CN213620026U - Robot chassis and robot - Google Patents
Robot chassis and robot Download PDFInfo
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- CN213620026U CN213620026U CN202022457901.7U CN202022457901U CN213620026U CN 213620026 U CN213620026 U CN 213620026U CN 202022457901 U CN202022457901 U CN 202022457901U CN 213620026 U CN213620026 U CN 213620026U
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Abstract
The application discloses robot chassis and robot, this robot chassis includes: the chassis frame, front row traveling system, back row traveling system. The front row walking system comprises: the suspension system comprises a pair of front row driven wheels and front row suspension assemblies in one-to-one correspondence with the front row driven wheels. And one end of the front suspension assembly is fixed with the front driven wheel, and the other end of the front suspension assembly is hinged on the chassis frame through a front shock absorption assembly and a front hinge assembly. The back row walking system includes: the suspension device comprises a pair of driving wheels, rear row suspension assemblies in one-to-one correspondence with the driving wheels, and rear row driven wheels in one-to-one correspondence with the driving wheels. The two ends of the rear suspension assembly are respectively fixed with the driving wheel and the rear driven wheel and are hinged on the chassis frame through the rear shock absorption assembly and the rear hinge assembly. The application provides a technical scheme can effectively reduce the action wheel phenomenon of skidding, and action wheel, follow driving wheel all possess the shock attenuation effect simultaneously, and machine chassis and robot stationarity are good.
Description
Technical Field
The application relates to the technical field of robots, in particular to a robot chassis and a robot.
Background
With the development of science and technology, robots are gradually applied to various fields such as civil affairs, military affairs and industrial production, for example, scenes such as patrol in a garden, express delivery in the last kilometer, and food delivery in a restaurant.
The robot chassis is a key part for controlling the motion of the robot and has important influence on the trafficability, stability and safety of the robot. One of the important indexes of chassis performance is the landing performance of the driving wheels, particularly for the double-wheel differential chassis, the actions of the robot such as advancing, retreating, turning, in-situ rotation and the like can be realized only by the cooperation of the two driving wheels, and if one driving wheel is lifted off the ground, the power is lost. Therefore, for the double-wheel differential chassis, how to improve the landing performance of the driving wheel and increase the landing positive pressure of the driving wheel to ensure that the driving wheel is not easy to slip is a very important technical difficulty. Another important index of the chassis performance is the damping performance of the chassis, the damping design of the driving wheel is only considered in the double-wheel differential chassis access field in the current market, the driven wheel usually has no damping performance, and when the robot passes through uneven roads, the stability of the robot is poor.
Therefore, the chassis and the robot have the advantages that through reasonable structural design, the positive pressure of the driving wheel to the ground changes along with the change of the load under different loads, the landing performance of the driving wheel is improved, the phenomenon that the driving wheel slips can be effectively prevented, meanwhile, the driving wheel and the driven wheel of the chassis and the robot have the damping performance, and the stability of the chassis and the robot is good.
Disclosure of Invention
The utility model aims at providing a robot chassis and robot, the action wheel of robot chassis and robot possesses better performance of touchhing down, and action wheel, follow driving wheel all possess the shock attenuation effect simultaneously, and robot chassis and robot possess better trafficability characteristic, stability.
In order to achieve the above purpose, the present application provides the following technical solutions:
a robot chassis comprising: the chassis frame, front row traveling system, back row traveling system. Wherein, front row traveling system includes: the suspension system comprises a pair of front row driven wheels and front row suspension assemblies in one-to-one correspondence with the front row driven wheels. The front row driven wheel and the front row suspension assembly are respectively and symmetrically arranged on two sides of the chassis frame. The front row suspension assembly includes: the front driven wheel bracket, the front suspension connecting rod, the front shock-absorbing assembly and the front hinge assembly. The front row shock absorbing assembly comprises: the shock absorber comprises a front-row shock absorber upper support, a front-row shock absorber and a front-row shock absorber lower support. The front row hinge assembly includes: the front row is hinged with an upper bracket and the front row is hinged with a lower bracket. The back row walking system includes: the suspension device comprises a pair of driving wheels, rear row suspension assemblies in one-to-one correspondence with the driving wheels, and rear row driven wheels in one-to-one correspondence with the driving wheels. The driving wheel, the rear row suspension assembly and the rear row driven wheel are symmetrically arranged on two sides of the chassis frame respectively. The rear suspension assembly includes: the driving wheel support, the rear row suspension connecting rod, the rear row shock absorption assembly, the rear row hinge assembly and the rear row driven wheel support. The rear row cushion assembly includes: the shock absorber comprises a rear-row shock absorber upper support, a rear-row shock absorber and a rear-row shock absorber lower support. The back row hinge assembly includes: the back row is hinged with the upper bracket and the back row is hinged with the lower bracket.
