CN214296118U - Disinfection robot chassis - Google Patents
Disinfection robot chassis Download PDFInfo
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- CN214296118U CN214296118U CN202022788527.9U CN202022788527U CN214296118U CN 214296118 U CN214296118 U CN 214296118U CN 202022788527 U CN202022788527 U CN 202022788527U CN 214296118 U CN214296118 U CN 214296118U
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- bottom plate
- chassis
- robot chassis
- disinfection robot
- rotating rod
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Abstract
The utility model relates to a transportation field discloses a disinfection robot chassis, include: a base plate for placing a sterilization robot; a pair of suspension devices oppositely arranged on two sides of the bottom plate; two drive wheels rotatably mounted on the respective suspension means; two driving assemblies mounted on the corresponding driving wheels; at least one supporting wheel installed on the bottom surface of the bottom plate; wherein, the linkage includes: one end of the rotating rod is rotatably connected with the bottom plate; and one end of the elastic body is connected with the bottom plate in a sliding manner, and the other end of the elastic body is hinged with the other end of the rotating rod. Therefore, the disinfection robot chassis of the utility model can save space.
Description
Technical Field
The utility model relates to a transportation field, concretely relates to disinfection robot chassis.
Background
At present, service robots walk into our lives and comprise welcome robots in shopping malls, security monitoring robots, household sweeping robots and the like, and the robots are small in size and light in weight, so that rollers are arranged at the bottom of the robots to realize autonomous walking.
The large and heavy sterilization robot is moved less frequently, and is usually moved to a specified position by a mobile trolley. When the disinfection robot is moved, the movable trolley runs on a bumpy road surface for a plurality of times, so that a large space is reserved for hanging the conventional movable trolley to adapt to different road surfaces, and the movable trolley is used for installing an elastic component, a connecting rod mechanism support, a driving wheel connecting rod mechanism and the like, so that a sufficient ground clearance is ensured. However, a suspension of this design results in a large overall size of the mobile carriage.
SUMMERY OF THE UTILITY MODEL
The utility model is carried out to solve the problems and aims to provide a disinfection robot chassis with a small structure.
The utility model provides a disinfection robot chassis, include: a base plate for placing a sterilization robot; a pair of suspension devices oppositely arranged on two sides of the bottom plate; two driving wheels rotatably mounted on the suspension device; two driving components mounted on the corresponding driving wheels; at least one supporting wheel installed on the bottom surface of the bottom plate; wherein, the linkage includes: one end of the rotating rod is rotatably connected with the bottom plate; and one end of the elastic component is connected with the bottom plate in a sliding manner, and the other end of the elastic component is hinged with the other end of the rotating rod.
In the disinfection robot chassis provided by the utility model, can also have the following characteristics: wherein, the drive assembly is a hub motor.
In the disinfection robot chassis provided by the utility model, can also have the following characteristics: wherein each suspension device comprises: and the two bearing seats are arranged on the bottom plate, and the rotating rod is positioned between the two bearing seats and is rotatably connected with the two bearing seats.
In the disinfection robot chassis provided by the utility model, can also have the following characteristics: wherein each suspension device comprises: and the rotating rod is positioned on one side of the bearing seat and is rotationally connected with the bearing seat.
In the disinfection robot chassis provided by the utility model, can also have such characteristic, still include: the support frame, vertical the installing on the bottom plate, the one end of elastic component is installed and is kept away from the one end of bottom plate at the support frame.
In the disinfection robot chassis provided by the utility model, can also have the following characteristics: the supporting frame and the bearing seat are both arranged on the top surface of the bottom plate; one end of the rotating rod is rotatably connected with the bearing seat, and the other end of the rotating rod is positioned below the supporting frame and is fixedly connected with the supporting frame through an elastic component.
In the disinfection robot chassis provided by the utility model, can also have the following characteristics: wherein, the number of supporting wheels is 4.
In the disinfection robot chassis provided by the utility model, can also have the following characteristics: wherein, the quantity of supporting wheel is 3.
In the disinfection robot chassis provided by the utility model, can also have the following characteristics: wherein, the supporting wheel is a universal wheel.
Action and effect of the utility model
According to the utility model relates to a disinfection robot chassis, because the drive wheel is installed on drive assembly, drive assembly rotationally installs on the dwang, and the one end and the bottom plate of dwang rotate to be connected, and the other end passes through elastic component and bottom plate elastic connection, so, the utility model discloses a disinfection robot chassis can save space.
In addition, when the chassis of the disinfection robot runs on a bumpy road surface, the driving wheels on the two sides cannot influence the driving wheels on the other side when being impacted, so that the shock-proof effect of the chassis of the disinfection robot is improved.
