CN213735274U - Chassis and have its construction robot - Google Patents

Abstract

The utility model discloses a chassis and have its construction robot, the chassis includes the fixing base, the transmission shaft, bevel gear, rocking arm and walking wheel, two transmission shafts all can rotate relatively on same straight line fixing base, each bevel gear is established in the fixing base with rotating, wherein two bevel gears are connected and the flank of tooth of two bevel gears is parallel to each other sets up and their axis of rotation is located same straight line with the transmission shaft respectively, every rocking arm is including the first rocking arm and the second rocking arm that are angle interconnect, first rocking arm and second rocking arm junction form the center of rotation, the center of rotation is connected with the transmission shaft, walking wheel is connected respectively to the rocking arm tip, clockwise rotation drives the transmission shaft rather than being connected as one of them rocking arm and rotates, make another rocking arm anticlockwise rotation drive walking wheel laminating ground that links to each other with it. The utility model discloses the chassis need not to set up drive bevel gear's driving piece and can realize bevel gear's rotation, and control is convenient and simplify the assembly part.

Description

Chassis and have its construction robot

Technical Field

The utility model belongs to the technical field of the robot is made, specifically a chassis and have its construction robot.

Background

With the development of the mechanization process, more and more robots are applied to various industries, particularly in the building industry, the robots are often required to be used for material transportation, terrain survey and other work, so that the manpower resources are saved, and the work efficiency can be improved.

In the current market, most construction robots are technically combined by an industrial robot and a laser navigation AGV (automatic Guided Vehicle), the industrial robot needs a base reference coordinate system to be stable and reliable, and large change is not allowed, but due to the special working environment of the construction robot, the ground of a walking floor slab is uneven, even the floor slab is interfered by common obstacles in construction sites such as stones, bricks, wood boards and the like, the condition that four wheels are difficult to land can occur on a pure rigid chassis of a common construction robot, the obstacle crossing performance of the chassis of the robot is poor, and the use of actual working conditions is difficult to meet.

In order to solve the problems, in the prior art, a chassis is designed in which a diagonal universal wheel adopts a spring flexible wheel or one of the wheels adopts the spring flexible wheel, and the other wheels adopt rigid steering wheels. The chassis with the flexible wheels can land on four wheels, certain obstacle crossing capability of the chassis is improved, but obstacle crossing performance is generally poor, and meanwhile, due to the fact that the flexible wheels with springs are adopted for the chassis, the overall rigidity of the chassis is poor, the situation that the whole robot obviously shakes during operation can be brought, the accuracy of an executing mechanism of the robot is difficult to guarantee, the spring rigidity of the chassis with the flexible wheels is difficult to adjust, the rigidity is not properly adjusted, the situation that the whole robot deviates during walking can exist, the robot cannot keep straight line traveling, great difficulty is brought to the robot when moving and working, and the working efficiency of the robot is low.

SUMMERY OF THE UTILITY MODEL

The utility model discloses aim at solving one of the technical problem that exists among the prior art at least. Therefore, the utility model provides a chassis, chassis rigidity is big, bearing capacity is strong, the commonality is good, hinder the performance height more and stability is good, solved among the prior art chassis rigidity little, hinder the performance low and the unable general technical problem of poor stability more.

The utility model discloses still aim at providing a construction robot who has above-mentioned chassis.

According to the utility model discloses a chassis, include: a fixed seat; the two transmission shafts are positioned on the same straight line and are both rotatably matched in the fixed seat; the bevel gears are rotatably arranged in the fixed seat, two of the bevel gears are respectively fixedly connected with the two transmission shafts, the tooth surfaces of the two bevel gears are arranged in parallel in opposite directions, and the rotating shafts of the two bevel gears are positioned on the same straight line; the two rocker arms are oppositely arranged, each rocker arm comprises a first rocker arm and a second rocker arm which are mutually connected in an angle mode, a rotating center is formed at the joint of the first rocker arm and the second rocker arm, and each rotating center is fixedly connected with one transmission shaft; the end parts of the first rocker arm and the second rocker arm are respectively and rotatably connected with one walking wheel; when one rocker arm rotates clockwise, the transmission shaft connected with the rocker arm can be driven to rotate, so that the other rocker arm rotates anticlockwise to drive the travelling wheel connected with the other rocker arm to be always attached to the ground.

According to the chassis of the embodiment of the utility model, in the moving process of the chassis, when the walking wheels walk on a base surface with a complex terrain, one walking wheel can swing up and down relative to the other walking wheels, and one transmission shaft is driven to rotate by the rocker arm connected with the walking wheel in the swinging process, when one transmission shaft rotates, the bevel gear connected with the transmission shaft can be driven to rotate, because the three bevel gears are mutually meshed, when one bevel gear rotates, the other two bevel gears also rotate along with the other bevel gear, further the other transmission shaft is driven to rotate towards the opposite direction, and through the up-and-down swinging of the walking wheel connected with the transmission shaft, a plurality of running wheels can simultaneously contact with the ground in the moving process of the chassis, the stability and the obstacle crossing performance of the chassis are improved, and the chassis can not shake in the walking process, but make construction robot limit removal limit work, improve work efficiency, that is to say, this application need not to set up drive bevel gear's driving piece and can realize bevel gear's rotation, and the intermeshing through a plurality of bevel gears makes a plurality of wheels of traveling contact ground in real time simultaneously, effectively practices thrift the manufacturing cost on chassis, simplifies the assembly parts, improves the practicality. The chassis is high in rigidity, high in obstacle crossing performance, low in production cost and high in cost performance.

According to the utility model discloses a chassis, bevel gear has four, four two double-phase meshing of bevel gear, wherein two bevel gear set up in opposite directions and with transmission shaft fixed connection, two in addition bevel gear's rotation center's line is perpendicular and two with the rotation center line at the rotation axis place of transmission shaft bevel gear with rotation center line is axisymmetric arrangement.

