CN212605534U

CN212605534U - Chassis and robot

Info

Publication number: CN212605534U
Application number: CN202021199267.5U
Authority: CN
Inventors: 潘晶; 冯义兴; 许冬冬
Original assignee: Shanghai Timi Robot Co ltd
Current assignee: Shanghai Timi Robot Co ltd
Priority date: 2020-06-24
Filing date: 2020-06-24
Publication date: 2021-02-26
Anticipated expiration: 2030-06-24

Abstract

The utility model discloses a chassis and robot, this chassis includes: the base is arranged below the support, the driving wheel is arranged on the base, the first driven wheel, the second driven wheel and the driven wheel set are circumferentially distributed at intervals, and the first driven wheel and the second driven wheel are symmetrically distributed relative to the central axis of the support; the driven wheel set comprises a third driven wheel and a fourth driven wheel, the third driven wheel and the fourth driven wheel are respectively arranged on two sides of the central axis of the support, and the third driven wheel and the fourth driven wheel are arranged in axial symmetry relative to the central axis of the support. The chassis and the robot can stably run on an uneven road surface, and have the beneficial effects of strong road surface adaptability and strong obstacle crossing capability.

Description

Chassis and robot

Technical Field

The utility model relates to a robot field especially relates to a chassis and robot.

Background

In recent years, robots are widely applied to the field of logistics transmission, and the robots applied to the field of logistics transmission have high requirements on motion stability due to the fact that the robots need to bear products. Generally, a chassis of the transmission robot is provided with three driven wheels, the three driven wheels are arranged in parallel with the driving wheels along the driving direction, one driven wheel is arranged on the central axis of the chassis support, the other two driven wheels are respectively arranged on two sides of the central axis of the chassis support, and the three driven wheels are integrally arranged in a triangular shape to improve the motion stability. However, the driven wheel on the chassis generally uses a universal wheel, and the universal wheel has its own rotation center, and when the driven wheel is arranged on the central axis of the chassis support, so that the transmission robot travels, the ground supporting point of the universal wheel is close to the central axis of the chassis or even on a straight line, so that the supporting force of the driven wheel is small, and the diameter of the chassis is small. Therefore, the traditional transmission robot has the technical problems of poor driving stability and poor obstacle crossing capability on an uneven road surface.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a chassis and robot to overcome the technical problem that traditional transmission robot exists go poor in stability, obstacle crossing ability is poor on unevenness's road surface.

To achieve the purpose, on one hand, the utility model adopts the following technical scheme:

a chassis, comprising: the base is arranged below the support, the driving wheel is mounted on the base, the first driven wheel, the second driven wheel and the driven wheel set are circumferentially distributed at intervals, and the first driven wheel and the second driven wheel are symmetrically distributed relative to the central axis of the support; the driven wheel set comprises a third driven wheel and a fourth driven wheel, the third driven wheel and the fourth driven wheel are respectively arranged on two sides of the central axis of the support, and the third driven wheel and the fourth driven wheel are arranged in axial symmetry relative to the central axis of the support.

In one embodiment, the first driven wheel, the second driven wheel, the third driven wheel and the fourth driven wheel are omni-wheels.

In one embodiment, the first driven wheel, the second driven wheel, the third driven wheel and the fourth driven wheel are all arranged in an inclined mode relative to the central axis of the support; a first included angle is formed between a tangent of the first driven wheel in the horizontal direction and the central axis of the bracket; a second included angle is formed between a tangent of the second driven wheel in the horizontal direction and the central axis of the bracket; a third included angle is formed between a tangent of the third driven wheel in the horizontal direction and the central axis of the bracket; and a fourth included angle is formed between the tangent of the fourth driven wheel in the horizontal direction and the central axis of the bracket.

In one embodiment, the first included angle and the second included angle are both 20 ° to 60 °.

In one embodiment, the first included angle and the second included angle are both 45 °.

In one embodiment, the third angle and the fourth angle are both 15 ° to 60 °.

In one embodiment, the first driven wheel, the second driven wheel and the driven wheel set are evenly distributed at intervals along the circumferential direction.

In one embodiment, the chassis further comprises: and the guide mechanism is fixedly connected with the support and is inserted into the base.

In one embodiment, the guide mechanism includes a plurality of guide pillars arranged at intervals, top ends of the guide pillars are fixedly connected with the bracket, and bottom ends of the guide pillars are inserted into the base.

On the other hand, the utility model also provides a robot, including above-mentioned arbitrary chassis.

