CN214451314U - Robot chassis linkage and robot - Google Patents

Abstract

The utility model relates to a chassis linkage and robot of robot, linkage includes that two action wheels hang the mechanism, two action wheels hang the mechanism install in respectively symmetrically in the robot chassis supports the robot chassis, the action wheel hangs the mechanism and includes first support, second support and action wheel, the one end of first support connect in the robot chassis, its other end hub connection in the second support, still through an initiative bumper shock absorber swing joint between second support and the first support, the lower extreme of this second support with the action wheel is connected. Robot chassis linkage not only play the supporting role, still can play the cushioning effect to improve the stability and the security of robot walking.

Description

Robot chassis linkage and robot

Technical Field

The utility model relates to an intelligent robot technical field especially relates to a chassis linkage and robot of robot.

Background

With the development of society, the existing intelligent robot is more and more favored by people. In the walking process of the robot, the phenomenon of unstable gravity center often appears easily because of the complex road surface condition, so that the robot is easy to slip and incline, even the bad phenomenon of falling to the ground appears, the accuracy of walking, positioning and the like of the robot is influenced, and the maintenance frequency of the robot is increased.

SUMMERY OF THE UTILITY MODEL

Based on this, the utility model discloses an it is not enough to overcome prior art, provides a chassis linkage and robot of robot, and chassis linkage of robot not only plays the supporting role, still can play the cushioning effect to improve the stability and the security of robot walking.

In order to realize the purpose, the utility model discloses a technical scheme be:

the utility model provides a robot chassis linkage, linkage includes that two action wheels hang the mechanism, two action wheels hang the mechanism install in respectively symmetrically robot chassis supports the robot chassis, the action wheel hangs the mechanism and includes first support, second support and action wheel, the one end of first support connect in the robot chassis, its other end hub connection in the second support, still through an initiative bumper shock absorber swing joint between second support and the first support, the lower extreme of this second support with the action wheel is connected.

As an embodiment, the robot chassis includes a skeleton, and the first support is fixed to the skeleton.

As an implementation mode, the active damper includes an active damping shaft and an active damping spring, the joints of the first bracket and the second bracket are both provided with through holes for passing through the active damping shaft, the lower end of the active damping shaft passes through the through holes and abuts against the second bracket, the upper end of the active damping shaft passes through the through holes, and the active damping spring is sleeved between the top of the active damping shaft and the first bracket.

As an implementation manner, the upper end of the second bracket is rotatably coupled to the lower end of the first bracket through a ball rotating shaft, the ball rotating shaft includes a ball bearing and a rotating shaft sleeved in the ball bearing, and two ends of the rotating shaft respectively penetrate through two sides of the first bracket and abut against the outer side wall of the first bracket.

As an implementation manner, the driving wheel suspension mechanism further comprises a motor, and the motor is in driving connection with the driving wheel.

In one embodiment, the motor is an in-wheel motor, and the in-wheel motor is mounted on a hub of the driving wheel.

In one embodiment, the lower end of the second bracket is coupled to the driving wheel through an axle.

As an embodiment, the robot chassis further comprises a pair of driven wheels, and the pair of driven wheels are mounted on the robot chassis and support the robot chassis together with the two driving wheel suspension mechanisms.

In one embodiment, the pair of driven wheels are both universal wheel structures.

Robot chassis linkage, hang the mechanism through a pair of follow driving wheel and two action wheels and support the robot chassis jointly, by the walking on initiative wheel drive robot chassis, two action wheels hang the mechanism and not only play the supporting role, still can play the cushioning effect to improve the stability and the security of the ability of robot adaptation complicated road conditions and walking.

Further, the utility model provides a robot, include as above the embodiment any robot chassis linkage, still include connecting seat and task module, the task module passes through the connecting seat and installs on the robot chassis. The utility model discloses a robot walking is steady, can effectively reduce the road surface and jolt the bad phenomenon of bringing.

For a better understanding and an implementation, the present invention is described in detail below with reference to the accompanying drawings.