According to the utility model discloses a chassis, be equipped with six intermeshing in the fixing base bevel gear, per two bevel gear sets up in opposite directions and lays in pairs, and is every right bevel gear's axis of rotation is located same straight line, and is three right three straight lines at bevel gear's axis of rotation place are orthogonal each other sets up and intersect in the same point.

Optionally, a central cavity is formed in the middle of the fixing seat, a plurality of mounting holes are formed in the fixing seat, each mounting hole is communicated with the central cavity, the center lines of the two mounting holes are coincident with the rotation center line of the transmission shaft, a first bearing is mounted in each mounting hole, and the bevel gear is connected with the first bearing.

According to the utility model discloses a chassis, the chassis still includes the sleeve, the muffjoint is in the outside of transmission shaft, telescopic one end is rotationally connected on the rotation center, telescopic other end is connected the fixing base, telescopic both ends with be equipped with the second bearing between the transmission shaft, the sleeve with be equipped with the third bearing between the rocking arm.

According to the utility model discloses a chassis, the chassis still includes a drive mechanism, every connect on the rocking arm walking wheel at least one is the action wheel, all the other the walking wheel is for following the driving wheel, the action wheel by a drive mechanism drive is gone, all the walking wheel homoenergetic rotates, every the wheel footpath of walking wheel is the same.

Optionally, the chassis still includes second actuating mechanism, every the walking wheel by second actuating mechanism drive rotation, two one is connected respectively to the bottom of rocking arm second actuating mechanism is located same two on the rocking arm one of them of second actuating mechanism with from the driving wheel rotation connection, be located same two on the rocking arm wherein another of second actuating mechanism with first actuating mechanism connects, first actuating mechanism's output shaft and one the action wheel is connected, two the action wheel is diagonal arrangement, two from the driving wheel is diagonal arrangement.

According to the utility model discloses a chassis, first rocking arm with contained angle between the second rocking arm is 90 degrees to 140 degrees.

According to the utility model discloses a chassis, the chassis is still including connecting the railway carriage or compartment, it holds the chamber to connect to form in the railway carriage or compartment, the fixing base is established hold in the chamber, two the rocking arm sets up respectively hold the outside and two in chamber the rocking arm symmetry respectively sets up connect the both sides of railway carriage or compartment, the transmission shaft passes connect the lateral wall in railway carriage or compartment with rocking arm fixed connection.

According to the utility model discloses a construction robot, including aforementioned chassis.

According to the utility model discloses construction robot, through setting up aforementioned chassis on construction robot, practice thrift construction robot manufacturing cost, still can guarantee construction robot's automobile body position stability when improving construction robot space utilization, the problem of rocking from top to bottom can not appear because of setting up the buffering spring part in the in-process of walking, but make construction robot remove limit steady operation, and improve work efficiency, and at construction robot in-process of crossing the obstacle, can guarantee a plurality of walking wheels and contact ground in real time simultaneously, improve construction robot's the performance of crossing the obstacle.

Additional aspects and advantages of the invention will be set forth in the description which follows, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic perspective view of a base plate without a sleeve according to an embodiment of the present invention.

Fig. 2 is a schematic perspective view of the chassis without the connecting box and the fixing base according to an embodiment of the present invention.

Fig. 3 is a partially enlarged view of the region I in fig. 2.

Fig. 4 is a schematic perspective view of another embodiment of the present invention, which omits a chassis connecting the carriage and the fixing base.

Fig. 5 is a partially enlarged view of region II in fig. 4.

Fig. 6 is a schematic perspective view of a fixing base according to an embodiment of the present invention.

Fig. 7 is a schematic perspective view of the fixing base and the sleeve according to an embodiment of the present invention.

Fig. 8 is a cross-sectional view taken along line a-a of fig. 7.

Fig. 9 is a partially enlarged view of a region III in fig. 8.

Fig. 10 is a top view of a chassis according to an embodiment of the present invention.

Reference numerals:

100. a chassis;

1. a fixed seat;

11. mounting holes;

112. a second mounting hole; 113. a third mounting hole; 115. a fifth mounting hole;

2. a drive shaft;

3. a bevel gear;

31. a first bevel gear; 32. a second bevel gear; 33. a third bevel gear;

34. a fourth bevel gear; 35. a fifth bevel gear; 36. a sixth bevel gear;

4. a rocker arm; 41. a first rocker arm; 42. a second rocker arm; 43. a center of rotation;

5. a traveling wheel;

6. a sleeve;

7a, a first driving mechanism; 7b, a second driving mechanism; 7c, connecting a bracket;

8. a connecting compartment;

9a, a bevel gear fixing seat; 9b, a bevel gear connecting shaft;

10a, a first bearing; 10b, a second bearing; 10c, a third bearing.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are only for convenience of description and simplicity 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.

The chassis 100 according to the embodiment of the present invention is described below with reference to the drawings.

A chassis 100 according to an embodiment of the present invention, as shown in fig. 1, includes: the device comprises a fixed seat 1, two transmission shafts 2, at least three bevel gears 3 meshed with each other (the specific structure of the bevel gears 3 can be seen in fig. 2 or fig. 3), two rocker arms 4 arranged oppositely and a plurality of road wheels 5.

As shown in fig. 1, the two transmission shafts 2 are located on the same straight line, and both of the two transmission shafts 2 are rotatably engaged in the fixing base 1. Here, both transmission shafts 2 can rotate relative to the fixed base 1.

Each bevel gear 3 is rotatably arranged in the fixed seat 1, wherein two bevel gears 3 are respectively and fixedly connected with two transmission shafts 2 (the specific structure can be seen in fig. 3), the tooth surfaces of the two bevel gears 3 are arranged in parallel and opposite to each other, and the rotating shafts of the two bevel gears 3 are positioned on the same straight line.