The chassis comprises four driven wheels, wherein the third driven wheel and the fourth driven wheel form a driven wheel group, the third driven wheel and the fourth driven wheel are respectively arranged at two sides of the central axis of the bracket, ground supporting points of the third driven wheel and the fourth driven wheel are respectively distributed at two sides of the central axis of the bracket, when the transmission robot runs, the third driven wheel and the fourth driven wheel can respectively provide support at two sides of the central axis of the bracket, and can provide larger supporting force, even if the chassis runs on an uneven road surface, the rotating centers of the first driven wheel and the second driven wheel are raised, even if the first driven wheel and the second driven wheel are simultaneously separated from the ground, the third driven wheel and the fourth driven wheel can still provide stable support for the chassis at two sides of the central axis of the bracket, thereby ensuring stable running of the chassis, and no shaking or large-amplitude inclination occurs, can effectively prevent that transmission robot from toppling over forward. Therefore, the chassis has the advantages of being capable of stably running on uneven road surfaces and having strong road surface adaptability and obstacle crossing capability.

The robot can stably run on an uneven road surface by applying the chassis, and has the beneficial effects of strong road surface adaptability and strong obstacle crossing capability.

Drawings

FIG. 1 is a schematic structural view of a chassis in one embodiment;

FIG. 2 is a bottom view of the chassis in one embodiment.

Description of reference numerals:

10-bracket, 20-base, 30-driving wheel, 40-first driven wheel, 50-second driven wheel, 60-driven wheel group, 61-third driven wheel, 62-fourth driven wheel and 70-guide mechanism.

Detailed Description

The technical solution of the present invention is further explained by the following embodiments with reference to the accompanying drawings.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Referring to fig. 1 to 2, the chassis of an embodiment includes a bracket 10, a base 20, a driving wheel 30, a first driven wheel 40, a second driven wheel 50, and a driven wheel set 60. The base 20 is arranged below the bracket 10, the driving wheel 30 is mounted on the base 20, the first driven wheel 40, the second driven wheel 50 and the driven wheel set 60 are distributed at intervals along the circumferential direction, and the first driven wheel 40 and the second driven wheel 50 are symmetrically distributed relative to the central axis of the bracket 10. The driven wheel set 60 includes a third driven wheel 61 and a fourth driven wheel 62, the third driven wheel 61 and the fourth driven wheel 62 are respectively disposed on both sides of the central axis of the bracket 10, and the third driven wheel 61 and the fourth driven wheel 62 are disposed in axial symmetry with respect to the central axis of the bracket 10.

The chassis comprises four driven wheels, a third driven wheel 61 and a fourth driven wheel 62 form a driven wheel group 60, the third driven wheel 61 and the fourth driven wheel 62 are respectively arranged at two sides of the central axis of the bracket 10, ground supporting points of the third driven wheel 61 and the fourth driven wheel 62 are respectively distributed at two sides of the central axis of the bracket 10, when the transmission robot runs, the third driven wheel 61 and the fourth driven wheel 62 can respectively provide support at two sides of the central axis of the bracket 10, and can provide large supporting force, even if the chassis runs on an uneven road surface and the rotating centers of the first driven wheel 40 and the second driven wheel 50 are raised, even if the first driven wheel 40 and the second driven wheel 50 are simultaneously separated from the ground, the third driven wheel 61 and the fourth driven wheel 62 can still provide stable support for the chassis at two sides of the central axis of the bracket 10, thereby guarantee chassis steady operation, can not appear shaking or slope by a wide margin, can effectively prevent that transmission robot from empting forward. Therefore, the chassis has the advantages of being capable of stably running on uneven road surfaces and having strong road surface adaptability and obstacle crossing capability.

In one embodiment, the first driven wheel 40, the second driven wheel 50, the third driven wheel 61, and the fourth driven wheel 62 are omni-directional wheels.

In one embodiment, the first driven wheel 40, the second driven wheel 50 and the driven wheel set 60 are uniformly distributed at intervals along the circumferential direction, and the included angle between the driven wheel set 60 and the first driven wheel 40 and the second driven wheel 50 is 120 degrees.

In one embodiment, the first driven pulley 40, the second driven pulley 50, the third driven pulley 61, and the fourth driven pulley 62 are each disposed obliquely with respect to the central axis of the carriage 10. Wherein, a first included angle is formed between a tangent of the first driven wheel 40 in the horizontal direction and the central axis of the bracket 10; a second included angle is formed between a tangent of the second driven wheel 50 in the horizontal direction and the central axis of the bracket 10; a third included angle is formed between a tangent of the third driven wheel 61 in the horizontal direction and the central axis of the bracket 10; a fourth angle is formed between a tangent of the fourth driven pulley 62 in the horizontal direction and the central axis of the bracket 10. In this embodiment, each driven wheel is obliquely arranged with the central axis of the support 10, so that the motion resistance of the driven small wheel on each driven wheel can be reduced, each driven wheel is flexibly steered, and the motion flexibility of the chassis is improved. And the reduction of the motion resistance of each driven wheel can reduce the running energy consumption of the chassis, and is beneficial to prolonging the endurance time of the battery of the chassis.