Furthermore, the front row of driven wheels are fixed at one end of a front row of suspension connecting rods through a front row of driven wheel bracket, and the other end of the front row of suspension connecting rods is hinged with the chassis frame through a front row of hinge assemblies. The front row driven wheel and the front row driven wheel bracket are fixed through bolts. The front row hinged upper support is welded on a front row suspension connecting rod, the front row hinged lower support is welded on a chassis frame, and the front row hinged upper support is hinged with the front row hinged lower support through a bolt.
Further, in order to improve the stability of the front row walking system, two front row hinge assemblies are arranged between each front row suspension connecting rod and the chassis frame.
Furthermore, a front row of damping assemblies are arranged between the front row of suspension connecting rods and the chassis frame. One end of the front row shock absorber is hinged to the front row suspension connecting rod through the front row shock absorber upper bracket, and the other end of the front row shock absorber is hinged to the chassis frame through the front row shock absorber lower bracket. The upper support of the front row of shock absorbers is welded on the connecting rod of the front row of suspension brackets, and the lower support of the front row of shock absorbers is welded on the chassis frame.
Furthermore, the driving wheel is fixed at one end of the rear row of suspension connecting rods through a driving wheel support, and the other end of the rear row of suspension connecting rods is provided with a rear row of driven wheels through a rear row of driven wheel support. The driving wheel is arranged between the front row driven wheel and the rear row driven wheel. The rear row driven wheel and the rear row driven wheel bracket are fixed through bolts.
Furthermore, a rear row shock absorption assembly is arranged between the rear row suspension connecting rod and the chassis frame. One end of the rear row shock absorber is hinged to the rear row suspension connecting rod through the rear row shock absorber upper bracket, and the other end of the rear row shock absorber is hinged to the chassis frame through the rear row shock absorber lower bracket. The upper bracket of the rear row shock absorber is welded on the connecting rod of the rear row suspension, and the lower bracket of the rear row shock absorber is welded on the chassis frame.
Furthermore, the rear row suspension connecting rod and the chassis frame are provided with a rear row hinge assembly. The rear row hinged upper support is welded on a rear row suspension connecting rod, the rear row hinged lower support is welded on a chassis frame, and the rear row hinged upper support is hinged with the rear row hinged lower support through a bolt.
Further, in order to improve the stability of the rear row walking system, two rear row hinge assemblies are arranged between each rear row suspension connecting rod and the chassis frame.
Furthermore, the front row driven wheel and the rear row driven wheel both adopt universal wheels.
In addition, the application also provides a robot, which comprises the robot chassis.
The application provides a robot chassis and robot, through reasonable structural design, this robot chassis and robot are under different loads, and the initiative wheel changes along with the change of load to the earth positive pressure, makes the action wheel remain effectual contact with ground all the time, has improved the action wheel performance of landing, effectively reduces the appearance that the action wheel skidded the phenomenon, and simultaneously, the action wheel of this chassis and robot, the action wheel of following the driving wheel all possess the damping performance, and robot chassis and robot stationarity are good.
The conception, specific structure and technical effects of the present application will be further described in conjunction with the accompanying drawings to fully understand the purpose, characteristics and effects of the present application.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly introduced below, the drawings in the following description are only some embodiments of the present application, and all other drawings obtained by those skilled in the art without creative efforts belong to the protection scope of the present application.
