CN214451428U

CN214451428U - Mobile chassis and robot

Info

Publication number: CN214451428U
Application number: CN202120595357.4U
Authority: CN
Inventors: 曾德聪; 刘金明; 王永龙; 刘瑞星
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2021-03-23
Filing date: 2021-03-23
Publication date: 2021-10-22
Anticipated expiration: 2031-03-23

Abstract

The utility model relates to a remove chassis and robot removes the chassis and includes chassis body, directive wheel and drive wheel. The chassis body is provided with a walking driving piece and a steering driving piece. The directive wheel is movably arranged on the chassis body and connected with the steering driving piece, and the steering driving piece is used for driving the directive wheel to deflect, so that the directive wheel is driven to steer. The steering wheel is also provided with a hub motor, and the hub motor is used for driving the steering wheel to rotate. The driving wheel is rotationally arranged on the chassis body and is in driving connection with the walking driving piece. The movable chassis realizes double-power output, and the obstacle crossing capability and the climbing capability of the movable chassis are greatly enhanced, so that the movable chassis is more suitable for places with complex terrains.

Description

Mobile chassis and robot

Technical Field

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

Background

With the development of robot technology, robots are also applied to various industries. Typically the robot is driven by a moving chassis. In some places with complex environment, such as underground garages, the environment of the underground garages is complex, the ground is provided with battens or bricks which are randomly thrown and placed, the ground water pipe is transversely arranged, and the obstacle crossing capability and the ditch crossing capability of the movable chassis are tested. Meanwhile, the ground warehouse is provided with a long slope in and out, and the climbing capability of the movable chassis is tested.

The traditional movable chassis is driven by adopting a mode of combining a differential bridge and universal wheels, so that the obstacle crossing and climbing capacity of the movable chassis is poor, and the movable chassis is difficult to be suitable for complex terrains such as underground garages.

SUMMERY OF THE UTILITY MODEL

In view of the above, it is desirable to provide a mobile chassis and a robot with good obstacle-crossing and climbing capabilities.

In one aspect, the present application provides a mobile chassis comprising:

the chassis body is provided with a walking driving piece and a steering driving piece;

the steering wheel is movably arranged on the chassis body and connected with the steering driving piece, the steering driving piece is used for driving the steering wheel to deflect, and a hub motor is further arranged on the steering wheel; and the number of the first and second groups,

the driving wheel is rotatably arranged on the chassis body and is in driving connection with the walking driving piece.

The technical solution of the present application is further described below:

in one embodiment, the steerable wheel is a steering wheel.

In one embodiment, the driving wheel comprises a first driving wheel arranged on one side of the chassis body and a second driving wheel arranged on the other side of the chassis body, and the axial direction of the rotating shaft of the first driving wheel is consistent with the axial direction of the rotating shaft of the second driving wheel.

In one embodiment, the steering wheel, the first drive wheel and the second drive wheel are arranged in a triangle on the chassis body.

In one embodiment, the mobile chassis has a straight-driving state in which the rotational direction of the first driving wheel and the rotational direction of the second driving wheel coincide, and a turning state; in the turning state, a rotational direction of the first drive wheel is opposite to a rotational direction of the second drive wheel.

In one embodiment, the mobile chassis further comprises a support mechanism, the support mechanism has a retracted state and an extended state, the support mechanism is in the retracted state when the mobile chassis is walking, and the support mechanism is in the extended state when the mobile chassis is parked.

In one embodiment, the support mechanism comprises:

the supporting legs are rotatably connected with the chassis body, and are close to or attached to the movable chassis in the contraction state, and are unfolded towards the direction far away from the chassis body in the unfolding state;

the rotary driving piece is in driving connection with the supporting leg and used for driving the supporting leg to be switched between a contraction state and an expansion state.

In one embodiment, the end of the supporting leg far away from the chassis body is provided with a roller.

In one embodiment, the steering wheel is provided with a pressure sensor, and when the pressure sensor detects that the pressure applied to the steering wheel is smaller than a preset threshold value, a warning message is sent out.

On the other hand, the application also provides a robot, which comprises a robot body and the moving chassis, wherein the robot body is arranged on the moving chassis.