Specifically, in one embodiment, the first included angle and the second included angle are both 20 ° to 60 °, and preferably, the first included angle and the second included angle are both 45 °. Further, in one embodiment, the third included angle and the fourth included angle are both 15 ° to 60 °, that is, the included angle between the tangent of the third driven wheel 61 in the horizontal direction and the tangent of the fourth driven wheel 62 in the horizontal direction is 30 ° to 120 °. Further, an angle between a tangent line of the third driven pulley 61 in the horizontal direction and a tangent line of the fourth driven pulley 62 in the horizontal direction is 45 °. Further, as shown in fig. 2, in the present embodiment, the third driven wheel 61 and the fourth driven wheel 62 are disposed opposite to each other along the driving direction, in other embodiments, the third driven wheel 61 and the fourth driven wheel 62 may also be disposed opposite to each other along the driving direction, and the present embodiment is not limited in particular.

In one embodiment, the chassis further comprises a guiding mechanism 70, and the guiding mechanism 70 is fixedly connected with the bracket 10 and is inserted into the base 20. The support 10 and the base 20 can float in the vertical direction by the guide mechanism 70, which contributes to further improving the motion stability of the chassis. Specifically, the guiding mechanism 70 includes a plurality of guide pillars arranged at intervals, top ends of the guide pillars are fixedly connected to the bracket 10, and bottom ends of the guide pillars are plugged into the base 20. Preferably, a through hole or a groove is formed on the base 20, and one end of the bottom of the guide post is inserted into the through hole or the groove in a sliding manner.

On the other hand, the utility model also provides a robot, including the chassis of above-mentioned arbitrary one. The robot of this embodiment can stably travel on unevenness's road surface through using above-mentioned chassis, has road surface adaptability reinforce, hinders the beneficial effect that the ability is strong more.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. A chassis, comprising: the device comprises a support (10), a base (20), a driving wheel (30), a first driven wheel (40), a second driven wheel (50) and a driven wheel set (60), wherein the base (20) is arranged below the support (10), the driving wheel (30) is installed on the base (20), the first driven wheel (40), the second driven wheel (50) and the driven wheel set (60) are distributed at intervals in the circumferential direction, and the first driven wheel (40) and the second driven wheel (50) are symmetrically distributed relative to the central axis of the support (10); the driven wheel set (60) comprises a third driven wheel (61) and a fourth driven wheel (62), the third driven wheel (61) and the fourth driven wheel (62) are respectively arranged on two sides of the central axis of the bracket (10), and the third driven wheel (61) and the fourth driven wheel (62) are arranged in axial symmetry relative to the central axis of the bracket (10).

2. Chassis according to claim 1, characterized in that the first driven wheel (40), the second driven wheel (50), the third driven wheel (61) and the fourth driven wheel (62) are all omni-wheels.

3. Chassis according to claim 2, characterized in that the first driven wheel (40), the second driven wheel (50), the third driven wheel (61) and the fourth driven wheel (62) are all arranged obliquely with respect to the central axis of the stand (10); wherein a first included angle is formed between a tangent of the first driven wheel (40) in the horizontal direction and the central axis of the bracket (10); a second included angle is formed between a tangent of the second driven wheel (50) in the horizontal direction and the central axis of the bracket (10); a third included angle is formed between a tangent of the third driven wheel (61) in the horizontal direction and the central axis of the bracket (10); a fourth included angle is formed between a tangent of the fourth driven wheel (62) in the horizontal direction and the central axis of the bracket (10).

4. The chassis of claim 3, wherein the first included angle and the second included angle are both 20 ° to 60 °.

5. The chassis of claim 4, wherein the first included angle and the second included angle are both 45 °.

6. The chassis of claim 3, wherein the third angle and the fourth angle are both 15 ° to 60 °.

7. Chassis according to any of claims 1 to 6, characterized in that said driven wheels (40, 50) and (60) are evenly circumferentially spaced.

8. The chassis of any of claims 1 to 6, further comprising: the guide mechanism (70) is fixedly connected with the support (10) and is spliced with the base (20).

9. The chassis of claim 8, wherein the guiding mechanism (70) comprises a plurality of guide posts arranged at intervals, the top ends of the guide posts are fixedly connected with the bracket (10), and the bottom ends of the guide posts are inserted into the base (20).

10. A robot comprising a chassis according to any of claims 1 to 9.