Drawings

Fig. 1 is a perspective view of a robot chassis of the present invention;

FIG. 2 is a bottom schematic view of the robot chassis of the present invention;

fig. 3 is an exploded view of the robot chassis of the present invention;

fig. 4 is a schematic view of the robot chassis of the present invention with the top cover opened;

fig. 5 is a schematic view of the robot chassis of the present invention with the housing open;

FIG. 6 is a schematic diagram of the internal structure of the robot chassis of the present invention;

fig. 7 is a schematic structural view of the driving wheel suspension mechanism of the robot chassis of the present invention;

fig. 8 is a schematic structural view of a driven wheel suspension mechanism of the robot chassis of the present invention;

fig. 9 is a schematic structural view of a torsion frame of the robot chassis of the present invention;

fig. 10 is a schematic structural view of the robot of the present invention;

fig. 11 is a schematic view of the connection between the housing slot and the side frame boss of the robot chassis of the present invention;

fig. 12 is another schematic structural diagram of the driving wheel suspension mechanism of the robot chassis of the present invention.

Detailed Description

To further illustrate the embodiments, the present invention provides the accompanying drawings. The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the embodiments. With these references, one of ordinary skill in the art will appreciate other possible implementations and advantages of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "left", "right", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", and the like indicate orientations or positional relationships based on those shown in the drawings, and are merely for convenience of description and to simplify the description, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered limiting of the present invention.

Referring to fig. 1 to 10, fig. 1 is a schematic perspective view of a robot chassis according to the present invention; FIG. 2 is a bottom schematic view of the robot chassis of the present invention; fig. 3 is an exploded view of the robot chassis of the present invention; fig. 4 is a schematic view of the robot chassis of the present invention with the top cover opened; fig. 5 is a schematic view of the robot chassis of the present invention with the housing open; FIG. 6 is a schematic diagram of the internal structure of the robot chassis of the present invention; fig. 7 is a schematic structural view of the driving wheel suspension mechanism of the robot chassis of the present invention; fig. 8 is a schematic structural view of a driven wheel suspension mechanism of the robot chassis of the present invention; fig. 9 is a schematic structural view of a torsion frame of the robot chassis of the present invention; fig. 10 is a schematic structural view of the robot of the present invention; fig. 11 is a schematic view of the connection between the housing slot and the side frame boss of the robot chassis of the present invention; fig. 12 is another schematic structural diagram of the driving wheel suspension mechanism of the robot chassis of the present invention.

As shown in fig. 1 to 3 and 10, the present embodiment provides a robot chassis 100, including a frame 110 and a connecting seat 200, where the top of the frame 110 is upward provided with a plurality of columns 120, the top of each column 120 is upward provided with a threaded column 121, the bottom of the connecting seat 200 is respectively provided with supporting legs 210 at positions corresponding to the columns 120, each supporting leg 210 is respectively provided with a mounting hole, and the connecting seat 200 is sleeved on the threaded column 121 of the frame 110 through the mounting hole on the supporting leg 210; the frame 110 is fixed with a sealed box 130, the sealed box 130 is fixed on the frame, and the inner and/or outer side walls of the sealed box 130 are provided with electric elements used for robot movement, such as a battery module and a chassis driving module. In addition, a detection radar 150 electrically connected to the chassis driving module is disposed on the top of the sealed case 130.

As shown in fig. 4, in the present embodiment, two sides of the sealed box 130 are fixed to inner sidewalls of two sides of the frame 110 by vertical plates 141, respectively. One end of the sealed box body 130 is provided with a plug-in module 131, and the plug-in module 131 is electrically connected with the chassis driving module; metal heat sinks 132 are respectively disposed on both sides of the sealed case 130. By adopting the structural design, the chassis driving module can be quickly connected with other components through the plug-in module 131, and the convenience of connecting the chassis driving module with other components is improved while the chassis driving module is protected; and further, the metal heat sink 132 on both sides can help the inside of the sealed box 130 to dissipate heat, so that the heat inside the sealed box 130 can be dissipated in time.

The sealed box 130 includes a box body with an open upper end and a box cover 133 covering the upper end of the box body, and the box cover 133 is fixed to the box body by bolts. Therefore, when the chassis driving module is out of order, it can be repaired by disassembling the cover 133, and under the normal operation, the sealing performance of the chassis driving module can be effectively protected by the cover 133.

From this, the robot chassis 100 of this embodiment adopts sealed box 130 to install the easy impaired core components and parts such as chassis drive module in the inside of sealed box 130, will survey radar 150 and install at the top of sealed box 130 to set up plug module 131 in the side of sealed box 130, both can avoid walking the disorderly problem, can prevent the short circuit phenomenon that rainwater infiltration and produced in addition, improved the security performance of robot chassis 100.

