CN212766549U - Chassis of unmanned trolley with high obstacle crossing capability and unmanned trolley - Google Patents
Chassis of unmanned trolley with high obstacle crossing capability and unmanned trolley Download PDFInfo
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- CN212766549U CN212766549U CN202120295246.1U CN202120295246U CN212766549U CN 212766549 U CN212766549 U CN 212766549U CN 202120295246 U CN202120295246 U CN 202120295246U CN 212766549 U CN212766549 U CN 212766549U
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- 239000000725 suspension Substances 0.000 claims abstract description 66
- 238000013016 damping Methods 0.000 claims description 9
- 239000003638 chemical reducing agent Substances 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- 230000010355 oscillation Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 description 4
- 230000009194 climbing Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
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Abstract
A chassis of an unmanned trolley with high obstacle crossing capability and the unmanned trolley comprise a chassis body, a main bearing seat, an auxiliary bearing seat, a main suspension plate and an auxiliary suspension plate, wherein the main suspension plate is supported by the main bearing seat and connected to the bottom of the chassis body; one end of the main suspension plate is rotatably connected with the driving wheel, the other end of the main suspension plate is rotatably connected with the main universal wheel, the main universal wheel is positioned at the front wheel position of the chassis body, and the driving wheel is positioned at the main wheel position of the chassis body; the two ends of the auxiliary suspension plate are respectively rotatably connected with the auxiliary universal wheels, the auxiliary universal wheels are positioned at the rear wheel positions of the chassis body, and the driving wheel and the main universal wheels are in a semi-free state, so that the auxiliary suspension plate can be automatically adjusted according to the ground fluctuation and the gradient angle, has certain self-adaptive capacity, and has better acting points under different loads, so that the obstacle crossing capacity is improved.
Description
Technical Field
The utility model relates to an unmanned technical field, concretely relates to chassis and unmanned dolly of high obstacle-surmounting ability unmanned dolly.
Background
With the continuous extension of the human activity field, the working environment of the unmanned vehicle is gradually deeper into some unpredictable environments, which requires that the chassis of the unmanned vehicle has strong terrain adaptability and efficient autonomous motion mode. At present, most factories still have rugged ground, and with the rapid development of industry 4.0, more application scenes are developed towards automation. Some occasions such as hotels and outdoors also need the participation of unmanned trolleys, the road surface environment of the scenes is more complex, and the robots are required to have higher obstacle crossing capability to meet the requirements.
However, the conventional unmanned vehicle generally has only relatively limited low obstacle crossing capability and cannot be well adapted to the condition of large ground fluctuation.
SUMMERY OF THE UTILITY MODEL
The utility model mainly provides a chassis and unmanned dolly of high ability unmanned dolly of hindering more can have better ability of hindering more to adaptation that can be better fluctuates great ground.
According to a first aspect, there is provided in one embodiment a chassis for a high obstacle-crossing capability unmanned vehicle, comprising:
the chassis comprises a chassis body, a front wheel position, a rear wheel position and a main wheel position, wherein the front wheel position is positioned at the head end of the chassis body, the rear wheel position is positioned at the tail end of the chassis body, and the main wheel position is positioned between the head end and the tail end of the chassis body;
the main bearing seat and the auxiliary bearing seat are fixed at the bottom of the chassis body and are arranged vertically to each other;
the main suspension plate is supported by the main bearing seat and connected to the bottom of the chassis body, the auxiliary suspension plate is supported by the auxiliary bearing seat and connected to the bottom of the chassis body, and the swinging direction of the main suspension plate is perpendicular to that of the auxiliary suspension plate;
one end of the main suspension plate is rotatably connected with a driving wheel, the other end of the main suspension plate is rotatably connected with a main universal wheel, the main universal wheel is positioned at the front wheel position of the chassis body, and the driving wheel is positioned at the main wheel position of the chassis body;
two ends of the auxiliary suspension plate are respectively rotatably connected with auxiliary universal wheels, and the auxiliary universal wheels are positioned at the rear wheel positions of the chassis body.