As shown in fig. 1, each rocker arm 4 comprises a first rocker arm 41 and a second rocker arm 42 which are connected to each other at an angle, the joint of the first rocker arm 41 and the second rocker arm 42 forms a rotation center 43, and each rotation center 43 is fixedly connected to one transmission shaft 2.

As shown in fig. 1, one road wheel 5 is rotatably connected to the ends of the first swing arm 41 and the second swing arm 42, respectively.

When one rocker arm 4 rotates clockwise, the transmission shaft 2 connected with the rocker arm can be driven to rotate, so that the other rocker arm 4 rotates anticlockwise to drive the travelling wheel 5 connected with the other rocker arm to be always attached to the ground.

According to the above structure, the utility model discloses the chassis 100 is provided with a plurality of walking wheels 5 on the chassis 100, and the walking wheel 5 pivoted in-process can drive chassis 100 and remove.

Two transmission shafts 2 all rotationally cooperate in fixing base 1 and bevel gear 3 and transmission shaft 2 fixed connection. Through the setting, can drive bevel gear 3 and rotate when transmission shaft 2 pivoted in-process, that is to say, this application need not to set up drive bevel gear 3 pivoted driving piece and can make bevel gear 3 rotate, practices thrift manufacturing cost, improves chassis 100's space utilization, simplifies the assembly parts, improves the practicality.

The flank of tooth of two bevel gears 3 that are connected with two transmission shafts 2 are parallel to each other and set up in opposite directions, still are provided with a bevel gear 3 between two bevel gears 3 at least, through setting up bevel gear 3 in the middle of for two bevel gears 3 that set up in opposite directions rotate opposite direction, guarantee respectively with two transmission shafts 2 that two bevel gears 3 link to each other rotate towards opposite direction.

When the walking wheels 5 walk on a base surface with a complex terrain, one walking wheel 5 can swing up and down relative to other walking wheels 5, the walking wheels 5 can drive the rocker arms 4 connected with the walking wheels to rotate in the swinging process, and the rocker arms 4 are fixedly connected with one transmission shaft 2, so that the transmission shaft 2 can be driven to rotate.

When one of the transmission shafts 2 rotates clockwise, the bevel gears 3 connected with the transmission shafts are driven to rotate clockwise, and the three bevel gears 3 are meshed with each other in pairs, so that when one of the bevel gears 3 rotates, the other two bevel gears 3 can be driven to rotate together, the other transmission shaft 2 is driven to rotate anticlockwise, and the rocker arms 4 connected with the transmission shaft are driven to rotate anticlockwise, a plurality of walking wheels 5 can simultaneously contact the ground in real time in the moving process of the chassis 100, the ground gripping capacity of the chassis 100 is improved, the chassis 100 can stably move in the driving process, and the obstacle crossing performance of the chassis 100 is improved.

It can be understood that, compare the chassis that uses the spring flexbile wheel among the prior art, the chassis 100 of this application, flexible spare parts such as spring do not adopt, make chassis 100 rigidity big, but load carrying capacity is stronger, stability is good, at the in-process of building robot walking, can obviously improve and rock the adverse effect that brings for building robot work because of the chassis 100 that the ground is uneven, in-process that the chassis 100 hinders more, still can make a plurality of walking wheels 5 contact ground in real time simultaneously, improve and hinder more the performance, it hinders more the performance and far surpasses conventional building robot chassis more, and the chassis 100 of this application need not to set up separately and drives bevel gear 3 pivoted driving piece, can drive bevel gear 3 and rotate through the luffing motion of walking wheel 5, effectively practice thrift the manufacturing cost on chassis 100, simplify the assembly part, improve the practicality.

Alternatively, the two transmission shafts 2 are rigidly connected to two of the oppositely disposed bevel gears 3 by splines, respectively. One of the transmission shafts 2 can drive the other transmission shaft 2 to rotate towards the opposite direction when rotating, and the transmission shafts 2 and the bevel gears 3 can be uniformly stressed in the rotating process through spline connection.

Alternatively, the chassis 100 of the present application is attached to the body of the construction robot, and the fixing base 1 is fixed relative to the body.

Alternatively, when two bevel gears 3 are fixedly connected with two transmission shafts 2 respectively, the other bevel gears 3 are in meshed transmission connection with the two bevel gears 3 respectively.

In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In some embodiments of the present invention, as shown in fig. 2 and 3, the bevel gears 3 have four, and four bevel gears 3 are engaged with each other two by two, wherein two bevel gears 3 are oppositely disposed and fixedly connected to the transmission shaft 2, the line of the rotation centers of the other two bevel gears 3 is perpendicular to the rotation center line of the rotation axis of the transmission shaft 2, and the two bevel gears 3 are arranged with the rotation center line as an axis symmetry. Two adjacent bevel gears 3 mesh each other in four bevel gears 3, and two pairs of four bevel gears 3 that the symmetry set up can make the transmission of transmission power between the bevel gear 3 steady, be favorable to rotating at one of them transmission shaft 2 and drive bevel gear 3 that is connected with it and rotate the back, the bevel gear 3 of two other symmetries set up is driven by aforementioned bevel gear 3 simultaneously, and with the effort steady, transmit bevel gear 3 on another transmission shaft 2 fast, thereby make the transmission shaft 2 swing of the other end and drive the swing of rocking arm 4, thereby rocking arm 4 swings and makes walking wheel 5 compress tightly ground. That is to say, when one of the bevel gears 3 fixedly connected with the transmission shaft 2 rotates, the other bevel gear 3 arranged in opposite direction can be driven to rotate in opposite direction, and in the rotating process, the continuous meshing of the four bevel gears 3 is realized, and a driving piece for driving the bevel gears 3 to rotate is not required to be arranged independently, so that the production cost is saved.

