of the left chassis 3 of the robot is fixedly connected with a second sleeve 13 at the right of the battery module 11, the second sleeve 13 provides protection for a rear wheel shaft 14, the top of the left chassis 3 of the robot is fixedly connected with a central control module 12 at the right of the second sleeve 13, the top of the left chassis 3 of the robot is rotatably connected with a rear wheel shaft 14 at the inner surface of the second sleeve 13, the top end and the bottom end of the rear wheel shaft 14 penetrate through the second sleeve 13 and extend to the outside of the second sleeve 13, two ends of the rear wheel shaft 14 are fixedly connected with rear wheels, the top fixedly connected with cloud platform collection module 16 of chassis case 4, race 17 has all been seted up to the both sides of the dish 6 bottom of traveling, race 17 provides the rotation space for drive wheel 18, it is connected with drive shaft 19 to rotate between two race 17, two race 17 are all run through and two inside of race 17 are extended to at the both ends of drive shaft 19, the equal fixedly connected with drive wheel 18 in both ends of drive shaft 19, the bottom of the dish 6 of traveling just is located the outside face rotation of drive shaft 19 and is connected with No. three sleeve 20 and has provided the protection for drive shaft 19.

During operation, firstly, a worker starts the driving module 10 through the central control module 12, the driving module 10 is started to enable the driving shaft 19 to rotate, the driving shaft 19 rotates to drive the driving wheel 18 to rotate, the driving wheel 18 rotates to drive the right chassis 1 of the robot to run, the right chassis 1 of the robot runs to drive the left chassis 3 of the robot through the chassis connecting rotating shaft 2, the rear wheel shaft 14 is matched with the rear wheel 15 to achieve auxiliary running, the stabilizing wheel shaft 8 is matched with the stabilizing wheel 7 to achieve auxiliary running stability for the right chassis 1 of the robot, the battery module 11 is matched with the navigation obstacle avoidance module 5 to enable the right chassis 1 of the robot to automatically avoid obstacles during running, a running route can be set for the running disk 6, and the tripod head acquisition module 16 transmits running information to a client.

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.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A wheeled robot chassis comprises a robot right side chassis (1), wherein the right side of the robot right side chassis (1) is rotatably connected with a chassis connecting rotating shaft (2), and the wheeled robot chassis is characterized in that the left end of the chassis connecting rotating shaft (2) is rotatably connected with a robot left side chassis (3), chassis boxes (4) are fixedly connected with the top of the robot right side chassis (1) and the top of the robot left side chassis (3), a navigation obstacle avoidance module (5) is fixedly connected with the bottom of the robot right side chassis (1), a traveling disc (6) is rotatably connected with the bottom of the robot right side chassis (1) and the left side of the navigation obstacle avoidance module (5), a first sleeve (9) is fixedly connected with the top of the robot right side chassis (1), and the inner surface of the first sleeve (9) is rotatably connected with a stable wheel shaft (8), the top and the bottom of stabilizing wheel axle (8) all run through sleeve (9) and extend to the outside of sleeve (9), the equal fixedly connected with in both ends of stabilizing wheel axle (8) stabilizes wheel (7).

2. A wheeled robot chassis according to claim 1, characterized in that a driving module (10) is fixedly connected to the top of the robot right chassis (1) and on the top of the first sleeve (9), and a battery module (11) is fixedly connected to the top of the robot left chassis (3).

3. A wheeled robot chassis according to claim 2, characterized in that a second sleeve (13) is fixedly connected to the top of the robot left chassis (3) and right of the battery module (11), and a central control module (12) is fixedly connected to the top of the robot left chassis (3) and right of the second sleeve (13).

4. A wheeled robot chassis according to claim 3, characterized in that a rear wheel axle (14) is rotatably connected to the top of the left chassis (3) of the robot and located on the inner surface of the second sleeve (13), and the top end and the bottom end of the rear wheel axle (14) both penetrate through the second sleeve (13) and extend to the outside of the second sleeve (13).

5. The wheeled robot chassis according to claim 4, wherein both ends of the rear wheel shaft (14) are fixedly connected with rear wheels (15), the top of the chassis box (4) is fixedly connected with a pan-tilt acquisition module (16), both sides of the bottom of the traveling disc (6) are provided with wheel grooves (17), and a driving shaft (19) is rotatably connected between the two wheel grooves (17).

6. A wheeled robot chassis according to claim 5, characterized in that both ends of the driving shaft (19) penetrate through the two wheel grooves (17) and extend to the inside of the two wheel grooves (17), both ends of the driving shaft (19) are fixedly connected with driving wheels (18), and the bottom of the driving plate (6) and the outer side surface of the driving shaft (19) are rotatably connected with a sleeve (20) with the size of three.