In this embodiment, the diameter of the driving wheel is greater than that of the main universal wheel, the main suspension plate is connected with the main universal wheel through an installation compensation plate, the installation compensation plate is used for compensating for a height difference between the main universal wheel and the driving wheel, one end of the installation compensation plate is rotatably connected with the driving universal wheel, and the other end of the installation compensation plate is fixed to the main suspension plate.
In this embodiment, the driving wheel and the main universal wheel are arranged in pairs and symmetrically arranged on two sides of the chassis body respectively.
In this embodiment, the main suspension plate is supported by two main bearing seats symmetrically disposed on two sides of the main suspension plate, and the auxiliary suspension plate is supported by two auxiliary bearing seats symmetrically disposed on two sides of the auxiliary suspension plate.
In this embodiment, the main suspension plate is connected to the main bearing seat through a damping spring, and the sub suspension plate is connected to the sub bearing seat through a damping spring.
In this embodiment, still include motor and speed reducer, motor and speed reducer all set up in the bottom of chassis body all with the action wheel is connected.
In this embodiment, the maximum angle of oscillation of the main suspension plate is 15 °.
According to a second aspect, an embodiment provides an unmanned vehicle comprising the chassis described above.
In this embodiment, the device further comprises a transmission device, and the motor drives the driving wheel to rotate through the transmission device.
According to the chassis for the obstacle-crossing unmanned trolley and the unmanned trolley, the driving wheel and the main universal wheel are connected through the main suspension plate, and the main suspension plate is supported at the bottom of the chassis body through the main bearing seat, so that the driving wheel and the main universal wheel are in a semi-free state, can be automatically adjusted according to the ground fluctuation and the gradient angle, have certain self-adaptive capacity, and have better force points under different loads. And the two auxiliary universal wheels are connected through the auxiliary suspension plate, the swinging direction of the auxiliary suspension plate is perpendicular to that of the main suspension plate, the auxiliary suspension plate is supported at the bottom of the chassis body through the bearing seat, and the auxiliary suspension plate can swing left and right to automatically adjust the posture to adapt to the road surface state under the condition of uneven road surface, so that the obstacle crossing capability of the unmanned trolley is improved by the chassis.
Drawings
Fig. 1 is a schematic view of a front structure of a chassis according to an embodiment of the present invention;
fig. 2 is a side sectional view of a chassis according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings. Wherein like elements in different embodiments are numbered with like associated elements. In the following description, numerous details are set forth in order to provide a better understanding of the present application. However, those skilled in the art will readily recognize that some of the features may be omitted or replaced with other elements, materials, methods in different instances. In some instances, certain operations related to the present application have not been shown or described in detail in order to avoid obscuring the core of the present application from excessive description, and it is not necessary for those skilled in the art to describe these operations in detail, so that they may be fully understood from the description in the specification and the general knowledge in the art.
Furthermore, the features, operations, or characteristics described in the specification may be combined in any suitable manner to form various embodiments. Also, the various steps or actions in the method descriptions may be transposed or transposed in order, as will be apparent to one of ordinary skill in the art. Thus, the various sequences in the specification and drawings are for the purpose of describing certain embodiments only and are not intended to imply a required sequence unless otherwise indicated where such sequence must be followed.
The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings).
As known from the background art, the existing unmanned trolley has low obstacle crossing capability and cannot meet the movement of the condition when the ground has large fluctuation.
Through analysis, the existing unmanned trolley cannot coordinate the driving wheel and the driven wheel, so that the obstacle crossing capability is poor, and the friction force between the driving wheel and the ground under a large load is insufficient, so that the ground gripping capability is weak, and the unmanned trolley is not beneficial to climbing.
The embodiment of the utility model provides an in, hang the board with action wheel and main universal wheel through the owner and connect, the owner hangs the board and supports in the bottom of chassis body through main bearing seat for action wheel and main universal wheel all are in half free state, consequently can adjust by oneself according to ground fluctuation and slope angle, have certain self-adaptation ability, and the action wheel all has better impetus under the different loads. And the two auxiliary universal wheels are connected through the auxiliary suspension plate, the swinging direction of the auxiliary suspension plate is perpendicular to that of the main suspension plate, the auxiliary suspension plate is supported at the bottom of the chassis body through the bearing seat, and the auxiliary suspension plate can swing left and right to automatically adjust the posture to adapt to the road surface state under the condition of uneven road surface, so that the obstacle crossing capability of the unmanned trolley is improved by the chassis.
