CN213082846U

CN213082846U - Robot chassis and robot

Info

Publication number: CN213082846U
Application number: CN202021912133.3U
Authority: CN
Inventors: 柯辉; 马文成; 彭耀锋; 唐旋来
Original assignee: Shanghai Keenlon Intelligent Technology Co Ltd
Current assignee: Shanghai Keenlon Intelligent Technology Co Ltd
Priority date: 2020-09-04
Filing date: 2020-09-04
Publication date: 2021-04-30
Anticipated expiration: 2030-09-04

Abstract

The utility model discloses a robot chassis and a robot, wherein the robot chassis comprises a chassis body, a driving wheel component and a supporting wheel component, wherein the driving wheel component and the supporting wheel component are respectively symmetrically arranged and distributed around the chassis body; the supporting wheel assembly comprises at least two supporting wheels which can be linked up and down. The utility model provides a robot chassis, through with drive wheel subassembly and supporting wheel subassembly symmetry setting respectively, and distribute around chassis body, both guaranteed robot chassis's stability, avoided the direct robot chassis that passes through of wheel of ground impact again. The supporting wheel assembly comprises at least two supporting wheels which can be linked up and down, so that the linkage of the at least two supporting wheels is realized, the flexibility of the robot chassis is improved, and the landing force of the supporting wheels is improved.

Description

Robot chassis and robot

Technical Field

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

Background

Along with the development of science and technology, the application of the robot is wider, so that the life of people is more and more convenient.

The existing robot mainly relies on wheels on a chassis, and the wheels mainly comprise driving wheels and supporting wheels. In order to reduce the influence of ground fluctuation on the transfer robot, the left driving wheel assembly and the right driving wheel assembly are respectively hinged to the left side and the right side of the chassis body in the chassis in the prior art, so that the chassis can rotate around the chassis body, and the slip risk caused by uneven ground is eliminated. However, the two supporting wheels at the front end are respectively connected with the left driving wheel and the right driving wheel through the rocker arms, so that the movement of the two supporting wheels in the direction vertical to the chassis body is limited by the left driving wheel and the right driving wheel, the flexibility of the chassis is limited, and the landing force of the supporting wheels is poor.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a robot chassis, this robot chassis has good flexibility, and the land fertility of supporting wheel is good.

Another object of the present invention is to provide a robot, which can move flexibly and has good stability.

To achieve the purpose, the utility model adopts the following technical proposal:

a robot chassis, comprising:

a chassis body;

the chassis comprises a chassis body, a driving wheel assembly and a supporting wheel assembly, wherein the driving wheel assembly and the supporting wheel assembly are respectively symmetrically arranged and distributed on the periphery of the chassis body;

the supporting wheel assembly comprises at least two supporting wheels which can be linked up and down.

Optionally, the supporting wheel assembly further comprises a first swing rod and a connecting rod, two ends of the connecting rod are respectively and rotatably connected with the first swing rod, the first swing rod is connected with the chassis body through a pivot, the supporting wheel is mounted on the first swing rod, the first swing rod at one end of the connecting rod can slide relative to the connecting rod, and the supporting wheel is driven to be linked up and down through the connecting rod and the first swing rod.

Optionally, one end of the connecting rod is provided with a first waist-shaped hole, and the first swing rod capable of sliding relative to the connecting rod is pivotally connected to the connecting rod through the first waist-shaped hole.

Optionally, the support wheel assembly further comprises a first buffer part, and the first buffer part is arranged between the two first swing rods.

Optionally, the first buffer component comprises a first buffer column, a second buffer column and an elastic piece arranged between the first buffer column and the second buffer column, the first buffer column, the second buffer column and the elastic piece are all sleeved on the connecting rod, and the first buffer column and the second buffer column are respectively abutted to the first swing rod.

Optionally, the first buffer part is spanned on two sides of the connecting rod through a mounting seat and detachably connected with the first swing rod.

Optionally, the supporting wheel assembly further comprises a shock absorption block, and the shock absorption block is arranged between the first swing rod and the chassis body.

Optionally, the driving wheel assembly includes a second swing link, a driving wheel and a second buffer member, one end of the second swing link is pivotally connected to the chassis body, and the other end of the second swing link is connected to the driving wheel; the second buffer part acts on the upper side and the lower side of the second swing rod, and the second buffer part is connected with the chassis body.