For example, in the specific example, as shown in fig. 3, four bevel gears 3 are respectively denoted as a first bevel gear 31, a second bevel gear 32, a third bevel gear 33, and a fourth bevel gear 34. The two bevel gears 3 respectively connected with the two transmission shafts 2 are marked as a first bevel gear 31 and a second bevel gear 32, the tooth surfaces of the first bevel gear 31 and the second bevel gear 32 are parallel and are arranged oppositely, and the tooth surfaces of the third bevel gear 33 and the fourth bevel gear 34 are parallel and are arranged oppositely and are respectively arranged between the first bevel gear 31 and the second bevel gear 32.

In some embodiments of the present invention, as shown in fig. 4 and 5, six mutually meshed bevel gears 3 are disposed in the fixing base 1, every two bevel gears 3 are disposed in opposite directions and are disposed in pairs, each pair of the rotation axes of the bevel gears 3 is located on the same straight line, and three straight lines where the rotation axes of the bevel gears 3 are located are orthogonally disposed to each other and intersect at the same point. Two adjacent bevel gears 3 in the six bevel gears 3 are meshed with each other, and three pairs of six symmetrically arranged bevel gears 3 can enable the transmission force between the bevel gears 3 to be stably transmitted, so that after one transmission shaft 2 rotates and drives the bevel gear 3 connected with the transmission shaft to rotate, the other two pairs of symmetrically arranged bevel gears 3 are simultaneously driven by the bevel gears 3 and smoothly and quickly transmit acting force to the bevel gear 3 on the other transmission shaft 2, the transmission shaft 2 at the other end swings and drives the rocker arm 4 to swing, and the rocker arm 4 swings so that the traveling wheels 5 press the ground, that is, when one bevel gear 3 fixedly connected with the transmission shaft 2 rotates, the other bevel gear 3 oppositely arranged can be driven to rotate towards the opposite direction, and in the rotating process, the continuous meshing of the bevel gears 3 is realized, and a driving piece for driving the bevel gears 3 to rotate is not required to be separately arranged, and effectively disperse the stress to achieve the steering differential effect of the chassis 100.

For example, in some specific examples, as shown in fig. 5, six bevel gears 3 are respectively designated as a first bevel gear 31, a second bevel gear 32, a third bevel gear 33, a fourth bevel gear 34, a fifth bevel gear 35, and a sixth bevel gear 36. The two bevel gears 3 respectively connected with the two transmission shafts 2 are marked as a first bevel gear 31 and a second bevel gear 32, the tooth surfaces of the first bevel gear 31 and the second bevel gear 32 are parallel and arranged oppositely, the tooth surfaces of the third bevel gear 33 and the fourth bevel gear 34 are parallel and arranged oppositely, the tooth surfaces of the fifth bevel gear 35 and the sixth bevel gear 36 are parallel and arranged oppositely, and the third bevel gear 33, the fourth bevel gear 34, the fifth bevel gear 35 and the sixth bevel gear 36 are respectively arranged between the first bevel gear 31 and the second bevel gear 32.

In the description of the present invention, the features defined as "first", "second", "third", "fourth", "fifth" and "sixth" may explicitly or implicitly include one or more of the features for distinguishing between descriptive features, non-sequential, non-trivial and non-trivial.

Optionally, as shown in fig. 6, a central cavity is disposed in the middle of the fixing base 1, a plurality of mounting holes 11 are disposed on the fixing base 1, and each mounting hole 11 is communicated with the central cavity. By arranging the mounting hole 11 on the fixed seat 1, the bevel gears 3 can be arranged in the central cavity of the fixed seat 1 through the mounting hole 11, the plurality of bevel gears 3 can be converged in the central cavity and form transmission connection according to a preset mode, the fixed seat 1 provides stable support for the rotation of each bevel gear 3, and the rotation of the bevel gears 3 is limited within a certain range; the fixing seat 1 can also play a role in protecting the bevel gear 3, so that a sharp object or a foreign body can not fall on the surface of the bevel gear 3 to damage and pollute the bevel gear 3, and the service life of the bevel gear 3 is prolonged.

Alternatively, the center lines of two of the mounting holes 11 coincide with the rotation center line of the propeller shaft 2. A plurality of bevel gears 3 all set up in the center cavity of fixing base 1 through mounting hole 11, guarantee wherein two bevel gears 3 can respectively with two transmission shaft 2 fixed connection to make the axis of rotation of two bevel gears 3 be located same straight line, it is less to ensure the driven in-process consumption of effort.

Optionally, every two mounting holes 11 are arranged oppositely and arranged in pairs, the central point of each pair of mounting holes 11 is located on the same straight line, and three straight lines where the central points of a plurality of pairs of mounting holes 11 are located are orthogonally arranged with each other and meet at the same point. When four bevel gears 3 are arranged in a central cavity of the fixed seat 1, the four bevel gears 3 can be meshed with each other, two bevel gears 3 are oppositely arranged and fixedly connected with the transmission shaft 2, and a connecting line of the rotating centers of the other two bevel gears 3 is vertical to the rotating center line of the transmission shaft 2; when six bevel gears 3 are arranged in a central cavity of the fixing seat 1, every two bevel gears 3 are ensured to be arranged oppositely and in pairs, the rotating shafts of each pair of bevel gears 3 are positioned on the same straight line, and three straight lines where the rotating shafts of the three pairs of bevel gears 3 are positioned are mutually orthogonally arranged and intersect at the same point.

Note that the number of the mounting holes 11 corresponds to the number of the bevel gears 3. When four bevel gears 3 are arranged in the central cavity of the fixed seat 1, the number of the mounting holes 11 is correspondingly set to four.