Fig. 1 is a schematic perspective view of a robot chassis provided in an embodiment of the present application;
fig. 2 is a left side view structural schematic diagram of a robot chassis provided in an embodiment of the present application;
fig. 3 is a schematic top view of a robot chassis according to an embodiment of the present disclosure;
reference is made to the accompanying drawings in which:
100-a chassis frame;
200-front row walking system, 210-front row driven wheel, 220-front row suspension assembly, 221-front row driven wheel bracket, 222-front row suspension connecting rod (222), 223-front row shock absorption assembly, 224-front row hinge assembly, 2231-front row shock absorber upper bracket, 2232-front row shock absorber, 2233-front row shock absorber lower bracket, 2241-front row hinge upper bracket and 2242-front row hinge lower bracket.
300-rear walking system, 310-driving wheel, 320-rear suspension assembly, 330-rear driven wheel, 321-driving wheel bracket, 322-rear suspension connecting rod, 323-rear shock-absorbing assembly, 324-rear hinge assembly, 325-rear driven wheel bracket, 3231-rear shock-absorber upper bracket, 3232-rear shock-absorber, 3233-rear shock-absorber lower bracket, 3241-rear hinge upper bracket and 3242-rear hinge lower bracket.
Detailed Description
The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the application, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
As shown in fig. 1 to 3, the present application provides a robot chassis including a chassis frame 100, a front row walking system 200, and a rear row walking system 300. Wherein, front row traveling system 200 includes: a pair of front driven wheels 210, and front suspension assemblies 220 corresponding to the front driven wheels 210 one to one. The front driven wheel 210 and the front suspension assembly 220 are symmetrically arranged on two sides of the chassis frame 100 respectively. The front row suspension assembly 220 includes: a front row driven wheel bracket 221, a front row suspension link 222, a front row shock absorbing assembly 223, a front row hinge assembly 224. The front row shock absorbing assembly 223 includes: a front row shock absorber upper bracket 2231, a front row shock absorber 2232, a front row shock absorber lower bracket 2233. The front row hinge assembly 224 includes: the front row is hinged with an upper support 2241, and the front row is hinged with a lower support 2242. The rear walking system 300 includes: a pair of driving wheels 310, rear suspension assemblies 320 corresponding to the driving wheels 310 one to one, and rear driven wheels 330 corresponding to the driving wheels 310 one to one. The driving wheel 310, the rear suspension assembly 320 and the rear driven wheel 330 are respectively and symmetrically arranged on two sides of the chassis frame 100. The rear suspension assembly 320 includes: a driving wheel bracket 321, a rear row suspension connecting rod 322, a rear row shock absorption assembly 323, a rear row hinge assembly 324 and a rear row driven wheel bracket 325. The rear row cushion assembly 323 includes: a rear row absorber upper bracket 3231, a rear row absorber 3232, a rear row absorber lower bracket 3233. The rear row hinge assembly 324 includes: the back row is hinged with an upper support 3241 and the back row is hinged with a lower support 3242.
Further, the front row driven wheel 210 is fixed to one end of a front row suspension link 222 through a front row driven wheel bracket 221, and the other end of the front row suspension link 222 is hinged to the chassis frame 100 through a front row hinge assembly 224. The front row hinged upper support 2241 is welded on the front row suspension connecting rod 222, the front row hinged lower support 2242 is welded on the chassis frame 100, the front row hinged upper support 2241 is hinged with the front row hinged lower support 2242 through bolts, and the front row hinged upper support 2241 and the front row hinged lower support 2242 can rotate mutually through bolts.
Further, to improve the stability of the front row walking system 200, two front row hinge assemblies 224 are provided between each front row suspension link 222 and the chassis frame 100.
Further, a front row shock absorbing assembly 223 is disposed between the front row suspension link 222 and the chassis frame 100. The front row shock absorber 2232 is hinged at one end to the front row suspension link 222 via a front row shock absorber upper bracket 2231 and at the other end to the chassis frame 100 via a front row shock absorber lower bracket 2233. The front row shock absorber upper bracket 2231 is welded to the front row suspension link 222, and the front row shock absorber lower bracket 2233 is welded to the chassis frame 100.