Drawings
Fig. 1 is an overall schematic view of a chassis of a sterilization robot according to an embodiment of the present invention;
fig. 2 is a front view of a chassis of the disinfection robot in an embodiment of the present invention;
fig. 3 is a top view of a chassis of a sterilization robot in an embodiment of the present invention;
fig. 4 is a right side view of a chassis of a disinfection robot in an embodiment of the present invention;
fig. 5 is a perspective view of a suspension device in an embodiment of the present invention; and
fig. 6 is a cross-sectional view of an elastomeric component in an embodiment of the invention.
Detailed Description
In order to make the technical means, creation features, achievement purposes and effects of the present invention easy to understand, the present invention is specifically described below with reference to the embodiments and the accompanying drawings.
< example >
Fig. 1 is an overall schematic view of a chassis of a disinfection robot according to an embodiment of the present invention. Fig. 2 is a front view of a chassis of a sterilization robot according to an embodiment of the present invention.
As shown in fig. 1 and 2, the chassis 100 of the disinfection robot provided by the present embodiment includes a base plate 1, 4 support wheels 2, two support frames 3, a pair of suspension devices 4, a pair of driving assemblies 5, and a pair of driving wheels 6.
Fig. 3 is a top view of a disinfection robot chassis in an embodiment of the present invention.
As shown in fig. 3, the bottom plate 1 in this embodiment includes a mounting main body, a front crescent and a rear crescent, and the main body, the front crescent and the rear crescent are integrally formed.
The installation main part appearance is the rectangle, is equipped with the rectangle breach at the left end of installation main part and right-hand member, and the length direction of rectangle breach parallels with the minor face length direction of installation main part.
The front crescent body is provided with a straight edge and an arc edge, and the length of the straight edge is the same as that of the long edge of the mounting main body. The preceding crescent is installed in the installation main part, and the long limit of the preceding crescent coincides with another long limit of installation main part, and the top surface of the preceding crescent is parallel and level mutually with the top surface of installation main part, the bottom surface of the preceding crescent is parallel and level mutually with the bottom surface of installation main part.
In addition, three gaps are distributed on the arc edge of the front crescent in a fan shape, the three gaps are used for installing laser sensors, the laser sensors are used for detecting the road surface, and when a pit or a step is formed in the front of the laser sensors, the chassis of the disinfection robot stops moving.
The rear crescent body is provided with a straight edge and an arc edge, and the length of the straight edge is the same as that of the long edge of the mounting main body. The back crescent is installed on the installation main part, and the long limit of the back crescent coincides with the long limit of the installation main part, the top surface of the back crescent is flush with the top surface of the installation main part, and the bottom surface of the back crescent is flush with the bottom surface of the installation main part. The center of the arc edge of the rear crescent is provided with a plane which is vertical to the side surface of the rear crescent.
The rear crescent and the front crescent are respectively provided with a mounting hole, and a part of the mounting holes are used for fixing the robot to prevent the disinfection robot from falling off due to road jolt. The other mounting hole is used for mounting the support wheel 2.
Fig. 4 is a right side view of the chassis of the disinfection robot in an embodiment of the present invention.
As shown in fig. 4, 2 support wheels 2 are installed on the bottom surfaces of the front crescent and the rear crescent, so as to support the bottom plate 1. In this embodiment, the support wheels 2 are universal wheels, which can rotate around a horizontal axis and a vertical axis.
As shown in fig. 1, the two support frames 3 in the present embodiment each have a first mounting portion 31, a vertical connecting portion 32, and a second mounting portion 33.
The appearance of first installation department 31 is the cuboid, and the right-hand member of first installation department 31 passes through bolted connection's mode to be installed on the installation main part, and the left end of first installation department 31 is close to the rectangle breach.
The vertical connecting portion 32 is rectangular and is located at the left end of the first mounting portion 31, and the vertical connecting portion 32 is perpendicular to the first mounting portion 31.
The second mounting portion 33 is substantially identical to the first mounting portion 31, except that the length of the second mounting portion 33 is greater than the length of the first mounting portion 31. The right end of the second mounting portion 33 is vertically mounted on the top end of the vertical connecting portion 32, and the left end of the second mounting portion 33 is located above the rectangular notch. The second mounting portion 33 has a guide hole formed therein, which vertically penetrates the second mounting portion 33.
In the present embodiment, the first mounting portion 31, the vertical connecting portion 32 and the second mounting portion 33 are integrally formed, and the cross sections of the first mounting portion 31, the vertical connecting portion 32 and the second mounting portion 33 are equal in size.