Referring to fig. 1 and 2, the present embodiment provides a chassis for an obstacle-crossing unmanned vehicle, including: chassis body 100, main bearing housing 201 and secondary bearing housing 202, primary suspension plate 101 and secondary suspension plate 102.
The main bearing seat 201 and the sub bearing seat 202 are both fixed at the bottom of the chassis body 100, and the main bearing seat 201 and the sub bearing seat 202 are arranged perpendicular to each other.
In this embodiment, the main suspension plate 101 is supported and connected to the bottom of the chassis body 100 through the main bearing seat 201, and the auxiliary suspension plate 102 is supported and connected to the bottom of the chassis body 100 through the auxiliary bearing seat 202, and since the main bearing seat 201 and the auxiliary bearing seat 202 are arranged perpendicular to each other, the swinging direction of the main suspension plate 101 and the swinging direction of the auxiliary suspension plate 102 are perpendicular to each other.
In this embodiment, during the setting, the proportion between adjustment action wheel 300, main universal wheel 301 and the main board 101 that hangs makes the biggest angle that main board 101 can swing is 15 to make and to adjust by oneself according to ground undulation and slope angle, have certain self-adaptation ability, the climbing ability of this chassis or unmanned trolley is to 15.
In this embodiment, one end of the main suspension plate 101 is rotatably connected to a driving wheel 300, and the other end of the main suspension plate is rotatably connected to a main universal wheel 301, the main universal wheel 301 is located at a front wheel position of the chassis body 100, and the driving wheel 300 is located at a main wheel position of the chassis body 100.
In this embodiment, there are two driving wheels 300 symmetrically disposed on two sides of the base plate body, and two main universal wheels 301 symmetrically disposed on two sides of the base plate body 100, so that there are also two main suspension plates 101 respectively connecting the driving wheels 300 and the main universal wheels 301 on two sides.
In this embodiment, each of the main suspension boards 101 is supported by two main bearing seats 201, and the two main bearing seats 201 are symmetrically disposed on two sides of the main suspension board 101.
In this embodiment, the diameter of the driving wheel 300 is larger than that of the main universal wheel 301. The main suspension plate 101 is designed in such a way that the chassis is horizontal when the road is flat.
In this embodiment, two ends of the secondary suspension plate 102 are rotatably connected to secondary universal wheels 302, respectively, and the secondary universal wheels 302 are located at the rear wheel positions of the chassis body 100. There are two sub-bearing seats 202, and two sub-suspension plates 102 are symmetrically disposed on both sides of the sub-suspension plate 102, respectively, to support the sub-suspension plate 102.
In this embodiment, the main suspension plate 101 is connected to the main bearing seat 201 through a damping spring 400, and the secondary suspension plate 102 is connected to the secondary bearing seat 202 through a damping spring 400. The damping spring 400 provides certain damping for the posture change of the chassis, has certain damping and buffering effects, can play a role in smooth transition, and enables the chassis to move more stably.
In this embodiment, the chassis further includes a motor 401 and a speed reducer 402, where the motor 401 and the speed reducer 402 are both disposed at the bottom of the chassis body 100 and are both connected to the driving wheel 300, so that the motor 401, the speed reducer 402, and the driving wheel 300 can be all mounted on the main suspension plate 101.
In this embodiment, still provide a unmanned trolley, this unmanned trolley can include in the above-mentioned chassis, still include transmission, motor 401 passes through transmission drive action wheel 300 and rotates to drive this unmanned trolley and remove, this unmanned trolley simple structure, the tolerance requirement is less, can be according to ground fluctuation and slope angle self-adjustment, certain adaptive capacity has, all there is better impetus when this unmanned trolley action wheel under different loads, has more outstanding obstacle-crossing and climbing ability.