For example, in the specific example, as shown in fig. 6, the four mounting holes 11 are respectively referred to as a first mounting hole (not shown in the figure), a second mounting hole 112, a third mounting hole 113, and a fourth mounting hole (not shown in the figure). Wherein, the first mounting hole and the second mounting hole 112 are oppositely arranged, the central points of the first mounting hole and the second mounting hole 112 are positioned on the same straight line, the third mounting hole 113 and the fourth mounting hole are oppositely arranged, the central points of the third mounting hole 113 and the fourth mounting hole are positioned on the same straight line, the first bevel gear 31 is arranged in the central cavity of the fixed seat 1 through the first mounting hole, the second bevel gear 32 is arranged in the central cavity of the fixed seat 1 through the second mounting hole 112, so as to ensure that the first bevel gear 31 and the second bevel gear 32 are oppositely arranged and the rotating shafts are positioned on the same straight line, the third bevel gear 33 is arranged in the central cavity of the fixed seat 1 through the third mounting hole 113, the fourth bevel gear 34 is arranged in the central cavity of the fixed seat 1 through the fourth mounting hole, so as to ensure that the connecting line of the rotation centers of the third bevel gear 33 and the fourth bevel gear 34 is perpendicular to the rotation center line of the rotation shaft of the transmission shaft 2.

Of course, the number of the mounting holes 11 is not limited to the four described above, and when six bevel gears 3 are provided in the central cavity of the fixed base 1, the number of the mounting holes 11 is also set to six accordingly.

For example, in some specific examples, as shown in fig. 6, the six mounting holes 11 are respectively referred to as a first mounting hole (not shown), a second mounting hole 112, a third mounting hole 113, a fourth mounting hole (not shown), a fifth mounting hole 115, and a sixth mounting hole (not shown). The first mounting hole and the second mounting hole 112 are oppositely arranged, the central points of the first mounting hole and the second mounting hole 112 are located on the same straight line, the third mounting hole 113 and the fourth mounting hole are oppositely arranged, the central points of the third mounting hole 113 and the fourth mounting hole are located on the same straight line, the fifth mounting hole 115 and the sixth mounting hole are oppositely arranged, and the central points of the fifth mounting hole 115 and the sixth mounting hole are located on the same straight line.

Alternatively, a first bearing 10a is installed in each of the installation holes 11 (the specific structure of the first bearing 10a can be seen in fig. 8 or 9), and the bevel gear 3 is connected with the first bearing 10 a. Ensure that bevel gear 3 can rotate for mounting hole 11, bevel gear 3 can not drive fixing base 1 and rotate together at the pivoted in-process.

Alternatively, the first bearing 10a is an angular contact bearing. Each mounting hole 11 is internally provided with an angular contact bearing, the bevel gear 3 is connected with the angular contact bearing, when the bevel gear 3 rotates relative to the mounting holes 11, the fixing seat 1 cannot be driven to rotate together, the fixing seat 1 is ensured to be fixed relative to a vehicle body, the angular contact bearings can simultaneously bear radial load and axial load, the vehicle-mounted bevel gear can work at a high rotating speed, and the position of the fixing seat 1 is stable.

Optionally, as shown in fig. 9, a bevel gear fixing seat 9a is fixedly connected between the first bearing 10a and the fixing seat 1, and the bevel gear 3 is connected to the bevel gear fixing seat 9a through the first bearing 10a, so that the bevel gear 3 is ensured to be disposed in the central cavity of the fixing seat 1, and the bevel gear 3 does not drive the fixing seat 1 to rotate together in the rotating process.

Optionally, as shown in fig. 9, the chassis 100 further includes a plurality of bevel gear connecting shafts 9b, one end of each bevel gear connecting shaft 9b is fixedly connected with the bevel gear 3, and the other end of each bevel gear connecting shaft 9b is connected with the bevel gear fixing seat 9a through the first bearing 10 a. It is ensured that the bevel gear 3 is rotatably arranged in the fixing base 1.

Alternatively, the bevel gear connecting shaft 9b is splined with the bevel gear 3. The bevel gear connecting shaft 9b is fixedly connected with the bevel gear 3, and the bevel gear connecting shaft 9b and the bevel gear 3 are connected through keys, so that the bevel gear connecting shaft is simple in structure and convenient to assemble.

Optionally, a first compression ring and a compression nut (not shown in the figures) are mounted between each bevel gear connecting shaft 9b and the first bearing 10 a. For defining the position of the first bearing 10a such that the position of the first bearing 10a is stable.

Optionally, a sealing plate (not shown) is mounted on a side of each first bearing 10a away from the central cavity of the fixing base 1. The sealing plate is used for improving the sealing performance of the first bearing 10a, so that on one hand, foreign matters such as external dust, dirt and moisture are prevented from invading into the bearing to damage and pollute the first bearing 10a, and the service life of the first bearing 10a is prolonged; on the other hand, grease or lubricant inside the first bearing 10a is ensured not to leak, so that the first bearing 10a can be lubricated normally, and the service life of the first bearing 10a is further prolonged.

In some embodiments of the present invention, as shown in fig. 7 and 8, the chassis 100 further includes a sleeve 6, and the sleeve 6 is sleeved on the outer side of the transmission shaft 2. On one hand, the sleeve 6 can protect the transmission shaft 2 and prolong the service life of the transmission shaft 2; on the other hand, the support device provides stable support for the rotation of the transmission shaft 2 and limits the rotation of the transmission shaft 2 within a certain range.

Optionally, as shown in fig. 8, the number of the sleeves 6 is two, and one sleeve 6 is sleeved on the outer side of each transmission shaft 2 to respectively protect each transmission shaft 2.

Alternatively, as shown in fig. 8, one end of the sleeve 6 is rotatably connected to the rotation center 43 (the structure of the rotation center 43 is shown in fig. 2), the other end of the sleeve 6 is connected to the fixing base 1, and the second bearing 10b is arranged between the two ends of the sleeve 6 and the transmission shaft 2. Through setting up second bearing 10b, transmission shaft 2 can not drive sleeve 6 and rotate at the pivoted in-process for sleeve 6 is fixed motionless for fixing base 1, and second bearing 10b still can play the effect of support sleeve 6 when guaranteeing sleeve 6 for 2 fixed positions of transmission shaft, guarantees sleeve 6 for 1 stable position of fixing base.