Optionally, the second buffer component includes a first buffer component, a second buffer component and a connecting stud, the first buffer component and the second buffer component are sleeved on the connecting stud, the connecting stud passes through the second swing rod and the chassis body, and the first buffer component and the second buffer component are respectively located on the upper side and the lower side of the second swing rod.

A robot comprising the robot chassis of any of the above.

The utility model has the advantages that:

the utility model provides a robot chassis, through with drive wheel subassembly and supporting wheel subassembly symmetry setting respectively, and distribute around chassis body, both guaranteed robot chassis's stability, avoided the direct robot chassis that passes through of wheel of ground impact again. The supporting wheel assembly comprises at least two supporting wheels which can be linked up and down, so that the linkage of the at least two supporting wheels is realized, the flexibility of the robot chassis is improved, and the landing force of the supporting wheels is improved.

The utility model provides a robot uses foretell robot chassis for the robot can remove in a flexible way, and has good stability.

Drawings

Fig. 1 is a schematic structural diagram of a robot chassis provided in an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a support wheel assembly provided by an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a connecting rod provided in an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a driving wheel assembly provided by an embodiment of the present invention.

The labels in the figure are:

1. a chassis body; 2. a drive wheel assembly; 3. a support wheel assembly; 4. a first connecting shaft; 5. a second connecting shaft; 6. a third connecting shaft;

11. avoiding holes; 12. an avoidance groove; 21. a second bracket; 22. a second swing link; 23. a drive wheel; 24. a second cushioning member; 25. connecting blocks; 31. a first bracket; 32. a first swing link; 33. a connecting rod; 34. a support wheel; 35. a first cushioning member; 36. a damper block; 37. a support wheel mounting bracket;

241. a first buffer member; 242. a second buffer member; 243. connecting a stud; 311. a first base plate; 312. a first side plate; 321. a second base plate; 322. a second side plate; 331. a first through hole; 332. a first waist-shaped hole; 351. a first buffer column; 352. a second buffer column; 353. an elastic member;

3111. a first threaded hole.

Detailed Description

In order to make the technical problem solved by the present invention, the technical solution adopted by the present invention and the technical effect achieved by the present invention clearer, the technical solution of the present invention will be further explained by combining the drawings and by means of the specific implementation manner.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, detachably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", and the like are used in the orientation or positional relationship shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

As shown in fig. 1 and fig. 2, the present embodiment provides a robot chassis, including a chassis body 1, a driving wheel assembly 2 and a supporting wheel assembly 3, where the driving wheel assembly 2 and the supporting wheel assembly 3 are respectively symmetrically disposed and distributed around the chassis body 1; the support wheel assembly 3 comprises at least two support wheels 34 which can be linked one above the other.

The robot chassis that this embodiment provided, through with drive wheel subassembly 2 and supporting wheel subassembly 3 symmetry setting respectively, and distribute in chassis body 1 all around, both guaranteed robot chassis's stability, avoided ground impact directly to pass to robot chassis through the wheel again. The supporting wheel assembly 3 comprises at least two supporting wheels 34 which can be linked up and down, so that the linkage of the at least two supporting wheels 34 is realized, the flexibility of the robot chassis is improved, and the landing force of the supporting wheels 34 is improved.

In this embodiment, drive wheel subassembly 2 and supporting wheel subassembly 3 all set up to two, and two drive wheel subassemblies 2 set up respectively in chassis body 1's the left and right sides, and two supporting wheel subassemblies 3 set up respectively in chassis body 1's front and back both ends, and four suspensions are cross distribution in chassis body 1, can effectively avoid the robot chassis to produce resonance. The stability of the robot chassis is guaranteed by the way that the four suspensions are integrally suspended through the chassis body 1, and the direct transmission of ground impact to the robot chassis through wheels is avoided.

