CN211841971U

CN211841971U - Overturn-preventing chassis

Info

Publication number: CN211841971U
Application number: CN202020295196.2U
Authority: CN
Inventors: 敖奇; 杨子赫; 张奎刚; 李�浩; 刘甲宾; 李超
Original assignee: CRSC Research and Design Institute Group Co Ltd
Current assignee: CRSC Research and Design Institute Group Co Ltd
Priority date: 2020-03-11
Filing date: 2020-03-11
Publication date: 2020-11-03
Anticipated expiration: 2030-03-11

Abstract

The utility model belongs to the technical field of the robot, concretely relates to prevent chassis that topples. The utility model discloses under the condition that does not increase the quality, can prevent effectively that the robot from toppling, make the chassis of small size can support the high operation, can also make the chassis pass through narrow region. Particularly, when the telescopic supporting mechanism is in a contraction state, the chassis has high flexibility and can pass through a narrow area; when the telescopic supporting mechanism is in an extending state, the telescopic supporting mechanism can bear the weight of the chassis together with the bearing wheels, and the chassis has high stability and has the function of preventing overturning. The utility model discloses a chassis still has advantages such as simple structure, simple to operate, small, the flexibility is big, stability is high, low cost.

Description

Overturn-preventing chassis

Technical Field

The utility model belongs to the technical field of the robot, concretely relates to prevent chassis that topples.

Background

The robot can assist the work of human beings, and the robot can be applied to fields such as production industry, building industry and service industry. The inspection by using the inspection robot becomes a trend, labor force is greatly liberated, and error risks are reduced.

Due to the limitation of various terrains, strict requirements are often imposed on the working height and the chassis size of the inspection robot, so that the inspection robot is suitable for various scenes. Generally, the inspection robot is small in chassis size and large in operation height, has wider application scenes, and can reach a narrower channel to operate a higher operation target. However, the narrow chassis and the large working height cause the stability of the robot to be reduced and the robot is easy to overturn. The existing solution is to increase the chassis counterweight, but the mass of the robot is too large, the power consumption is increased, and the flexibility is reduced.

Therefore, it is important to develop a chassis that can solve the above technical problems.

SUMMERY OF THE UTILITY MODEL

In order to solve the problems, the utility model provides an overturn-preventing chassis, which comprises a base 4 and a telescopic supporting mechanism;

the telescopic supporting mechanism is arranged below the base 4;

the telescopic supporting mechanism comprises a sliding block bracket 6, a sliding rail 7, a supporting wheel and a driving mechanism;

the slide rail 7 is fixedly arranged below the base 4; the slide block bracket 6 is clamped in the slide rail 7, and the slide block bracket 6 can extend or retract along the axial direction of the slide rail 7;

the supporting wheels are arranged at the end parts of the sliding block brackets 6;

the driving mechanism is fixedly arranged below the base 4 and can drive the sliding block bracket 6 to extend or retract.

Further, the chassis further comprises a bearing wheel, and the bearing wheel is arranged below the base 4; the bearing wheels are used for bearing the weight of the chassis and driving the chassis to move.

Further, the telescopic supporting mechanism further comprises a screw rod 10 and a gear set; the driving mechanism is connected with the gear set; the gear set is connected with the screw rod 10.

Further, the driving mechanism is a driving motor 5;

the gear set comprises a first gear 8 and a second gear 9;

the output shaft of the driving motor 5 is connected with the first gear 8; the first gear 8 is meshed with the second gear 9;

the screw rod 10 is connected with the second gear 9; in particular, the screw 10 is inserted into the second gear 9.

Further, a threaded hole is formed in the slider bracket 6; the screw rod 10 passes through the threaded hole, and the threaded hole is provided with threads matched with the screw rod 10.

Further, the lowest point of the supporting wheel is 1-10mm higher than the lowest point of the bearing wheel.

Further, the lowest point of the support wheel is 5mm higher than the lowest point of the carrier wheel.

Further, the axis of the sliding rail 7 in the telescopic support mechanism can be parallel to the axis of the carrying wheel, and/or the axis of the sliding rail 7 in the telescopic support mechanism can be perpendicular to the axis of the carrying wheel.

Further, when the number of the retractable support mechanisms is 2 or more, the plurality of retractable support mechanisms can share 1 drive mechanism.