The robot and the mobile chassis drive the steering wheel to deflect through the steering driving piece, so that the mobile chassis is steered. Meanwhile, the steering wheel is driven to rotate through the hub motor, so that first power is provided for the movement of the movable chassis; through walking driving piece drive wheel rotation to for the removal on removal chassis provides the second power, and then through drive wheel and directive wheel cooperation, realized the double dynamical output on certain chassis, compare in traditional single-power removal chassis, the ability of hindering more and the climbing ability on this application double dynamical output's removal chassis all obtain strengthening greatly, make the removal chassis more be applicable to the complicated place of topography.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification.

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a mobile chassis according to an embodiment;

FIG. 2 is a left side view of the mobile chassis shown in FIG. 1;

FIG. 3 is a front view of the mobile chassis shown in FIG. 1;

FIG. 4 is a top view of the mobile chassis shown in FIG. 1;

fig. 5 is a structural schematic view of a supporting mechanism of the moving chassis shown in fig. 1 in a deployed state.

Description of reference numerals:

10. a steering wheel; 11. a hub motor; 20. a drive wheel; 21. a first drive wheel; 22. a second drive wheel; 30. a support mechanism; 31. a support leg; 32. rotating the driving member; 33. a roller; 40. a chassis body; 41. A control module; 42. and a power supply module.

Detailed Description

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will be able to make similar modifications without departing from the spirit and scope of the present invention.

Particularly, the mobile chassis can be applied to robots or transport vehicles, and is particularly suitable for places with complex terrains such as undelivered underground garages. Referring to fig. 1, fig. 1-3 are schematic structural diagrams of a mobile chassis according to an embodiment of the present invention. Specifically, the moving chassis of an embodiment includes a chassis body 40, a steering wheel 10, and a driving wheel 20. The chassis body 40 is provided with a traveling drive member and a steering drive member. The steering wheel 10 is movably disposed on the chassis body 40 and connected to a steering driving member for driving the steering wheel 10 to deflect, so as to steer the steering wheel 10. The steering wheel 10 is further provided with an in-wheel motor 11, and the in-wheel motor 11 is used for driving the steering wheel 10 to rotate, so that a first path of power is provided for the moving chassis. The driving wheel 20 is rotatably disposed on the chassis body 40, and the driving wheel 20 is in driving connection with the walking driving member, so that the driving wheel 20 is driven by the walking driving member to rotate to provide a second power for moving the chassis.

Specifically, in the present embodiment, the driving wheels 20 are front wheels of the moving chassis, and the steering wheels 10 are rear wheels of the moving chassis. Preferably, the steerable wheel 10 is a steering wheel, and the steering driving member is connected to a steering wheel of the steerable wheel, so that the steerable wheel is turned to the right by driving the steering wheel to rotate and the steering wheel wants to make a fire. The hub motor 11 is arranged in the hub of the steering wheel, so that an intermediate transmission part is omitted, and the installation space is saved. Furthermore, the steering driving part and the walking driving part are both motors.

The steering wheel 10 is driven by the moving chassis through the steering driving piece to deflect, so that the moving chassis is steered. Meanwhile, the steering wheel 10 is driven to rotate through the hub motor 11, so that a first path of power is provided for the movement of the movable chassis; through walking driving piece drive wheel 20 rotation to for the removal on removal chassis provides second power, and then cooperates with directive wheel 10 through drive wheel 20, has realized the double dynamical output on removal chassis, compare in traditional single-power removal chassis, the ability of hindering more and the climbing ability on the removal chassis of this application double dynamical output all obtain strengthening greatly, make the removal chassis more be applicable to the complicated place of topography.

Further, referring to the drawing, the driving wheel 20 includes a first driving wheel 21 provided at one side of the chassis body 40 and a second driving wheel 22 provided at the other side of the chassis body 40, and an axial direction of a rotation shaft of the first driving wheel 21 coincides with an axial direction of a rotation shaft of the second driving wheel 22. The first driving wheel 21 and the second driving wheel 22 are respectively arranged on the two sides of the movable chassis, so that the movement stability of the movable chassis is improved, and the obstacle crossing capability of the movable chassis is further improved. Preferably, at least two first driving wheels 21 are disposed on one side of the moving chassis body 40, and the at least two first driving wheels 21 are coaxially connected, for example, in the embodiment, two first driving wheels 21 are disposed on one side of the moving chassis body 40, so as to improve the motion stability of the moving chassis. Similarly, at least two second driving wheels 22 are arranged on the other side of the moving chassis body 40, and the at least two second driving wheels 22 are coaxially connected, for example, in the present embodiment, two second driving wheels 22 are arranged on the other side of the moving chassis body 40, so as to further improve the motion stability of the moving chassis.