Optionally, as shown in fig. 2 and fig. 3, the supporting wheel assembly 3 further includes a first swing link 32 and a connecting rod 33, two ends of the connecting rod 33 are respectively rotatably connected with the first swing link 32, the first swing link 32 is pivotally connected with the chassis body 1, the supporting wheel 34 is mounted on the first swing link 32, and the first swing link 32 at one end of the connecting rod 33 can slide relative to the connecting rod 33, so that the connecting rod 33 and the first swing link 32 drive the supporting wheel 34 to move in an up-and-down linkage manner.

Preferably, the supporting wheel assembly 3 further comprises a first bracket 31, the first bracket 31 is detachably connected with the chassis body 1, and the first swing link 32 is pivotally connected to the first bracket 31. In this embodiment, the first bracket 31 includes a first bottom plate 311 and a first side plate 312 perpendicular to the first bottom plate 311, two sets of first threaded holes 3111 are provided on the first bottom plate 311, and the first bracket 31 is detachably connected to the chassis body 1 through the first threaded holes 3111. The inner side of each group of the first threaded holes 3111 is provided with a first side plate 312, the two first side plates 312 are correspondingly provided with first hinge holes, and the first connecting shaft 4 passes through the first swing rod 32 and is hinged to the two first side plates 312.

Preferably, the first swing link 32 includes a second base plate 321 and a second side plate 322 perpendicular to the second base plate 321. The second bottom plate 321 is provided with second threaded holes, the first swing rod 32 is fixedly connected with the supporting wheel 34 through the second threaded holes, the number of the second side plates 322 is two, the two second side plates 322 are provided with second hinge holes and second through holes, the first connecting shaft 4 penetrates through the second through holes to be hinged with the two first side plates 312, and the second connecting shaft 5 penetrates through the connecting rod 33 to be hinged with the two second side plates 322. In this embodiment, the support wheel assembly 3 further includes a support wheel mounting bracket 37, the support wheel 34 is rotatably connected to the support wheel mounting bracket 37, and the second base plate 321 is fixedly connected to the support wheel mounting bracket 37 through the second threaded hole. The two supporting wheels 34 are arranged below the chassis body 1, the chassis body 1 is provided with avoidance holes 11 at positions corresponding to the supporting wheels 34, and the supporting wheel mounting rack 37 penetrates through the avoidance holes 11 to connect the supporting wheels 34 with the first swing rods 32. Of course, in other embodiments, two, three or other numbers of support wheels 34 may be mounted on each first swing link 32.

Optionally, one end of the connecting rod 33 is provided with a first kidney-shaped hole 332, and the first swing link 32 capable of sliding relative to the connecting rod 33 is pivotally connected to the connecting rod 33 through the first kidney-shaped hole 332. In this embodiment, the other end of the connecting rod 33 is provided with a first through hole 331, and the corresponding first swing link 32 is pivotally connected to the connecting rod 33 through the first through hole 331. Both ends of the connecting rod 33 are arranged to be flat structures, a first through hole 331 is arranged on the flat structure at one end, a first waist-shaped hole 332 is arranged on the flat structure at the other end, so that one of the second connecting shafts 5 passes through the first through hole 331 to hinge one of the first swing links 32 and one end of the connecting rod 33, and the other second connecting shaft 5 passes through the first waist-shaped hole 332 to hinge the other first swing link 32 and the other end of the connecting rod 33. So that one of the first swing links 32 can be slidably connected with respect to the connecting rod 33. When the ground is uneven, the supporting wheel 34 at one end moves upwards relative to the chassis body 1, the first swing rod 32 connected with the supporting wheel rotates, the connecting rod 33 is pushed to slide towards the other end, the first swing rod 32 at the other end is driven to rotate, and the supporting wheel 34 connected with the first swing rod is driven to move downwards; similarly, the supporting wheel 34 at one end moves downward relative to the chassis body 1, and drives the supporting wheel 34 at the other end to move upward relative to the chassis body 1. The supporting wheels 34 at the two ends of the connecting rod 33 are linked up and down, the flexibility of the robot chassis is improved, and the landing force of the supporting wheels 34 is good.