Further, the supporting wheels are universal wheels or ball wheels;

the bearing wheel comprises two driving wheels 2 and four driven wheels;

the four driven wheels are symmetrically arranged around the base 4; the two driving wheels 2 are symmetrically arranged in the middle of the base 4.

The beneficial effects of the utility model

The utility model provides a prevent tilting chassis, the utility model discloses under the condition that does not increase the quality, can effectively prevent that the robot from toppling, make the chassis of small area can support the high altitude operation, can also make the chassis pass through narrow region. Particularly, when the telescopic supporting mechanism is in a contraction state, the chassis has high flexibility and can pass through a narrow area; when the telescopic supporting mechanism is in an extending state, the telescopic supporting mechanism can bear the weight of the chassis together with the bearing wheels, and the chassis has high stability and has the function of preventing overturning. The utility model discloses a chassis still has advantages such as simple structure, simple to operate, small, the flexibility is big, stability is high, low cost.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are 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 shows a schematic view of an anti-overturning chassis according to an embodiment of the present invention.

Fig. 2 shows a schematic view of the anti-overturning chassis when the telescopic supporting mechanism is in a contracted state.

Fig. 3 shows a schematic view of the anti-overturning chassis with the telescopic support mechanism in an extended state.

Fig. 4 shows a schematic view of the anti-overturning chassis with the lifting mechanism in a retracted state of the telescopic supporting mechanism.

Fig. 5 shows a top view of the anti-overturning chassis with the lifting mechanism in a retracted state of the telescopic support mechanism.

Fig. 6 shows a schematic view of the anti-overturning chassis with the lifting mechanism when the telescopic support mechanism is in an extended state.

Fig. 7 shows a top view of the anti-overturning chassis with the lifting mechanism when the telescopic support mechanism is in the extended state.

The device comprises a universal wheel 1, a driving wheel 2, a ball wheel 3, a base 4, a driving motor 5, a sliding block support 6, a sliding rail 7, a first gear 8, a second gear 9 and a screw rod 10.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. 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.

It is to be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art. Furthermore, the terms "first", "second", etc. are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated.

This embodiment provides prevents the chassis of toppling, and fig. 1 shows according to the utility model discloses a prevent the schematic diagram of chassis of toppling, as shown in fig. 1, prevent the chassis of toppling including action wheel 2, universal wheel 1, ball wheel 3. The driving wheel 2, the universal wheel 1 and the ball wheel 3 are all arranged below the base 4.

The chassis further comprises a telescopic supporting mechanism, fig. 2 shows a schematic view of the overturn-preventing chassis when the telescopic supporting mechanism is in a contracted state, as shown in fig. 2, the chassis comprises two driving wheels 2 and four universal wheels 1, the two driving wheels 2 are symmetrically arranged in the middle of the base 4, the driving wheels 2 are connected with a transmission device, and the transmission device connected with the two driving wheels 2 is not shown in the figure; four universal wheels 1 are symmetrically arranged around the base 4, and the four universal wheels 1 are driven wheels. Specifically, two universal wheels 1 are installed at the front side of the driving wheel 2, and two universal wheels 1 are installed at the rear side of the driving wheel 2. The four universal wheels 1 and the two driving wheels 2 are bearing wheels of the chassis and are used for bearing the weight of the chassis and driving the chassis to move.

The telescopic supporting mechanism is arranged below the base 4. The telescopic supporting mechanism comprises a sliding block bracket 6, a sliding rail 7, a ball wheel 3, a driving motor 5, a gear set and a screw rod 10. The slide rail 7 is fixedly arranged below the base 4; the slider bracket 6 is clamped in the slide rail 7, the slider bracket 6 can move along the axial direction of the slide rail 7, and specifically, the slider bracket 6 can extend or retract along the axial direction of the slide rail 7. The ball wheel 3 is mounted at the end of the slider bracket 6. The driving motor 5 is connected with the gear set, and the gear set is connected with the screw rod 10. A threaded hole is formed in the slider bracket 6, a screw rod 10 penetrates through the threaded hole, and the threaded hole is provided with threads matched with the screw rod 10. The drive motor 5 can power the extension or retraction of the slider bracket 6.

In particular, the set of gears comprises a first gear 8 and a second gear 9. An output shaft of the driving motor 5 is connected with a first gear 8, the first gear 8 is meshed with a second gear 9, and a screw rod 10 is inserted into the second gear 9.