Preferably, the steering wheel 10, the first driving wheel 21 and the second driving wheel 22 are arranged in a triangle on the chassis body 40, thereby improving the balance of the moving chassis. Preferably, the steering wheel 10, the first driving wheel 21 and the second driving wheel 22 are arranged in a regular triangle on the chassis body 40. For example, in the present embodiment, the first driving wheels 21 are respectively distributed at the front left and the front right of the moving chassis, and the steering wheels 10 are disposed at the rear middle position of the moving chassis, thereby improving the balance of the movement of the moving chassis.

Further, the first driving wheel 21 and the second driving wheel 22 are driven independently. Specifically, in one embodiment, the moving chassis is provided with two walking driving members, one walking driving member of the two walking driving members is connected with the first driving member, and the other walking driving member of the two walking driving members is connected with the second driving member, so that the first driving wheel 21 and the second driving wheel 22 are driven to rotate synchronously or in different directions. In another embodiment, the travel drive has two independent output shafts. One of the two independent output shafts is connected to the first driving member, and the other of the two output shafts is connected to the second driving member, so that the first driving wheel 21 and the second driving wheel 22 can be driven to rotate synchronously or in different directions, which is not described herein again.

Further, the mobile chassis has a straight running state in which both the turning direction of the first driving wheel 21 and the turning direction of the second driving wheel 22 coincide with the turning direction of the steerable wheels 10, and a turning state; in the turning state, the turning direction of the first driving wheel 21 is opposite to the turning direction of the second driving wheel 22, so that turning of the mobile chassis is realized, and the rotation center of the mobile chassis is dropped between the first driving wheel 21 and the second driving wheel 22, reducing the turning radius of the mobile chassis. For example, in one embodiment, the first driving wheel 21 is disposed on the left side of the mobile chassis, the second driving wheel 22 is disposed on the right side of the mobile chassis, when the mobile chassis needs to turn right, the first driving wheel 21 rotates forward, the second driving wheel 22 rotates backward, the chassis body 40 rotates right around the center of the line connecting the first driving wheel 21 and the second driving wheel 22, and similarly, when the mobile chassis turns left, the first driving wheel 21 rotates backward, the second driving wheel 22 rotates forward, and the chassis body 40 rotates left around the center of the line connecting the first driving wheel 21 and the second driving wheel 22. Compared with the traditional turning mode taking one wheel as the rotation center, the turning radius of the moving chassis is reduced by enabling the rotation direction of the first driving wheel 21 to be opposite to the rotation direction of the second driving wheel 22, so that the rotation center of the moving chassis falls at the centers of the two wheels.

Further, referring to fig. 4-5, the mobile chassis further includes a supporting mechanism 30, the supporting mechanism 30 has a retracted state and an extended state, when the mobile chassis is walking, the supporting mechanism 30 is in the retracted state, and when the mobile chassis is parked, the supporting mechanism 30 is in the extended state. Therefore, when the mobile chassis stops, the chassis body 40 is supported by the supporting mechanism 30, the stability of the mobile chassis is improved, and the side-turning and overturning of the mobile chassis are avoided.

In particular, with reference to fig. 4-5, the support mechanism 30 includes a leg for rotating the driving member, in particular, the leg is rotatably connected to the chassis body 40, and in a retracted state, the leg is close to or attached to the moving chassis, and in an extended state, the leg is extended in a direction away from the chassis body 40, for example, the leg is extended by rotating 90 ° around an end close to the chassis body 40 as a rotation center. The rotary driving piece is in driving connection with the supporting legs and used for driving the supporting legs to be switched between the contraction state and the expansion state. Preferably, the end of the leg far from the chassis body 40 is provided with a roller 33, so as to reduce the friction between the end of the leg far from the chassis body 40 and the ground, and make the leg easier to rotate and unfold.