Further, the driving wheel 310 is fixed to one end of the rear suspension link 322 by a driving wheel holder 321, and the other end of the rear suspension link 322 is provided with a rear driven wheel 330 by a rear driven wheel holder 325. The driving wheel 310 is disposed between the front driven wheel 210 and the rear driven wheel 330. The driving wheel bracket 321 is welded and fixed to one end of the rear suspension link 322. The rear driven wheel 330 is fixed to the rear driven wheel bracket 325 by a bolt, and the rear driven wheel bracket 325 is welded to one end of the rear suspension link 322.
Further, a rear row shock absorbing assembly 323 is disposed between the rear row suspension link 322 and the chassis frame 100. The rear row shock absorber 3232 has one end hinged to the rear suspension link 322 through a rear row shock absorber upper bracket 3231 and the other end hinged to the chassis frame 100 through a rear row shock absorber lower bracket 3233. The rear row shock absorber upper bracket 3231 is welded to the rear row suspension link 322, and the rear row shock absorber lower bracket 3233 is welded to the chassis frame 100.
Further, the rear suspension link 322 and the chassis frame 100 are provided with a rear hinge assembly 324. The rear row hinged upper support 3241 is welded to the rear row suspension connecting rod 322, the rear row hinged lower support 3242 is welded to the chassis frame 100, the rear row hinged upper support 3241 is hinged to the rear row hinged lower support 3242 through bolts, and the rear row hinged upper support 3241 and the rear row hinged lower support 3242 can rotate mutually through bolts.
Further, to improve the stability of the rear walking system 300, two rear hinge assemblies 324 are provided between each rear suspension link 322 and the chassis frame 100.
Further, the front driven wheel 210 and the rear driven wheel 330 are provided as universal wheels, preferably as universal casters.
The advantages of the robot chassis according to the embodiments of the present disclosure are further described with reference to fig. 2. When a load is applied to the chassis frame 100, the load weight is distributed to the front driven wheels 210, the driving wheels 310, and the rear driven wheels 330. The load weight distribution ratio of the driving wheel 310 and the rear driven wheel 330 is related to the vertical distance between the rear hinge assembly 224 and the driving wheel 310 and the rear driven wheel 330, and when the position of the rear hinge assembly is determined, the load weight distribution ratio of the driving wheel 310 and the rear driven wheel 330 is fixed. Therefore, the load weight distributed on the driving wheel 310 is in direct proportion to the increased load weight on the chassis frame 100, and the larger the increased load weight on the chassis frame 100 is, the larger the load distributed on the driving wheel 310 is, so that the driving wheel 310 is always in effective contact with the ground, the landing performance of the driving wheel 310 is improved, and the occurrence of the slipping phenomenon of the driving wheel is effectively reduced. Meanwhile, damping components are arranged between the front-row driven wheel 210, the driving wheel 310, the rear-row driven wheel 330 and the chassis frame of the chassis and the robot, when the chassis and the robot pass through uneven road surfaces, the damping components can effectively restrain the chassis from shaking, and the stability of the chassis is improved.
In addition, the application also provides a robot, which comprises the robot chassis. The robot of the disclosed embodiment has the same advantages as the robot chassis of the disclosed embodiment.