When the driving motor 5 rotates, the driving motor 5 can drive the first gear 8 and the second gear 9 to rotate, and the second gear 9 can drive the screw rod 10 connected with the second gear to rotate; the screw rod 10 can drive the slide block bracket 6 which is in threaded connection with the screw rod to extend or retract along the axial direction of the slide rail 7.

The effect of ball wheel 3 is when scalable bearing structure stretches out, and ball wheel 3 can play the effect of supporting the chassis for the actual bearing point dispersion of chassis is more opened, and the chassis is more stable, can prevent that the chassis from toppling. It should be understood that the ball wheel 3 is only one specific example, and a member having a supporting function such as a universal wheel may be used instead of the ball wheel.

Further, the lowest point of the ball wheel 3 is higher than the lowest point of the bearing wheels (the universal wheel 1 and the driving wheel 2). The lowest point of the ball wheel 3 is 1-10mm, preferably 5mm higher than the lowest point of the bearing wheels (the universal wheel 1 and the driving wheel 2). The design can be at the in-process that scalable supporting mechanism stretches out like this, and ball wheel 3 does not bear vertical power, does not bear the weight of chassis promptly, helps prolonging scalable supporting mechanism's life. Meanwhile, the ball wheel 3 is a small gap with 1-10mm from the ground, the chassis can be prevented from overturning, and when the overturning trend occurs, the ball wheel 3 can quickly touch the ground to keep supporting.

The utility model does not limit the number of the telescopic supporting mechanisms, the number of the telescopic supporting mechanisms can be more than 1, and the technicians in the field can select the number of the telescopic supporting mechanisms according to the use requirements; for example, the number of telescoping support mechanisms may be 1, 2, 3, or 4.

The utility model discloses do not do the restriction to scalable supporting mechanism's position, the axis of slide rail 7 among the scalable supporting mechanism can be parallel with the axis of action wheel 2, and/or the axis of slide rail 7 among the scalable supporting mechanism can with the axis of action wheel 2 is perpendicular, and/or the axis of slide rail 7 among the scalable supporting mechanism can be located the diagonal position department of base 4.

Illustratively, the number of the telescopic supporting mechanisms in the embodiment is 3, wherein the axis of the sliding rail 7 in 1 telescopic supporting mechanism is perpendicular to the axis of the driving wheel 2. Wherein the axes of the sliding rails 7 in the 2 telescopic supporting mechanisms are parallel to the axis of the driving wheel 2. The ball wheels 3 of the three telescopic supporting mechanisms are distributed in a triangular shape. When the telescopic support mechanism is extended from the base 4, the telescopic support mechanism can carry the chassis weight together with the carrier wheel, and preferably, three ball wheels 3 can carry the chassis weight together with the carrier wheel (four universal wheels 1 and two driving wheels 2).

When the chassis comprises a plurality of telescopic supporting mechanisms, the telescopic of the plurality of telescopic supporting mechanisms can be controlled simultaneously through a single driving mechanism, and the chassis has the advantages of simple structure and low cost; the telescopic supporting mechanism can be independently controlled through a plurality of driving mechanisms, and the telescopic supporting mechanism has the advantage of high flexibility.

Specifically, two telescopic supporting mechanisms parallel to the axis of the driving wheel 2 in the present application share 1 driving motor 5 and gear set. The screw rods 10 of the two telescopic supporting mechanisms are respectively connected with a common gear set. When the common driving motor 5 rotates, the gear set connected with the common driving motor is driven to rotate, and the two screw rods 10 in the two telescopic supporting mechanisms are further driven to rotate, so that the two ball wheels 3 in the two telescopic supporting mechanisms synchronously extend outwards or retract inwards.

When the telescopic supporting mechanism is in a contraction state, the telescopic supporting mechanism is positioned below the chassis, the size of the telescopic supporting mechanism does not exceed that of the base 4, and the chassis has high flexibility and can pass through a narrow area.

Fig. 3 shows a schematic view of the anti-overturning chassis when the telescopic supporting mechanisms are in an extended state, and as shown in fig. 3, when all 3 telescopic supporting mechanisms are in an extended state, all three ball wheels 3 extend out of the base 4, so that the chassis of the robot is more stable. The utility model discloses do not do the restriction to the distance that scalable supporting mechanism stretches out base 4, the parameter that satisfies its demand can be selected according to the size of base 4 and heavy burden to the technical personnel in the field.