As shown in fig. 3, as a preferred embodiment, the robot chassis 100 of the embodiment further includes a housing 300, a positioning hole is disposed at a position of the upper end of the housing 300 corresponding to the threaded column 121 of the framework 110, and the housing 300 is correspondingly sleeved on the threaded column 121 of the framework 110 through the positioning hole; both sides of skeleton 110 are equipped with side frame 160 respectively, the position that the both sides of shell 300 correspond skeleton 110 both sides side frame 160 is equipped with draw-in groove 310, and this shell 300 passes through the draw-in groove 310 of both sides and the side frame 160 joint of skeleton 110 both sides.

As shown in fig. 3, 4 and 5, a boss 170 is disposed at the top of the side frame 160, and the housing 300 is inserted into the boss 170 of the side frame 160 at two sides of the frame 110 through the slots 310 at two sides. In this embodiment, the side frame 160 includes a handle case 161, a handle bar 162, and a handle bar 163, one end of the handle bar 162 is fixed on the inner sidewall of the handle case 161, and the other end thereof is fixed on the top of the frame 110; one end of the handle pull rod 163 is fixed to the bottom of the handle case 161, and the other end thereof is fixed to the bottom of the frame 110. The locking groove 310 is disposed on the inner sidewall of the housing 300, the boss 170 is disposed on the outer sidewall of the handle housing 161, and the boss 170 is a flat plate structure.

As shown in fig. 11, in the present embodiment, the slot 310 is a slot structure with an open lower end, the slot structure is fixed on the inner sidewall of the housing 300, and the boss 170 is a flat plate structure standing upward, so that the housing 300 can be directly inserted into the boss 170 of the side frame 130 through the slots 300 on both sides.

Therefore, the robot chassis 100 of the embodiment adopts a connection mode that the framework 110 and the shell 300 are positioned and inserted, the threaded columns 121 above the framework 110 are aligned and sleeved with the positioning holes of the shell 300, and the clamping grooves 310 on the two sides of the shell 300 are aligned and inserted with the bosses 170 of the side frame 160 on the two sides of the framework 110, so that the robot chassis 100 and the shell 300 can be conveniently and quickly disassembled, and the difficulty in disassembling and assembling the shell 300 and the robot chassis 100 is reduced; in addition, through the connected mode of location grafting, avoided trompil to beat the screw and lead to the outward appearance wholeness of shell 300 to receive the problem of destruction on shell 300, make the utility model discloses a robot chassis 100 is more pleasing to the eye.

Further, an opening is formed in the middle of the housing 300, a top cover 320 is arranged at the opening, a position of the top cover 320 corresponding to the upright post 120 is provided with a limiting hole, the top cover 320 is correspondingly sleeved on the threaded post 121 of the framework 110 through the limiting hole, and the outer edge of the top cover 320 covers the opening of the housing 300. In order to prevent rainwater from penetrating into the interior of the robot chassis 100 from the opening at the middle of the outer shell 300, the outer edge of the top cover 320 of the present embodiment has an arc-shaped structure, and the arc-shaped structure covers the inner edge of the opening of the outer shell 300.

Further, as shown in fig. 10, the connection holder 200 of the present embodiment is sleeved on the threaded post 121 of the frame 110 through the mounting hole of the support leg 210, and the support leg 210 is fixed on the threaded post 121 by a nut, and the bottom of the support leg 210 of the connection holder 200 abuts on the housing 300 and the top cover 320, so that the connection of the housing 300 and the top cover 320 is more stable.

In this embodiment, the middle of the top cover 320 is also provided with an opening, the detection radar 150 is fixed on the top of the sealed box 130 through a radar bracket 151, the detection radar 150 extends out of the opening of the top cover 320, and the detection radar 150 is located below the connecting seat 200.

As a better implementation manner, the framework 110 of this embodiment is a square frame structure, the top portions of four corners of the framework 110 are respectively provided with upright columns 120 upward, the top portion of each upright column 120 is provided with a threaded column 121 upward, the positions of the upper end of the housing 300 corresponding to the four threaded columns 121 of the framework 110 are respectively provided with positioning holes, and the housing 300 is sleeved on the four threaded columns 121 of the framework 110 through the four positioning holes in a one-to-one correspondence manner; correspondingly, the top cover 320 is also provided with four limiting holes corresponding to the four threaded columns 121 of the framework 110, the top cover 320 is sleeved on the four threaded columns 121 of the framework 110 through the four limiting holes, and the outer edge of the top cover is covered on the opening edge of the shell 300; similarly, the positions of the bottom of the connecting seat 200 corresponding to the four threaded columns 121 of the framework 110 are respectively provided with four supporting legs 210, each supporting leg 210 is provided with a mounting hole, the connecting seat 200 is sleeved on the four threaded columns 121 of the framework 110 through the four mounting holes in a one-to-one correspondence manner, and the supporting legs 210 are abutted to the limiting holes of the top cover 320. In addition, the lower end of the detection radar 150 of the present embodiment is further sleeved with a waterproof cover 152, and the bottom of the waterproof cover 152 abuts against the upper surface of the top cover 320.