Fig. 5 is a perspective view of a suspension device according to an embodiment of the present invention.
As shown in fig. 5, the pair of suspension devices 4 in the present embodiment each include a pair of bearing seats 41, a rotating lever 42, and an elastic member 43.
Each of the pair of bearing blocks 41 includes a housing body having a mounting portion and a rotating portion mounted on the mounting portion, and a ball bearing. Two installation departments pass through bolted connection's mode installation opposite direction on the installation main part, and all are located the other end of rectangle breach. The rotating part is provided with a bearing hole, and the ball bearing is embedded in the bearing hole. The axes of the bearing holes on the two rotating parts are coincident, and the axes of the bearing holes are parallel to the top surface of the mounting main body.
The rotating rod 42 includes a first hinge portion 421, an inclined connecting portion 422, a second hinge portion 423 and a driving portion 424, wherein the first hinge portion 421, the inclined connecting portion 422, the second hinge portion 423 and the driving portion 424 are integrally formed.
The first hinge portion 421 is shaped like a rectangular parallelepiped, a rotary boss is disposed on the opposite side of the left end of the first hinge portion 421, and the left end of the first hinge portion 421 is located between the pair of bearing seats 41 and is rotatably connected to the bearing seats 41 through the rotary boss.
The shape of the inclined connecting portion 422 is a rectangular parallelepiped, the upper end of the inclined connecting portion 422 is fixedly connected to the right end of the first hinge portion 421, and the lower end of the inclined connecting portion 422 is away from the first hinge portion 421 in the downward direction of inclination.
The second hinge 423 has substantially the same structure as the first hinge 421, except that the length of the second hinge 423 is less than the length of the first hinge 421. The left end of the second hinge part 423 is mounted on the lower end of the elastic member 43 and is parallel to the first hinge part 421, the right end of the second hinge part 423 is located below the second mounting part 33, and the top surface of the right end of the second hinge part 423 is provided with a universal bearing mounting hole.
The driving part 424 is vertically installed at the right end of the first hinge 421. The driving portion 424 has a rectangular parallelepiped shape, and a top surface thereof abuts against a bottom surface of the other end of the first hinge portion 421. The driving portion 424 is provided with a relief hole and four fixing holes distributed on the periphery of the relief hole.
In order to improve the reliability of the driving part 424, in the present embodiment, the driving part 424 and the second hinge part 423 are provided with a transition part, the transition part is a triangular prism, the front side surface and the rear side surface are respectively flush with the front side surface and the rear side surface of the second hinge part 423, the vertical surface of the transition part coincides with the side surface of the driving part 424, and the inclined downward plane of the transition part coincides with the bottom surface of the inclined connecting part 32.
In this embodiment, the suspension device 4 is a movable part, and in order to prevent accidents of workers during transportation, two protective covers are mounted on the bottom plate and respectively cover the suspension devices on two sides of the bottom plate. In addition, a pushing handle is arranged on the bottom plate, so that a worker can conveniently and manually move the chassis of the disinfection robot.
Fig. 6 is a cross-sectional view of an elastomeric component in an embodiment of the invention.
As shown in fig. 6, the elastic assembly 43 in this embodiment includes a guide shaft 431, a first universal bearing 432, a second universal bearing 433, a first mounting plate 434, a second mounting plate 435, a first mounting seat 436, a second mounting seat 437, an elastic member (not shown), a limiting member 438, and a snap ring 439.
The guiding shaft 431 is cylindrical, a first limiting groove is formed in the top end of the guiding shaft 431, a second limiting groove is formed in the bottom end of the guiding shaft 431, and an annular boss is located above the second limiting groove. The guide shaft 431 is vertically inserted into the guide hole of the mounting portion 33.
The first universal bearing 432 is sleeved on the guide shaft 431, so that the guide shaft 431 is rotatably connected with the mounting part 33.
The first mounting plate 434 is attached to the bottom surface of the mounting portion 33 and is used to position the first universal bearing 432 so that the first universal bearing 432 is positioned in the guide hole.
The second universal bearing 433 is sleeved on the lower end of the guide shaft 431, and the snap ring 439 is clamped in a second limiting groove at the bottom end of the guide shaft 431 to prevent the first universal bearing 432 from being separated from the guide shaft 431.
The second mounting plate 435 is sleeved on the lower end of the guide shaft 431 and is mounted on the second hinge portion 423 in a bolt connection manner. The second mounting plate 435 abuts against the upper end of the second universal bearing 433, and is used for preventing the second universal bearing 433 from separating from the rotating rod 42, so that the guide shaft 431 is rotatably connected with the rotating rod 42.