It should be noted that, in another embodiment, the supporting mechanism 30 may also be a telescopic push rod, in a retracted state, the telescopic push rod is retracted in the chassis body 40 or below the chassis body 40, and in an extended state, the telescopic push rod extends away from the chassis body, so that the purpose of supporting the mobile chassis when the mobile chassis is parked can also be achieved.

Further, the steered wheel 10 is provided with a pressure sensor. The pressure sensor is used for detecting the pressure of the steering wheel 10, so that the early warning is given before the moving chassis overturns. Specifically, before the moving chassis overturns, the steering wheel 10 leaves the ground first, so the pressure variation amplitude of the steering wheel 10 is maximum, and therefore by arranging a pressure sensor on the steering wheel 10, a warning is given when the pressure sensor detects that the pressure applied to the steering wheel 10 is less than a preset threshold value. For example, when a boom robot is connected to the movable chassis, the position of the center of gravity of the whole robot changes along with the extension of the boom, the center of gravity moves in the direction of the extension of the boom, the force acting on the pressure sensor also changes, a numerical value can be preset in the internal program of the movable chassis, and when the pressure is less than the preset numerical value, the internal program controls the telescopic boom to stop extending, so that the aim of preventing tipping is fulfilled.

Further, referring to fig. 2-3, the mobile chassis is further provided with a control module 41 in the present application, and the control module 41 is used for controlling the walking, steering and parking operations of the mobile chassis. The mobile chassis includes a power module 42, and the power module 42 is used to power the mobile chassis.

In another aspect, the present application further provides a robot. Specifically, the robot of an embodiment includes a robot body and the mobile chassis of any of the above embodiments. The moving chassis is used for lifting power required by the movement of the robot body and is used for installing and supporting the robot body. The robot body is arranged on the movable chassis, is a main body component of the robot, can be used for bearing radar, a camera, a suspension arm and the like, and can be further provided with other functional modules.

The moving chassis of the robot drives the steering wheel 10 to deflect through the steering driving piece, so that the moving chassis is steered. Meanwhile, the steering wheel 10 is driven to rotate through the hub motor 11, so that a first path of power is provided for the movement of the movable chassis; through walking driving piece drive wheel 20 rotation to for the removal on removal chassis provides second power, and then through drive wheel 20 and directive wheel 10 cooperation, realized the double dynamical output on removal chassis, compare in the removal chassis of traditional single power, the ability of hindering more and the climbing ability on the removal chassis of the double dynamical output of this application all obtain strengthening greatly, make the removal chassis more be applicable to the complicated place of topography, improved the motion stationarity and the ability of hindering more and climbing of robot.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. 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. Therefore, the protection scope of the present invention should be subject to the appended claims.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown 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.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Claims

1. A mobile chassis, comprising:

2. The mobile chassis of claim 1, wherein the steerable wheel is a steering wheel.

3. The mobile chassis of claim 1, wherein the driving wheel comprises a first driving wheel disposed on one side of the chassis body and a second driving wheel disposed on the other side of the chassis body, and an axial direction of a rotating shaft of the first driving wheel coincides with an axial direction of a rotating shaft of the second driving wheel.

4. The mobile chassis of claim 3, wherein the steering wheel, the first drive wheel, and the second drive wheel are triangularly arranged on the chassis body.

5. The mobile chassis of claim 3, wherein the mobile chassis has a straight-driving state in which a rotational direction of the first drive wheel and a rotational direction of the second drive wheel coincide, and a cornering state; in the turning state, a rotational direction of the first drive wheel is opposite to a rotational direction of the second drive wheel.

6. The mobile chassis of claim 1, further comprising a support mechanism having a retracted state and an extended state, the support mechanism being in the retracted state when the mobile chassis is walking and in the extended state when the mobile chassis is parked.

7. The mobile chassis of claim 6, wherein the support mechanism comprises:

8. The mobile chassis of claim 7, wherein the end of the leg distal from the chassis body is provided with rollers.

9. The mobile chassis according to claim 1, wherein the steering wheel is provided with a pressure sensor, and when the pressure sensor detects that the pressure applied to the steering wheel is less than a preset threshold value, a warning message is sent out.

10. A robot, characterized by comprising a robot body and a moving chassis according to any of the preceding claims 1-9, the robot body being arranged on the moving chassis.