As a preferred embodiment, as shown in fig. 3 and 7, the robot chassis 100 of this embodiment is provided with a suspension device, the suspension device includes two driving wheel suspension mechanisms 400, the two driving wheel suspension mechanisms 400 are respectively symmetrically installed on the robot chassis 100 and support the robot chassis 100, the driving wheel suspension mechanism 400 includes a first support 420, a second support 430 and a driving wheel 410, one end of the first support 420 is connected to the robot chassis 100, the other end of the first support is connected to the second support 430, the second support 430 is movably connected to the first support 420 through an active damper 440, and the lower end of the second support 430 is connected to the driving wheel 410. Wherein, the two driving wheel suspension mechanisms 400 are connected by a connecting rod 460.

Specifically, as shown in fig. 12, the active damper 440 includes an active damper shaft 441 and an active damper spring, a through hole for passing through the active damper shaft 441 is disposed at a connection portion of the first bracket 420 and the second bracket 430, a lower end of the active damper shaft 441 passes through the through hole and abuts against the second bracket 430, an upper end of the active damper shaft passes through the through hole, and the active damper spring is sleeved between a top portion of the active damper shaft 441 and the first bracket 420.

The upper end of the second bracket 430 of this embodiment is rotatably coupled to the lower end of the first bracket 420 through a ball rotating shaft 450, the ball rotating shaft 450 includes a ball bearing and a rotating shaft sleeved in the ball bearing, and two ends of the rotating shaft respectively penetrate through two sides of the first bracket 420 and abut against the outer sidewall of the first bracket 420.

In addition, the driving wheel suspension mechanism 400 further comprises a motor, and the motor is in driving connection with the driving wheel 410. In this embodiment, the motor is an in-wheel motor, the in-wheel motor is mounted on a hub of the driving wheel 410, and the lower end of the second bracket 430 is coupled to the driving wheel 410 through an axle. Therefore, after the hub motor is electrically connected with the chassis driving module, the hub motor can be driven to operate through the chassis driving module, and then the driving wheel 410 is driven to rotate.

In this embodiment, the robot chassis 100 further includes a pair of driven wheels 510, and the pair of driven wheels 510 is mounted on the robot chassis 100 and supports the robot chassis 100 together with the two driving wheel suspension mechanisms 400. Therefore, the robot chassis 100 suspension device of the embodiment supports the robot chassis 100 together with the two driving wheel suspension mechanisms 400 through the pair of driven wheels 510, the driving wheels 410 drive the robot chassis 100 to walk, and the two driving wheel suspension mechanisms 400 not only play a role in supporting, but also play a role in damping, so that the capability of adapting to complex road conditions and the stability and safety of walking of the robot are improved.

As a preferred embodiment, as shown in fig. 3, 8 and 9, the suspension apparatus for robot chassis 100 of the present embodiment further includes two driven wheel suspension mechanisms 500, wherein the two driven wheel suspension mechanisms 500 are symmetrically mounted on the framework 110 of the robot chassis 100 and support the robot chassis 100; the two driven wheel suspension mechanisms 500 are connected by a torsion bar 600, and a torsion frame 610 is provided at one end of the robot chassis 100, and the torsion bar 600 is rotatably coupled to the torsion frame 610.

In this embodiment, the torsion frame 610 is provided with a torsion shaft 620, the torsion bar 600 is provided with a through hole corresponding to the torsion shaft 620, and one end of the torsion shaft 620 passes through the through hole of the torsion bar 600 and abuts against the outer side surface of the torsion bar 600. The torsion shaft 620 is rotatably disposed on the torsion frame 610 through a torsion bearing.

The two driven wheel suspension mechanisms 500 respectively include driven shock absorbers 520, driven frames 530, and driven wheels 510, the two driven shock absorbers 520 are respectively connected to both ends of the torsion bar 600, and the two driven wheels 510 are respectively rotatably connected to the driven frames 530 and connected to the corresponding driven shock absorbers 520 through the driven frames 530.