Optionally, a third bearing 10c is provided between the sleeve 6 and the rocker arm 4 (the specific structure of the third bearing 10c can be seen in fig. 8). The third bearing 10c can ensure that the sleeve 6 does not rotate along with the rocker arm 4 in the rotating process of the rocker arm 4, and the sleeve 6 is fixed relative to the fixed seat 1.

Alternatively, the second bearing 10b and the third bearing 10c are both angular contact bearings.

Optionally, a second compression ring is mounted between the second bearing 10b and the sleeve 6. The second compression ring serves to define the position of the second bearing 10b such that the position of the second bearing 10b is stabilized.

Optionally, a third compression ring is also mounted between the third bearing 10c and the rocker arm 4. The third clamp ring serves to define the position of the third bearing 10c, so that the position of the third bearing 10c is stabilized.

In some embodiments of the present invention, as shown in fig. 2, the chassis 100 further includes a first driving mechanism 7a, at least one of the traveling wheels 5 connected to each rocker arm 4 is a driving wheel, the rest of the traveling wheels 5 are driven wheels, the driving wheel is driven by the first driving mechanism 7a to travel, all the traveling wheels 5 can rotate, and the diameter of each traveling wheel 5 is the same. The first driving mechanism 7a is used for driving the traveling wheels 5 connected with the first driving mechanism to rotate, so that the traveling wheels 5 on the rocker arm 4 move forward and backward, and the other traveling wheel 5 on the same rocker arm 4 is driven to move forward and backward, so as to drive the chassis 100 to move. The walking wheels 5 with the same wheel diameter can enable all the walking wheels 5 to run on the same horizontal plane, and all the walking wheels can stably support the chassis 100, so that the chassis 100 can be kept horizontal and does not skew.

It should be noted that the rotation referred to herein is such that the rotation center line of the road wheels 5 is parallel to the vehicle body.

Optionally, as shown in fig. 2, the number of the first driving mechanisms 7a is two, and two first driving mechanisms 7a are diagonally disposed at the bottom of the chassis 100, that is, two driving wheels are diagonally disposed, and two driven wheels are diagonally disposed, so that when the chassis 100 needs to walk, all the walking wheels 5 can be rotated by simultaneously driving the two first driving mechanisms 7a to drive the chassis 100 to move.

Therefore, the first driving mechanisms 7a for driving the chassis 100 to advance are only required to be two, and the number of the driving mechanisms of the four-wheel full-drive chassis 100 is saved by half, so that the chassis 100 has the advantages of low maintenance cost, comprehensive economic cost and high cost performance.

Alternatively, the first drive mechanism 7a may be a rotary motor. The output shaft of the driving motor is connected with the travelling wheels 5 to drive the travelling wheels 5 to rotate.

In some embodiments of the present invention, as shown in fig. 2, the chassis 100 further includes a second driving mechanism 7b, each of the traveling wheels 5 is driven by the second driving mechanism 7b to rotate, one second driving mechanism 7b is connected to the bottom of each of the two swing arms 4, one of the two second driving mechanisms 7b located on the same swing arm 4 is connected to the driven wheel, the other one of the two second driving mechanisms 7b located on the same swing arm 4 is connected to the first driving mechanism 7a, and the output shaft of the first driving mechanism 7a is connected to a driving wheel. The second driving mechanism 7b is used for changing the traveling direction of the traveling wheels 5, namely changing the traveling direction of the chassis 100, so that the capability of the chassis 100 to move in a translational manner in any direction in a narrow space plane can be realized, and multi-angle steering can be realized.

Alternatively, the second drive mechanism 7b may be a rotary motor. When the second driving mechanism 7b is rotationally connected with the driven wheel, the output shaft of the second driving mechanism 7b is connected with the driven wheel so as to drive the travelling wheel 5 to rotate; when the second driving mechanism 7b is connected with the first driving mechanism 7a, the output shaft of the second driving mechanism 7b is connected to the housing of the first driving mechanism 7a to drive the first driving mechanism 7a and the road wheels 5 to rotate together, so that the road wheels 5 can rotate 360 degrees.

In other examples, the first driving mechanism 7a and the second driving mechanism 7b may be connected by a connecting bracket 7 c. As shown in fig. 4, a connecting bracket 7c is disposed at one side of the first driving mechanism 7a, and an output shaft of the second driving mechanism 7b is connected to the connecting bracket 7c to drive the first driving mechanism 7a and the road wheels 5 to rotate together, so that the road wheels 5 can rotate 360 °.

Optionally, the first driving mechanism 7a and the connecting bracket 7c may be fixedly connected, and the connecting bracket 7c is welded to the housing of the first driving mechanism 7a, so as to ensure the connection strength between the first driving mechanism 7a and the connecting bracket 7c, and ensure that the second driving mechanism 7b drives the connecting bracket 7c to rotate, and then drives the first driving mechanism 7a to rotate together.

When the first drive mechanism 7a is not provided, by connecting the output shaft of each second drive mechanism 7b to the connecting bracket 7c and connecting the connecting bracket 7c to each traveling wheel 5, the arrangement position between each traveling wheel 5 and the first drive mechanism 7a can be kept consistent, which is advantageous for steering control and for the chassis 100 to be kept horizontal.

Alternatively, the rotation is such that the rotation center line of the road wheels 5 is perpendicular to the vehicle body, that is, when all the road wheels 5 are located in the horizontal plane, the output shaft of the second drive mechanism 7b is perpendicular to the horizontal plane.

Of course, the application can also arrange the first driving mechanism 7a into 4, and each traveling wheel 5 is driven by the first driving mechanism 7a to travel in a driving wheel mode.