Optionally, the supporting wheel assembly 3 further includes a first buffer member 35, and the first buffer member 35 is disposed between the two first swing links 32. Specifically, the first buffer member 35 includes a first buffer column 351, a second buffer column 352 and an elastic member 353 disposed between the first buffer column 351 and the second buffer column 352, the first buffer column 351, the second buffer column 352 and the elastic member 353 are all sleeved on the connecting rod 33, and the first buffer column 351 and the second buffer column 352 are respectively abutted to the first swing rod 32. In this embodiment, the first buffer member 35 is disposed on the connecting rod 33, so that the chassis body 1 has multiple purposes, the cost is saved, and the occupied space on the chassis body 1 is small, so that the layout of the supporting wheel assembly 3 on the chassis body 1 is more compact. The first and second buffer posts 351 and 352 are rubber posts, and the elastic member 353 is a spring. Rigid baffles are arranged on two sides of each rubber column and can be abutted to the springs and the two second connecting shafts 5. The first buffer part 35 can relieve impact and absorb certain vibration energy, and is simple to mount and convenient for later maintenance. Of course, in other embodiments, the first bumper 351 and the second bumper 352 may be made of foam, plastic or other flexible materials.

In another optional embodiment of the present invention, the first buffer member 35 may also be straddled on two sides of the connecting rod 33 by the mounting seat and detachably connected to the first swing link 32. The mounting seat is detachably connected with the first swing rod 32, and two ends of the first buffer part 35 are respectively pivoted with the mounting seat, so that the impact on the ground can be prevented from being transmitted to the chassis of the robot through the supporting wheels 34.

Preferably, the supporting wheel assembly 3 further comprises a shock absorption block 36, and the shock absorption block 36 is arranged between the first swing link 32 and the chassis body 1. In the present embodiment, the damping block 36 is a rubber block to buffer the impact of the swing of the first swing link 32 on the chassis body 1.

Alternatively, as shown in fig. 4, the driving wheel assembly 2 includes a second swing link 22, a driving wheel 23 and a second buffer member 24, one end of the second swing link 22 is pivotally connected to the chassis body 1, and the other end is connected to the driving wheel 23. The second buffer member 24 acts on the upper and lower sides of the second swing link 22, and the second buffer member 24 is connected to the chassis body 1. In this embodiment, the driving wheel assembly 2 further includes a second bracket 21, the second bracket 21 is detachably connected to the chassis body 1, and the second swing link 22 is pivotally connected to the second bracket 21. Specifically, the second bracket 21 includes two bearing seats, bearings are disposed in the bearing seats, a third through hole is disposed at one end of the second swing rod 22, the two bearing seats are respectively and fixedly connected with the chassis body 1, the second swing rod 22 is disposed between the two bearing seats, and the third connecting shaft 6 penetrates through the third through hole to be rotatably connected with inner rings of the bearings in the two bearing seats. In this embodiment, avoidance grooves 12 are formed in two sides of the chassis body 1, the driving wheel 23 is disposed in the avoidance grooves 12, and the second swing link 22 is pivotally connected to the two bearing seats, so that the driving wheel 23 can swing up and down in a direction perpendicular to the chassis body 1 by using the third connecting shaft 6 as a rotating shaft, thereby avoiding disturbance to the chassis of the robot due to uneven ground. The driving wheels 23 are independently suspended, so that the disturbance of the chassis of the robot when the driving wheels 23 are accelerated or decelerated or not smoothly operated can be relieved. The driving wheel assembly 2 further comprises a motor, the motor is connected with the driving wheel 23, and the driving wheel 23 drives the supporting wheel 34 to move together.

In this embodiment, a non-connecting end of the second swing link 22 and the second support 21 is further provided with a connecting block 25, the periphery of the connecting block 25 is fixedly connected with the second swing link 22 through bolts, and a rotating shaft on the driving wheel 23 passes through a middle hole surrounded by the connecting block 25 and the second swing link 22 and is rotatably connected with the middle hole. This arrangement facilitates the mounting and dismounting of the driving wheel 23 and the second swing link 22.