The driven shock absorber 520 of the present embodiment includes a fixed base 521, a driven shock absorbing shaft 522, and a driven shock absorbing spring, wherein the fixed base 521 is connected to the torsion bar 600, one end of the driven shock absorbing shaft 522 passes through the driven frame 530, and the other end passes through the fixed base 521; the driven damping spring is sleeved on the driven damping shaft 522, two ends of the driven damping spring abut against the top of the driven frame 530 and the top of the fixed support 521 respectively, and two ends of the driven damping shaft 522 are provided with limiting parts for preventing the driven damping shaft from separating from the driven frame 530 and the fixed support 521 respectively.

Therefore, the robot chassis 100 of the present embodiment not only plays a supporting role, but also plays a damping role through the two driven wheel suspension mechanisms 500; further, by the structural design of the torsion bar 600, the jounce forces received by the two driven wheel suspension mechanisms 500 can be balanced in a limited manner, so that the damping performance of the two driven wheel suspension mechanisms 500 is better.

Further, the suspension device of the robot chassis 100 of the present embodiment includes two driving wheel suspension mechanisms 400 and two driven wheel suspension mechanisms 500, where the two driving wheel suspension mechanisms 400 and the two driven wheel suspension mechanisms 500 are respectively connected to the framework 110 of the robot chassis 100 and support the robot chassis 100 together; thus, the robot chassis 100 of the embodiment uses the two driving wheel suspension mechanisms 400 with shockproof supporting function and the two driven wheel suspension mechanisms 500 with shockproof supporting function as the walking supporting structures, so that the capability of the robot in the robot chassis 100 to adapt to complex road conditions and the stability and safety during walking can be effectively improved.

As a preferred embodiment, as shown in fig. 10, the present embodiment further provides a robot, the robot includes the robot chassis 100 according to any of the above embodiments, and the robot of the present embodiment further includes a task module 700, and the task module 700 is mounted on the robot chassis 100 through the connection seat 200.

The above embodiments only represent several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the suspension device for the robot chassis. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention.

Claims (10)

1. A robot chassis linkage which characterized in that:

the suspension device comprises two driving wheel suspension mechanisms, the two driving wheel suspension mechanisms are symmetrically arranged on the robot chassis and support the robot chassis respectively, each driving wheel suspension mechanism comprises a first support, a second support and a driving wheel, one end of the first support is connected to the robot chassis, the other end of the first support is connected to the second support in a shaft-to-shaft mode, the second support is movably connected with the first support through a driving shock absorber, and the lower end of the second support is connected with the driving wheel.

2. A robot chassis suspension arrangement according to claim 1, wherein:

the robot chassis comprises a framework, and the first support is fixed on the framework.

3. A robot chassis suspension arrangement according to claim 1, wherein:

the active shock absorber comprises an active shock absorbing shaft and an active shock absorbing spring, a through hole for penetrating the active shock absorbing shaft is formed in the joint of the first support and the second support, the lower end of the active shock absorbing shaft penetrates through the through hole and abuts against the second support, the upper end of the active shock absorbing shaft penetrates through the through hole, and the active shock absorbing spring is sleeved between the top of the active shock absorbing shaft and the first support.

4. A robot chassis suspension arrangement according to claim 1, wherein:

the upper end of the second support is rotatably coupled to the lower end of the first support through a ball rotating shaft, the ball rotating shaft comprises a ball bearing and a rotating shaft sleeved in the ball bearing, and two ends of the rotating shaft respectively penetrate through two sides of the first support and abut against the outer side wall of the first support.

5. A robot chassis suspension arrangement according to claim 1, wherein:

the driving wheel suspension mechanism further comprises a motor, and the motor is in driving connection with the driving wheel.

6. A robot chassis suspension arrangement according to claim 5, wherein:

the motor is a hub motor, and the hub motor is arranged on the hub of the driving wheel.

7. A robot chassis suspension arrangement according to claim 1, wherein:

the lower end of the second support is connected with the driving wheel through an axle.

8. A robot chassis suspension arrangement according to any of claims 1 to 7, wherein:

the robot chassis further comprises a pair of driven wheels, the pair of driven wheels are mounted on the robot chassis and support the robot chassis together with the two driving wheel suspension mechanisms.

9. A robot chassis suspension arrangement according to claim 8, wherein:

the pair of driven wheels are all universal wheel structures.

10. A robot, characterized by: comprising a robot chassis suspension arrangement according to any of the claims 1-9, further comprising a connection socket and a task module, the task module being mounted on the robot chassis by the connection socket.

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