Optionally, a plurality of walking wheels 5 all select for use the universal wheel, guarantee that a plurality of walking wheels 5 can do 360 rotary motion. So as to change the walking direction of the chassis 100 and realize the capability of the chassis 100 to move in translation along any direction in a narrow space plane.

In some embodiments of the present invention, the included angle between the first rocker arm 41 and the second rocker arm 42 is 90 degrees to 140 degrees. If the included angle between the first rocker arm 41 and the second rocker arm 42 is smaller than 90 degrees, the ground clearance of the vehicle body is larger under the condition that the lengths of the first rocker arm 41 and the second rocker arm 42 are fixed, so that the gravity center of the vehicle body is higher, the stability is poor, the phenomenon of rollover is easy to occur in the obstacle crossing process, and the obstacle crossing performance of the chassis 100 is reduced; if the included angle between the first rocker arm 41 and the second rocker arm 42 is greater than 140 degrees, the ground clearance of the vehicle body is smaller under the condition that the lengths of the first rocker arm 41 and the second rocker arm 42 are fixed, the bottom surface of the vehicle body is easy to scratch and rub an obstacle on the ground in the walking process, and the trafficability of the chassis 100 is reduced, so that the included angle between the first rocker arm 41 and the second rocker arm 42 is set between 90 degrees and 140 degrees, the trafficability of the chassis 100 can be improved while the stability of the chassis 100 is improved, and the practicability of the chassis 100 is improved.

In some embodiments of the present invention, as shown in fig. 10, the chassis 100 further includes a connection compartment 8, a containing cavity is formed in the connection compartment 8, and the fixing base 1 is disposed in the containing cavity. The connection box 8 is used to provide a layout space for the fixed base 1 and the bevel gear 3, and the chassis 100 can be connected to the construction robot through the connection box 8.

Optionally, two rocker arms 4 are respectively arranged outside the accommodating cavity, the two rocker arms 4 are respectively symmetrically arranged on two sides of the connecting chamber 8, and the transmission shaft 2 penetrates through the side wall of the connecting chamber 8 and is fixedly connected with the rocker arms 4. The two swing arms 4 arranged symmetrically can make the stress of the connecting compartment 8 uniform in the swinging process, and the stability of the chassis 100 is improved.

The construction robot according to the embodiment of the present invention is described below.

According to the utility model discloses a construction robot, including aforementioned chassis 100.

According to the structure, the utility model discloses construction robot, through setting up aforementioned chassis 100 on construction robot, practice thrift construction robot manufacturing cost, still can guarantee construction robot's automobile body position stability when improving construction robot space utilization, the problem of rocking from top to bottom can not cause because of setting up the buffering spring part at the in-process of walking, but make construction robot limit removal limit steady operation, improve work efficiency, and at construction robot in-process of crossing the obstacle, can guarantee 5 simultaneous real-time contact ground of a plurality of walking wheels, improve construction robot's the performance of crossing the obstacle, satisfy construction robot's operation requirement well.

The building robot can be a floor sweeping robot applied to the indoor part of a building, and can also be an outdoor patrol robot applied to the outdoor part of the building or a material handling robot in a construction site.

The specific structure of the chassis 100 and the construction robot according to the embodiment of the present invention will be described with reference to the drawings. The embodiments of the present invention may be all embodiments combined by the foregoing technical solutions, and are not limited to the following specific embodiments.

Example 1

A chassis 100, as shown in fig. 1, comprising: the device comprises a fixed seat 1, two transmission shafts 2, at least three bevel gears 3 meshed with each other (the specific structure of the bevel gears 3 can be seen in fig. 2 or fig. 3), two rocker arms 4 arranged oppositely and a plurality of road wheels 5.

As shown in fig. 1, the two transmission shafts 2 are located on the same straight line, and both of the two transmission shafts 2 are rotatably engaged in the fixing base 1.

Each bevel gear 3 is rotationally arranged in the fixed seat 1, wherein two bevel gears 3 are respectively and fixedly connected with the two transmission shafts 2, the tooth surfaces of the two bevel gears 3 are arranged in parallel and in opposite directions, and the rotating shafts of the two bevel gears 3 are positioned on the same straight line.

As shown in fig. 1, each rocker arm 4 comprises a first rocker arm 41 and a second rocker arm 42 which are connected to each other at an angle, the joint of the first rocker arm 41 and the second rocker arm 42 forms a rotation center 43, and each rotation center 43 is fixedly connected to one transmission shaft 2.

One road wheel 5 is rotatably connected to the ends of the first swing arm 41 and the second swing arm 42, respectively.

When one rocker arm 4 rotates clockwise, the transmission shaft 2 connected with the rocker arm can be driven to rotate, so that the other rocker arm 4 rotates anticlockwise to drive the travelling wheel 5 connected with the other rocker arm to be always attached to the ground.

Example 2

The chassis 100 is different from the embodiment 1 in that, on the basis of the embodiment 1, as shown in fig. 2 and 3, four bevel gears 3 are provided, and the four bevel gears 3 are engaged with each other two by two, wherein two bevel gears 3 are oppositely arranged and fixedly connected with a transmission shaft 2, a connecting line of rotation centers of the other two bevel gears 3 is perpendicular to a rotation center line where a rotation shaft of the transmission shaft 2 is located, and the two bevel gears 3 are symmetrically arranged with the rotation center line as an axis.

Example 3

The chassis 100 is different from the chassis 100 in embodiment 1 in that, on the basis of embodiment 1, as shown in fig. 4 and 5, six mutually meshed bevel gears 3 are arranged in a fixed seat 1, every two bevel gears 3 are oppositely arranged and arranged in pairs, the rotating shafts of each pair of bevel gears 3 are located on the same straight line, and three straight lines where the rotating shafts of the three pairs of bevel gears 3 are located are orthogonally arranged and intersect at the same point.