Fig. 4 shows a schematic view of the anti-overturning chassis with the lifting mechanism in a retracted state of the telescopic supporting mechanism. The telescopic supporting mechanism is located below the base 4, the size of the whole telescopic supporting mechanism is not larger than that of the chassis, and the robot is high in flexibility and can pass through a narrow passage. The top view of the anti-toppling chassis with the lifting mechanism is now shown in fig. 5.

Fig. 6 shows a schematic view of the anti-overturning chassis with the lifting mechanism when the telescopic support mechanism is in an extended state. When the robot carries out the operation of eminence target object, elevating system drives the arm and lifts to a take the altitude, and the focus on chassis moves upward, and 3 scalable supporting mechanism are stretched out to the chassis this moment for the actual load point dispersion of chassis is more opened, and the chassis is more stable. The top view of the anti-overturning chassis with the lifting mechanism is shown in fig. 7.

The utility model discloses under the condition that does not increase the quality, can prevent effectively that the robot from toppling, make the chassis of small size can support the high operation, can also make the chassis pass through narrow region. The utility model discloses can the flexible control scalable supporting mechanism stretch out or indentation, when scalable supporting mechanism is in the contraction state, the chassis has high flexibility, can pass through narrow region, when scalable supporting mechanism is in the extension state, scalable supporting mechanism's supporting wheel can bear chassis weight with the carrier wheel jointly, and the chassis has high stability, has the function of preventing toppling.

Although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.

Claims

1. The overturn-preventing chassis is characterized by comprising a base (4) and a telescopic supporting mechanism;

the telescopic supporting mechanism is arranged below the base (4);

the telescopic supporting mechanism comprises a sliding block bracket (6), a sliding rail (7), a supporting wheel and a driving mechanism;

the sliding rail (7) is fixedly arranged below the base (4); the sliding block support (6) is clamped in the sliding rail (7), and the sliding block support (6) can extend out or retract along the axis direction of the sliding rail (7);

the supporting wheel is arranged at the end part of the sliding block bracket (6);

the driving mechanism is fixedly arranged below the base (4), and can drive the sliding block bracket (6) to extend or retract.

2. The anti-overturning chassis according to claim 1, characterized in that it further comprises load wheels, which are arranged below said base (4); the bearing wheels are used for bearing the weight of the chassis and driving the chassis to move.

3. The anti-overturning chassis according to claim 2, characterized in that said telescopic support means further comprise a screw (10) and a gear train; the driving mechanism is connected with the gear set; the gear set is connected with the screw rod (10).

4. The anti-overturning chassis according to claim 3, characterized in that said driving mechanism is a driving motor (5);

the gear set comprises a first gear (8) and a second gear (9);

the output shaft of the driving motor (5) is connected with the first gear (8); the first gear (8) is meshed with the second gear (9);

the screw rod (10) is connected with the second gear (9).

5. The anti-overturning chassis according to claim 4, characterized in that said slider bracket (6) is provided with a threaded hole; the screw rod (10) penetrates through the threaded hole, and the threaded hole is provided with threads matched with the screw rod (10).

6. The anti-rollover chassis according to claim 2, characterized in that the lowest point of the support wheels is 1-10mm higher than the lowest point of the carrier wheels.

7. The anti-rollover chassis according to claim 6, characterized in that the lowest point of the support wheels is 5mm higher than the lowest point of the load wheels.

8. The anti-overturning chassis according to claim 2, characterized in that the axis of the sliding track (7) in the telescopic support mechanism can be parallel to the axis of the load-bearing wheel and/or the axis of the sliding track (7) in the telescopic support mechanism can be perpendicular to the axis of the load-bearing wheel.

9. The anti-rollover chassis according to claim 1, wherein when the number of the telescopic support mechanisms is 2 or more, the plurality of telescopic support structures can share 1 driving mechanism.

10. The anti-overturning chassis of claim 7, wherein the support wheels are universal wheels or ball wheels;

the bearing wheel comprises two driving wheels (2) and four driven wheels;

the four driven wheels are symmetrically arranged around the base (4); the two driving wheels (2) are symmetrically arranged in the middle of the base (4).