Specifically, the second buffer member 24 includes a first buffer 241, a second buffer 242 and a connecting stud 243, the first buffer 241 and the second buffer 242 are sleeved on the connecting stud 243, and the connecting stud 243 penetrates through the second swing link 22 to be connected with the chassis body 1; the first buffer 241 and the second buffer 242 are respectively located at the upper and lower sides of the second swing link 22. In this embodiment, a second waist-shaped hole is disposed in the middle of the second swing link 22, and the connecting stud 243 passes through the second waist-shaped hole to be fixedly connected with the chassis body 1. The second kidney-shaped hole is arranged to allow the second buffer member 24 to have a certain movement space in the length direction of the second swing link 22. The first buffer 241 and the second buffer 242 are both rubber blocks, the connecting stud 243 is a stud, one end of the stud is in threaded connection with the chassis body 1, and the other end of the stud is in threaded connection with a nut in a manner of being matched with a gasket. The provision of the first cushion 241 and the second cushion 242 effectively relieves the impact of the vibrations of the drive wheel 23 on the chassis body 1 and the parts above the chassis body 1. Of course, in other embodiments, the first buffer 241 and the second buffer 242 may be buffers made of other buffer materials such as foam and plastic, and may also be springs.

The embodiment also provides a robot, which comprises the robot chassis. The robot provided by the embodiment adopts the robot chassis, so that the robot can move flexibly and has good stability.

The above description is only for the preferred embodiment of the present invention, and for those skilled in the art, there are variations on the detailed description and the application scope according to the idea of the present invention, and the content of the description should not be construed as a limitation to the present invention.

Claims

1. A robot chassis, comprising:

a chassis body (1);

the chassis comprises a driving wheel assembly (2) and a supporting wheel assembly (3), wherein the driving wheel assembly (2) and the supporting wheel assembly (3) are respectively symmetrically arranged and distributed on the periphery of the chassis body (1);

the supporting wheel assembly (3) comprises at least two supporting wheels (34) which can be linked up and down.

2. The robot chassis according to claim 1, wherein the supporting wheel assembly (3) further comprises a first swing link (32) and a connecting rod (33), the first swing link (32) is rotatably connected to each end of the connecting rod (33), the first swing link (32) is pivotally connected to the chassis body (1), the supporting wheel (34) is mounted on the first swing link (32), and the first swing link (32) at one end of the connecting rod (33) can slide relative to the connecting rod (33), so that the supporting wheel (34) is driven by the connecting rod (33) and the first swing link (32) to move in an up-and-down linkage manner.

3. Robot chassis according to claim 2, characterized in that one end of the connecting rod (33) is provided with a first kidney-shaped hole (332), through which first kidney-shaped hole (332) the first swing link (32) slidable relative to the connecting rod (33) is pivotally connected to the connecting rod (33).

4. Robot chassis according to claim 2, characterized in that the support wheel assembly (3) further comprises a first damping member (35), the first damping member (35) being arranged between two first pendulum rods (32).

5. The robot chassis of claim 4, wherein the first buffer member (35) comprises a first buffer column (351), a second buffer column (352) and an elastic member (353) arranged between the first buffer column (351) and the second buffer column (352), the first buffer column (351), the second buffer column (352) and the elastic member (353) are all sleeved on the connecting rod (33), and the first buffer column (351) and the second buffer column (352) are respectively abutted against the first swing rod (32).

6. The robot chassis according to claim 4, characterized in that the first buffer member (35) straddles the connecting rod (33) by means of a mounting seat and is detachably connected to the first swing link (32).

7. Robot chassis according to claim 2, characterized in that the support wheel assembly (3) further comprises a shock block (36), the shock block (36) being arranged between the first swing link (32) and the chassis body (1).

8. Robot chassis according to any of the claims 1-7, characterized in that the driving wheel assembly (2) comprises a second swing link (22), a driving wheel (23) and a second damping member (24), one end of the second swing link (22) being pivotally connected to the chassis body (1) and the other end being connected to the driving wheel (23); the second buffer part (24) acts on the upper side and the lower side of the second swing rod (22), and the second buffer part (24) is connected with the chassis body (1).

9. The robot chassis according to claim 8, wherein the second buffer member (24) comprises a first buffer member (241), a second buffer member (242) and a connecting stud (243), the first buffer member (241) and the second buffer member (242) are sleeved on the connecting stud (243), the connecting stud (243) penetrates through the second swing link (22) to be connected with the chassis body (1), and the first buffer member (241) and the second buffer member (242) are respectively located at the upper side and the lower side of the second swing link (22).

10. A robot, characterized in that it comprises a robot chassis according to any of claims 1-9.