It is right to have used specific individual example above the utility model discloses expound, only be used for helping to understand the utility model discloses, not be used for the restriction the utility model discloses. To the technical field of the utility model technical personnel, the foundation the utility model discloses an idea can also be made a plurality of simple deductions, warp or replacement.
Claims (8)
1. A chassis of a high obstacle surmounting capability unmanned vehicle, comprising:
the chassis comprises a chassis body, a front wheel position, a rear wheel position and a main wheel position, wherein the front wheel position is positioned at the head end of the chassis body, the rear wheel position is positioned at the tail end of the chassis body, and the main wheel position is positioned between the head end and the tail end of the chassis body;
the main bearing seat and the auxiliary bearing seat are fixed at the bottom of the chassis body and are arranged vertically to each other;
the main suspension plate is supported by the main bearing seat and connected to the bottom of the chassis body, the auxiliary suspension plate is supported by the auxiliary bearing seat and connected to the bottom of the chassis body, and the swinging direction of the main suspension plate is perpendicular to that of the auxiliary suspension plate;
one end of the main suspension plate is rotatably connected with a driving wheel, the other end of the main suspension plate is rotatably connected with a main universal wheel, the main universal wheel is positioned at the front wheel position of the chassis body, and the driving wheel is positioned at the main wheel position of the chassis body;
two ends of the auxiliary suspension plate are respectively rotatably connected with auxiliary universal wheels, and the auxiliary universal wheels are positioned at the rear wheel positions of the chassis body.
2. The chassis of claim 1, wherein the driving wheel and the main universal wheel are arranged in pairs and symmetrically arranged on two sides of the chassis body respectively.
3. The chassis of claim 1, wherein the primary suspension plate is supported by two main bearing housings symmetrically disposed on both sides thereof, and the secondary suspension plate is supported by two secondary bearing housings symmetrically disposed on both sides thereof.
4. The chassis of claim 3, wherein the main suspension plate is connected with the main bearing seat through a damping spring, and the auxiliary suspension plate is connected with the auxiliary bearing seat through a damping spring.
5. The chassis of claim 1, further comprising a motor and a reducer, both of which are disposed at the bottom of the chassis body and both of which are connected to the driving wheel.
6. The chassis of claim 1, wherein the maximum angle of oscillation of the primary suspension plate is 15 °.
7. An unmanned vehicle comprising a chassis as claimed in any one of claims 1 to 6.
8. The drone trolley of claim 7 further including a transmission through which the motor drives the drive wheel to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120295246.1U CN212766549U (en) | 2021-02-03 | 2021-02-03 | Chassis of unmanned trolley with high obstacle crossing capability and unmanned trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120295246.1U CN212766549U (en) | 2021-02-03 | 2021-02-03 | Chassis of unmanned trolley with high obstacle crossing capability and unmanned trolley |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212766549U true CN212766549U (en) | 2021-03-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120295246.1U Active CN212766549U (en) | 2021-02-03 | 2021-02-03 | Chassis of unmanned trolley with high obstacle crossing capability and unmanned trolley |
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|---|---|
| CN (1) | CN212766549U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102527352B1 (en) * | 2022-10-19 | 2023-05-04 | (주)원익로보틱스 | Autonomous mobile robot equipped with elements for shock mitigation |
-
2021
- 2021-02-03 CN CN202120295246.1U patent/CN212766549U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102527352B1 (en) * | 2022-10-19 | 2023-05-04 | (주)원익로보틱스 | Autonomous mobile robot equipped with elements for shock mitigation |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20231117 Address after: E103, Block E, Hongwan Business Center, Gushu Community, Xixiang Street, Baoan District, Shenzhen, Guangdong 518000 Patentee after: Shenzhen Zhongke Yinhu Investment Partnership Enterprise (L.P.) Address before: 518000 E202, Block E, Hongwan business center, Gushu community, Xixiang street, Bao'an District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Zhongke Silver Fox Robot Co.,Ltd. |
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| TR01 | Transfer of patent right |