The first mounting seat 436 is fitted around the guide shaft 431, the top end of the first mounting seat 436 abuts against the first mounting plate 434, and an annular groove is provided in the bottom surface of the first mounting seat 436, and the axis of the annular groove coincides with the axis of the guide shaft 431.
The second mounting seat 437 is sleeved on the outer side of the guide shaft 431, the bottom surface of the second mounting seat 437 abuts against an annular boss at the lower end of the guide shaft 431, an annular groove is formed in the top surface of the second mounting seat 437, and the axis of the annular groove coincides with the axis of the guide shaft 431.
The second universal bearing 433 is installed at one end of the guide shaft 431 and is used for rotatably connecting the guide shaft 431 and the rotating rod; the second mounting plate 435 is mounted on the rotating rod and used for limiting the second universal bearing 433; a stopper 438 installed at the other end of the guide shaft 431 to prevent the guide shaft 431 from being separated from the installation part; the first mounting seat 436 and the second mounting seat 437 are sleeved on the guide shaft 431 between the mounting portion and the rotating rod, and the elastic member is located between the first mounting seat 436 and the second mounting seat 437 and used for elastically connecting the first mounting seat 436 and the second mounting seat 437.
The elastic member is a spring, and the elastic member is sleeved outside the guide shaft 431, and one end of the elastic member is located in the ring groove of the first mounting seat 436, and the other end of the elastic member is located in the ring groove of the second mounting seat 437, so that the first mounting seat 436 and the second mounting seat 437 are elastically connected.
The limiting part 438 is an E-shaped buckle, and the limiting part 438 is clamped in the first limiting groove, so that the second mounting base 437 is prevented from being separated from the mounting part 33.
It should be noted that the inclined connection portion extends obliquely downward to increase the distance between the second hinge portion and the second mounting portion, so as to facilitate the placement of the elastic assembly, thereby reducing the overall size of the chassis of the sterilization robot. In addition, the design reduces the gravity center of the chassis of the disinfection robot and improves the stability of the chassis of the disinfection robot.
The two driving assemblies 5 are both hub motors, are motors designed by integrating a power system, a transmission system and a brake system, and mainly comprise hubs, motors, fixed seats and rotating bearings. The rotary bearing is embedded in the fixed seat, and the bolt passes through the fixed seat and is screwed in the fixed hole on the driving part, so that the fixed seat is installed on the driving part 424. The outer side surface of the wheel hub is provided with a rotating shaft which is arranged on the rotating bearing in a penetrating way, so that the wheel hub is connected with the fixed seat in a rotating way. The inside hollow structure that is of wheel hub, the motor is installed inside wheel hub for drive wheel hub rotates.
The driving wheel 6 is sleeved on the outer side of the wheel hub, and the lowest point of the driving wheel 6 and the lowest points of the four supporting wheels 2 are in the same plane.
In order to cushion the impact of the disinfection robot during transportation, in the present embodiment, the driving wheel 6 is an inflatable tire.
The sterilization robot chassis 100 provided in this embodiment, when moving the sterilization robot: the disinfection robot is firstly placed on the top surface of the installation main body, and then the hub motors on the two sides are controlled to start running until the disinfection robot is moved to a specified position.
In the transportation process, the four supporting wheels 2 rotate around the horizontal shaft together, and when the chassis of the disinfection robot runs linearly, the hub motors on the two sides drive the corresponding driving wheels 6, so that the rotating speeds of the driving wheels 6 on the two sides are consistent. When the chassis of the disinfection robot turns, the driving wheels 6 on the two sides are controlled to rotate at different speeds by the hub motor, and the supporting wheels 2 rotate around the vertical shaft, so that the turning action is completed.
It is worth to be noted that when the chassis of the disinfection robot runs on a bumpy road surface, the driving wheels 6 on the two sides are arranged on the suspension device 4, so that the driving wheels 6 impacted on one side cannot influence the driving wheels 6 on the other side, and the shock-absorbing effect of the chassis of the disinfection robot is improved.
Effects and effects of the embodiments
According to the disinfection robot chassis related to the embodiment, because the driving wheel is installed on the driving assembly, the driving assembly is rotatably installed on the rotating rod, one end of the rotating rod is rotatably connected with the bottom plate, and the other end of the rotating rod is elastically connected with the bottom plate through the elastic assembly, the disinfection robot chassis of the embodiment can save space.
In addition, when the chassis of the disinfection robot runs on a bumpy road surface, the driving wheels on the two sides cannot influence the driving wheels on the other side when being impacted, so that the shock-proof effect of the chassis of the disinfection robot is improved.