Example 4

The chassis 100 is different from the chassis 100 in embodiment 1, and on the basis of embodiment 1, as shown in fig. 7 and 8, the chassis 100 further includes a sleeve 6, the sleeve 6 is sleeved outside the transmission shaft 2, one end of the sleeve 6 is rotatably connected to the rotation center 43, the other end of the sleeve 6 is connected to the fixed seat 1, a second bearing 10b is arranged between two ends of the sleeve 6 and the transmission shaft 2, and a third bearing 10c is arranged between the sleeve 6 and the rocker arm 4.

Example 5

The chassis 100 is different from the chassis 100 in embodiment 1 in that, on the basis of embodiment 1, the chassis 100 further includes a first driving mechanism 7a and a second driving mechanism 7b, at least one of the road wheels 5 connected to each rocker arm 4 is a driving wheel, the rest of the road wheels 5 are driven wheels, the driving wheel is driven by the first driving mechanism 7a to run, all the road wheels 5 can rotate, and the wheel diameters of the road wheels 5 are the same.

Each walking wheel 5 is driven by a second driving mechanism 7b to rotate, the bottoms of the two rocker arms 4 are respectively connected with one second driving mechanism 7b, one of the two second driving mechanisms 7b positioned on the same rocker arm 4 is rotatably connected with a driven wheel, the other of the two second driving mechanisms 7b positioned on the same rocker arm 4 is connected with a first driving mechanism 7a, an output shaft of the first driving mechanism 7a is connected with a driving wheel, the two driving wheels are arranged in a diagonal manner, and the two driven wheels are arranged in a diagonal manner.

Example 6

A construction robot includes the chassis 100 of embodiment 1.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The operation and working principle of the chassis 100 and other components of the construction robot having the same according to the embodiment of the present invention, such as the first and second driving mechanisms 7a and 7b, are known to those skilled in the art and will not be described in detail herein.

In the description herein, references to the description of the terms "embodiment," "example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims (10)

1. A chassis, comprising:

a fixed seat;

the two transmission shafts are positioned on the same straight line and are both rotatably matched in the fixed seat;

the bevel gears are rotatably arranged in the fixed seat, two of the bevel gears are respectively fixedly connected with the two transmission shafts, the tooth surfaces of the two bevel gears are arranged in parallel in opposite directions, and the rotating shafts of the two bevel gears are positioned on the same straight line;

the two rocker arms are oppositely arranged, each rocker arm comprises a first rocker arm and a second rocker arm which are mutually connected in an angle mode, a rotating center is formed at the joint of the first rocker arm and the second rocker arm, and each rotating center is fixedly connected with one transmission shaft;

the end parts of the first rocker arm and the second rocker arm are respectively and rotatably connected with one walking wheel;

when one rocker arm rotates clockwise, the transmission shaft connected with the rocker arm can be driven to rotate, so that the other rocker arm rotates anticlockwise to drive the travelling wheel connected with the other rocker arm to be always attached to the ground.

2. The chassis according to claim 1, wherein the number of the bevel gears is four, four of the bevel gears are engaged with each other two by two, two of the bevel gears are disposed opposite to each other and fixedly connected to the transmission shaft, a line connecting rotational centers of the other two bevel gears is perpendicular to a rotational center line of the transmission shaft, and the two bevel gears are arranged axisymmetrically with respect to the rotational center line.

3. The chassis of claim 1, wherein six mutually meshed bevel gears are arranged in the fixing seat, every two bevel gears are arranged oppositely and in pairs, the rotating shafts of each pair of bevel gears are positioned on the same straight line, and three straight lines on which the rotating shafts of the three pairs of bevel gears are positioned are arranged orthogonally to each other and meet at the same point.

4. The chassis according to any one of claims 1 to 3, wherein a central cavity is formed in the middle of the fixing base, a plurality of mounting holes are formed in the fixing base, each mounting hole is communicated with the central cavity, the center lines of two mounting holes are coincident with the rotation center line of the transmission shaft, a first bearing is mounted in each mounting hole, and the bevel gear is connected with the first bearing.

5. The chassis according to claim 1, further comprising a sleeve, wherein the sleeve is sleeved outside the transmission shaft, one end of the sleeve is rotatably connected to the rotating center, the other end of the sleeve is connected to the fixed seat, a second bearing is arranged between two ends of the sleeve and the transmission shaft, and a third bearing is arranged between the sleeve and the rocker arm.

6. The chassis of claim 1, further comprising a first driving mechanism, wherein at least one of the road wheels connected to each rocker arm is a driving wheel, the other road wheels are driven wheels, the driving wheel is driven by the first driving mechanism to drive, all the road wheels can rotate, and the wheel diameter of each road wheel is the same.

7. The chassis of claim 6, further comprising second driving mechanisms, wherein each of the traveling wheels is driven by the second driving mechanism to rotate, the bottoms of the two rocker arms are respectively connected with one of the second driving mechanisms, one of the two second driving mechanisms located on the same rocker arm is rotatably connected with the driven wheel, the other of the two second driving mechanisms located on the same rocker arm is connected with the first driving mechanism, the output shaft of the first driving mechanism is connected with one of the driving wheels, the two driving wheels are arranged diagonally, and the two driven wheels are arranged diagonally.

8. The chassis of claim 1, wherein an angle between the first swing arm and the second swing arm is 90 degrees to 140 degrees.

9. The chassis according to claim 1, further comprising a connection compartment, wherein a receiving cavity is formed in the connection compartment, the fixing seat is disposed in the receiving cavity, the two rocker arms are disposed outside the receiving cavity respectively and are symmetrically disposed on two sides of the connection compartment respectively, and the transmission shaft penetrates through a side wall of the connection compartment to be fixedly connected with the rocker arms.

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

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