Claims (7)
1. A robot chassis, comprising:
a chassis frame (100);
front row walking system (200), comprising: a pair of front driven wheels (210), and front suspension assemblies (220) corresponding to the front driven wheels (210), wherein the front driven wheels (210) and the front suspension assemblies (220) are respectively and symmetrically arranged on two sides of a chassis frame (100), and the front suspension assemblies (220) comprise: front row driven wheel support (221), front row suspension connecting rod (222), front row shock attenuation subassembly (223), front row hinge assembly (224), front row shock attenuation subassembly (223) includes: a front row shock absorber upper mount (2231), a front row shock absorber (2232), a front row shock absorber lower mount (2233), the front row hinge assembly (224) comprising: the front row is hinged with an upper support (2241) and the front row is hinged with a lower support (2242);
rear walking system (300), comprising: a pair of driving wheels (310), rear row suspension assemblies (320) corresponding to the driving wheels (310) one to one, and rear row driven wheels (330) corresponding to the driving wheels (310) one to one, wherein the driving wheels (310), the rear row suspension assemblies (320), and the rear row driven wheels (330) are respectively and symmetrically arranged at two sides of a chassis frame (100), and the rear row suspension assemblies (320) comprise: action wheel support (321), back row suspension connecting rod (322), back row damper assembly (323), back row hinge subassembly (324), back row follow driving wheel support (325), back row damper assembly (323) includes: back row bumper shock absorber upper bracket (3231), back row bumper shock absorber (3232), back row bumper shock absorber lower carriage (3233), back row hinge subassembly (324) includes: the back row is hinged with an upper bracket (3241) and the back row is hinged with a lower bracket (3242).
2. The robot chassis according to claim 1, characterized in that the front row of driven wheels (210) is fixed at one end of a front row of suspension links (222) by a front row of driven wheel brackets (221), the other end of the front row of suspension links (222) being articulated with the chassis frame (100) by a front row of articulation assemblies (224); the front row hinge upper support (2241) is welded on a front row suspension connecting rod (222), the front row hinge lower support (2242) is welded on a chassis frame (100), and the front row hinge upper support (2241) is hinged with the front row hinge lower support (2242) through bolts.
3. The robot chassis according to claim 1, wherein a front row shock absorbing assembly (223) is arranged between the front row suspension link (222) and the chassis frame (100); one end of the front row shock absorber (2232) is hinged on the front row suspension connecting rod (222) through a front row shock absorber upper bracket (2231), and the other end is hinged on the chassis frame (100) through a front row shock absorber lower bracket (2233); the upper bracket (2231) of the front row shock absorber is welded on the front row suspension connecting rod (222), and the lower bracket (2233) of the front row shock absorber is welded on the chassis frame (100).
4. The robot chassis according to claim 1, characterized in that the driving wheel (310) is fixed at one end of a rear row suspension link (322) by a driving wheel bracket (321), and the other end of the rear row suspension link (322) is provided with a rear row driven wheel (330) by a rear row driven wheel bracket (325); the driving wheel (310) is arranged between the front row of driven wheels (210) and the rear row of driven wheels (330).
5. The robot chassis according to claim 1, characterized in that a rear row shock absorbing assembly (323) is arranged between the rear row suspension link (322) and the chassis frame (100); one end of the rear row shock absorber (3232) is hinged to the rear row suspension connecting rod (322) through a rear row shock absorber upper support (3231), and the other end of the rear row shock absorber (3232) is hinged to the chassis frame (100) through a rear row shock absorber lower support (3233); the upper support (3231) of the rear row shock absorber is welded on the rear row suspension connecting rod (322), and the lower support (3233) of the rear row shock absorber is welded on the chassis frame (100).
6. The robot chassis according to claim 1, characterized in that the rear row of suspension links (322) and chassis frame (100) are provided with a rear row of hinge assemblies (324); the rear row articulated upper support (3241) is welded on the rear row suspension connecting rod (322), the rear row articulated lower support (3242) is welded on the chassis frame (100), and the rear row articulated upper support (3241) is hinged with the rear row articulated lower support (3242) through a bolt.
7. A robot, characterized in that the robot comprises a robot chassis according to any of claims 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022457901.7U CN213620026U (en) | 2020-10-30 | 2020-10-30 | Robot chassis and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022457901.7U CN213620026U (en) | 2020-10-30 | 2020-10-30 | Robot chassis and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213620026U true CN213620026U (en) | 2021-07-06 |
Family
ID=76627243
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022457901.7U Active CN213620026U (en) | 2020-10-30 | 2020-10-30 | Robot chassis and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213620026U (en) |
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2020
- 2020-10-30 CN CN202022457901.7U patent/CN213620026U/en active Active
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