In the disinfection robot chassis that this embodiment provided, drive assembly is wheel hub motor, so saved the space, reduced the whole quality of chassis.
In the disinfection robot chassis that this embodiment provided, because bearing frame and support frame all install the top surface at the bottom plate, so improved disinfection robot chassis ground clearance, the disinfection robot chassis of being convenient for traveles on the road surface of jolting.
In the disinfection robot chassis that this deformation provided, because the dwang is installed on the bottom plate through two bearing frames, so the disinfection robot chassis that this deformation provided also improves the precision of dwang when reinforcing structural strength.
In the chassis of the disinfection robot provided in this modification, since the bottom of the bottom plate is mounted with four support wheels, the chassis of the disinfection robot provided in this embodiment has good stability.
In the chassis of the disinfection robot provided by the deformation, because the suspension device is exposed, the components in the suspension device are convenient to disassemble and replace when damaged.
< modification example >
The chassis of the disinfection robot provided by the modification has the same structure as the chassis of the disinfection robot provided by the embodiment, and the chassis of the disinfection robot is characterized in that:
1. in this modification, the suspension device includes a bearing seat, a rotating rod rotatably connected to the base plate through a bearing seat, and an elastic member.
2. In this modification, three support wheels are attached to the bottom surface of the bottom plate.
Operation and Effect of the modified example
According to the disinfection robot chassis related to the embodiment, because the driving wheel is installed on the driving assembly, the driving assembly is rotatably installed on the rotating rod, one end of the rotating rod is rotatably connected with the bottom plate, and the other end of the rotating rod is elastically connected with the bottom plate through the elastic assembly, the disinfection robot chassis of the embodiment can save space.
In addition, when the chassis of the disinfection robot runs on a bumpy road surface, the driving wheels on the two sides cannot influence the driving wheels on the other side when being impacted, so that the shock-proof effect of the chassis of the disinfection robot is improved, and the disinfection robot is prevented from being damaged due to impact.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (9)
1. A disinfection robot chassis, comprising:
a base plate for placing a sterilization robot;
a pair of suspension devices oppositely arranged on two sides of the bottom plate;
two drive wheels rotatably mounted on the respective suspension means;
two driving assemblies mounted on the corresponding driving wheels;
at least one supporting wheel installed on the bottom surface of the bottom plate;
wherein the suspension device comprises:
one end of the rotating rod is rotatably connected with the bottom plate;
and one end of the elastic component is arranged on the bottom plate, and the other end of the elastic component is arranged at the other end of the rotating rod.
2. The sanitizing robot chassis of claim 1, wherein:
wherein, the drive assembly is a hub motor.
3. The sanitizing robot chassis of claim 1, wherein:
wherein each of the suspension devices comprises:
two bearing seats are arranged on the bottom plate,
the dwang is located two between the bearing frame to with two rotatable the connection of bearing frame.
4. The sanitizing robot chassis of claim 1, wherein:
wherein each of the suspension devices comprises:
a bearing seat mounted on the base plate,
the rotating rod is located on one side of the bearing seat and is in rotating connection with the bearing seat.
5. The sanitizing robot chassis of claim 4, further comprising:
a supporting frame vertically installed on the bottom plate,
one end of the elastic component is arranged at one end of the supporting frame far away from the bottom plate.
6. The sanitizing robot chassis of claim 5, wherein:
the supporting frame and the bearing seat are both arranged on the top surface of the bottom plate;
one end of the rotating rod is rotatably connected with the bearing seat, and the other end of the rotating rod is located below the supporting frame and passes through the elastic component and the supporting frame are fixedly connected.
7. The sanitizing robot chassis of claim 1, wherein:
wherein the number of the supporting wheels is 4.
8. The sanitizing robot chassis of claim 1, wherein:
wherein, the quantity of supporting wheel is 3.
9. The sanitizing robot chassis of claim 7 or 8, wherein:
wherein, the supporting wheel is a universal wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022788527.9U CN214296118U (en) | 2020-11-27 | 2020-11-27 | Disinfection robot chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022788527.9U CN214296118U (en) | 2020-11-27 | 2020-11-27 | Disinfection robot chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214296118U true CN214296118U (en) | 2021-09-28 |
Family
ID=77844188
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022788527.9U Active CN214296118U (en) | 2020-11-27 | 2020-11-27 | Disinfection robot chassis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214296118U (en) |
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2020
- 2020-11-27 CN CN202022788527.9U patent/CN214296118U/en active Active
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